CN105460091B - Crawler body assembly - Google Patents
Crawler body assembly Download PDFInfo
- Publication number
- CN105460091B CN105460091B CN201610019254.7A CN201610019254A CN105460091B CN 105460091 B CN105460091 B CN 105460091B CN 201610019254 A CN201610019254 A CN 201610019254A CN 105460091 B CN105460091 B CN 105460091B
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- China
- Prior art keywords
- vehicle frame
- wheel
- bracket
- inducer
- driving wheel
- 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.)
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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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G3/00—Ambulance aspects of vehicles; Vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances, e.g. for facilitating access of, or for loading, wheelchairs
- A61G3/02—Loading or unloading personal conveyances; Facilitating access of patients or disabled persons to, or exit from, vehicles
- A61G3/0218—Loading or unloading stretchers
- A61G3/0263—Loading or unloading stretchers by moving the stretcher on an inclined path, e.g. sliding or rolling
-
- 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
- B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2220/00—Adaptations of particular transporting means
- A61G2220/14—Cars
Landscapes
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of crawler body assemblies, including vehicle frame, driving device, driving wheel, inducer, bogie wheel and crawler belt；The crawler belt is installed on vehicle frame by driving wheel, inducer and bogie wheel；The inside of driving wheel, the outer circle of inducer and bogie wheel and crawler belt is equipped with the tooth to match；Crawler body assembly of the invention can carry out the transport of the wounded, it is ensured that the wounded are timely conveyed out disaster area, conducive to the treatment of the wounded under complicated rescue environment.
Description
Technical field
The present invention relates to automatic walking mechanism more particularly to a kind of crawler body assemblies.
Background technique
Occur geological disaster after, road and building by serious destruction, common ambulance can not reach the wounded by
The place of wound, people, which need that the wounded are lifted to ambulance location with stretcher, could implement to give first aid to or send to hospital on the spot rescue, and
It when being given first aid to the wounded using easy stretcher, is required to two people and cooperates just lift the wounded, human cost is high, and travelling speed
Slowly, prevent the wounded from timely and effectively being treated, be unfavorable for the treatment of the wounded.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of crawler body assembly, suitable for the rescue work after geological disaster
In work, the transport of the wounded can be carried out under complicated rescue environment, it is ensured that the wounded are timely conveyed out disaster area.
Crawler body assembly of the invention, including vehicle frame, driving device, driving wheel, inducer, bogie wheel and crawler belt；Institute
It states crawler belt and vehicle frame is installed on by driving wheel, inducer and bogie wheel；The outer circle and crawler belt of driving wheel, inducer and bogie wheel
Inside be equipped with the tooth that matches.
Further, the material of the crawler belt is rubber.
Further, driving wheel, inducer and bogie wheel are corresponded on the vehicle frame equipped with inside mounting plate and outboard mounting plates；
The driving wheel is installed on the outside of inside mounting plate by driving device, and driving wheel is fixed on the power output shaft of driving device
On；The inducer and bogie wheel pass through respective wheel shaft respectively and are installed between inside mounting plate and outboard mounting plates；Inside
The cover plate for covering in bogie wheel top is further fixed between mounting plate and outboard mounting plates.
It further, further include the storage bin for being fixed on vehicle frame.
It further, further include the self-balancing bracket for being installed on vehicle frame；The self-balancing bracket include anterior-posterior balance mechanism and
Left-right balance mechanism；The anterior-posterior balance mechanism includes synchronous belt drive mechanism, arc guide rail and anterior-posterior balance bracket；The circle
Arc guide rail is vertically arranged；The front end of the anterior-posterior balance bracket is articulated with the transmission belt of synchronous belt drive mechanism, rear end sliding
It is connected to arc guide rail.
