CN104443086A - Hydraulic telescopic transformable crawler wheel - Google Patents
Hydraulic telescopic transformable crawler wheel Download PDFInfo
- Publication number
- CN104443086A CN104443086A CN201410749561.1A CN201410749561A CN104443086A CN 104443086 A CN104443086 A CN 104443086A CN 201410749561 A CN201410749561 A CN 201410749561A CN 104443086 A CN104443086 A CN 104443086A
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- Prior art keywords
- support
- gear
- wheel
- hydraulic
- hydraulic pressure
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- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 4
- 235000019994 cava Nutrition 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 210000002784 stomach Anatomy 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- LENZDBCJOHFCAS-UHFFFAOYSA-N tris Chemical compound OCC(N)(CO)CO LENZDBCJOHFCAS-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motor Power Transmission Devices (AREA)
- Handcart (AREA)
Abstract
The invention discloses a hydraulic telescopic transformable crawler wheel comprising a crawler, a hydraulic support frame and three support wheels. The second support wheel and the third support wheel are connected through a telescopic link, and a rubber block is mounted between the hydraulic telescopic link and each of the second support wheel and the third support wheel. The hydraulic telescopic transformable crawler wheel has the advantages that the hydraulic support frame comprises a hydraulic support cylinder and three hydraulic rods forming a circle, and the round crawler wheel of the structure is fast in running and suitable for running on dry pavements; when the hydraulic support frame is telescoped, the distance between the second support wheel and the third support wheel is enlarged due to extension of the hydraulic telescopic link, the traveling wheel becomes triangular, and the crawler of the structure is large in footprint area and suitable for running in muddy places.
Description
Technical field
The present invention relates to a kind of hydraulically extensible deformed caterpillar wheel.
Background technology
Athey wheel is to better adapt to modern age various vehicle to the requirement of the harsh performance such as cross-country traveling ability and high maneuverability, merge the advantage of tire and creeper undercarriage and the novel travelling mechanism researched and developed, current Athey wheel is generally the Athey wheel of triangle Athey wheel or long strip type, and this current several Athey wheel does not possess the feature of distortion or conversion mutually.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of hydraulically extensible deformed caterpillar wheel, can the distortion of express delivery, be applicable to different terrain and occasion uses.
To achieve these goals, the technical solution used in the present invention is: a kind of deformable caterpillar wheel comprises: crawler belt and for the hydraulic support frame that supports crawler belt and three support wheels;
Described hydraulic support frame comprises support hydraulic pressure cylinder body and is arranged on three hydraulic stem compositions on support hydraulic pressure cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece engaged with the internal tooth of crawler belt, circular arc gear piece and three corner gears engage with crawler belt, and form a circle, three support wheels pass through rod hinge connection, wherein be connected by expansion link between the second support wheel with the 3rd support wheel, be connected by hydraulically extensible bar between second support wheel with the 3rd support wheel, hydraulically extensible bar and install a rubber block respectively between the second support wheel and the 3rd support wheel.
Further, the medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth;
First gear is connected by chain gear with the second gear;
Second gear is connected by hydraulic pressure oil transportation hollow shaft with the support hydraulic pressure cylinder body of hydraulic support frame, and transaxle is placed on hydraulic pressure oil transportation hollow shaft, and transaxle can be moved by hydraulically extensible; The center of the second gear also has one and to cave in cone tooth;
One end of transaxle has can bore the intermeshing two-sided cone tooth of tooth with the second gear and caving in of support hydraulic pressure cylinder body, and corner gear is connected with the first gear by transmission shaft.
Further improvement, the outside of the outer actuating device be made up of the first gear, the second gear and chain is also provided with position-limited lever.
Further improvement, be revolute pair connection mode between the support hydraulic pressure cylinder body of hydraulic support frame and hydraulic pressure oil transportation hollow shaft, there is rubber seal inside.
The invention has the beneficial effects as follows: described hydraulic support frame comprises support hydraulic pressure cylinder body and is arranged on three hydraulic stem compositions on support hydraulic pressure cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece engaged with the internal tooth of crawler belt, circular arc gear piece engages with crawler belt with three corner gears, and form a circle, this circular crawler track wheel construction advantage is that moving velocity is fast, be applicable to dry road traveling, when passing through to shrink hydraulic support frame, second support wheel is extended by hydraulic pressure with the hydraulically extensible bar be connected between the 3rd support wheel simultaneously, strengthen the distance between the second support wheel and the 3rd support wheel, road wheel is made to become an obtuse-angled triangle shape, the area that contacts to earth of the structure of this crawler belt is large, be adapted at comparatively muddy place to travel, hydraulically extensible bar and install a rubber block respectively between the second support wheel and the 3rd support wheel, for vibration damping.
