CN106335563A - Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism - Google Patents
Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism Download PDFInfo
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- CN106335563A CN106335563A CN201610899154.8A CN201610899154A CN106335563A CN 106335563 A CN106335563 A CN 106335563A CN 201610899154 A CN201610899154 A CN 201610899154A CN 106335563 A CN106335563 A CN 106335563A
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- biserial
- wheel group
- bearing wheel
- damping
- group
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- 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
-
- 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
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention relates to a double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism which comprises a driving wheel set, a driven wheel set, a guide wheel set, double-row compound bearing wheel sets, a fixing hanger and a crawler belt, wherein the driving wheel set is connected with a main motor through a driving wheel shaft; the driven wheel set is connected with the fixing hanger through a driven hanging beam shaft; the guide wheel set is connected with the fixing hanger through a guiding hanging beam shaft; the bottom of the fixing hanger is connected with the double-row compound bearing wheel sets through damping swinging arm plates; elastic components are connected between the fixing hanger and the damping swinging arm plates; six double-row compound bearing wheel sets are arranged; three double-row compound bearing wheel sets are respectively arranged on each side of the damping traveling mechanism. The double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism has the advantages of direct power output, strong maneuverability, simple structure, convenience in maintenance, high reliability, high universality and wide application scope. When the damping traveling mechanism encounters with barriers, the mechanism can realize the topographical adaptive function through the deflection of the double-row compound bearing wheel sets; the safety of the device is protected; the stable obstacle-surmounting property is realized.
Description
Technical field
The present invention relates to a kind of biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism.
Background technology
Crawler-type mobile chassis has the advantages that flexible movements and contact area of ground are big, it is strong to pass through barrier ability, but
When pavement behavior is not good or needs to pass through barrier, for example, when caterpillar chassis passes through the road surface adhering to protrusion, crawler belt
Foreign impacts can be subject to, so that chassis vibrations, directly affect even running and the reliably working that equipment is installed on chassis, have
When even can damage equipment electric elements inside, lead to equipment malfunction, or even cause the accidents such as equipment blast on fire.Therefore crawler belt
, as the walking mechanism of associated mechanical, its developing direction is all the time round security reliability, applied widely, behaviour for formula mobile chassis
Make simplicity, environmental protection and energy saving and the development of cost low aspect.Make great efforts in improvement continuous always both at home and abroad in this respect.
Since 20 successful Application on tank for the beginning of the century crawler body mechanism, with scientific and technological development, crawler-type mobile
Chassis occurs in that a large amount of amelioration products, can be used for patrolling and examining exploration, rescues the specialized robots such as explosive, extraordinary shooting, carriage of special cargo
Exploitation is domestic fire-fighting domain, police fields, patrol and examine field etc. brings new study hotspot.
In the prior art, common crawler-type mobile chassis only has single suspension or shock-damping structure, and its damping is imitated
Really limited it is difficult to crawler-type mobile chassis and its optional equipment are played with preferable protection；And damping effect preferable damping system
System structure is again complex, not only machining and packaging technology is required very high, and due to addition of all kinds of dampers and
Sensor etc., requires higher, maintenance inconvenience, high cost to controlling, practicality is not strong.In addition, it is domestic at present almost all of
BOGEY WHEEL all using single-row vertical structure, due to BOGEY WHEEL only have in the middle of a row wheel rim with belt contacts so that BOGEY WHEEL is single-row
The area that Longitudinal is rubbed with caterpillar belt structure is less, easily causes destabilizing factor.It is uneven and point when mobile chassis pass through
Sharp barrier or when edge surface, due to the limitation of the single-row vertical structure of BOGEY WHEEL, crawler belt easily occurs lateral deviation
Phenomenon, gently then damages BOGEY WHEEL and pedrail mechanism, heavy then lead to mobile chassis to be turned on one's side, the bigger loss of initiation.
Content of the invention
It is an object of the invention to provide a kind of biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism, make
Whole chassis structure all can preferably support body so that it can be normally worked in different regions, adapts to changeable ring
Border.
The technical solution adopted for the present invention to solve the technical problems is: a kind of biserial composite lead-bearing wheel group crawler-type mobile
Chassis damping walking mechanism, including active wheels, driven wheels, directive wheel group, biserial composite lead-bearing wheel group, fixing suspension bracket, shoe
Band, described active wheels, driven wheels, directive wheel group, biserial composite lead-bearing wheel group are respectively positioned on inside crawler belt and are engaged with crawler belt
Connect, inside crawler belt, be additionally provided with the expansion tightening wheel group engaging with crawler belt, active wheels pass through drive sprocket axle and main body motor connection, from
Driving wheel group is passed through driven hanging beam axle and is connected with fixing suspension bracket, and directive wheel group has multigroup, and every group of directive wheel group is by guiding hanging beam axle
It is connected with fixing suspension bracket, fixing suspension bracket is fixed in chassis body by driven hanging beam axle and guiding hanging beam axle, fixing suspension bracket
Bottom is connected with biserial composite lead-bearing wheel group by damping swing arm plate, is connected with elastic portion between fixing suspension bracket and damping swing arm plate
Part, elastomeric element one end is articulated with fixing suspension bracket by axis pin of the spring a, and the other end is articulated with damping swing arm by axis pin of the spring b
On plate, biserial composite lead-bearing wheel group has six groups, and the every side of damping walking mechanism installs three groups additional.
Specifically, described every group of biserial composite lead-bearing wheel group includes the BOGEY WHEEL of four rectangular distributions, for left side
Three groups of biserial combined type BOGEY WHEEL groups, two on the left of in the of every group BOGEY WHEEL is contacted with edge in the left side of left track, two, right side
BOGEY WHEEL is contacted with edge in the right side of left track；For three groups of biserial combined type BOGEY WHEEL groups on right side, two on the left of in the of every group
Along contacting, two, right side BOGEY WHEEL is contacted individual BOGEY WHEEL with edge in the right side of right side track with the left side of right side track.
Specifically, described every group of biserial composite lead-bearing wheel group is equipped with two pieces of biserial longitudinal supporting plates, and every group of biserial is combined
Two BOGEY WHEELs of BOGEY WHEEL group homonymy are connected by biserial longitudinal supporting plate, and the two ends of two pieces of biserial longitudinal supporting plates lead to respectively
Third wheel group axle connects, and BOGEY WHEEL is connected with wheel group axle by wheel group bearing, and the end of wheel group axle is fixed with fastening bolt, and biserial is indulged
It is articulated and connected with damping swing arm plate to the middle part of gripper shoe by load-bearing wheel shaft.
Specifically, described damping swing arm plate is hinged with fixing suspension bracket by damping fulcrum, and biserial composite lead-bearing wheel group is to subtract
Shake fulcrum is fulcrum, with damping swing arm plate as lever, forms leverage with elastomeric element.
Specifically, described directive wheel group has three groups.
What deserves to be explained is: although invention is only referred to unilateral only three biserial combined type BOGEY WHEEL groups, and (both sides amount to 6
Biserial combined type BOGEY WHEEL group), but key technology corresponding with this structure is not limited only to three groups of biserial combined types and holds
Roller group, as needed and user use environment, one group of biserial combined type BOGEY WHEEL group may be only needed to, two groups of biserials are combined
Formula BOGEY WHEEL group, three groups of biserial combined type BOGEY WHEEL groups ... are also or n group biserial combined type BOGEY WHEEL group etc..
The method have the advantages that the biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking of the present invention
Mechanism's power output is directly, mobility strong, structure are simple, easy to maintenance, reliability is high, strong, applied widely by property, runs into
That can pass through biserial composite lead-bearing wheel during barrier deflects the adaptive functions realized to landform, has both protected the safety of this device
Property, also achieve the smoothly passing property to barrier.Greatly external impact force can be weakened it is achieved that this machine exists during walking
The extensive application under all kinds of varying environments in production application, thus protect the equipment that chassis and its top are installed from punching
Hit and damage, the service life of extension device.Simultaneously as the good property passed through of this structure, this equipment is more suitably applied to
The occasion that the obstacles such as mountain region, desert or even stairs climbing are many, road conditions are complicated.The present invention has low cost, easy to maintenance and applicable
The features such as scope is wide, can be used with large-scale promotion.
Brief description
Fig. 1 is the structural representation of damping walking mechanism of the present invention.
Fig. 2 is the perspective view of damping walking mechanism of the present invention.
Fig. 3 is biserial composite lead-bearing wheel group partial structural diagram in damping walking mechanism of the present invention.
Fig. 4 is the perspective view of biserial composite lead-bearing wheel group in damping walking mechanism of the present invention.
Fig. 5 is the effect diagram when flat road is walked for the damping walking mechanism of the present invention.
Fig. 6 is that damping walking mechanism of the present invention is walked on uneven road and this mobile chassis is already at barrier
On when effect diagram.
Fig. 7 is that damping walking mechanism of the present invention is walked on uneven road and the rear end of mobile chassis runs into and crosses
Effect diagram during obstacle.
Fig. 8 is that damping walking mechanism of the present invention is walked on uneven road and the front end of mobile chassis runs into and crosses
Effect diagram during obstacle.
In figure, 1, active wheels, 2, driven wheels, 3, directive wheel group, 4, fixing suspension bracket, 5, elastomeric element, 6, damping props up
Axle, 7, damping swing arm plate, 8, drive sprocket axle, 9, biserial composite lead-bearing wheel group, 10, crawler belt, 11, expansion tightening wheel group, 12, driven hanging beam
Axle, 13, guiding hanging beam axle, 14, axis pin of the spring a, 15, axis pin of the spring b, 16, BOGEY WHEEL, 17, biserial longitudinal supporting plate, 18, hold
Roller axle, 19, fastening bolt, 20, wheel group bearing, 21, wheel group axle.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.
As shown in Figure 1, 2, a kind of biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism, including driving wheel
4 framves, crawler belt 10 are hung in group 1, driven wheels 2, directive wheel group 3, biserial composite lead-bearing wheel group 9, fixation, described active wheels 1, driven
Wheel group 2, directive wheel group 3, biserial composite lead-bearing wheel group 9 are respectively positioned on crawler belt 10 inner side and are connected, in crawler belt 10 with crawler belt 10 engagement
Side is additionally provided with the expansion tightening wheel group 11 engaging with crawler belt 10, and active wheels 1 pass through drive sprocket axle 8 and main body motor connection, to crawler belt
The power that 10 offers are walked forward, is directly realized by by primary transmission, and power output substantially, substantially increases the transmission effect of motor
Rate, the overall mobility of lifting mobile chassis a, it is to avoid secondary transmission produces power attenuation, noise and abrasion etc.；Meanwhile, by
In adopting primary transmission mode, driving wheel with the direct-connected of reduction gearbox for electrical motor so that frame for movement is succinct, not only processing technology
Simply, and safeguard and overhaul conveniently, maintenance difficulty and the production cost of a whole set of mobile chassis are greatly reduced.
Driven wheels 2 are passed through driven hanging beam axle 12 and are connected with fixing suspension bracket 4, and directive wheel group 3 has three groups, every group of directive wheel group
3 pass through guiding hanging beam axle 13 is connected with fixing suspension bracket 4, and the driven hanging beam axle 12 in every side and three guiding hanging beam axles 13 hang as fixation
The carrying axle of frame 4, this simple mounting structure, it is easy to the overall package dismounting of every side damping walking mechanism, easy to maintenance.More
Importantly, the direction of carrying axle is consistent, all presenting with mobile chassis direction of advance angle is the arrangement of obtuse angle direction, when mobile bottom
When disk runs into raised barrier, front side carrying axle can stress first, by elasticity of compression part and damper, realize carrying axle
Forward deformation and stress；If raised barrier is larger, now stress deforms upon second even the 3rd carrying axle successively,
Realize the forward shift change of carrying axle, thus keeping the consistency of the vertical direction displacement of chassis body it is ensured that mobile chassis
Overall stationarity, decreases or even eliminates the vibrations in the external world it is ensured that the security of chassis upper instrument or equipment.
