CN104443088B - Athey wheel mechanism - Google Patents
Athey wheel mechanism Download PDFInfo
- Publication number
- CN104443088B CN104443088B CN201410749683.0A CN201410749683A CN104443088B CN 104443088 B CN104443088 B CN 104443088B CN 201410749683 A CN201410749683 A CN 201410749683A CN 104443088 B CN104443088 B CN 104443088B
- Authority
- CN
- China
- Prior art keywords
- wheel
- support
- hydraulic
- gear
- hydraulic pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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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
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
-
- 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
- B62D55/18—Tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/50—Improvement of
- B60B2900/551—Handling of obstacles or difficult terrains
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The open a kind of Athey wheel mechanism of the present invention, crawler belt, hydraulic support frame and three support wheel；Crawler belt includes rubber belt track, reinforcement, iron teeth and limited block, second support wheel is supported with the 3rd and is connected by expansion link between wheel, second support wheel supports with the 3rd and is further fixed on spring between wheel, spring is placed on outside expansion link, transaxle is placed on hydraulic pressure oil transportation hollow axle, transaxle has can bore tooth, and corner gear is connected by power transmission shaft and the first gear.The invention has the beneficial effects as follows: hydraulic support frame includes that support hydraulic pressure cylinder body and three hydraulic stem compositions form a circle, this circular crawler track wheel construction advantage is that travel speed is fast, it is suitable for the road traveling being dried, when by shrinking hydraulic support frame, second support wheel and the 3rd supports wheel due to the distance between spring reset stretching, extension support wheel simultaneously, making road wheel triangularity shape, the area that contacts to earth of the structure of this crawler belt is big, is suitable for travelling in the most muddy place.
Description
Technical field
The present invention relates to a kind of Athey wheel mechanism.
Background technology
Athey wheel is to want to preferably adapt to various vehicle performance harsh to cross-country traveling ability and high maneuverability etc. in modern age
Asking, merged the advantage of tire and creeper undercarriage and the novel travelling mechanism researched and developed, current Athey wheel is usually triangle
Athey wheel or the Athey wheel of long strip type, these current several Athey wheels the most do not possess deformation or the feature of mutually conversion.
Summary of the invention
The problem existed for above-mentioned prior art, the present invention provides a kind of Athey wheel mechanism, simple in construction, it is possible to quickly
Deformation, be suitable for different terrain and occasion and use.
To achieve these goals, the technical solution used in the present invention is: a kind of deformable caterpillar wheel includes: crawler belt
And the hydraulic support frame and three for supporting crawler belt supports wheel；
Described hydraulic support frame includes support hydraulic pressure cylinder body and three hydraulic stems being arranged on support hydraulic pressure cylinder body, liquid
The end of depression bar is all equipped with the circular arc gear piece engaged with crawler belt, circular arc gear piece and three support wheels and engages with crawler belt, and is formed
One circle, three support wheels are by rod hinge connection, and wherein the second support wheel is connected by expansion link between supporting with the 3rd and taking turns,
Second support wheel supports with the 3rd and is further fixed on spring between wheel, and spring is placed on outside expansion link；Described crawler belt includes rubber
Crawler belt, reinforcement, iron teeth and limited block, rubber belt track belt body outer surface widthwise edges has the rubber reinforcement of projection,
At least two limited blocks highlighted along rubber belt track length direction are had on iron teeth；
The medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth；
First gear and the second gear are connected by chain drive；
Second gear is connected by hydraulic pressure oil transportation hollow axle with the support hydraulic pressure cylinder body of hydraulic support frame, and transaxle is placed on liquid
On pressure oil transportation hollow axle so that transaxle can hydraulically extensible motion；The center of the second gear also has one and caves in cone tooth；
One end of transaxle has can bore tooth intermeshing cone tooth with the second gear and caving in of support hydraulic pressure cylinder body,
First supports wheel is connected by power transmission shaft and the first gear.