Accompanying drawing explanation
Fig. 1 is foreign steamer constructional drawing of the present invention.
Fig. 2 is main structure chart of the present invention.
Fig. 3 is master map broken away view of the present invention.
Fig. 4 is the constructional drawing of transaxle.
Fig. 5 is wheel constructional drawing triangular in shape.
Fig. 6 be wheel rounded time support wheel constitution diagram.
Fig. 7 is that the present invention does not have tracked constructional drawing.
In figure: 1, crawler belt, 2, circular arc gear piece, 3, hydraulic support frame, 4, transaxle, 6, hydraulically extensible bar, the 7, first support wheel, 8, the second support wheel, the 9, the 3rd support wheel, the 10, second gear, 11, the first gear, 12, transmission shaft, 13,14, chain, 15, position-limited lever, 16, cave in cone tooth.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As depicted in figs. 1 and 2, the present invention includes: crawler belt 1 and for the hydraulic support frame 3 that supports crawler belt and the first support wheel 7, second support wheel 8, the 3rd support wheel 9, the first described support wheel 7, second support wheel 8, the 3rd support wheel 9 are rotating corner gear.
Hydraulic support frame 3 comprises support hydraulic pressure cylinder body and is arranged on three hydraulic stem compositions on support hydraulic pressure cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece 2 engaged with the internal tooth of crawler belt 1, circular arc gear piece 2 and the first support wheel 7, second support wheel 8, 3rd support wheel 9 all engages with crawler belt, and form a circle, rod hinge connection is passed through in the middle of first support wheel 7 and the second support wheel 8 and the first support wheel 7 and the 3rd support wheel 9, as shown in Figure 6, be connected by expansion link between second support wheel 8 with the 3rd support wheel 9, be connected by hydraulically extensible bar between second support wheel 8 with the 3rd support wheel 9, hydraulically extensible bar 6 and install a rubber block respectively for vibration damping between the second support wheel 8 and the 3rd support wheel 9.
The medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth 16;
First gear 11 and the second gear 10 are in transmission connection by chain 14;
Second gear 10 is connected by hydraulic pressure oil transportation hollow shaft 13 with the support hydraulic pressure cylinder body of hydraulic support frame 3, be revolute pair connection mode between the support hydraulic pressure cylinder body of hydraulic support frame 3 and hydraulic pressure oil transportation hollow shaft 13, there is rubber seal inside, prevents the leakage of hydraulic oil.
Transaxle 4 is placed on hydraulic pressure oil transportation hollow shaft 13, and transaxle 4 can be moved by hydraulically extensible; The center of the second gear 10 also has one and to cave in cone tooth; As shown in Figure 4, one end of transaxle 4 has can bore the intermeshing two-sided cone tooth of tooth 16 with the second gear 10 and caving in of support hydraulic pressure cylinder body, and corner gear 7 is connected with the first gear 11 by transmission shaft 12;
The outside of the outer actuating device be made up of the first gear 11, second gear 10 and chain 14 is also provided with position-limited lever 15, makes outer actuating device position be fixed and can not produce skew.
Due to the first support wheel 7, second support wheel 8, the 3rd support wheel 9, circular arc gear piece 2 common support of three hydraulic stems crawler belt 1, crawler belt 1 is in tensioned state, due to the effect of power, spring 6 also fixing between second support wheel 8 and the 3rd support wheel 9 is in compressive state, now, crawler belt 1 is in a circular state substantially.Transaxle 4 is connected with driving engine, it is the sole power source of whole wheel movement, the conversion regime realizing motion is, control to make motion transaxle 4 axially realize moving by control system, when motion transaxle 4 leans against on hydraulic support frame 3, the caving in of the finishing bevel gear cuter of motion transaxle 4 and support hydraulic pressure cylinder body is bored tooth 16 and is engaged, and drives hydraulic support frame 3 to rotate, thus the structure twirl of whole wheel one circle.
