CN107826171A - A kind of joint crawler belt with attitude-adjusting system - Google Patents
A kind of joint crawler belt with attitude-adjusting system Download PDFInfo
- Publication number
- CN107826171A CN107826171A CN201711250735.XA CN201711250735A CN107826171A CN 107826171 A CN107826171 A CN 107826171A CN 201711250735 A CN201711250735 A CN 201711250735A CN 107826171 A CN107826171 A CN 107826171A
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- damping
- crawler belt
- steamboat
- clutch plate
- spacing pressing
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- 238000013016 damping Methods 0.000 claims abstract description 102
- 244000309464 bull Species 0.000 claims abstract description 40
- 238000003780 insertion Methods 0.000 claims abstract description 8
- 230000037431 insertion Effects 0.000 claims abstract description 8
- 238000005452 bending Methods 0.000 claims description 4
- 238000004080 punching Methods 0.000 claims description 4
- 238000003756 stirring Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 230000004308 accommodation Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 230000033228 biological regulation Effects 0.000 abstract description 2
- 230000000116 mitigating effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000826860 Trapezium Species 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
Classifications
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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
- B62D55/08—Endless track units; Parts thereof
-
- 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
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
-
- 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
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- 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
- B62D55/30—Track-tensioning means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of travel mechanism of endless-track vehicle or caterpillar mobile robot, a kind of joint crawler belt with attitude-adjusting system, between bull wheel rotary shaft (17) and driving hollow shaft (26), being nested with one end has the pose adjustment hollow shaft (28) of chain drum, and three axle coaxial lines can be rotated mutually；The insertion end of pose adjustment hollow shaft (28) connects rod swing arm (13), the other end rotation connection steamboat (2) of swing arm (13) through moment of torsion damping；The length direction of the swing arm (13) is consistent with the line of bull wheel (14) and steamboat (2) axis；Track rail assembly has ground connection angle regulation function, it may span across obstacle and adapt to complicated road environment, the active accommodation of crawler belt ground connection angle can be achieved, there is preferably imitative landform ability, crawler belt traction is improved, twisting vibration, mitigation impact and the reduction noise that decay crawler belt front end is subject to act on；Simple in construction, compact, part stress is reasonable, manipulates pose adjustment conveniently, effect of the manipulation, excellent in efficiency.
Description
【Technical field】
The present invention relates to a kind of travel mechanism of endless-track vehicle or caterpillar mobile robot, is to be related to one specifically
Kind endless-track vehicle or caterpillar mobile robot can adjust a kind of articulation mechanism of posture.
【Background technology】
Endless-track vehicle or caterpillar mobile robot are as a kind of special mobile device, in complicated dangerous working environment
During lower progress operation, uneven road surface can influence the ground connection performance of track rail assembly, meanwhile, the barrier on ground also can be to crawler type
Robot moving platform produces certain shock loading, influences the normal work of mobile robot mobile platform.Traditional joint
Crawler belt can not absorb shock loading caused by ground obstacle to be rigidly connected.And when rigidly connected joint crawler belt runs into
During rough road surface, it is poor to imitate landform ability.When projection higher by ground, rigid joint crawler belt is possible to occur
The hanging state of crawler belt.
【The content of the invention】
The object of the invention is in order to solve the above problems and the deficiencies in the prior art, there is provided a kind of achievable crawler belt ground connection angle
Active accommodation, there is preferably imitative landform ability, improve the joint caterpillar belt structure of crawler belt traction function.
The purpose of the present invention is realized by following technical scheme.
