CN104163213A - Passive self-adaption caterpillar structure - Google Patents
Passive self-adaption caterpillar structure Download PDFInfo
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- CN104163213A CN104163213A CN201410389649.7A CN201410389649A CN104163213A CN 104163213 A CN104163213 A CN 104163213A CN 201410389649 A CN201410389649 A CN 201410389649A CN 104163213 A CN104163213 A CN 104163213A
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Abstract
The invention discloses a passive self-adaption caterpillar structure. The passive self-adaption caterpillar structure is characterized by comprising a support, a power wheel, a front guide wheel and a caterpillar, the support is an inner framework used for supporting the caterpillar and comprises a support body, four to six supporting frames and two to four tensioning frames, the support body is in rigid connection with a caterpillar truck body through bolts, the front guide wheel is arranged at the front end of the support body, the power wheel is arranged at the rear end of the support body, the tensioning frames are evenly distributed on the upper side of the support body, the supporting frames are evenly distributed on the lower side of the support body, each supporting frame comprises a supporting frame base, a supporting rod, a supporting frame spring and a supporting wheel, and each tensioning frame comprises a tensioning frame base, a tensioning rod, a tensioning frame spring and a tensioning wheel. The passive self-adaption caterpillar structure can pass through an uneven terrain smoothly, and the contour of the caterpillar can be adjusted passively according to specific terrains so that it can be ensured that the caterpillar makes contact with the ground completely to the maximum extent. On the premise that the functional requirements are met, the passive self-adaption caterpillar structure has the advantages of being simple in structure, convenient to control, low in energy consumption and the like.
Description
Technical field
The present invention relates to continuously tracked vehicle technical field, be specially a kind of passive self adaptation caterpillar belt structure.
Background technology
Tracklaying vehicle has stronger crossing ability in non-smooth landform, in fields such as military affairs, agricultural, construction machinery and equipments, has a wide range of applications.For further improving the exercise performance of tracklaying vehicle, designed at present various new caterpillar belt structure.For example, using magnetic force reduces positive pressure that grouser shoe is subject to improve mechanical efficiency in patent documentation " Caterpillar structure for vehicle (CN2409111Y) ", in patent documentation " a kind of caterpillar belt structure (CN202175123U) " by the component integrations such as drive motor, transmission device in supporting the inner frame of crawler belt to realize the miniaturization of crawler belt car body, and then improve the alerting ability of motion, the obstacle performance of < < tetra-bar linkage deformation caterpillar formula robots is analyzed > > (Zhao Xiqing etc., machine design and research, the 25th in December, 2009 volume the 6th phase), < < has four caterpillar robot obstaclies performance of passive swing arm and analyzes > > (square seapeak etc., China Mining University's journal, the 39th in September, 2010 volume the 5th phase) related caterpillar belt structure possesses Passive deformation ability, to improve the obstacle climbing ability of crawler belt car body.
Although developed now the caterpillar belt structure of multiple superior performance, but still exist two key issues urgently to be resolved hurrily.One, when crawler belt car body travels in non-smooth landform, is difficult between crawler belt and ground contact completely, so that impact rubs, and then easily causes skidding.Its two, in existing caterpillar belt structure, between support wheel and support, all adopts and be rigidly connected, so that crawler belt car body easily jolts when by non-smooth landform (especially ladder road).
Summary of the invention
For the deficiencies in the prior art, the technical problem to be solved in the present invention is: a kind of passive self adaptation caterpillar belt structure is provided.This structure energy pulsation-free is by non-smooth landform, and can between crawler belt and ground, contact as far as possible completely guaranteeing according to the passive adjustment crawler belt profile of concrete landform.Realizing under the prerequisite of described functional requirement the feature such as that the present invention has is simple in structure, it is convenient to control, power consumption is lower.