By shrinking three hydraulic stems on support hydraulic pressure cylinder body, the circular arc gear piece 2 of the end of hydraulic stem no longer contacts with crawler belt and engages, crawler belt is in lax shape, spring 6 Rapid reset fixing between second support wheel 8 and the 3rd support wheel 9, the distance between the second support wheel 8 and the 3rd support wheel 9 is made to become large, first support wheel 7, second support wheel 8, the 3rd support wheel 9 present an isosceles obtuse-angled triangle, as shown in Figure 5, the wheel of whole crawler belt parcel is in an isosceles obtuse-angled triangle, and the wheel area that lands is large.Promote transaxle 4 by Hynautio-steering to move to the direction of the second gear 10, transaxle 4 is no longer connected with hydraulic support frame 3, hydraulic support frame 3 is in passive delivery state, the bore at the middle pit of the stomach of the second gear 10 is a bit larger tham the diameter of transaxle 4, make the axis body of transaxle 4 can pass the middle pit of the stomach of the second gear 10, like this, the cone tooth of transaxle 4 end can be bored tooth and engages with being caved in of the second gear 10, the second gear 10 is driven by transaxle 4, by chain 14 with transmission first gear 11 is rotated, and the first gear 11 has the rotation being driven the first support wheel 7 by transmission shaft 12, thus realize the rotation of crawler belt 1.
Claims (5)
1. a hydraulically extensible deformed caterpillar wheel, is characterized in that, comprising: crawler belt (1) and for the hydraulic support frame (3) that supports crawler belt and three support wheels (7,8,9);
Described hydraulic support frame (3) comprises support hydraulic pressure cylinder body and is arranged on three hydraulic stem compositions on support hydraulic pressure cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece (2) engaged with the internal tooth of crawler belt, circular arc gear piece (2) and three corner gears (7, 8, 9) engage with crawler belt, and form a circle, three support wheels (7, 8, 9) rod hinge connection is passed through, wherein be connected by expansion link between the second support wheel (8) with the 3rd support wheel (9), be connected by hydraulically extensible bar (6) between second support wheel (8) with the 3rd support wheel (9), hydraulically extensible bar (6) and install a rubber block respectively between the second support wheel (8) and the 3rd support wheel (9).
2. a kind of hydraulically extensible deformed caterpillar wheel according to claim 1, is characterized in that, the medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth (16);
First gear (11) and the second gear (10) are in transmission connection by chain (14);
Second gear (10) is connected by hydraulic pressure oil transportation hollow shaft (13) with the support hydraulic pressure cylinder body of hydraulic support frame (3), and transaxle (4) is placed on hydraulic pressure oil transportation hollow shaft (13), and transaxle (4) can be moved by hydraulically extensible; The center of the second gear (10) also has one and to cave in cone tooth;
One end of transaxle (4) has can bore the intermeshing two-sided cone tooth of tooth (16) with the second gear (10) and caving in of support hydraulic pressure cylinder body, and corner gear (7) is connected with the first gear (11) by transmission shaft (12).
3. a kind of hydraulically extensible deformed caterpillar wheel according to claim 2, is characterized in that, the outside of the outer actuating device be made up of the first gear (11), the second gear (10) and chain (14) is also provided with position-limited lever (15).
4. a kind of hydraulically extensible deformed caterpillar wheel according to claim 2, is characterized in that, be revolute pair connection mode between the support hydraulic pressure cylinder body of hydraulic support frame (3) and hydraulic pressure oil transportation hollow shaft (13), there is rubber seal inside.
