CN106143664B - Track grouser height adjustable track running gear - Google Patents
Track grouser height adjustable track running gear Download PDFInfo
- Publication number
- CN106143664B CN106143664B CN201610667336.2A CN201610667336A CN106143664B CN 106143664 B CN106143664 B CN 106143664B CN 201610667336 A CN201610667336 A CN 201610667336A CN 106143664 B CN106143664 B CN 106143664B
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- CN
- China
- Prior art keywords
- grouser
- scalable
- treads
- track
- running gear
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- 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
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/27—Ground engaging parts or elements having different types of crampons for progression over varying ground
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
- Tires In General (AREA)
Abstract
The invention discloses a kind of track grouser height adjustable track running gears, including stent, the pulley assemblies being installed on stent and the treads being set around in pulley assemblies, several scalable grouser stents that can stretch out either retraction walking belt surface are slidably equipped in treads to be equipped with that scalable grouser stretching or retraction in one section of treads contact with ground is controlled to walk the extension and contraction control component of belt surface.The track grouser height adjustable track running gear have many advantages, such as it is simple in structure, be easy to make, at low cost, cross-country ability is good, adaptable.
Description
Technical field
The present invention relates to crawler travel equipment technology fields, and in particular to a kind of track grouser height adjustable track walking dress
It puts.
Background technology
Tracked construction equipment is since invention, and by its outstanding accommodative ability of environment, cross-country power is climbed in outstanding turning over,
It is fully applied to agricultural production extensively, architectural engineering is military, also with all trades and professions such as unmanned probing devices.It common are：It is dilatory
Machine, bull-dozer, loading machine, pipelayer, excavator, drilling machine, drill jumbo, harvester etc..
The history of China's production crawler body is shorter, essentially identical with the development of crane, compared with advanced country in the world,
The with low content of technology of domestic crawler body, seriation degree are low, and also there are a certain distance in manufacture and design.Existing crawler belt
Formula walking chassis there are tractive force it is insufficient, easily skid, to complex terrains bad adaptabilities such as mountain area everglade mires the problems such as.
Invention content
The technical problem to be solved in the present invention is to overcome the shortcomings of the prior art, provide it is a kind of it is simple in structure, be easy to
It makes, the track grouser height adjustable track running gear that at low cost, cross-country ability is good, adaptable.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of track grouser height adjustable track running gear, including stent, the pulley assemblies being installed on stent and around
Treads in pulley assemblies, be slidably equipped in the treads it is several can stretch out or retraction walking belt surface it is scalable
Grouser, the stent are equipped with to control scalable grouser stretching or retraction walking in the one section of treads contacted with ground
The extension and contraction control component of belt surface.
Above-mentioned track grouser height adjustable track running gear, it is preferred that each scalable grouser, which is respectively connected with, makes its stretching
The elastomeric element of walking belt surface.
Above-mentioned track grouser height adjustable track running gear, it is preferred that the extension and contraction control component includes lifting and drives
Mechanism and the pressing plate for forcing scalable grouser stretching walking belt surface, the pressing plate are slidedly arranged on stent, and the lifting is driven
Motivation structure is connected with pressing plate and can adjust the height of pressing plate.
Above-mentioned track grouser height adjustable track running gear, it is preferred that the lift drive mechanism includes several cams
And the driving part for driving several cam synchronous rotations that pressing plate is forced to decline.
Above-mentioned track grouser height adjustable track running gear, it is preferred that the driving part include telescopic oil cylinder and
Synchronising (connecting) rod hinged with all cams and that all cams can be driven to rotate synchronously, the telescopic oil cylinder are hingedly installed on stent
On, telescopic rod and the synchronising (connecting) rod of the telescopic oil cylinder are hinged.
Above-mentioned track grouser height adjustable track running gear, it is preferred that the both ends of the pressing plate are equipped with arcwall face.
Above-mentioned track grouser height adjustable track running gear, it is preferred that correspondence is slidedly arranged on row to each scalable grouser respectively
It walks in the pilot hole taken, the both sides of each scalable grouser are all provided with that there are one the elastomeric elements.