A kind of joint crawler belt with attitude-adjusting system, one end is nested with bull wheel rotary shaft has the driving of chain drum hollow
Axle,
Hollow shaft driving bull wheel rotation is driven, crawler belt operation is stirred, drives steamboat rotation, it is characterised in that：
Between bull wheel rotary shaft and driving hollow shaft, being nested with one end has a pose adjustment hollow shaft of chain drum, and three axles are coaxial
Line can be rotated mutually；
The insertion end of pose adjustment hollow shaft connects rod swing arm through moment of torsion damping, and the other end of swing arm is fixedly connected
Steamboat supports rotary shaft；The length direction of the swing arm is consistent with the line of bull wheel rotary shaft and steamboat support rotary shaft；
The moment of torsion damping is：
In the vertical permanent twist damping driving disc spacing pressing of the insertion end of pose adjustment hollow shaft, two panels reverses damping clutch plate difference
Configure, be clamped in the both sides of the torsion damping driving disc spacing pressing, circumferentially some springs of device on damping driving disc spacing pressing is reversed, two
The relevant position of side torsion damping clutch plate opens up the spring eye of corresponding size, and the spring is embedded in the spring eye so that turns round
The spring eye reversed on damping clutch plate can be passed to by turning the elastic force of spring on damping driving disc spacing pressing；
Two panels reverses damping clutch plate can flexiblely reciprocating rotation around bull wheel rotary shaft with reversing damping driving disc spacing pressing；
Damping clutch plate is reversed by the bolt connection perpendicular to card in both sides, is reversing the relevant position of damping driving disc spacing pressing
Long kidney-shaped hole is opened up, it is unobstructed to ensure that the bolt for connecting torsion damping clutch plate is located at reciprocating rotation in long kidney-shaped hole；
One end of the swing arm is fixed on the torsion damping clutch plate axis hole position in outside.
The technical program shares three axles on bull wheel：Bull wheel rotary shaft, driving hollow shaft and pose adjustment hollow shaft, three
Axle coaxial line can be rotated mutually；
Bull wheel rotary shaft plays support bull wheel；
Drive hollow shaft：Driving hollow shaft is rotated the driving hollow shaft for driving one end to have chain drum by chain and rotated, and driving is big
Wheel rotation, crawler belt operation is stirred, drive steamboat rotation；
Pose adjustment hollow shaft is the main contents of this patent, by structure described above and content, reciprocal small range rotation
Turn, realize the pose adjustment of joint crawler belt.
So-called joint crawler belt pose adjustment is that the steamboat on swing arm end rotates around big wheel shaft, realizes that track rail assembly is grounded
The adjustment at angle, the following of usual crawler belt is a horizontal line, and the axle center of bull wheel and steamboat can make left and right two perpendicular to the ground respectively
Vertical line, a right-angled trapezium is formed with bull wheel and the line in steamboat axle center, in operation along landing ground holding or an approximate right angle
It is trapezoidal.The mechanism of the present invention will consciously, deliberately destroy this right-angled trapezium, by mechanism, by the upward of rocker part or to
Under, the corner dimension of change top hypotenuse and steamboat drop wire, or it is greatly or small, realize that absorption ground obstacle is caused and impact
Load, and when rigidly connected joint crawler belt runs into rough road surface, improve imitative landform ability, when by ground compared with
During high projection, the crawler belt vacant state that rigid joint crawler belt is possible to occur is avoided the occurrence of.
The track rail assembly can also realize that wheel carries out the function of multiplexing, and swing arm and crawler belt are unloaded, installed additional on wheel hub
Tire, running gear system can be used as.
Further, it is disc to reverse damping driving disc spacing pressing and two panels torsion damping clutch plate, is reversing damping driving disc spacing pressing
Neighboring be uniformly distributed the rectangular recess for opening up 3 or 4 outward openings, or open up rectangular opening, insert cylindrical spring；Turning round
The relevant position for turning damping clutch plate opens up Rectangular Spring hole corresponding with cylindrical spring, and rectangle long side connection is in laterally
Less than the baffle plate of 45 degree of angles, when reversing damping driving disc spacing pressing and two panels reverses damping clutch plate by bolt connection, the cylinder
Spring is clamped in the Rectangular Spring hole of both sides.
Further, the rectangular recess for opening up 4 outward openings is uniformly distributed in the neighboring for reversing damping driving disc spacing pressing；
The baffle plate is identical with the Rectangular Spring hole shape, size, for punching when be punched three sides after bending formed.
Further, it is fixed and big between bull wheel rotary shaft and steamboat support rotary shaft on the rod member of the swing arm
Take turns rotary shaft or steamboat supports the parallel heavy burden wheel shaft of rotary shaft, it is in opposite direction by a pair of torsion on heavy burden wheel shaft, respectively
The torsion spring for applying thrust on the outside of to crawler belt assembles a pair of bogie wheels.