5. a kind of hydraulically extensible deformed caterpillar wheel according to claim 2, is characterized in that, described crawler belt (1) is rubber belt track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749561.1A CN104443086B (en) | 2014-12-10 | 2014-12-10 | Hydraulically extensible deformed caterpillar wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749561.1A CN104443086B (en) | 2014-12-10 | 2014-12-10 | Hydraulically extensible deformed caterpillar wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104443086A true CN104443086A (en) | 2015-03-25 |
| CN104443086B CN104443086B (en) | 2016-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410749561.1A Expired - Fee Related CN104443086B (en) | 2014-12-10 | 2014-12-10 | Hydraulically extensible deformed caterpillar wheel |
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| Country | Link |
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| CN (1) | CN104443086B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110946717A (en) * | 2019-12-19 | 2020-04-03 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN112937713A (en) * | 2021-04-02 | 2021-06-11 | 中南大学 | Composite wall-climbing robot and control method thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1039787A1 (en) * | 1980-12-29 | 1983-09-07 | Белорусский Ордена Трудового Красного Знамени Политехнический Институт | Roller truck propeller |
| JP2006096199A (en) * | 2004-09-29 | 2006-04-13 | Kubota Corp | Crawler type traveling device |
| US20060113095A1 (en) * | 2004-11-29 | 2006-06-01 | Deere & Company, A Delaware Corporation. | Load based suspension motion limiting |
| CN101966797A (en) * | 2010-09-17 | 2011-02-09 | 广东工业大学 | Wheel-tracked freely switching gear train device |
| CN102673306A (en) * | 2011-03-07 | 2012-09-19 | 北京理工大学 | Triangular caterpillar wheel |
| CN102785716A (en) * | 2012-08-03 | 2012-11-21 | 中国科学技术大学 | Special-shaped wheel and caterpillar track combined walking mechanism |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN203005587U (en) * | 2012-12-12 | 2013-06-19 | 樊坤声 | Triangular crawler wheel |
| CN203920957U (en) * | 2014-05-13 | 2014-11-05 | 中国人民解放军军事交通学院 | A kind of restructural rubber belt track |
| CN204279683U (en) * | 2014-12-10 | 2015-04-22 | 中国矿业大学 | Hydraulically extensible deformed caterpillar wheel |
-
2014
- 2014-12-10 CN CN201410749561.1A patent/CN104443086B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1039787A1 (en) * | 1980-12-29 | 1983-09-07 | Белорусский Ордена Трудового Красного Знамени Политехнический Институт | Roller truck propeller |
| JP2006096199A (en) * | 2004-09-29 | 2006-04-13 | Kubota Corp | Crawler type traveling device |
| US20060113095A1 (en) * | 2004-11-29 | 2006-06-01 | Deere & Company, A Delaware Corporation. | Load based suspension motion limiting |
| CN101966797A (en) * | 2010-09-17 | 2011-02-09 | 广东工业大学 | Wheel-tracked freely switching gear train device |
| CN102673306A (en) * | 2011-03-07 | 2012-09-19 | 北京理工大学 | Triangular caterpillar wheel |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN102785716A (en) * | 2012-08-03 | 2012-11-21 | 中国科学技术大学 | Special-shaped wheel and caterpillar track combined walking mechanism |
| CN203005587U (en) * | 2012-12-12 | 2013-06-19 | 樊坤声 | Triangular crawler wheel |
| CN203920957U (en) * | 2014-05-13 | 2014-11-05 | 中国人民解放军军事交通学院 | A kind of restructural rubber belt track |
| CN204279683U (en) * | 2014-12-10 | 2015-04-22 | 中国矿业大学 | Hydraulically extensible deformed caterpillar wheel |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110946717A (en) * | 2019-12-19 | 2020-04-03 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
| CN110946717B (en) * | 2019-12-19 | 2021-05-18 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN112937713A (en) * | 2021-04-02 | 2021-06-11 | 中南大学 | Composite wall-climbing robot and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104443086B (en) | 2016-08-24 |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Zhipeng Inventor after: Zhang Xiufeng Inventor after: Shi Junqing Inventor after: Zhang Wei Inventor after: He Jianhua Inventor after: Xu Xinbin Inventor after: Cui Jie Inventor after: Zang Qiliang Inventor after: Bao Yingji Inventor after: Zhu Dong Inventor before: Fu Yamen Inventor before: Zhao Yucheng Inventor before: Tang Huaqiang |
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| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160712 Address after: 221116 Jiangsu city of Xuzhou Province Academy of Quanshan District Road No. 26 Applicant after: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY Address before: 221000 Nanhu campus, China University of Mining and Technology, Jiangsu, Xuzhou Applicant before: CHINA University OF MINING AND TECHNOLOGY |
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Effective date of registration: 20181206 Address after: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province Patentee after: BENGBU DINGRONG TECHNOLOGY INFORMATION CONSULTING Co.,Ltd. Address before: No. 26, Xue Yuan Road, Quanshan District, Xuzhou, Jiangsu Patentee before: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY |
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Effective date of registration: 20181228 Address after: No. 26, Xue Yuan Road, Quanshan District, Xuzhou, Jiangsu Patentee after: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY Address before: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province Patentee before: BENGBU DINGRONG TECHNOLOGY INFORMATION CONSULTING Co.,Ltd. |
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Effective date of registration: 20220105 Address after: 221112 building A3, safety science and Technology Industrial Park, East Yinshan Road, South Lijiang Road, the second industrial park, high tech Industrial Development Zone, Xuzhou City, Jiangsu Province Patentee after: Xuzhou koala Robot Technology Co.,Ltd. Address before: 221000 Jiangsu city of Xuzhou Province Academy of Quanshan District Road No. 26 Patentee before: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY |
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Granted publication date: 20160824 |