Further, the left-right balance mechanism includes left-right balance bracket, spline motor and supporting plate；The left-right balance branch
Frame and spline motor are fixed on anterior-posterior balance bracket；The output shaft of spline motor is longitudinally arranged and along vehicle frame by left-right balance
Bracket carries out radial support positioning；The supporting plate is fixed on the output shaft of spline motor.
Further, the both lateral sides edge of the supporting plate is the guide rail structure for being slidably matched with stretcher single-degree-of-freedom
And the both lateral sides edge of supporting plate is equipped with multiple pulleys for being slidably matched with stretcher；The rear end of the supporting plate is fixed with
For carrying out the fixed baffle of sliding limit to stretcher.
The beneficial effects of the present invention are: crawler body assembly of the invention, can carry out the wounded under complicated rescue environment
Transport, it is ensured that the wounded are timely conveyed out disaster area, conducive to the treatment of the wounded.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the A-A cross-sectional view of Fig. 1.
Specific embodiment
Fig. 1 is the structural diagram of the present invention；Fig. 2 is the top view of Fig. 1；Fig. 3 is the A-A cross-sectional view of Fig. 1, as schemed institute
Show: the crawler body assembly of the present embodiment, including vehicle frame 1, driving device 2, driving wheel 3, inducer 4, bogie wheel and crawler belt 5；
The crawler belt 5 is installed on vehicle frame 1 by driving wheel 3, inducer 4 and bogie wheel；The outer circle of driving wheel 3, inducer 4 and bogie wheel
And the inside of crawler belt 5 is equipped with the tooth to match；Driving wheel 3 is set to the front of vehicle frame 1 and is driven by driving device 2 and rotated, and lures
Guide wheel 4 is set to the rear portion of vehicle frame 1, and bogie wheel is set between driving wheel 3 and inducer 4, and crawler belt 5 is installed on driving wheel 3, inducer
4 and bogie wheel on, automatic control system is installed on vehicle frame 1, can control driving device 2 revolving speed and turn to, and then control
The travel speed of crawler body processed and direction；Crawler type walking mechanism adhesive force is strong, and passability is good, is suitable for the complex road surfaces such as disaster area
Traveling.
In the present embodiment, the material of the crawler belt 5 is rubber；The strong point for having played rubber to greatest extent, makes track bottom
Disc assembly integrally reduces the pressure reduction on ground, vibration, turn to flexibly, do not damage that road surface, speed is fast, overall weight is light, increase
The strong adaptability of crawler body assembly, makes crawler body assembly have more flexible performance on complex road surface, improves obstacle detouring
Ability and climbing capacity.
In the present embodiment, driving wheel 3, inducer 4 and bogie wheel are corresponded on the vehicle frame 1 equipped with inside mounting plate 6 and outer
Side mounting plate 7；The driving wheel 3 is installed on the outside of inside mounting plate 6 by driving device 2, and driving wheel 3 is fixed on driving dress
It sets on 2 power output shaft；The inducer 4 and bogie wheel pass through respective wheel shaft respectively and are installed on inside mounting plate 6 and outer
Between side mounting plate 7；The cover plate for covering in bogie wheel top is further fixed between inside mounting plate 6 and outboard mounting plates 7；For actively
Wheel 3, inducer 4 and bogie wheel provide reliable and stable mounting structure, while can effectively be hidden to inducer 4 and bogie wheel
It covers and protects, be suitable for the complex road surfaces such as disaster area traveling, it is beautiful, it is hardly damaged.
It further include the storage bin for being fixed on vehicle frame 1 in the present embodiment；It can play the role of to drug and food delivery.
It further include the self-balancing bracket for being installed on vehicle frame 1 in the present embodiment；The self-balancing bracket includes anterior-posterior balance machine
Structure and left-right balance mechanism；The anterior-posterior balance mechanism includes synchronous belt drive mechanism 8, arc guide rail 9 and anterior-posterior balance bracket
10；The arc guide rail 9 is vertically arranged；The front end of the anterior-posterior balance bracket 10 is articulated with the biography of synchronous belt drive mechanism 8
Dynamic band, rear end is slidably connected to arc guide rail 9；Self-balancing bracket is equipped with the mounting structure to match with stretcher, therefore can
Stretcher is installed on self-balancing bracket as needed and is realized to the vehicle-mounted transport of wounded's progress, human resources is saved, guarantees wound
Member sends out see a doctor in time, and the automatic control system installed on vehicle frame 1 passes through detection pavement behavior balance mechanism and a left side forwards, backwards
Right balance mechanism issues control signal to keep self-balancing bracket steady；The wounded can be smoothly carried out under complicated rescue environment
Transport, it is ensured that the wounded in time, safety be conveyed out disaster area, avoid the wounded rescue work and transport during by secondary
Injury；The vertically arranged circle for referring to 9 place of arc guide rail of arc guide rail 9 is located in a perpendicular, specially along vehicle frame 1
In longitudinal a certain perpendicular, synchronous belt drive mechanism 8 is driven by servo motor, and synchronous belt drive mechanism 8 can be along crawler belt
The direction of travel of chassis assembly is arranged, setting can also be obliquely installed or erect, as shown in Figure 1, the synchronous belt in the present embodiment
Transmission mechanism 8 is obliquely installed in such a way that the front is high and the back is low, passes through the movement of synchronous belt and the weight of anterior-posterior balance bracket 10 itself
Power effect can be such that anterior-posterior balance bracket 10 slides between synchronous belt drive mechanism 8 and arc guide rail 9, and then before adjustment stretcher
Back rake angle keeps balance；10 rear end of anterior-posterior balance bracket corresponds to arc guide rail 9 equipped with idler wheel, passes through anterior-posterior balance bracket 10
Roller-coaster is connected to arc guide rail 9, reduces friction；The anterior-posterior balance mechanism bearing capacity of the present embodiment is strong, rescues suitable for disaster area
It helps, the rear end of synchronous belt drive mechanism 8 is articulated with vehicle frame 1, and the front end of synchronous belt drive mechanism 8 is installed on vehicle frame 1 by pillar；
It is articulated and connected between the both ends and synchronous belt drive mechanism 8 and vehicle frame 1 of the pillar, the pillar is by automatic control system
The double acting hydraulic cylinder of control, automatic control system control pillar according to pavement behavior and elongate or shorten, to adjust synchronous belt biography
The gradient of motivation structure 8 increases the adjusting range at 10 front and back inclination angle of anterior-posterior balance bracket, adaptable, is travelling on slope Lu Qing
Guarantee that anterior-posterior balance bracket 10 is steady under condition.
In the present embodiment, the left-right balance mechanism includes left-right balance bracket 11, spline motor and supporting plate 12；The left side
Right balance bracket 11 and spline motor are fixed on anterior-posterior balance bracket 10；Longitudinal cloth of the output shaft of spline motor along crawler body
It sets and radial support positioning is carried out by left-right balance bracket 11；The supporting plate 12 is fixed on the output shaft of spline motor；Spline
Motor includes that the motor and retarder to become one using the output shaft of retarder as the output shaft of spline motor passes through control
The positive and negative rotation of motor processed and corner control the left and right inclination angle of supporting plate 12；By to synchronous belt drive mechanism 8 and left-right balance machine
Structure it is compound so that supporting plate 12 is in a certain range, equilbrium position can be automatically adjusted, and then keep stretcher balance, avoided
Due to the influence of extraneous factor in rescue work, lead to the secondary injury to the wounded；