Above-mentioned track grouser height adjustable track running gear, it is preferred that the elastomeric element is including adjustable spring and admittedly
The guide rod being connected in treads, the scalable grouser are equipped with sliding sleeve in the through-hole on the guide rod, and the adjustable spring is arranged
In on guide rod, one end of the adjustable spring offsets with scalable grouser, and the guide rod is equipped with and adjustable spring other end phase
The blocking part supported.
Above-mentioned track grouser height adjustable track running gear, it is preferred that the scalable grouser is plate-like, and plate can stretch
One end that contracting grouser stretches out treads is equipped with the sharp portion for being easy to be pierced into soil.
Compared with prior art, the advantage of the invention is that：Track grouser height adjustable track running gear setting of the present invention
Scalable grouser, and using the flexible and extension elongation of the scalable grouser of extension and contraction control component control, in rigid road surface uplink
When walking, by controlling scalable grouser retraction walking belt surface, scalable grouser can be reduced on rigid road surface from damaging, make row
The passability and stationarity of walking apparatus are more preferable；When walking on soft, muddy road surface, by the way that scalable grouser is controlled to stretch out walking
Belt surface makes scalable grouser be inserted into road surface, can greatly improve earth-grasping force, prevent from skidding.The track grouser height adjustable track
The cross-country ability of running gear is superior, to the adaptable of landform, can steadily, it is rapid, safely pass through various complicated roads
Condition also has better passability and riding stability in mountain area without road landform, and its is simple in structure, is easy to make, cost
It is low.
Description of the drawings
Fig. 1 is the side structure schematic view of track grouser height adjustable track running gear.
Fig. 2 is the partial structural diagram of extension and contraction control component.
Fig. 3 is the broken section structure diagram that scalable grouser is mounted in treads.
Fig. 4 is the main structure diagram of walking chassis.
Marginal data：
1st, stent；2nd, pulley assemblies；3rd, treads；4th, scalable grouser；5th, extension and contraction control component；51st, pressing plate；52nd, it is convex
Wheel；53rd, telescopic oil cylinder；54th, synchronising (connecting) rod；6th, elastomeric element；61st, adjustable spring；62nd, guide rod；621st, blocking part；7th, it is oriented to
Hole；8th, rack.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
As shown in Figure 1 to Figure 3, the track grouser height adjustable track running gear of the present embodiment, including stent 1, is installed on
Pulley assemblies 2 on stent 1 and the treads 3 being set around in pulley assemblies 2, stent 1, pulley assemblies 2 and treads 3
Using the prior art, wherein pulley assemblies 2 include the driving wheel, directive wheel, thrust wheel and the moping pulley that are mounted on stent 1, row
Tape transport 3 is around being located on driving wheel, directive wheel, thrust wheel and moping pulley.Several energy stretchings or retraction row are slidably equipped in treads 3
The scalable grouser 4 on 3 surface of tape transport, stent 1 are equipped with to control scalable grouser in the one section of treads 3 contacted with ground
4 stretchings or the extension and contraction control component 5 on 3 surface of retraction treads.Extension and contraction control component 5 can control one section contacted with ground
The length that scalable grouser 4 in treads 3 is stretched and stretched out, track grouser height adjustable track running gear is on rigid road surface
During upper walking, by controlling scalable 4 retraction treads of grouser, 3 surface, scalable grouser 4 damaging certainly on rigid road surface can be reduced
Evil, makes the passability of running gear and stationarity more preferable；When walking on soft, muddy road surface, by controlling scalable grouser 4
3 surface of treads is stretched out, scalable grouser 4 is made to be inserted into road surface, earth-grasping force can be greatly improved, prevent from skidding.The track grouser height
The cross-country ability of adjustable track running gear is superior, to the adaptable of landform, can steadily, it is rapid, safely pass through
Various complex road conditions also have better passability and riding stability, and its is simple in structure, is easy in mountain area without road landform
It makes, is at low cost.
In the present embodiment, each scalable grouser 4, which is connected respectively, makes it stretch out the elastomeric element 6 on 3 surface of treads.
Extension and contraction control component 5 includes lift drive mechanism and for scalable grouser 4 to be forced to stretch out the pressing plate 51 on 3 surface of treads, pressure
Plate 51 is slidedly arranged on stent 1, and lift drive mechanism is connected with pressing plate 51 and the height of adjustable pressing plate 51.Pass through elevator drive machine
Structure adjustment pressing plate 51 rises to proper height, when treads 3 are run, in operation to the one section of treads 3 contacted with ground
Scalable grouser 4 will not be contacted with pressing plate 51, and scalable grouser 4 overcomes the elasticity of elastomeric element 6 under the reaction force on ground
3 surface of active force retraction treads；Pressing plate 51 is adjusted by lift drive mechanism and drops to proper height, is run in treads 3
When, the scalable grouser 4 in one section of treads 3 that operation is extremely contacted with ground is inside contracted by the reaction force on ground to treads 3
Enter, until being contacted with pressing plate 51, the effect of pressing plate 51 can prevent scalable 4 retraction treads of grouser, 3 surface.What pressing plate 51 declined
It is highly adjustable, it can also adjust the extension elongation of scalable grouser 4 when being contacted with ground.In addition, treads 3 are not in contact with the ground
Other parts on scalable grouser 4, due to that not by the effect of extension and contraction control component 5, can be protected under the action of elastomeric element 6
It holds and stretches out 3 surface of treads（Scalable grouser 4, which is in, stretches out maximum state of value）, which also improves the defenses of running gear
Energy.
Above-mentioned lift drive mechanism includes several cams 52 and for several synchronous rotations of cam 52 to be driven to force pressing plate
51 driving parts declined.Driving part includes telescopic oil cylinder 53 and is hinged with all cams 52 and can drive all cams 52
The synchronising (connecting) rod 54 of synchronous rotation, telescopic oil cylinder 53 are hingedly installed on stent 1, the telescopic rod and synchronising (connecting) rod of telescopic oil cylinder 53
54 is hinged.Synchronising (connecting) rod 54 can be driven to be rotated synchronously with all cams 52 during 53 expanding-contracting action of telescopic oil cylinder, it is convex by controlling
The rotational angle of wheel 52, can make all cams 52 while oppress 51 slide downward of pressing plate, and all cams 52 oppress pressing plate 51
When pressing plate 51 is made to remain horizontal.Using this kind of lift drive mechanism, cam 52 and the contact area of pressing plate 51 are big, and stress is equal
It is even, and while working is the linear contact of circumference, and work is relatively flat suitable, can reduce pause and transition in rhythm or melody and vibration.The lifting of the present embodiment is driven
Motivation structure using telescopic oil cylinder 53 and cam 52 combination, have the operation is stable, it is compact-sized, can realize 51 height nothing of pressing plate
The advantages that grade is adjustable, wherein, cam 52 is easily fabricated, at low cost preferably using circular eccentric wheel.In other embodiments,
Driving part can also use existing other telescopic drive parts.
In the present embodiment, the both ends of pressing plate 51 are equipped with arcwall face, conducive to scalable grouser 4 it is steady, smoothly pass over pressing plate
51。
In the present embodiment, corresponding each scalable grouser 4 offers several pilot holes 7, each scalable shoe in treads 3
Thorn 4 is slidedly arranged in corresponding pilot hole 7, and the both sides of each scalable grouser 4 are all provided with that there are one elastomeric elements 6.Elastomeric element 6 includes
Adjustable spring 61 and the guide rod 62 being fixed in treads 3, scalable grouser 4 are equipped with sliding sleeve in the through-hole on guide rod 62, stretch
Spring 61 is sheathed on guide rod 62, and one end of adjustable spring 61 offsets with scalable grouser 4, and guide rod 62 is equipped with and adjustable spring
The blocking part 621 that 61 other ends offset makes scalable grouser 4 be kept when under no external force acts on by the effect of adjustable spring 61
Stretch out 3 surface of treads.
In the present embodiment, scalable grouser 4 is plate-like, and the plate face of the scalable grouser 4 of plate is parallel to treads 3, plate
One end that scalable grouser 4 stretches out treads 3 is equipped with the sharp portion for being easy to be pierced into soil.
Fig. 4 also shows a kind of crawler body of the track grouser height adjustable track running gear using the present embodiment, packet
Including rack 8 and two crawler units for being installed on 8 both sides of rack, two crawler units use above-mentioned grouser
Adjustable height crawler unit.
The track grouser height adjustable track running gear of the present invention has following structure feature and performance：
（1）Grounding pressure is small, is conducive to plant growth：Since most of disused arable land in nearly mountain area is larger, and wheeled bottom
In hillside fields operation, stability is poor, dangerous, operation quality is also poor for disk, and peasant household's general choice caterpillar chassis carries out farmland work
Industry, main cause are still that roll soil serious for wheel undercarriage.Either Liang Zuo areas or You Zuo areas, either tillage operation be also
It is seeding operation, peasant generally selects caterpillar chassis mechanical work, and being primarily due to wheel undercarriage agricultural machinery can be to farmland
Being rolled repeatedly is compacted soil, is unfavorable for the growth of crop, influences yield, and the walking of track grouser height adjustable track fills
The grounding pressure put is small, and rolling repeatedly will not be caused to soil, is conducive to the growth of crop.
（2）Road damage is reduced, increases driving safety：When mechanical not operation, that is, when being translocation, in horse
Road track grouser height adjustable track running gear is compared to having smaller grounding pressure for more general crawler body, to road
Injury smaller, meanwhile, in some mountain areas, wetland, hillside fields, traveling is more stablized, and can reduce the generation of accident, increases safety
Property.
（3）Treads 3 are big to frictional ground force and tractive force：In hillside fields, viscous weight, flush and sandy land area, no matter
It is walking or operation is required for larger tractive force and frictional force, track grouser height adjustable track running gear can be carried effectively
For enough earth-grasping forces, so as to be more suitable for the walking requirement under various adverse circumstances.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example.To those of ordinary skill in the art, obtained improvement and change in the case where not departing from the technology of the present invention concept thereof
It changes and also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of track grouser height adjustable track running gear, including stent (1), the pulley assemblies (2) being installed on stent (1)
And it is set around the treads (3) in pulley assemblies (2), it is characterised in that：Several energy are slidably equipped on the treads (3) to stretch out
Or the scalable grouser (4) on retraction treads (3) surface, the stent (1) are equipped with to control contact with ground one
The extension and contraction control component (5) on scalable grouser (4) stretching or retraction treads (3) surface in section treads (3)；It is each scalable
Grouser (4), which is respectively connected with, makes it stretch out the elastomeric element (6) on treads (3) surface；The extension and contraction control component (5) includes lifting
Driving mechanism and the pressing plate (51) for forcing scalable grouser (4) stretching treads (3) surface, the pressing plate (51) are slidedly arranged on
On stent (1), the lift drive mechanism is connected with pressing plate (51) and the height of adjustable pressing plate (51).
2. track grouser height adjustable track running gear according to claim 1, it is characterised in that：The elevator drive machine
Structure includes several cams (52) and for several cams (52) to be driven to rotate synchronously the driving that pressing plate (51) is forced to decline
Component.
3. track grouser height adjustable track running gear according to claim 2, it is characterised in that：The driving part packet
Include telescopic oil cylinder (53) and synchronising (connecting) rod hinged with all cams (52) and that all cams (52) can be driven to rotate synchronously
(54), the telescopic oil cylinder (53) is hingedly installed on stent (1), the telescopic rod and synchronising (connecting) rod of the telescopic oil cylinder (53)
(54) it is hinged.
4. track grouser height adjustable track running gear according to claim 1, it is characterised in that：The pressing plate (51)
Both ends are equipped with arcwall face.
5. track grouser height adjustable track running gear according to claim 1, it is characterised in that：Each scalable grouser
(4) correspondence is slidedly arranged in the pilot hole (7) in treads (3) respectively, and the both sides of each scalable grouser (4) are all provided with there are one described in
Elastomeric element (6).
6. track grouser height adjustable track running gear according to claim 5, it is characterised in that：The elastomeric element
(6) including adjustable spring (61) and the guide rod (62) being fixed in treads (3), the scalable grouser (4) equipped with sliding sleeve in
Through-hole on the guide rod (62), the adjustable spring (61) are sheathed on guide rod (62), one end of the adjustable spring (61)
It offsets with scalable grouser (4), the guide rod (62) is equipped with the blocking part (621) to offset with adjustable spring (61) other end.
7. track grouser height adjustable track running gear according to any one of claim 1 to 6, it is characterised in that：Institute
State that scalable grouser (4) is plate-like, one end that the scalable grouser of plate (4) stretches out treads (3) is equipped with and is easy to be pierced into soil
Sharp portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667336.2A CN106143664B (en) | 2016-08-15 | 2016-08-15 | Track grouser height adjustable track running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667336.2A CN106143664B (en) | 2016-08-15 | 2016-08-15 | Track grouser height adjustable track running gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106143664A CN106143664A (en) | 2016-11-23 |
| CN106143664B true CN106143664B (en) | 2018-06-22 |
Family
ID=57330321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610667336.2A Expired - Fee Related CN106143664B (en) | 2016-08-15 | 2016-08-15 | Track grouser height adjustable track running gear |
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| Country | Link |
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| CN (1) | CN106143664B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371205B (en) * | 2019-07-29 | 2020-10-13 | 南京蹑波物联网科技有限公司 | Robot track of moving away to avoid possible earthquakes |
| CN111005726B (en) * | 2019-11-20 | 2021-06-18 | 中国海洋大学 | Tooth-grouted device and method special for mining vehicle capable of adapting to different deep sea surface soil bodies |
| CN112519904A (en) * | 2020-12-16 | 2021-03-19 | 北方工业大学 | Bionic telescopic active barbed-type crawler climbing mechanism |
| CN113352834B (en) * | 2021-06-03 | 2022-10-14 | 中国北方车辆研究所 | Multi-mode adjustable modular mobile system |
| CN113844556B (en) * | 2021-09-17 | 2022-08-16 | 南京蹑波物联网科技有限公司 | Robot directional anti-deviation mechanism and anti-deviation method based on Internet of things |
| CN114655327B (en) * | 2022-05-05 | 2023-09-08 | 益阳市消防救援支队 | Boat transportation crawler and chassis structure thereof |
| CN115214810A (en) * | 2022-06-15 | 2022-10-21 | 华能宁夏中卫光伏发电有限公司 | Hillside field photovoltaic material conveyer |
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| CN101583532A (en) * | 2006-11-13 | 2009-11-18 | 雷神萨科斯公司 | Versatile endless track for lightweight mobile robots |
| CN202071910U (en) * | 2011-04-08 | 2011-12-14 | 山西亚佳机电集团有限公司 | Work station of crawler-type walking robot |
| CN104163213A (en) * | 2014-08-09 | 2014-11-26 | 河北工业大学 | Passive self-adaption caterpillar structure |
| CN206031556U (en) * | 2016-08-15 | 2017-03-22 | 湖南农业大学 | Crawler travel unit with adjustable grouser height |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS63301187A (en) * | 1987-06-02 | 1988-12-08 | Mitsubishi Heavy Ind Ltd | Crawler belt for caterpillar type vehicle |
| JPH11139360A (en) * | 1997-11-12 | 1999-05-25 | Ohtsu Tire & Rubber Co Ltd :The | Elastic crawler |
| CA2567645C (en) * | 2006-11-09 | 2013-09-03 | Soucy International Inc. | Traction chain assembly for elastomeric tracks |
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2016
- 2016-08-15 CN CN201610667336.2A patent/CN106143664B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101583532A (en) * | 2006-11-13 | 2009-11-18 | 雷神萨科斯公司 | Versatile endless track for lightweight mobile robots |
| CN202071910U (en) * | 2011-04-08 | 2011-12-14 | 山西亚佳机电集团有限公司 | Work station of crawler-type walking robot |
| CN104163213A (en) * | 2014-08-09 | 2014-11-26 | 河北工业大学 | Passive self-adaption caterpillar structure |
| CN206031556U (en) * | 2016-08-15 | 2017-03-22 | 湖南农业大学 | Crawler travel unit with adjustable grouser height |
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| Publication number | Publication date |
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| CN106143664A (en) | 2016-11-23 |
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