The present invention solve the technical problem adopted technical scheme: design a kind of passive self adaptation caterpillar belt structure, it is characterized in that this structure comprises support, power wheel, front jocket wheel and crawler belt; Described support is for supporting the inner frame of crawler belt, comprise rack body, bracing frame and tensioning frame, rack body is rigidly connected by bolt and crawler belt car body, rack body front end is provided with front jocket wheel, rear end is provided with power wheel, the upside of rack body is evenly distributed with 2-4 tensioning frame, and the downside of rack body is evenly distributed with 4-6 bracing frame;
Support frame as described above comprises bracing frame pedestal, strut bar, bracing frame spring and support wheel, support frame as described above pedestal is hollow cylinder, the upper end of bracing frame pedestal is connected with the downside of rack body, strut bar inserts in bracing frame pedestal, strut bar is connected with bracing frame pedestal by bracing frame spring, bracing frame spring upper end is pressed on bracing frame pedestal, and lower end is pressed on strut bar, and bracing frame pedestal and strut bar form a moving sets; The lower end of strut bar is connected with support wheel;
Described tensioning frame comprises tensioning frame pedestal, nutted rod, tensioning frame spring and tension wheel, the lower end of described tensioning frame pedestal is connected with the upside of rack body, nutted rod inserts in tensioning frame pedestal, nutted rod is connected with tensioning frame pedestal by tensioning frame spring, tensioning frame spring lower end is pressed on tensioning frame pedestal, upper end is pressed on nutted rod, and the upper end of nutted rod is connected with tension wheel; Tensioning frame pedestal and nutted rod form a moving sets.
Compared with prior art, between support wheel of the present invention and support, by spring flexible, be connected, can pulsation-free by non-smooth landform, reduce the vibration of car body in motion process; Between support wheel and tension wheel and support, all by spring flexible, be connected, can be according to the passive adjustment crawler belt profile of concrete landform, so that crawler belt contacts as far as possible completely with ground, thereby effectively avoid skidding.Crawler belt of the present invention is passive adaptive structure, have simple in structure, the advantage such as it is convenient to control, and consumes energy lower, and reliability is high, practical.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of embodiment of the passive self adaptation caterpillar belt structure of the present invention;
Fig. 2 is the state of kinematic motion structural representation of a kind of embodiment of the passive self adaptation caterpillar belt structure of the present invention;
In figure, 1. support, 2. power wheel, 3. front jocket wheel, 4. crawler belt, 11. rack bodies, 12. bracing frames, 13. tensioning frames, 121. bracing frame pedestals, 122. strut bars, 123. bracing frame springs, 124. support wheels, 131. tensioning frame pedestals, 132. nutted rods, 133. tensioning frame springs, 134. tension wheels.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing thereof, describe the present invention in detail.Embodiment be take the concrete enforcement that technical scheme of the present invention carries out as prerequisite, has provided detailed embodiment and process.But the claim protection domain of the present patent application is not limited to following embodiment to be described.
The passive self adaptation caterpillar belt structure of the present invention's design (being called for short structure, referring to Fig. 1-2) comprises support 1, power wheel 2, front jocket wheel 3 and crawler belt 4; Described support 1 is for supporting the inner frame of crawler belt, comprise rack body 11, bracing frame 12 and tensioning frame 13, rack body 11 is rigidly connected by bolt and crawler belt car body, rack body 1 front end is provided with front jocket wheel 3, rear end is provided with power wheel 2, the upside of rack body 11 is evenly distributed with 2-4 tensioning frame 13, and the downside of rack body 1 is evenly distributed with 4-6 bracing frame 12;
Support frame as described above 12 comprises bracing frame pedestal 121, strut bar 122, bracing frame spring 123 and support wheel 124, support frame as described above pedestal 121 is hollow cylinder, the upper end of bracing frame pedestal 121 is connected with the downside of rack body 11, strut bar 122 inserts in bracing frame pedestal 121, strut bar 122 is connected with bracing frame pedestal 121 by bracing frame spring 123, bracing frame spring 123 upper ends are pressed on bracing frame pedestal 121, lower end is pressed on strut bar 122, and bracing frame pedestal 121 and strut bar 122 form a moving sets; The lower end of strut bar 122 is connected with support wheel 124;
The structure of the structure of described tensioning frame 13 and bracing frame 12 is similar, comprise tensioning frame pedestal 131, nutted rod 132, tensioning frame spring 133 and tension wheel 134, the lower end of described tensioning frame pedestal 131 is connected with the upside of rack body 11, nutted rod 132 inserts in tensioning frame pedestal 131, nutted rod 132 is connected with tensioning frame pedestal 131 by tensioning frame spring 133, tensioning frame spring 133 lower ends are pressed on tensioning frame pedestal 131, upper end is pressed on nutted rod 132, and the upper end of nutted rod 132 is connected with tension wheel 134; Tensioning frame pedestal 131 and nutted rod 132 form a moving sets.