The working principle of self-balancing bracket are as follows: by three-dimensional omnidirectional's laser radar of 1 front end of vehicle frame to crawler body assembly
The landform in front is scanned analysis, when not having barrier, keeps the leading dimension position of synchronous belt drive mechanism 8, keeps front and back flat
Weighing apparatus bracket 10 keeps balance in the longitudinal direction, moves on；
When barrier occurs in front, pulse signal is generated by single-chip computer control system first and drives watching for crawler body
Taking motor makes crawler body assembly gradually slow down；Single-chip microcontroller is by comparing and analyzing the signal that photoelectric sensor is passed back；
Without departing from adjustable extent, (entire mobile platform is turned on one's side in order to prevent, guarantees the scope of activities of center of gravity, front and back
Balancing safety adjustable range is each 10 ° of front and back) a. when three-dimensional omnidirectional's laser radar scanning to front is there are when barrier, feeds back to
Control system starts the speed for slowly reducing crawler belt 5；B. start to believe the blocking surfaces gradient by three-dimensional omnidirectional laser radar
Breath is scanned, and feeds back to control system；C. by being located at the millimetre-wave radar of crawler body front end to preceding object object distance
From feedback, control crawler body assembly be moved to barrier certain distance when, start start closed-loop toothed belt transmission machine
Structure 8, and slowly adjusted according to the grade information of the blocking surfaces of feedback；D. when crawler body assembly starts to cross barrier
When hindering object, controller is by the detection to 5 speed of crawler belt, to adjust the speed of service of synchronous belt and spline motor, it is ensured that stretcher
It is in a horizontal position always on the position of front and rear, left and right；E. while adjusting horizontal position, by being located at anterior-posterior balance bracket
The stent location information of gyroscope feedback on 10 is corrected processing to the speed of service of synchronous belt and spline motor, and enhancing is adjusted
Whole accuracy；
If exceed the adjustable extent of synchronous belt drive mechanism 8, the front passed back by three-dimensional omnidirectional's laser radar
Shape information, again planning action path.If detouring when energy avoiding obstacles；Other barriers if it exists, then continue into
Row step a.
In the present embodiment, the both lateral sides edge of the supporting plate 12 is for leading with what stretcher single-degree-of-freedom was slidably matched
Rail structure and the both lateral sides edge of supporting plate 12 are equipped with multiple pulleys 13 for being slidably matched with stretcher；The supporting plate 12
Rear end be fixed with for stretcher carry out sliding limit fixed baffle 14；One end with the corresponding wounded head of supporting plate 12 is
One end of front end, corresponding foot is rear end, as shown in Figure 1, the rear end of supporting plate 12 is the right end of supporting plate 12 shown in Fig. 1, support
The front end of plate 12 is higher than rear end, therefore stretcher is close to fixed baffle 14 under its own gravity, and by fixed baffle 14
It is positioned, stretcher can be pulled out, convenient for escorting for the wounded, can installed on existing Simple stretcher and match with supporting plate 12
Sliding part realizes the installation of stretcher, makes full use of existing resource, reduces cost, setting pulley 13 is convenient for stretcher on supporting plate 12
The push-in and pull-out of bed.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (3)
1. a kind of crawler body assembly, it is characterised in that: including vehicle frame, driving device, driving wheel, inducer, bogie wheel and shoe
Band；The crawler belt is installed on vehicle frame by driving wheel, inducer and bogie wheel；The outer circle of driving wheel, inducer and bogie wheel with
And the inside of crawler belt is equipped with the tooth to match；It further include the self-balancing bracket for being installed on vehicle frame；Before the self-balancing bracket includes
Balance mechanism and left-right balance mechanism afterwards；The anterior-posterior balance mechanism includes that synchronous belt drive mechanism, arc guide rail and front and back are flat
Weigh bracket；The arc guide rail is vertically arranged；The front end of the anterior-posterior balance bracket is articulated with the biography of synchronous belt drive mechanism