Further improving, the outside of the outer driving means being made up of the first gear, the second gear and chain is also equipped with
According to gag lever post.
Further improve, be connected for revolute pair between the support hydraulic pressure cylinder body of hydraulic support frame with hydraulic pressure oil transportation hollow axle
Mode, there is rubber seal inside.
Having three limited blocks in described crawler belt on iron teeth, wherein middle limited block is prominent side with two limited blocks of both sides
To on the contrary, the most all iron teeths all along rubber belt track length direction linear arrangement, highlight in the middle part of the front side on an i.e. rear iron teeth
One limited block front end is inserted rear side two on previous iron teeth and is highlighted recessed portion in the middle of limited block backward.
The invention has the beneficial effects as follows: hydraulic support frame includes support hydraulic pressure cylinder body and is arranged on support hydraulic pressure cylinder body
Three hydraulic stem compositions, the end of hydraulic stem is all equipped with the circular arc gear piece that the internal tooth with crawler belt engages, circular arc gear piece and three
Support wheel engages with crawler belt, and forms a circle, and this circular crawler track wheel construction advantage is that travel speed is fast, is suitable for the road surface being dried
Travel, when by shrinking hydraulic support frame, the second support simultaneously is taken turns and supported wheel due to spring reset stretching, extension support wheel with the 3rd
Between distance so that road wheel becomes an obtuse triangle shape, and the area that contacts to earth of the structure of this crawler belt is big, is suitable at more mud
Muddy place travels, and particularly when running into concavo-convex ground or stone, horizontal impact force is relatively big, owing to second supports wheel
And the 3rd supports the strength of spring between wheel supports so that wheel is good at cross running damping performance, and horizontal vibrations are to stress
Reduce by 70%.The simple in construction of the present invention, it is not necessary to the most complicated arrangement of clutch, the crawler belt of current some deformed caterpillars wheel
Wheel system and circle wheel system are not operate cooperation mutually, and the present invention takes full advantage of Athey wheel system and circle wheel system combines,
When its wheel is rounded, the supporting mechanism of Athey wheel also assists in into, and common support forms circular wheel structure, simplification whole
The triviality of wheel mechanism, also saves manufacturing cost simultaneously, and crawler belt two edges increase certain thickness rubber reinforcement, and will
Iron teeth structure is improved to continuous, to strengthen the mutual restriction between adjacent iron teeth, improves the integral rigidity of rubber belt track, turns
Time, ensure that crawler belt is without deformation to greatest extent, it is to avoid iron teeth sliding brings the quality risk of derailed crawler belt.On the other hand, crawler belt week
The centerline deformation amount of length direction is substantially reduced, and crawler belt longitudinal stretching force and lateral stiffness are greatly enhanced, and is suitable for the change of Athey wheel
Shape.
Accompanying drawing explanation
Fig. 1 is foreign steamer structure chart 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 structure chart of transaxle.
Fig. 5 is the structure chart that wheel is triangular in shape.
Fig. 6 be wheel rounded time support wheel state diagram.
Fig. 7 is that the present invention does not has tracked structure chart.
Point planar structure schematic diagram in Fig. 8 rubber belt track.
Fig. 9 is the vertical section structural representation in Fig. 8.
In figure: 1, crawler belt, 2, circular arc gear piece, 3, hydraulic support frame, 4, transaxle, 6, spring, 7, first supports wheel, 8,
Second supports wheel, and the 9, the 3rd supports wheel, the 10, second gear, the 11, first gear, and 12, power transmission shaft, 13, hydraulic pressure oil transportation hollow axle,
14, chain, 15, gag lever post, 16, cave in cone tooth.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the present invention includes: crawler belt 1 and for supporting the hydraulic support frame 3 of crawler belt and first
Supportting wheel 7, second and support wheel the 8, the 3rd support wheel 9, first described support wheel the 7, second support wheel the 8, the 3rd support wheel 9 is can
The corner gear rotated.