Further, deep groove ball bearing 4 is configured between the pose adjustment hollow shaft and driving hollow shaft.
Further, the other end of swing arm is fixedly connected with steamboat support rotary shaft, and through deep groove ball bearing, No. 2 are configured at steamboat
Axis hole.
Further, posture adjustment state motor through chain drive pose adjustment hollow shaft it is clockwise or reverse realize joint crawler belt steamboat end
Rise or decline.
Advantages of the present invention and and beneficial effect：
1st, track rail assembly has ground connection angle regulation function, may span across obstacle (such as stair climbing), adapts to the road surface of complexity
Environment, the active accommodation of crawler belt ground connection angle can be achieved, there is preferably imitative landform ability, improve crawler belt traction；
2nd, damping is reversed to play the decay twisting vibration that crawler belt front end is subject to during complicated ground traveling, relax
Impact and the effect for reducing noise；
3rd, the present invention is simple in construction, compact, and part stress is reasonable, manipulates pose adjustment conveniently, effect of the manipulation, excellent in efficiency；
4th, the function that wheel carries out multiplexing can be achieved, suitable for different operating environments；
In addition, two tensioning wheels in track rail assembly cause two groups of bogie wheels to have that opens to become by the torsion spring of precompressed
Gesture, the effect of tensioning is not only acted as, also acted certain heavy burden effect.
【Brief description of the drawings】
Fig. 1 is a kind of general structure axonometric drawing for embodiment of joint crawler belt that the present invention has attitude-adjusting system；
Fig. 2 is front view of Fig. 1 joints crawler belt from side；
Fig. 3 is Fig. 2 A-A sectional views；
Fig. 4 is that an embodiment of the present invention includes swing arm, the axonometric drawing of spring mechanism main working parts assembling；
Fig. 5 is the component assembly decomposition axonometric drawing that damping is reversed in an embodiment of the present invention；
Fig. 6 is that a pair of bogie wheels of heavy burden wheel shaft and torsion spring assemble decomposition axonometric drawing in an embodiment of the present invention.
Symbol description is as follows in figure：
1 be crawler belt, 2 be steamboat, 3 be steamboat exchange hub, 4 be deep groove ball bearing 1,5 be steamboat support rotary shaft, 6 be
Deep groove ball bearing 2,7 be sliding bearing 1,8 be bogie wheel 1,9 be bogie wheel rotary sleeve, 10 be torsion spring, 11 be bogie wheel pendulum
Arm, 12 be bogie wheel 2,13 be swing arm, 14 be bull wheel, 15 be deep groove ball bearing 3,16 be round nut, 17 be bull wheel rotary shaft,
18 be circlip, 19 be sliding bearing 2,20 be reverse damping driving disc spacing pressing, 21 be reverse damping clutch plate, 22 be spring, 23
Be reverse damping clutch plate, 24 be bull wheel exchange hub, 25 be brake disc, 26 be Direct wheel drives sprocket wheel, 27 be wheel side pivot flange,
28 it is pose adjustment sprocket wheel, 29 be deep groove ball bearing 4,30 is that spring washer 1,31 is that nut 1,32 is that nut 2,33 is spring
Packing ring 2,34 is that soket head cap screw, a are that spring eye, b are that bolt, c are baffle plates.
【Embodiment】
Present invention is described in further detail below in conjunction with the accompanying drawings as follows：
A kind of joint crawler belt with attitude-adjusting system,
One end is nested with bull wheel rotary shaft 17 the driving hollow shaft 26 of chain drum,
Driving hollow shaft 26 drives bull wheel 14 to rotate, and stirs crawler belt 1 and runs, and drives steamboat 2 to rotate, it is characterised in that：
Between bull wheel rotary shaft 17 and driving hollow shaft 26, being nested with one end has a pose adjustment hollow shaft 28 of chain drum, and three
Axle coaxial line can be rotated mutually；Three axles are shared with bull wheel rotary shaft 17 consistent one coaxially can mutually to rotate.
The insertion end of pose adjustment hollow shaft 28 connects rod swing arm 13 through moment of torsion damping, and the other end of swing arm 13 turns
Dynamic connection steamboat 2；The length direction of the swing arm 13 is consistent with the line of bull wheel 14 and steamboat 2；Pass through pose adjustment hollow shaft
28 reciprocally swinging, flexiblely rotated through elastic mechanism connection swing arm 13 so that steamboat 2 rises or falls, and changes joint and carries out
The walking posture of band.