Dynamic band, rear end is slidably connected to arc guide rail；Synchronous belt drive mechanism is obliquely installed in such a way that the front is high and the back is low；The left and right is flat
The mechanism that weighs includes left-right balance bracket, spline motor and supporting plate；It is flat that the left-right balance bracket and spline motor are fixed on front and back
Weigh bracket；The output shaft of spline motor is longitudinally arranged and along vehicle frame by the progress radial support positioning of left-right balance bracket；Institute
State the output shaft that supporting plate is fixed on spline motor；Driving wheel, inducer and bogie wheel is corresponded on the vehicle frame to install equipped with inside
Plate and outboard mounting plates；The driving wheel is installed on the outside of inside mounting plate by driving device, and driving wheel is fixed on driving
On the power output shaft of device；The inducer and bogie wheel pass through respective wheel shaft respectively and are installed on inside mounting plate and outside
Between mounting plate；The cover plate for covering in bogie wheel top is further fixed between inside mounting plate and outboard mounting plates；The supporting plate
Both lateral sides edge is that the both lateral sides edge of the guide rail structure and supporting plate for being slidably matched with stretcher single-degree-of-freedom is set
There are multiple pulleys for being slidably matched with stretcher；The rear end of the supporting plate is fixed with for carrying out sliding limit to stretcher
Fixed baffle；The vehicle frame front end is provided with the three-dimensional omnidirectional for being scanned analysis to the landform in front of crawler body assembly and swashs
Optical radar；The single-chip microcontroller control mechanism for controlling the walking of crawler body assembly is additionally provided on the vehicle frame.
2. crawler body assembly according to claim 1, it is characterised in that: the material of the crawler belt is rubber.
3. crawler body assembly according to claim 1, it is characterised in that: further include the storage bin for being fixed on vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019254.7A CN105460091B (en) | 2016-01-12 | 2016-01-12 | Crawler body assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019254.7A CN105460091B (en) | 2016-01-12 | 2016-01-12 | Crawler body assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105460091A CN105460091A (en) | 2016-04-06 |
| CN105460091B true CN105460091B (en) | 2019-10-08 |
Family
ID=55598362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610019254.7A Active CN105460091B (en) | 2016-01-12 | 2016-01-12 | Crawler body assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105460091B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182270A (en) * | 2019-05-15 | 2019-08-30 | 湖北省农业机械工程研究设计院 | A kind of levelling device and method for travelling bogie |
| CN114246031A (en) * | 2020-09-25 | 2022-03-29 | 怀化恒祺农业发展股份有限公司 | Ditching device for agricultural |
| CN115946805B (en) * | 2022-11-30 | 2023-07-11 | 平湖旭辉儿童用品股份有限公司 | Antiskid children electric car |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3917356B2 (en) * | 2000-09-22 | 2007-05-23 | 株式会社クボタ | Crawler type traveling device |
| CN201768098U (en) * | 2010-09-03 | 2011-03-23 | 东莞理工学院 | Field stretcher omnidirectional self-balanced ambulance |
| CN202663802U (en) * | 2012-07-10 | 2013-01-16 | 山东澳星工矿设备有限公司 | Traveling chassis of entire-rod sugarcane combined harvester |
| CN205469350U (en) * | 2016-01-12 | 2016-08-17 | 重庆交通大学 | Crawler -type is from running gear |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200973792Y (en) * | 2006-03-09 | 2007-11-14 | 江西理工大学 | Full-automatic health-care shaking bed for good sleeping |
-
2016
- 2016-01-12 CN CN201610019254.7A patent/CN105460091B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3917356B2 (en) * | 2000-09-22 | 2007-05-23 | 株式会社クボタ | Crawler type traveling device |
| CN201768098U (en) * | 2010-09-03 | 2011-03-23 | 东莞理工学院 | Field stretcher omnidirectional self-balanced ambulance |
| CN202663802U (en) * | 2012-07-10 | 2013-01-16 | 山东澳星工矿设备有限公司 | Traveling chassis of entire-rod sugarcane combined harvester |
| CN205469350U (en) * | 2016-01-12 | 2016-08-17 | 重庆交通大学 | Crawler -type is from running gear |
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| Publication number | Publication date |
|---|---|
| CN105460091A (en) | 2016-04-06 |
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