Hydraulic support frame 3 includes support hydraulic pressure cylinder body and three the hydraulic stem compositions being arranged on support hydraulic pressure cylinder body, liquid
The end of depression bar is all equipped with the circular arc gear piece 2 that the internal tooth with crawler belt 1 engages, and circular arc gear piece 2 and first supports 7, second, wheel
Support wheel the 8, the 3rd supports wheel and 9 all engage with crawler belt, and forms a circle, first support take turns 7 and second support take turns 8 and first
Support wheel 7 supports in the middle of wheel 9 by rod hinge connections with the 3rd, and as shown in Figure 6, second supports wheel 8 and the 3rd supports to take turns and pass through between 9
Expansion link connects, and is further fixed on spring 6 between the second support wheel 8 and the 3rd support wheel 9, and spring 6 is placed on outside expansion link.
As shown in Figure 8,9, described crawler belt 1 includes rubber belt track 111, reinforcement 112, iron teeth 113 and limited block 114, rubber belt track
111 belt body outer surface widthwise edges have the rubber reinforcement 112 of projection, iron teeth 113 have at least two along rubber belt track
The limited block 114 that 111 length directions are prominent；Particularly there are three limited blocks 114, wherein middle limited block 114 on iron teeth 113
Contrary with the two of both sides limited block projected directions, the most all iron teeths 113 are all along rubber belt track 111 length direction linear rows
Row, i.e. after in the middle part of front side on an iron teeth 13 prominent limited block 114 front end insert on previous iron teeth 113 rear side two to
Processus aboralis goes out the middle recessed portion of limited block 114.Crawler belt two edges increase certain thickness rubber reinforcement, and iron teeth structure are changed
Enter for continuous, to strengthen the mutual restriction between adjacent iron teeth, the integral rigidity of raising rubber belt track, during turning, maximum limit
Degree ensures that crawler belt is without deformation, it is to avoid iron teeth sliding brings the quality risk of derailed crawler belt.On the other hand, in crawler belt circumferential direction
Heart line deflection is substantially reduced, and crawler belt longitudinal stretching force and lateral stiffness are greatly enhanced
The medial center of described support hydraulic pressure cylinder body be provided with one cave in cone tooth 16；
First gear 11 is in transmission connection by chain 14 with the second gear 10；
Second gear 10 is connected by hydraulic pressure oil transportation hollow axle 13 with the support hydraulic pressure cylinder body of hydraulic support frame 3, and hydraulic pressure props up
Being revolute pair connected mode between support hydraulic pressure cylinder body and the hydraulic pressure oil transportation hollow axle 13 of support 3, there is rubber seal inside, anti-
The only leakage of hydraulic oil.
Transaxle 4 is placed on hydraulic pressure oil transportation hollow axle 13 so that transaxle 4 can hydraulically extensible motion；Second gear 10
Center also have one and cave in cone tooth；As shown in Figure 4, have can be with the second gear 10 and support hydraulic pressure at the two ends of transaxle 4
The cone tooth 16 intermeshing cone tooth that caves in of cylinder body, first supports wheel 7 is connected with the first gear 11 by power transmission shaft 12；
The outside of the outer driving means being made up of first gear the 11, second gear 10 and chain 14 is also equipped with gag lever post
15.Outer driving means position is made to obtain fixing to produce skew.
Owing to first supports wheel the 7, second support wheel the 8, the 3rd support wheel 9, the circular arc gear piece 2 of three hydraulic stems props up jointly
Supportting crawler belt 1, crawler belt 1 is in tensioned state, due to the effect of power, the most fixing between the second support wheel 8 and the 3rd support wheel 9
Spring 6 be in compressive state, now, crawler belt 1 is generally in a circular state.Transaxle 4 is to be connected with electromotor
, it is the sole power source of whole wheel movement, it is achieved the conversion regime of motion is, controls to make motion change by control system
Axle 4 is axially realizing movement, when motion transaxle 4 leans against on hydraulic support frame 3, the bevel gear of motion transaxle 4 and support
The cone tooth 16 that caves in of hydraulic cylinder engages, and drives hydraulic support frame 3 to rotate, thus the structure of whole wheel one circle quickly turns
Dynamic.