The moment of torsion damping is：
In the vertical permanent twist damping driving disc spacing pressing 20 of the insertion end of pose adjustment hollow shaft 28, two panels reverses damping clutch plate
21st, the both sides of the torsion damping driving disc spacing pressing 20 23 are respectively configured, are clamped in, the circumferentially device on damping driving disc spacing pressing 20 is reversed
Some springs 22, the relevant position that damping clutch plate 21,23 is reversed in both sides open up the spring eye a of corresponding size, the spring
The 22 insertion spring eye a so that torsion damping clutch plate can be passed to by reversing the elastic force of spring 22 on damping driving disc spacing pressing 20
21st, the spring eye a on 23；Two panels reverses damping clutch plate 21,23 can around bull wheel rotary shaft 17 with reversing damping driving disc spacing pressing 20
Flexiblely reciprocating rotation.Two panels reverses damping clutch plate 21,23 and is respectively configured, is clamped in the torsion damping driving disc spacing pressing 20
Both sides, by reverse damping driving disc spacing pressing 20 come back rotation, some springs 22 of circumferential device oppress, pass to both sides and reverse and subtract
Clutch plate 21,23 is shaken, hysteresis is produced, flexiblely carrys out back rotation.So that pose adjustment hollow shaft 28 it is reciprocal, carry out back rotation not
Swing arm 13, steamboat support rotary shaft 5 have been passed only to, and has additionally provided the hysteresis and buffering of elasticity.
Damping clutch plate 21,23 is reversed by the bolt b connections perpendicular to card in both sides, is reversing damping driving disc spacing pressing 20
Relevant position opens up long kidney-shaped hole, ensures that the bolt b of connection torsion damping clutch plate 21,23 is located at reciprocating rotation in long kidney-shaped hole
It is unobstructed；In order to allow two clutch plates, one driving disc spacing pressing to form an entirety, it is necessary to worn by bolt b and connect in succession, therefore used
This scheme, the relevant position of middle driving disc spacing pressing 20 open up long kidney-shaped hole, avoid the obstacle rotated to bolt.
One end of the swing arm 13 is fixed on the axis hole position of torsion damping clutch plate 21 in outside.Swing arm 13 is with torsion damping
Clutch plate 21 is rotated and rotated, namely reciprocally swinging and swing.
It is disc to reverse damping driving disc spacing pressing 20 and two panels torsion damping clutch plate 21,23；And reverse damping driving disc spacing pressing
20 diameter is less than the diameter for reversing damping clutch plate 21,23, as shown in Figure 5.
The rectangular recess for opening up 3 or 4 outward openings is uniformly distributed in the neighboring for reversing damping driving disc spacing pressing 20, inserts circle
Post spring 22；Rectangular Spring hole a corresponding with cylindrical spring 22 is opened up in the relevant position for reversing damping clutch plate 21,23, and
The connection of one rectangle long side is in the baffle plate c for being less than 45 degree angles laterally, when reverse damping driving disc spacing pressing 20 and two panels torsion damping from
When Moving plate 21,23 is by bolt b connections, the cylindrical spring is clamped in the Rectangular Spring hole of both sides.
Certainly, the diameter for reversing damping driving disc spacing pressing 20 can also be identical with reversing the diameter of damping clutch plate 21,23, this
Close, the depth down for the rectangular recess for opening up 3 or 4 outward openings be uniformly distributed in the neighboring for reversing damping driving disc spacing pressing 20,
Or not rectangular recess shape, but directly relevant position opens up rectangular opening.
Such structure is compact, and it is preferable that cylindrical spring 22 provides and transmitted elastic force, good manufacturability, easy processing, is easily assembled,
Using also reliable.
The rectangular recess for opening up 4 outward openings is uniformly distributed in the neighboring for reversing damping driving disc spacing pressing 20；It is general to use,
Opening up four rectangular recess is advisable, and structure is uncomplicated, there is provided elastic force is enough.