Principle of work and the process of the passive self adaptation caterpillar belt structure of the present invention are: power wheel 2 drags caterpillar drive, and front jocket wheel 3 is follower, for guiding, prevent that crawler belt from coming off.Owing to flexibly connecting by spring between support wheel 124 and rack body 11, when this structure is walked in non-smooth landform (referring to Fig. 2), each bracing frame 12 can be adjusted each support wheel 124 apart from the height of rack body 11 dynamically according to self stressing conditions, and then adjusts crawler belt profile with adaptation to the ground.In this process, tensioning frame 13 is dynamically adjusted tension wheel 134 apart from rack body 11 height, and then real-time tensioned tracks 4.
The Size dependence of bracing frame 12 and the number of tensioning frame 13 and the specification of crawler belt and rack body 11 in the present invention.
It should be added that, of the present invention " forward and backward; Left and right; Upper and lower " etc. the noun of locality be in order to be described clearly, only there is relative meaning.Generally, the direction that the crawler belt 4 of take is advanced is forward as front, and as the benchmark of other nouns of locality.
Embodiment 1
In the present embodiment, there are 12,2 tensioning frames 13 of 4 bracing frames.Power wheel 2 drags crawler belt 4 motions, and front jocket wheel 3 is follower, for guiding, prevents that crawler belt 4 from coming off.Between support wheel 124 and rack body 11, by spring flexible, be connected, can pulsation-free by non-smooth landform, reduce the vibration of car body in motion process; Between support wheel 124 and tension wheel 134 and rack body 11, all by spring flexible, be connected, can be according to the passive adjustment crawler belt profile of concrete landform, so that crawler belt 4 contacts as far as possible completely with ground, thereby effectively avoid skidding.
The present invention does not address part and is applicable to prior art.
Claims (1)
1. a passive self adaptation caterpillar belt structure, is characterized in that this structure comprises support, power wheel, front jocket wheel and crawler belt; Described support is for supporting the inner frame of crawler belt, comprise rack body, bracing frame and tensioning frame, rack body is rigidly connected by bolt and crawler belt car body, rack body front end is provided with front jocket wheel, rear end is provided with power wheel, the upside of rack body is evenly distributed with 2-4 tensioning frame, and the downside of rack body is evenly distributed with 4-6 bracing frame;
Support frame as described above comprises bracing frame pedestal, strut bar, bracing frame spring and support wheel, support frame as described above pedestal is hollow cylinder, the upper end of bracing frame pedestal is connected with the downside of rack body, strut bar inserts in bracing frame pedestal, strut bar is connected with bracing frame pedestal by bracing frame spring, bracing frame spring upper end is pressed on bracing frame pedestal, and lower end is pressed on strut bar, and bracing frame pedestal and strut bar form a moving sets; The lower end of strut bar is connected with support wheel;
Described tensioning frame comprises tensioning frame pedestal, nutted rod, tensioning frame spring and tension wheel, the lower end of described tensioning frame pedestal is connected with the upside of rack body, nutted rod inserts in tensioning frame pedestal, nutted rod is connected with tensioning frame pedestal by tensioning frame spring, tensioning frame spring lower end is pressed on tensioning frame pedestal, upper end is pressed on nutted rod, and the upper end of nutted rod is connected with tension wheel; Tensioning frame pedestal and nutted rod form a moving sets.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410389649.7A CN104163213A (en) | 2014-08-09 | 2014-08-09 | Passive self-adaption caterpillar structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410389649.7A CN104163213A (en) | 2014-08-09 | 2014-08-09 | Passive self-adaption caterpillar structure |
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| CN104163213A true CN104163213A (en) | 2014-11-26 |
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| CN201410389649.7A Pending CN104163213A (en) | 2014-08-09 | 2014-08-09 | Passive self-adaption caterpillar structure |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890749A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Crawler type substation patrol robot based on hub motor |
| CN105313998A (en) * | 2015-10-03 | 2016-02-10 | 上海大学 | A rigidity-self-adapting crawler-type mobile robot suspension system |
| CN105459080A (en) * | 2016-01-14 | 2016-04-06 | 任曲波 | Corrosion preventing, explosion preventing and high temperature resisting weight-variable robot platform with side-installed boxes |
| CN105459081A (en) * | 2016-01-14 | 2016-04-06 | 任曲波 | Corrosion preventing and explosion preventing multifunctional thermal imaging detecting rescue robot |
| CN105477812A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | Self-generating fire-fighting fire extinguishment robot with variable weight and controllable fire extinguishment range |
| CN105500332A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Nuclear power station rescue and operation robot |
| CN105599815A (en) * | 2016-01-15 | 2016-05-25 | 江苏大学 | Profiling vibration-damping crawler type traveling chassis of grain combine harvester |
| CN106143662A (en) * | 2016-08-15 | 2016-11-23 | 湖南农业大学 | Caterpillar flexible gets over bank driving means |
| CN106143664A (en) * | 2016-08-15 | 2016-11-23 | 湖南农业大学 | Track grouser height adjustable track running gear |
| WO2018053980A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Crawler tensioning device and crawler traveling device |
| CN109094674A (en) * | 2018-09-29 | 2018-12-28 | 北京力升高科科技有限公司 | A kind of submissive track suspension system |
| CN114151649A (en) * | 2021-12-03 | 2022-03-08 | 南京超乾飞环保科技有限公司 | Municipal pipe network detection all-terrain robot based on ultrasonic waves and implementation method thereof |
| CN114514872A (en) * | 2022-04-20 | 2022-05-20 | 江苏科翔制泵有限公司 | Agricultural irrigation transport vehicle with strong obstacle crossing capability and use method thereof |
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| CN203496595U (en) * | 2013-09-13 | 2014-03-26 | 东北大学 | Amphibiousness all-terrain rescue intelligent robot |
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| JPS5539837A (en) * | 1978-09-11 | 1980-03-21 | Iseki & Co Ltd | Caterpillar |
| CN85104985A (en) * | 1985-07-01 | 1986-12-31 | 埃尔夫·阿查坦国营公司 | A kind of equipment that geophysics is measured in prospect pit |
| US5894901A (en) * | 1995-12-12 | 1999-04-20 | Babcock-Hitachi Kabushiki Kaisha | Endless track magnetic traveling device |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890749A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Crawler type substation patrol robot based on hub motor |
| CN105313998A (en) * | 2015-10-03 | 2016-02-10 | 上海大学 | A rigidity-self-adapting crawler-type mobile robot suspension system |
| CN105459080A (en) * | 2016-01-14 | 2016-04-06 | 任曲波 | Corrosion preventing, explosion preventing and high temperature resisting weight-variable robot platform with side-installed boxes |
| CN105459081A (en) * | 2016-01-14 | 2016-04-06 | 任曲波 | Corrosion preventing and explosion preventing multifunctional thermal imaging detecting rescue robot |
| CN105477812A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | Self-generating fire-fighting fire extinguishment robot with variable weight and controllable fire extinguishment range |
| CN105500332A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Nuclear power station rescue and operation robot |
| CN105599815A (en) * | 2016-01-15 | 2016-05-25 | 江苏大学 | Profiling vibration-damping crawler type traveling chassis of grain combine harvester |
| CN106143664A (en) * | 2016-08-15 | 2016-11-23 | 湖南农业大学 | Track grouser height adjustable track running gear |
| CN106143662A (en) * | 2016-08-15 | 2016-11-23 | 湖南农业大学 | Caterpillar flexible gets over bank driving means |
| CN106143664B (en) * | 2016-08-15 | 2018-06-22 | 湖南农业大学 | Track grouser height adjustable track running gear |
| WO2018053980A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Crawler tensioning device and crawler traveling device |
| US10300968B2 (en) | 2016-09-21 | 2019-05-28 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Track tension device and track moving device |
| EP3517416A4 (en) * | 2016-09-21 | 2020-06-10 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Crawler tensioning device and crawler traveling device |
| CN109094674A (en) * | 2018-09-29 | 2018-12-28 | 北京力升高科科技有限公司 | A kind of submissive track suspension system |
| CN114151649A (en) * | 2021-12-03 | 2022-03-08 | 南京超乾飞环保科技有限公司 | Municipal pipe network detection all-terrain robot based on ultrasonic waves and implementation method thereof |
| CN114514872A (en) * | 2022-04-20 | 2022-05-20 | 江苏科翔制泵有限公司 | Agricultural irrigation transport vehicle with strong obstacle crossing capability and use method thereof |
| CN114514872B (en) * | 2022-04-20 | 2022-07-05 | 江苏科翔制泵有限公司 | Agricultural irrigation transport vehicle with strong obstacle crossing capability and use method thereof |
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Application publication date: 20141126 |