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 with crawler belt
Contact engagement, crawler belt is in lax shape, and second supports wheel 8 and the 3rd supports spring 6 Rapid reset fixing between wheel 9, makes
The second support wheel 8 and the 3rd supports the distances between wheel 9 and becomes big, first supports wheel 7, second supports wheel the 8, the 3rd and supports wheel
9 present an isosceles obtuse triangle, as it is shown in figure 5, the wheel of whole crawler belt parcel is in an isosceles obtuse triangle, car
The wheel area that lands is big, and particularly when running into concavo-convex ground or stone, horizontal impact force is relatively big, due to second support wheel with
3rd supports the strength of spring between wheel supports so that wheel is good at cross running damping performance, and horizontal vibrations reduce by 70%.
Promoting transaxle 4 to move to the direction of the second gear 10 by Hynautio-steering, transaxle 4 is no longer with hydraulic support frame 3 even
Connecing, hydraulic support frame 3 is in passive delivery state, and the cone tooth of transaxle 4 end can be nibbled with the cone tooth that caves in of the second gear 10
Close, drive the second gear 10 by transaxle 4, rotated with making transmission the first gear 11 by chain 14, and the first gear 11 has
Driven the rotation of the first support wheel 7 by power transmission shaft 12, thus realize the rotation of crawler belt 1.
Claims (4)
1. an Athey wheel mechanism, it is characterised in that including: crawler belt (1) and for support crawler belt hydraulic support frame (3) and
Three support wheel (7,8,9)；Described hydraulic support frame (3) includes support hydraulic pressure cylinder body and is arranged on support hydraulic pressure cylinder body
Three hydraulic stems, in 120 degree of angles between two adjacent hydraulic stems, the end of hydraulic stem is all equipped with engages with crawler belt (1)
Circular arc gear piece (2), circular arc gear piece (2) and three support wheel (7,8,9) and engage with crawler belt, and form a circle, and three are propped up
Support wheel (7,8,9) is by rod hinge connection, and wherein the second support wheel (8) is supported with the 3rd and is connected by expansion link between wheel (9),
Second support wheel (8) and the 3rd supports and is further fixed on spring (6) between wheel (9), and spring (6) is placed on outside expansion link；Described
Crawler belt (1) includes rubber belt track (111), reinforcement (112), iron teeth (113) and limited block (114), rubber belt track (111) belt body
Outer surface widthwise edges has the rubber reinforcement (112) of projection, and iron teeth has at least two along rubber belt track on (113)
(111) limited block (114) that length direction is prominent；The medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth
(16)；First gear (11) is in transmission connection by chain (14) with the second gear (10)；Second gear (10) and hydraulic support frame
(3) support hydraulic pressure cylinder body is connected by hydraulic pressure oil transportation hollow axle (13), and transaxle (4) is placed on hydraulic pressure oil transportation hollow axle (13)
On so that transaxle (4) can hydraulically extensible motion；The center of the second gear (10) also has one and caves in cone tooth；Transaxle
(4) two ends are respectively provided with can bore tooth (16) intermeshing cone tooth with the second gear (10) and caving in of support hydraulic pressure cylinder body,
First supports wheel (7) is connected with the first gear (11) by power transmission shaft (12).
A kind of Athey wheel mechanism the most according to claim 1, it is characterised in that by the first gear (11), the second gear
And the outside of outer driving means that forms of chain (14) is also equipped with a gag lever post (15) (10).