The baffle plate c is identical with the Rectangular Spring hole a shapes, size, for punching when be punched three sides after bending formed.Letter
Clean processing technology, punching, bending are once-forming, also stop that cylindrical spring 22 drops laterally just.
On the rod member of the swing arm 13, the fixed and bull wheel between bull wheel rotary shaft 17 and steamboat support rotary shaft 5
Rotary shaft 17 or steamboat support the parallel heavy burden wheel shaft 8 of rotary shaft 5, in opposite direction by a pair of torsion on heavy burden wheel shaft 8, point
A pair of bogie wheels 12 are not assembled to the torsion spring 10 of application thrust on the outside of crawler belt.In this patent, to prevent crawler belt from relaxing, influence to close
The pose adjustment of crawler belt is saved, can be eliminated and prevent using the technical program, this technology is simple in construction, significant effect.
Deep groove ball bearing is configured between the pose adjustment hollow shaft 28 and driving hollow shaft 26 No. 4 29.Both increases
Between rotation so that pose adjustment more flexibly effectively.
The other end of swing arm is fixedly connected with steamboat support rotary shaft 5, through No. 26 axles for being configured at steamboat 2 of deep groove ball bearing
Hole.The technical program equally realizes the " other end of swing arm 13 rotation connection steamboat 2 ", moreover, it is also possible to by deep groove ball bearing 2
Numbers 6, which are configured at steamboat, exchanges hub 3, and then the shaft hole matching again with steamboat 2 is connected.The structure that steamboat exchanges hub 3 is in cylinder
Outer wall stretches out a circle annulus, opens up screw on anchor ring, is conveniently replaceable the steamboat 2 of different size.
Posture adjustment state motor through chain drive pose adjustment hollow shaft 28 it is clockwise or reverse realize joint crawler belt steamboat end rise
Or decline.According to the rise or decline for needing joint crawler belt steamboat on the spot, adjustment hollow shaft 28 is clockwise or reverses.
The present invention is a kind of joint caterpillar belt structure for having attitude-adjusting system, and it is mainly adjusted by drive transmission device, posture
Complete machine structure and all kinds of connectors are formed.Position annexation between them is：Drive transmission device front end passes through Direct wheel drives
Sprocket wheel is connected with external power supply, and power transmission line is in succession：Direct wheel drives sprocket wheel, bull wheel, crawler belt, steamboat；Posture is adjusted
Whole device front end is connected by pose adjustment sprocket wheel with posture adjustment state motor, and pose adjustment torque is by reversing damping transmission
Onto swing arm；Pose adjustment sprocket shaft passes through from main drive chain wheel shaft；Reverse damping driving disc spacing pressing and pose adjustment sprocket wheel
Axle is connected, and end is connected with swing arm.Tensioning and heavy burden mechanism and swing arm consolidate, upper and lower two bogie wheels respectively with crawler belt
Earth terminal is connected with free end；
The embodiment of described drive transmission device is as shown in Figure 3.Drive sprocket 26 is mutual with bull wheel by spline
Change hub 24 to be connected, bull wheel 14 exchanges hub 24 with bull wheel and is connected by four hexagon socket head cap screws, and by deep groove ball bearing, No. 4 surround
Pose adjustment sprocket shaft and wheel side pivot flange 27 rotate.Nibbled between bull wheel 14, steamboat 2 and rubber belt track 1 by block rubber
Close passing power.Driving moment is delivered on bull wheel 14 by Direct wheel drives sprocket wheel 26, and drives 2 turns of rubber belt track 1 and steamboat
It is dynamic.
The embodiment of described attitude-adjusting system is as shown in Figure 3, Figure 4.Pose adjustment sprocket shaft 28, which passes through, to be driven
Movable sprocket 26, and be connected by spline with reversing the torsion damping driving disc spacing pressing 20 in damping, pass through sliding bearing inside it
Bearing is arranged in bull wheel rotary shaft 17.Swing arm 13 passes through flange and the torsion damping clutch plate 21 for reversing outside in damping
It is connected.Pose adjustment torque is delivered to torsion damping by pose adjustment sprocket wheel, and drives swing arm 13 to be rotated around bull wheel
Axle 17 rotates the adjustment for realizing crawler belt ground connection angle.
