CN106515885A - Double-caterpillar-band damping chassis - Google Patents
Double-caterpillar-band damping chassis Download PDFInfo
- Publication number
- CN106515885A CN106515885A CN201611071923.1A CN201611071923A CN106515885A CN 106515885 A CN106515885 A CN 106515885A CN 201611071923 A CN201611071923 A CN 201611071923A CN 106515885 A CN106515885 A CN 106515885A
- Authority
- CN
- China
- Prior art keywords
- support
- wheel
- crawler belt
- crawler
- motor driver
- 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.)
- Pending
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Abstract
The invention provides a double-caterpillar-band damping chassis, and belongs to the field of means of transport. The double-caterpillar-band damping chassis comprises two caterpillar band devices, a lithium battery pack, a driver, a controller, a motor and a reduction gear. Each caterpillar band device comprises a guide wheel, a drive wheel, traction wheels, supporting wheels and a support, wherein a tensioning device connected with the guide wheel, the traction wheels, supporting wheel supports connected with the supporting wheels, and dampers connected with the supporting wheel supports are installed on the support. By adoption of the double-caterpillar-band damping chassis, stable running of a whole vehicle is guaranteed when the chassis climbs stairs, and meanwhile, stable operation can be guaranteed under rough road conditions by means of a damping mechanism.
Description
Technical field
The invention provides a kind of pair of crawler belt damping chassis, particularly belong to means of transport field.
Background technology
Crawler body in the market is one band of four-wheel, and four-wheel is all integrally fixed in frame, is rigidity.On running into
Cause car load degree of jolting when operation very big when slope or not good road conditions.
The content of the invention
Part, of the invention to provide a kind of pair of crawler belt damping chassis in order to overcome the above-mentioned deficiencies of the prior art.
The present invention is achieved through the following technical solutions：A kind of pair of crawler belt damping chassis, chassis include two crawler belt dresses
Put, each crawler attachment includes support and directive wheel, described directive wheel is located at the front end of support, and directive wheel is propped up with being fixed on
Tensioning apparatus on frame is connected；The rear end of support is equipped with driving wheel, equipped with some on the support between directive wheel and driving wheel
Moping pulley；There are some thrust wheels below support, each thrust wheel is connected with one by a thrust wheel support and subtracts
Shake device, described thrust wheel support are hinged on support with damper；Described directive wheel, driving wheel, moping pulley and Zhi Chong
Wheel is all contacted with crawler belt；The crossbeam being fixed on the support of two crawler attachments there also is provided lithium battery group, controller, motor
Driver a and motor driver b, controller controlled motor driver a's and motor driver b obtain dead electricity；Motor driver a is used
In the brushless Hall direct current generator a that control is connected with planetary reducer a, planetary reducer a is fixed on institute on left track device
On the support stated；Motor driver b is used for the brushless Hall direct current generator b that control is connected with planetary reducer b, planetary reducer
B is fixed on support described on the crawler attachment on right side.
Further, described tensioning apparatus is equipped with for adjusting tensioning apparatus inner spring stress away from one end of directive wheel
Tension screw.
Further, described moping pulley is disposed with two, and support upper side has two projections I, two moping pulley arrangements
In described projection I.
Further, described thrust wheel is uniformly disposed with 4～6.
Further, there is a projection II near the side of the thrust wheel support of directive wheel, it is solid in described projection II
Surely there is BOGEY WHEEL.
Further, described crawler belt is rubber belt track.
Further, the support described in each crawler attachment includes outer panel and interior plate, described driving wheel, traction
Wheel, thrust wheel support and damper are all arranged between the outer panel of support and interior plate.
The invention has the beneficial effects as follows：1st, damping is utilized, chassis can be solved and ensure car load in stair climbing
Even running.
2nd, road conditions can be run into again using damping do not ensure even running at ordinary times.
3rd, using two drivers of a controller band, the synchronous operation of two motors, and asynchronous turning are realized.
Description of the drawings
Fig. 1 is the crawler attachment structural representation of the present invention；
Fig. 2 is the overall structure diagram of the present invention；
In figure, 1, directive wheel, 2, tensioning apparatus, 3, moping pulley, 4, crawler belt, 5, support, 5-1, raised I, 6, driving wheel, 7, damping
Device, 8, thrust wheel support, 8-1, raised II, 9, thrust wheel, 10, tension screw, 11, BOGEY WHEEL, 12, lithium battery group, 13, control
Device, 14, motor driver a, 15, motor driver b, 16, brushless Hall direct current generator b, 17, brushless Hall direct current generator a,
18th, planetary reducer b, 19, planetary reducer a.
Specific embodiment
Below according to drawings and Examples, the present invention is further described.