Fixing suspension bracket 4 is fixed in chassis body by driven hanging beam axle 12 and guiding hanging beam axle 13, the bottom of fixing suspension bracket 4
Portion is connected with biserial composite lead-bearing wheel group 9 by damping swing arm plate 7, is connected flexible between fixing suspension bracket 4 and damping swing arm plate 7
Part 5, elastomeric element 5 one end is articulated with fixing suspension bracket 4 by axis pin of the spring a14, and the other end is articulated with by axis pin of the spring b15
On damping swing arm plate 7, biserial composite lead-bearing wheel group 9 has six groups, and the every side of damping walking mechanism installs three groups additional.Simple using structure
Both arms two-wheel hangs load bearing system, constitutes arm structure by driven wheels, directive wheel group, expansion tightening wheel group and BOGEY WHEEL group,
Support the both sides of crawler belt, not only improve contact area and the frictional force on crawler belt and ground, improve chassis by property and stability.
Simultaneously as the arm structure of the every side in chassis, the narrow contact area making both arms two-wheel and crawler belt is so that crawler belt is concavo-convex with ground
The contact of thing has elasticity, not only the good security that ensure that arm structure, also ensure that crawler belt and the concavo-convex obstacle in ground
The laminating completely of thing.
As shown in Figure 3, Figure 4, every group of biserial composite lead-bearing wheel group 9 includes the BOGEY WHEEL 16 of four rectangular distributions, for
Three groups of biserial combined type BOGEY WHEEL groups 9 in left side, two on the left of in the of every group BOGEY WHEEL 16 is connect with edge in the left side of left track 10
Touch, two, right side BOGEY WHEEL 16 is contacted with edge in the right side of left track 10；Three groups of biserial combined type BOGEY WHEELs for right side
Group 9, along contacting, carried out with right side by two, right side BOGEY WHEEL 16 with the left side of right side track 10 for two on the left of in the of every group BOGEY WHEEL 16
Along contact in right side with 10.Driven wheels 2, directive wheel group 3, expansion tightening wheel group 11 pass through driven hanging beam axle 12 respectively, guiding is hung
Beam axle 13 constitutes arm structure, and the both sides that support crawler belt 10 increase the guiding area of crawler belt 10, and the sliding reducing crawler belt 10 is run
Probability partially.The advantage of this biserial combined type BOGEY WHEEL group is: every group of BOGEY WHEEL group has four BOGEY WHEELs 16 to contact with crawler belt 10
Rub, and, the bilateral symmetry of every group of BOGEY WHEEL group makes, when crawler belt bears certain pressure, can more uniformly lead to
Cross multiple BOGEY WHEEL groups and let out power.What is more important, the BOGEY WHEEL group symmetrical due to employing biserial combined type, work as mobile chassis
Through being uneven and sharp barrier, or when edge surface, all possessing and pass through property well, will not producing because using
Original single-row load-bearing wheel construction and cause destabilizing factor then to cause bigger loss.
Every group of biserial composite lead-bearing wheel group 9 is equipped with two pieces of biserial longitudinal supporting plates 17, every group of biserial composite lead-bearing wheel group 9
Two BOGEY WHEELs 16 of homonymy are connected by biserial longitudinal supporting plate 17, and the two ends of two pieces of biserial longitudinal supporting plates 17 have logical
Hole, is connected by wheel group axle 21 respectively, and wheel group axle 21 both sides are provided with keyway arrangements, for positioning BOGEY WHEEL 16, BOGEY WHEEL 16
It is connected with wheel group axle 21 by wheel group bearing 20, the end of wheel group axle 21 is fixed with fastening bolt 19, be used for fixing biserial and be combined
The linking of each mechanism in BOGEY WHEEL group 9.Load-bearing wheel shaft 18 and damping swing arm plate 7 are passed through in the middle part of biserial longitudinal supporting plate 17
It is articulated and connected.Biserial composite lead-bearing wheel group 9 constitutes arm structure by load-bearing wheel shaft 18, supports the both sides of crawler belt 10.Work as chance
To barrier crawler belt 10 be lifted up when, compress middle spring part 5, the active force of generation is uniformly distributed to biserial composite lead-bearing
The BOGEY WHEEL 16 of wheel group 9 both sides, makes crawler belt fit completely with ground, chassis smooth-ride.
Damping swing arm plate 7 is hinged with fixing suspension bracket 4 by damping fulcrum 6, and biserial composite lead-bearing wheel group 9 is with damping fulcrum 6
For fulcrum, with damping swing arm plate 7 as lever, form leverage with elastomeric element 5.When running into impact endurance test shock, biserial is combined and holds
Roller group 9 can rotate around damping fulcrum 6, and elasticity of compression part 5, thus absorbing the impact because barrier produces and vibrations.
As shown in figure 5, biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism of the present invention is relatively flat
Road on when walking, described three groups of biserial composite lead-bearing wheel groups 9 are all only subject to load gravity on vehicle body and car and are acted on, and apply
Force direction is all along the vertically downward direction of load-bearing wheel shaft 18, respectively g1, g2 and g3.Three groups of load-bearing wheel shafts 18 bear in the face of carrying out
Band and then the support force to it, direction is respectively f1, f2 and f3 straight up.
As shown in fig. 6, biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism of the present invention is uneven
On road walking and this mobile chassis already at barrier on, three groups of biserial composite lead-bearing wheel groups 9 therein are being just in other words
In across obstacle, described three groups of biserial composite lead-bearing wheel groups 9 are acted on by load gravity on vehicle body and car, and force side
To all along the vertically downward direction of load-bearing wheel shaft 18, respectively g1, g2 and g3.Three groups of load-bearing wheel shafts 18 enter in the face of crawler belt with bearing
And the support force to it, because two groups of biserial composite lead-bearing wheel groups occur around axle deflection below, therefore stress is no longer perpendicular
Directly downward, the Impact direction of f1 is: biserial longitudinal supporting plate 17 vertical direction that is located along biserial composite lead-bearing wheel group 9 is it may be assumed that edge
The vertical direction of the tangential direction that the BOGEY WHEEL 16 that biserial composite lead-bearing wheel group 9 is located is contacted with ground；Likewise, the stress of f2
Direction is: biserial longitudinal supporting plate 17 vertical direction being located along biserial composite lead-bearing wheel group 9 is it may be assumed that along biserial composite lead-bearing wheel
The vertical direction of the tangential direction that the BOGEY WHEEL 16 at group 9 place is contacted with ground；And the Impact direction of f3 is: along crawler belt to it
Support force direction straight up.Wherein, the direction of the f1 in above-mentioned and f2 power with run into height, length and gradient of barrier etc.
Relevant.
As shown in fig. 7, biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism of the present invention is uneven
On road, the rear end of walking and mobile chassis runs into and during crossing over blockage, three groups of biserial composite lead-bearing wheel groups 9 therein in other words
Just in across obstacle, described three groups of biserial composite lead-bearing wheel groups 9 are subject to vehicle body and car to the BOGEY WHEEL group of the rearmost end being located
The effect of upper load gravity, and force direction is all along the vertically downward direction of BOGEY WHEEL wheel shaft 18, respectively g1, g2 and g3.Three
Group load-bearing wheel shaft 18 bear in the face of crawler belt and then the support force to it, due to rear set biserial composite lead-bearing wheel group occur around
Axle deflection, therefore stress are no longer straight down, and the Impact direction of f1 is: double along biserial composite lead-bearing wheel group 9 place
Row longitudinal supporting plate 17 vertical direction is it may be assumed that the tangent line side that contacts with ground of BOGEY WHEEL 16 that is located along biserial composite lead-bearing wheel group 9
To vertical direction.And the Impact direction of f2 and f3 is not affected on its angular deflection by barrier due to, direction is:
Along crawler belt to its support force direction straight up.Wherein, the direction of f1 power in above-mentioned and height, the length running into barrier
And the gradient etc. is relevant.
As shown in figure 8, biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism of the present invention is uneven
On road, the front end of walking and mobile chassis runs into and during crossing over blockage, three groups of biserial composite lead-bearing wheel groups 9 therein in other words
Just in across obstacle, described three groups of biserial composite lead-bearing wheel groups 9 are subject to vehicle body and car to the BOGEY WHEEL group foremost being located
The effect of upper load gravity, and force direction is all along the vertically downward direction of BOGEY WHEEL wheel shaft 18, respectively g1, g2 and g3.With
Embodiment 7 by contrast, three groups of load-bearing wheel shafts 18 bear in the face of crawler belt and then the support force to it, due to above one group of biserial
Composite lead-bearing wheel group occurs around axle deflection, and therefore stress is no longer straight down, and the Impact direction of f3 is: is combined along biserial
BOGEY WHEEL group 9 be located biserial longitudinal supporting plate 17 vertical direction it may be assumed that along biserial composite lead-bearing wheel group 9 be located BOGEY WHEEL 16
The vertical direction of the tangential direction contacting with ground.And the Impact direction of f1 and f2 is not due to being subject to barrier to its angle
The impact of deflection, direction is: along crawler belt to its support force direction straight up.Wherein, the direction of f3 power in above-mentioned and chance
Relevant to the height of barrier, length and gradient etc..
The present invention is not limited to above-mentioned embodiment, and anyone should learn that the structure made under the enlightenment of the present invention becomes
Change, every have same or like technical scheme with the present invention, each falls within protection scope of the present invention.
Technology that the present invention does not describe in detail, shape, construction part are known technology.
Claims (7)
1. a kind of biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism it is characterised in that include active wheels,
Driven wheels, directive wheel group, biserial composite lead-bearing wheel group, fixing suspension bracket, crawler belt, described active wheels, driven wheels, directive wheel
Group, biserial composite lead-bearing wheel group be respectively positioned on inside crawler belt and be connected with crawler belt engagement, is additionally provided with and engages with crawler belt inside crawler belt
Expansion tightening wheel group, active wheels pass through drive sprocket axle and main body motor connection, and driven wheels pass through driven hanging beam axle and fixing suspension bracket
Connect, directive wheel group has multigroup, and every group of directive wheel group is passed through to guide hanging beam axle and be connected with fixing suspension bracket, fixes suspension bracket by driven
Hanging beam axle and guiding hanging beam axle are fixed in chassis body, and damping swing arm plate and biserial composite lead-bearing are passed through in the bottom of fixing suspension bracket
Wheel group connects, and is connected with elastomeric element, it is hinged that axis pin of the spring a is passed through in elastomeric element one end between fixing suspension bracket and damping swing arm plate
In fixing suspension bracket, the other end is articulated with damping swing arm plate by axis pin of the spring b, and biserial composite lead-bearing wheel group has six groups, damping
The every side of walking mechanism installs three groups additional.
2. biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism as claimed in claim 1 it is characterised in that
Described every group of biserial composite lead-bearing wheel group includes the BOGEY WHEEL of four rectangular distributions, and three groups of biserial combined types for left side are held
Roller group, two on the left of in the of every group BOGEY WHEEL with the left side of left track along contacting, two, right side BOGEY WHEEL and left track
Right side in along contact；For three groups of biserial combined type BOGEY WHEEL groups on right side, two on the left of in the of every group BOGEY WHEEL is carried out with right side
Along contact in the left side of band, two, right side BOGEY WHEEL is contacted with edge in the right side of right side track.
3. biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism as claimed in claim 1 or 2, its feature exists
In described every group of biserial composite lead-bearing wheel group is equipped with two pieces of biserial longitudinal supporting plates, every group of biserial composite lead-bearing wheel group homonymy
Two BOGEY WHEELs connected by biserial longitudinal supporting plate, wheel group axle is passed through even respectively in the two ends of two pieces of biserial longitudinal supporting plates
Connect, BOGEY WHEEL is connected with wheel group axle by wheel group bearing, the end of wheel group axle is fixed with fastening bolt, biserial longitudinal supporting plate
Middle part is articulated and connected with damping swing arm plate by load-bearing wheel shaft.
4. biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism as claimed in claim 3 it is characterised in that
Described damping swing arm plate pass through damping fulcrum with fixation suspension bracket hinged, biserial composite lead-bearing wheel group with damping fulcrum as fulcrum, with
Damping swing arm plate is lever, forms leverage with elastomeric element.
5. biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism as claimed in claim 1 it is characterised in that
Described directive wheel group has three groups.
6. biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism as claimed in claim 1 it is characterised in that
When biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism is walked on relatively flat road, described biserial
Composite lead-bearing wheel group all only by vehicle body and car load gravity acted on, and force direction all along BOGEY WHEEL wheel shaft vertical to
Lower direction；Load-bearing wheel bearing is subject to ground in the face of crawler belt and then the support force to it, and direction is straight up.
7. biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism as claimed in claim 1 it is characterised in that
When biserial composite lead-bearing wheel group crawler-type mobile chassis damping walking mechanism is walked on uneven road, described biserial is multiple
Close BOGEY WHEEL group to be acted on by load gravity on vehicle body and car, and force direction is all along the vertically downward direction of load-bearing wheel shaft；
Load-bearing wheel bearing is subject to ground in the face of crawler belt and then the support force to it, and the BOGEY WHEEL group being on barrier occurs existing around axle deflection
As Impact direction is the biserial longitudinal supporting plate vertical direction being located along biserial composite lead-bearing wheel group；It is on flat road
BOGEY WHEEL group bear in the face of crawler belt and then the support force to it, direction is straight up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610899154.8A CN106335563A (en) | 2016-10-14 | 2016-10-14 | Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610899154.8A CN106335563A (en) | 2016-10-14 | 2016-10-14 | Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism |
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|---|---|
| CN106335563A true CN106335563A (en) | 2017-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610899154.8A Pending CN106335563A (en) | 2016-10-14 | 2016-10-14 | Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism |
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| CN107933715A (en) * | 2017-11-16 | 2018-04-20 | 哈尔滨工业大学 | Vehicle-mounted mechanical hand creeper truck |
| CN107930144A (en) * | 2017-12-27 | 2018-04-20 | 汕头市亿尔达塑胶玩具电子有限公司 | Amphibious SEEK BUS based on intelligent control |
| CN108033360A (en) * | 2017-11-30 | 2018-05-15 | 河南卫华机械工程研究院有限公司 | A kind of active disk roller car |
| CN108839721A (en) * | 2018-09-07 | 2018-11-20 | 湖南千智机器人科技发展有限公司 | A kind of walking mechanism, crawler type running system and mechanically moving |
| CN109109991A (en) * | 2018-09-07 | 2019-01-01 | 湖南千智机器人科技发展有限公司 | A kind of modularization robot |
| CN109823423A (en) * | 2019-04-04 | 2019-05-31 | 上海锐致船舶工程有限公司 | A kind of accessible Moving Mechanism by Magnetic Wheel |
| CN110356484A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of Athey wheel set mechanism of efficient damping |
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| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN107933715A (en) * | 2017-11-16 | 2018-04-20 | 哈尔滨工业大学 | Vehicle-mounted mechanical hand creeper truck |
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| CN107930144A (en) * | 2017-12-27 | 2018-04-20 | 汕头市亿尔达塑胶玩具电子有限公司 | Amphibious SEEK BUS based on intelligent control |
| CN108839721A (en) * | 2018-09-07 | 2018-11-20 | 湖南千智机器人科技发展有限公司 | A kind of walking mechanism, crawler type running system and mechanically moving |
| CN109109991A (en) * | 2018-09-07 | 2019-01-01 | 湖南千智机器人科技发展有限公司 | A kind of modularization robot |
| CN111329676A (en) * | 2018-12-18 | 2020-06-26 | 张效琪 | All-road electric (stair-climbing wheelchair) vehicle with combined crawler type and elastic deformation wheel structure |
| CN109823423B (en) * | 2019-04-04 | 2023-09-05 | 上海锐斯船舶科技有限公司 | Accessible magnetism is inhaled formula running gear |
| CN109823423A (en) * | 2019-04-04 | 2019-05-31 | 上海锐致船舶工程有限公司 | A kind of accessible Moving Mechanism by Magnetic Wheel |
| CN110356484A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of Athey wheel set mechanism of efficient damping |
| CN110356484B (en) * | 2019-07-19 | 2023-09-05 | 无锡华盛力通电驱动系统有限公司 | High-efficient shock attenuation athey wheel wheelset mechanism |
| CN113548121B (en) * | 2020-04-24 | 2022-05-10 | 黑龙江重兴机械设备有限公司 | Half crawler travel unit with shock-absorbing structure |
| CN113548121A (en) * | 2020-04-24 | 2021-10-26 | 黑龙江重兴机械设备有限公司 | Half crawler travel unit with shock-absorbing structure |
| CN113844559A (en) * | 2021-10-11 | 2021-12-28 | 北京凌天智能装备集团股份有限公司 | Crawler-type running gear and fire-fighting robot |
| CN114228852A (en) * | 2022-01-07 | 2022-03-25 | 江苏徐工工程机械研究院有限公司 | Stair walking device and robot |
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