The embodiment of described torsion damping is as shown in Fig. 3, Fig. 5.Reverse damping driving disc spacing pressing 20 and pass through flower
Key is connected with pose adjustment sprocket wheel.Correspondence position on torsion damping driving disc spacing pressing 20 and torsion damping clutch plate 21,23 circumference is all
4 rectangular virtual aperture windows are provided with, one spring 22 is housed in each fenestra, so as to realizing the elastic connection between them in the circumferential.
Reverse damping clutch plate 21,23 to be bolted, and be clipped in the middle damping driving disc spacing pressing 20 is reversed, reverse damping driving disc spacing pressing 20
Fenestra with reversing damping clutch plate 21,23 has flange, makes 4 22 unlikely abjections of shock-absorbing spring.Damping driving disc spacing pressing 20 is reversed to open
There are 4 arc kidney-shaped fenestras, the connecting bolt b of clutch plate can be slided in arc kidney-shaped fenestra, it is allowed to reverse damping rotating plate
An angle can be relatively rotated between 20 and torsion damping clutch plate 21,23.During work, with reverse damping clutch plate 21,
23, around the relative rotation for reversing damping rotating plate 20 and compression spring, play a part of reversing damping.
Described tensioning and the embodiment of heavy burden mechanism are as shown in Figure 6.Bogie wheel 12 is arranged on by revolute
In bogie wheel swing arm 11, it can be rotated by bogie wheel rotary shaft sleeve pipe 9 around weight loading axis 8.The both ends of torsion spring 10 respectively with up and down
Two groups of bogie wheel swing arms 11 are connected, and are in compressive state, and the torsion spring of precompressed causes two groups of bogie wheels to have the trend opened.
Claims (7)
1. a kind of joint crawler belt with attitude-adjusting system,
One end is nested with bull wheel rotary shaft (17) the driving hollow shaft (26) of chain drum,
Hollow shaft (26) driving bull wheel (14) rotation is driven, stirs crawler belt (1) operation, drives steamboat (2) rotation, its feature exists
In：
Between bull wheel rotary shaft (17) and driving hollow shaft (26), being nested with one end has the pose adjustment hollow shaft (28) of chain drum,
Three axle coaxial lines can be rotated mutually；
The insertion end of pose adjustment hollow shaft (28) connects rod swing arm (13), the other end of swing arm (13) through moment of torsion damping
It is rotatablely connected steamboat (2)；The length direction of the swing arm (13) is consistent with the line of bull wheel (14) and steamboat (2) axis；
The moment of torsion damping is：
In the vertical permanent twist damping driving disc spacing pressing (20) of the insertion end of pose adjustment hollow shaft (28), two panels reverses damping clutch plate
(21,23) are respectively configured, are clamped in the both sides of the torsion damping driving disc spacing pressing (20), along week on damping driving disc spacing pressing (20) is reversed
To some springs of device (22), the relevant position that damping clutch plate (21,23) is reversed in both sides opens up the spring eye of corresponding size
(a), the embedded spring eye (a) of the spring (22) so that the elastic force for reversing spring (22) on damping driving disc spacing pressing (20) can be with
Pass to the spring eye (a) reversed on damping clutch plate (21,23)；
Two panels reverses damping clutch plate (21,23) can be flexiblely around bull wheel rotary shaft (17) with reversing damping driving disc spacing pressing (20)
Reciprocating rotation；
The torsion damping clutch plate (21,23) of both sides is reversing damping driving disc spacing pressing (20) by bolt (b) connection perpendicular to card
Relevant position open up long kidney-shaped hole, ensure connection reverse damping clutch plate (21,23) bolt (b) be located at it is past in long kidney-shaped hole
Rotate again unobstructed；
One end of the swing arm (13) is fixed on torsion damping clutch plate (21) the axis hole position in outside.
2. there is the joint crawler belt of attitude-adjusting system according to claim 1, it is characterised in that：
It is disc to reverse damping driving disc spacing pressing (20) and two panels torsion damping clutch plate (21,23), is reversing damping driving disc spacing pressing
(20) neighboring is uniformly distributed the rectangular recess for opening up 3 or 4 outward openings, or opens up rectangular opening, inserts cylindrical spring
(22)；Rectangular Spring hole (a) corresponding with cylindrical spring (22) is opened up in the relevant position for reversing damping clutch plate (21,23),
And one the connection of rectangle long side be in the baffle plate (c) for being less than 45 degree angles laterally, when reversing damping driving disc spacing pressing (20) and two panels torsion
When damping clutch plate (21,23) is connected by bolt (b), the cylindrical spring is clamped in the Rectangular Spring hole of both sides.
3. there is the joint crawler belt of attitude-adjusting system according to claim 2, it is characterised in that：
The rectangular recess for opening up 4 outward openings is uniformly distributed in the neighboring for reversing damping driving disc spacing pressing (20)；
The baffle plate (c) is identical with Rectangular Spring hole (a) shape, size, for punching when be punched three sides after bending formed.
4. there is the joint crawler belt of attitude-adjusting system according to claim 1, it is characterised in that：In the swing arm (13)
On rod member, fixed and bull wheel rotary shaft (17) or steamboat branch between bull wheel rotary shaft (17) and steamboat support rotary shaft (5)
The parallel heavy burden wheel shaft (8) of rotary shaft (5) is supportted, it is in opposite direction by a pair of torsion on heavy burden wheel shaft (8), respectively to outside crawler belt
The torsion spring (10) that side applies thrust assembles a pair of bogie wheels (12).
5. there is the joint crawler belt of attitude-adjusting system according to claim 1, it is characterised in that：It is empty in the pose adjustment
Deep groove ball bearing No. 4 (29) is configured between mandrel (28) and driving hollow shaft (26).
6. there is the joint crawler belt of attitude-adjusting system according to claim 1, it is characterised in that：The other end of swing arm (13)
Steamboat support rotary shaft (5) is fixedly connected with, the axis hole of steamboat (2) is configured at through deep groove ball bearing No. 2 (6).
7. there is the joint crawler belt of attitude-adjusting system according to claim 1, it is characterised in that：Posture adjustment state motor is through chain
Driving pose adjustment hollow shaft (28) is clockwise or reverse realizes that joint crawler belt steamboat end is risen or declined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711250735.XA CN107826171B (en) | 2017-12-01 | 2017-12-01 | Joint crawler belt with posture adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711250735.XA CN107826171B (en) | 2017-12-01 | 2017-12-01 | Joint crawler belt with posture adjusting mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107826171A true CN107826171A (en) | 2018-03-23 |
| CN107826171B CN107826171B (en) | 2023-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711250735.XA Active CN107826171B (en) | 2017-12-01 | 2017-12-01 | Joint crawler belt with posture adjusting mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111059258A (en) * | 2019-11-06 | 2020-04-24 | 北京精密机电控制设备研究所 | Double-input double-output speed reducer |
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| US3822755A (en) * | 1972-07-21 | 1974-07-09 | Advanced Recreation Equip Corp | Kit for converting conventional motorcycle into snowmobile |
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| CN107140153A (en) * | 2017-05-17 | 2017-09-08 | 湖南大学 | Adaptive strain born of the same parents' crawler belt traveling mechanism |
| CN207550345U (en) * | 2017-12-01 | 2018-06-29 | 北京履坦科技有限公司 | A kind of joint crawler belt with attitude-adjusting system |
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| US6321864B1 (en) * | 2000-04-27 | 2001-11-27 | Vernal D. Forbes | Snow vehicle track suspension |
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| CN206358240U (en) * | 2016-11-19 | 2017-07-28 | 山东国兴智能科技有限公司 | A kind of protection type top load upper block is tensioned adjustable crawler body damping |
| CN107140153A (en) * | 2017-05-17 | 2017-09-08 | 湖南大学 | Adaptive strain born of the same parents' crawler belt traveling mechanism |
| CN207550345U (en) * | 2017-12-01 | 2018-06-29 | 北京履坦科技有限公司 | A kind of joint crawler belt with attitude-adjusting system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111059258A (en) * | 2019-11-06 | 2020-04-24 | 北京精密机电控制设备研究所 | Double-input double-output speed reducer |
| CN111059258B (en) * | 2019-11-06 | 2022-03-04 | 北京精密机电控制设备研究所 | Double-input double-output speed reducer |
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|---|---|
| CN107826171B (en) | 2023-12-05 |
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