As shown in figure 1, a kind of pair of crawler belt damping chassis, chassis includes two crawler attachments, and each crawler attachment includes
Support 5 and directive wheel 1, described directive wheel 1 are located at the front end of support 5, directive wheel 1 and the tensioning apparatus 2 being fixed on support 5
It is connected, described tensioning apparatus 2 is equipped with the tensioning pole wire for being used to adjusting 2 inner spring stress of tensioning apparatus away from one end of directive wheel 1
Bar 10, can be equipped with driving wheel 6 according to the pretightning force suffered by the ruuning situation of equipment adjusts directive wheel 1, the rear end of support 5,
Two moping pulleys 3 are housed on the support 5 between directive wheel 1 and driving wheel 6,5 upper side of support there are two I 5-1 of projection, and two are dragged
Belt wheel 3 is arranged on described I 5-1 of projection；The lower section of support 5 is uniformly disposed with the thrust wheel 9 of 4～6, each weight
Wheel 9 all passes through a thrust wheel support 8 and is connected with a damper 7, and described thrust wheel support 8 is hinged on damper 7
On support 5；Described directive wheel 1, driving wheel 6, moping pulley 3 and thrust wheel 9 are all contacted with crawler belt 4；Chassis is in traveling process
In, when running into upward slope, directive wheel 1 can be moved inward, and at this moment crawler belt 4 can relax so as to allow thrust wheel 9 to be tensioned so that crawler belt 4
Keep tensioning；During traveling, when running into road conditions injustice, damper 7 can drive thrust wheel 9 to shrink, so as to protect on chassis
Hold chassis not jolt, when shrinking, directive wheel 1 is tensioned under the promotion of tensioning apparatus 2 forward thrust wheel 9, keeps crawler belt 4
Tensioning state.
Further, described crawler belt 4 is rubber belt track, is applied to small-sized light industry and small-sized rubber glue crawler body more
Construction machinery industry.
Further, there are raised II 8-1, described projection II near the side of the thrust wheel support 8 of directive wheel 1
BOGEY WHEEL 11 is fixed with 8-1, and when barrier is run in the traveling process of chassis, BOGEY WHEEL 11 can bear suffered impact
Power, keeps the stationarity of whole equipment.
Further, the support 5 described in each crawler attachment includes outer panel and interior plate, described driving wheel 6, traction
Wheel 3, thrust wheel support 8 and damper 7 are all arranged between the outer panel and interior plate of support 5.
As shown in Fig. 2 the crossbeam being fixed on the support 5 of two crawler attachments there also is provided lithium battery group 12, controller
13rd, motor driver a14 and motor driver b15, controller 13 controlled motor driver a14 and motor driver b15
Dead electricity；Motor driver a14 is used for the brushless Hall direct current generator a17 that control is connected with planetary reducer a19, planetary reducer
A19 is fixed on support 5 described on left track device；Motor driver b15 is used for control and is connected with planetary reducer b18
Brushless Hall direct current generator b16, planetary reducer b18 is fixed on support 5 described on the crawler attachment on right side.
When equipment will turn left, there can be two kinds of forms:The first：By the power-off of motor driver a14, connect
Three-way motor driver b15 causes the brushless Hall direct current generator b16 in right side to drive right side drive wheel 6 to rotate and realizes turning.Second：
Give motor driver a14 mono- toggling command, allow the brushless Hall direct current generator a17 reversions in left side, drive left side drive wheel 6 to realize
Reversion.Motor driver b15 causes the brushless Hall direct current generator b16 in right side to drive right side drive wheel 6 to rotate forward, and realizes pirouette
It is curved.Reverse operation above-mentioned steps during right-hand bend.
The present invention is mini-plant, can be used for transport and also loads onto fire pump for fire control or install camera
For searching wounded etc. in disaster area prospecting landform.
Claims (7)
1. a kind of pair of crawler belt damping chassis, chassis include two crawler attachments, and each crawler attachment includes support（5）And guiding
Wheel（1）, it is characterised in that：Described directive wheel（1）Positioned at support（5）Front end, directive wheel（1）Be fixed on support（5）On
Tensioning apparatus（2）It is connected；Support（5）Rear end be equipped with driving wheel（6）, directive wheel（1）With driving wheel（6）Between support
（5）It is upper that some moping pulleys are housed（3）；Support（5）Lower section have some thrust wheels（9）, each thrust wheel（9）All pass through
A piece thrust wheel support（8）It is connected with a damper（7）, described thrust wheel support（8）With damper（7）It is hinged on and props up
Frame（5）On；Described directive wheel（1）, driving wheel（6）, moping pulley（3）And thrust wheel（9）All with crawler belt（4）Contact；It is fixed
In the support of two crawler attachments（5）On crossbeam there also is provided lithium battery group（12）, controller（13）, motor driver a
（14）With motor driver b（15）, controller（13）Controlled motor driver a（14）With motor driver b（15）Dead electricity；
Motor driver a（14）For control and planetary reducer a（19）Connected brushless Hall direct current generator a（17）, planetary reduction gear
Machine a（19）It is fixed on support described on left track device（5）On；Motor driver b（15）For control and planetary reduction gear
Machine b（18）Connected brushless Hall direct current generator b（16）, planetary reducer b（18）It is fixed on described on the crawler attachment on right side
Support（5）On.
2. according to claim 1 pair of crawler belt damping chassis, it is characterised in that：Described tensioning apparatus（2）Away from guiding
Wheel（1）One end equipped with for adjusting tensioning apparatus（2）The tension screw of inner spring stress（10）.
3. according to claim 1 pair of crawler belt damping chassis, it is characterised in that：Described moping pulley（3）Two are disposed with,
Support（5）Upper side has two projections I（5-1）, two moping pulleys（3）It is arranged in described projection I（5-1）On.
4. according to claim 1 pair of crawler belt damping chassis, it is characterised in that：Described thrust wheel（9）It is uniform to arrange
There are 4～6.
5. according to claim 1 pair of crawler belt damping chassis, it is characterised in that：Near directive wheel（1）The thrust wheel
Support（8）Side have raised II（8-1）, described projection II（8-1）On be fixed with BOGEY WHEEL（11）.
6. according to claim 1 pair of crawler belt damping chassis, it is characterised in that：Described crawler belt（4）For rubber belt track.
7. according to claim 1 pair of crawler belt damping chassis, it is characterised in that：Support described in each crawler attachment（5）
Including outer panel and interior plate, described driving wheel（6）, moping pulley（3）, thrust wheel support（8）With damper（7）All it is arranged on
Support（5）Outer panel and interior plate between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611071923.1A CN106515885A (en) | 2016-11-29 | 2016-11-29 | Double-caterpillar-band damping chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611071923.1A CN106515885A (en) | 2016-11-29 | 2016-11-29 | Double-caterpillar-band damping chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106515885A true CN106515885A (en) | 2017-03-22 |
Family
ID=58354934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611071923.1A Pending CN106515885A (en) | 2016-11-29 | 2016-11-29 | Double-caterpillar-band damping chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515885A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN107626062A (en) * | 2017-10-24 | 2018-01-26 | 青岛理工大学 | A kind of fire-fighting linkage control system based on intelligent locomotive |
| CN108790102A (en) * | 2018-04-08 | 2018-11-13 | 宁波革创新材料科技有限公司 | A kind of packaged type screw extruder |
| 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 |
| CN108860344A (en) * | 2018-08-29 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of creeper truck |
| CN108974291A (en) * | 2018-09-20 | 2018-12-11 | 郭威 | The complete deep landing vehicle in sea |
| CN109080718A (en) * | 2017-06-13 | 2018-12-25 | 天津乐农机械有限公司 | A kind of agricultural mobile device |
| CN109730865A (en) * | 2019-03-06 | 2019-05-10 | 无锡市第三人民医院 | It raises and moves patient bed-changing machine |
| CN112426550A (en) * | 2020-12-17 | 2021-03-02 | 珠海市一微半导体有限公司 | Atomizing disinfection robot |
| CN112660255A (en) * | 2020-12-23 | 2021-04-16 | 徐州考拉机器人科技有限公司 | Special crawler chassis for transport robot and use method thereof |
| CN113467442A (en) * | 2021-06-15 | 2021-10-01 | 浙江工业大学 | Intelligent multifunctional epidemic prevention robot |
| CN115447688A (en) * | 2022-10-24 | 2022-12-09 | 贵州航天天马机电科技有限公司 | High-speed crawler traveling system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395948Y (en) * | 1999-09-30 | 2000-09-13 | 中国一拖集团有限公司 | Running system for caterpillar tractor |
| CN101380975A (en) * | 2008-10-17 | 2009-03-11 | 西北农林科技大学 | Crawler automatic running vehicle |
| CN102556188A (en) * | 2012-02-17 | 2012-07-11 | 湖南农业大学 | Traveling device for profiling crawler belt chassis |
| CN203064064U (en) * | 2013-01-18 | 2013-07-17 | 方友祥 | Track tractor |
| CN203172749U (en) * | 2013-04-16 | 2013-09-04 | 梁星 | Moving base of crawler belt robot |
| CN203637972U (en) * | 2013-12-18 | 2014-06-11 | 浙江乾坤机械有限公司 | Track tensioning adjusting device for trolley |
| CN105835978A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Crawler-type magnetic-adsorption wall climbing robot |
| CN206243290U (en) * | 2016-11-29 | 2017-06-13 | 徐州科源液压股份有限公司 | Double crawler belt damping chassis |
-
2016
- 2016-11-29 CN CN201611071923.1A patent/CN106515885A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395948Y (en) * | 1999-09-30 | 2000-09-13 | 中国一拖集团有限公司 | Running system for caterpillar tractor |
| CN101380975A (en) * | 2008-10-17 | 2009-03-11 | 西北农林科技大学 | Crawler automatic running vehicle |
| CN102556188A (en) * | 2012-02-17 | 2012-07-11 | 湖南农业大学 | Traveling device for profiling crawler belt chassis |
| CN203064064U (en) * | 2013-01-18 | 2013-07-17 | 方友祥 | Track tractor |
| CN203172749U (en) * | 2013-04-16 | 2013-09-04 | 梁星 | Moving base of crawler belt robot |
| CN203637972U (en) * | 2013-12-18 | 2014-06-11 | 浙江乾坤机械有限公司 | Track tensioning adjusting device for trolley |
| CN105835978A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Crawler-type magnetic-adsorption wall climbing robot |
| CN206243290U (en) * | 2016-11-29 | 2017-06-13 | 徐州科源液压股份有限公司 | Double crawler belt damping chassis |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080718A (en) * | 2017-06-13 | 2018-12-25 | 天津乐农机械有限公司 | A kind of agricultural mobile device |
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN107626062A (en) * | 2017-10-24 | 2018-01-26 | 青岛理工大学 | A kind of fire-fighting linkage control system based on intelligent locomotive |
| CN108790102A (en) * | 2018-04-08 | 2018-11-13 | 宁波革创新材料科技有限公司 | A kind of packaged type screw extruder |
| CN108860344A (en) * | 2018-08-29 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of creeper truck |
| 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 |
| CN108974291A (en) * | 2018-09-20 | 2018-12-11 | 郭威 | The complete deep landing vehicle in sea |
| CN109730865A (en) * | 2019-03-06 | 2019-05-10 | 无锡市第三人民医院 | It raises and moves patient bed-changing machine |
| CN112426550A (en) * | 2020-12-17 | 2021-03-02 | 珠海市一微半导体有限公司 | Atomizing disinfection robot |
| CN112660255A (en) * | 2020-12-23 | 2021-04-16 | 徐州考拉机器人科技有限公司 | Special crawler chassis for transport robot and use method thereof |
| CN112660255B (en) * | 2020-12-23 | 2022-03-04 | 徐州考拉机器人科技有限公司 | Special crawler chassis for transport robot and use method thereof |
| CN113467442A (en) * | 2021-06-15 | 2021-10-01 | 浙江工业大学 | Intelligent multifunctional epidemic prevention robot |
| CN115447688A (en) * | 2022-10-24 | 2022-12-09 | 贵州航天天马机电科技有限公司 | High-speed crawler traveling system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106515885A (en) | Double-caterpillar-band damping chassis | |
| CN104890752B (en) | A kind of planet gear type barrier-surpassing robot | |
| CN106828633A (en) | A kind of full landform chassis of electric endless track type | |
| CN206634087U (en) | A kind of full landform chassis of electric endless track type | |
| CN108032918A (en) | A kind of liftable wheel, which is carried out, combines full landform chassis | |
| CN206243290U (en) | Double crawler belt damping chassis | |
| CN111661764A (en) | High wheeled hoist of security | |
| CN207029169U (en) | Hills monorail transit device | |
| CN202006840U (en) | High-speed walking system for rubber track tractor | |
| CN103879466B (en) | A kind of crawler type variation rigidity independent suspension power chassis | |
| CN102505629A (en) | Caterpillar track walking mechanism for steel box girder hanging type bridge checking vehicle | |
| KR101421211B1 (en) | Personal Mono Rail Driving Apparatus and thereof Control Method | |
| CN210793389U (en) | Running gear and four-wheel drive entry driving machine of four-wheel drive entry driving machine | |
| CN206926736U (en) | A kind of self-rescuing device for trapped of united reaper | |
| JP4678628B2 (en) | Towing mechanism of hill carriage | |
| CN104444166B (en) | One is kept straight on and turns to combination transport track | |
| CN206125216U (en) | Automatically controlled transfer car(buggy) running gear | |
| CN106926910A (en) | A kind of triangle crawler belt assist device | |
| CN104443082A (en) | Tractor | |
| CN206766166U (en) | A kind of heavy duty Stair climbing device | |
| CN206558964U (en) | It is a kind of that there is the cable construction tensioner for actively providing tension force | |
| CN107264669A (en) | A kind of obstacle detouring moving trolley | |
| CN207877140U (en) | Eight wheel electric overhead travelling cranes | |
| CN206033046U (en) | Hoist frequency conversion running gear with bypass control | |
| CN207032837U (en) | A kind of high-performance building construction platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170322 |