A kind of Athey wheel mechanism the most according to claim 1, it is characterised in that the supporting cylinder of hydraulic support frame (3)
Being revolute pair connected mode between body and hydraulic pressure oil transportation hollow axle (13), there is rubber seal inside.
A kind of Athey wheel mechanism the most according to claim 1, it is characterised in that described spring (6) is Rectangular Spring.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749683.0A CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
| CN201610198569.2A CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749683.0A CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610198569.2A Division CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104443088A CN104443088A (en) | 2015-03-25 |
| CN104443088B true CN104443088B (en) | 2016-09-21 |
Family
ID=52890026
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610198569.2A Active CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
| CN201410749683.0A Expired - Fee Related CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610198569.2A Active CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN105620191B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564148B (en) * | 2016-01-19 | 2017-12-15 | 中国人民解放军国防科学技术大学 | A kind of deformation type wheel carries out leg composite machine people |
| US20180154972A1 (en) * | 2016-11-08 | 2018-06-07 | Shane Chen | Suspension friction drive and auto-balancing transporation device having same |
| CN106817926B (en) * | 2016-12-30 | 2019-03-15 | 重庆市永川区望城机械厂 | A kind of mini-tiller that convenience is travelled in land |
| FR3084325B1 (en) * | 2018-07-27 | 2020-07-31 | Michelin & Cie | TRANSFORMABLE TRACK CARRIER |
| CN110182272B (en) * | 2019-05-17 | 2021-05-25 | 西安理工大学 | Crawler-type triangular/circular deformation wheel mechanism based on internal gear |
| CN110228540B (en) * | 2019-05-17 | 2021-07-20 | 西安理工大学 | Crawler-type triangular/circular deformation wheel mechanism based on modified gears |
| CN110450868A (en) * | 2019-09-18 | 2019-11-15 | 中国科学院合肥物质科学研究院 | A kind of restructural wheel |
| CN110550842A (en) * | 2019-09-26 | 2019-12-10 | 华南理工大学 | Crawler transmission mechanism for continuous supercharging belt type dewatering machine and application thereof |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN111959192B (en) * | 2020-09-01 | 2021-10-01 | 燕山大学 | Crawler-type reconfigurable deformation wheel |
| CN112429102A (en) * | 2020-11-09 | 2021-03-02 | 安徽中亚钢结构工程有限公司 | Wall climbing mechanism of wall climbing rust cleaning robot |
| CN114043818B (en) * | 2021-11-15 | 2023-10-24 | 长春工业大学 | Diameter-variable wheel based on two-rod three-cable tensioning integral structure |
| CN113895531B (en) * | 2021-11-17 | 2024-05-03 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler robot |
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- 2014-12-10 CN CN201410749683.0A patent/CN104443088B/en not_active Expired - Fee Related
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| 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 |
| 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 |
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| CN203005587U (en) * | 2012-12-12 | 2013-06-19 | 樊坤声 | Triangular crawler wheel |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105620191A (en) | 2016-06-01 |
| CN105620191B (en) | 2017-12-08 |
| CN104443088A (en) | 2015-03-25 |
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Inventor after: Liu Ruoqiao Inventor before: Sun Xin |
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Effective date of registration: 20160825 Address after: 417700 Shuangfeng science and Technology Industrial Park, Hunan Applicant after: HUNAN NONGGUANG AGRICULTURE EQUIPMENT CO., LTD. Address before: 221100 Pizhou City, Xuzhou City, the town of canal Youth Road East Applicant before: Sun Xin |
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| C14 | Grant of patent or utility model | ||
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| CP01 | Change in the name or title of a patent holder |
Address after: 417700 Shuangfeng science and Technology Industrial Park, Hunan Patentee after: Hunan Province farmers agricultural equipment Limited by Share Ltd Address before: 417700 Shuangfeng science and Technology Industrial Park, Hunan Patentee before: HUNAN NONGGUANG AGRICULTURE EQUIPMENT CO., LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |