CN108248711B - Wearable crawler-type snowfield running device and vibration reduction control method thereof - Google Patents
Wearable crawler-type snowfield running device and vibration reduction control method thereof Download PDFInfo
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- CN108248711B CN108248711B CN201810139278.5A CN201810139278A CN108248711B CN 108248711 B CN108248711 B CN 108248711B CN 201810139278 A CN201810139278 A CN 201810139278A CN 108248711 B CN108248711 B CN 108248711B
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- 230000009467 reduction Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000725 suspension Substances 0.000 claims abstract description 67
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 230000005540 biological transmission Effects 0.000 claims abstract description 53
- 238000013016 damping Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 239000006096 absorbing agent Substances 0.000 claims description 38
- 230000035939 shock Effects 0.000 claims description 38
- 238000007906 compression Methods 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 5
- 239000011229 interlayer Substances 0.000 claims description 3
- 230000002238 attenuated effect Effects 0.000 claims description 2
- 229920003051 synthetic elastomer Polymers 0.000 claims description 2
- 239000005061 synthetic rubber Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000000452 restraining effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
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- 206010039203 Road traffic accident Diseases 0.000 description 1
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- 238000011065 in-situ storage Methods 0.000 description 1
- 238000013017 mechanical damping Methods 0.000 description 1
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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
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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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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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
- B62D55/30—Track-tensioning means
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Abstract
A wearable crawler-type snowfield running device and a vibration reduction control method thereof belong to the technical field of vehicle engineering, and comprise a suspension supporting mechanism, a crawler transmission mechanism, a crawler guiding mechanism, a crawler steering mechanism and a tensioning mechanism, wherein a vibration damper at the forefront end is connected with a crawler bottom plate and a front guide plate, and elastic tensioning of a crawler is realized while vibration reduction of a crawler wheel, so that a traditional hydraulic tensioning mechanism is omitted; the rear three vibration dampers are mainly used for damping the track wheel; the double-sided damping rods arranged at the rear part are used for restraining the motion trail of the upper suspension support during damping, and the damping rods are simultaneously provided with chain transmission tensioning devices, so that the reliability of the crawler transmission devices is ensured while damping. The invention has simple structure, easy maintenance, convenient assembly and disassembly, no need of disassembling automobile tires and lifting equipment, independent completion of one person, simple installation, time saving and reliability, strong cross-country capability, less damage to roads and durability, and can run on severe snow covered roads and deep snow covered roads.
Description
Technical Field
The invention belongs to the technical field of vehicle engineering, and particularly relates to a four-wheel drive wearable crawler-type snowfield driving device and method.
Background
In extremely cold areas, the inconvenience of transportation brings great resistance to the development of the economy and society. The severe ice and snow road surface environment brings much inconvenience to traffic in countries and regions in severe cold regions. Due to the special structure and properties of the tire, traffic accidents can be caused when the tire runs on ice and snow roads.
In order to better solve the problem, the occurrence of the snowfield cross-country crawler belt brings great convenience to people in severe cold areas. The existing snowfield crawler mechanisms on the market are mostly divided into two types, namely a crawler travelling mechanism similar to a tank crawler, the crawler mechanism has strong mobility in complex landforms, can form 360-degree in-situ turning bodies, has strong obstacle crossing capability and can span a trench, but has large weight, large oil consumption and relatively difficult guarantee, once the off-road capability is seriously reduced, and the maintenance is extremely inconvenient. The other type is a traditional triangular crawler mechanism, the crawler is large in self weight, more in transmission parts and complex in structure, and original tires of a vehicle need to be completely removed during installation, and lifting equipment is needed to assist in installation. Moreover, the triangular crawler belt is limited by the structure of the triangular crawler belt, the whole bearing capacity is still to be improved, the high-speed stability is poor, the whole strength of the crawler belt is not high, and the crawler belt is easy to damage during high-speed running. One person is quite difficult, cumbersome and time consuming to operate. There is a need in the art for a new solution to this problem.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the wearable crawler-type snowfield driving device and the vibration reduction control method thereof are simple in crawler structure, easy to maintain, convenient to assemble and disassemble, capable of being independently completed by one person without disassembling automobile tires or lifting equipment, and simple in installation, time-saving and reliable. Can travel on severe snow road surface and deep snow road surface, the cross country ability is strong, and is less to the destructiveness of road, durable.
A wearable crawler-type snow traveling device is characterized in that: the crawler belt steering mechanism comprises a suspension supporting mechanism, a crawler belt transmission mechanism, a crawler belt guiding mechanism, a crawler belt steering mechanism and a tensioning mechanism, wherein the suspension supporting mechanism comprises an upper suspension support, an arch support, a vertical shock absorber, a first shock absorber, a second shock absorber, a rear supporting plate, a crawler belt wheel bottom plate and a loading wheel;
the crawler transmission mechanism comprises a rear roller bearing, a transmission chain, a rear roller, a driving shaft bearing, a crawler driving bearing, a driving large gear, a crawler driving wheel, a driving pinion and a chain wheel;
the crawler guide mechanism comprises a front guide wheel and a front guide plate;
the crawler steering mechanism comprises a cylindrical rotor, a steering bracket, a connecting rod and a height adjuster;
the tensioning mechanism comprises a connecting bolt, a tensioning spring, a tensioning support plate, a pressing chain wheel and a damping rod;
the upper suspension support and the arch support are of an integrated structure; two corners of the arch support are fixedly connected with one end of the vertical shock absorber through bolts respectively; the other end of the vertical shock absorber is hinged with the crawler wheel bottom plate; four pairs of loading wheels are symmetrically arranged on two sides of the crawler wheel bottom plate respectively; the crawler wheel bottom plate is connected with one end of the front guide plate through a large bolt, and the other end of the front guide plate is connected with the front guide wheel;
two pairs of triangular support plates are symmetrically arranged at two ends of the inner side of the upper suspension support, openings are formed in the triangular support plates, and the upper suspension support is connected with the steering support through the triangular support plates through bolts; the steering support is of a V-shaped structure, the top and the bottom of the V-shaped structure of the steering support are respectively provided with a cylindrical rotor, and the middle position of the steering support is provided with a connecting rod; the connecting rod is provided with a height adjuster;
the upper part of the upper suspension support is provided with four bearing holes, the front end two bearing holes are provided with a front roller through a front roller bearing, the two ends of the front roller are provided with crawler clamping discs through key connection, the rear end two bearing holes are provided with a rear roller through a rear roller bearing, the rear roller is connected with a driving shaft bearing through a transmission chain arranged on a chain wheel, the driving shaft bearing is fixedly arranged on a rear supporting plate, and a driving pinion is arranged on the driving shaft bearing; the rear supporting plate is fixedly provided with a track driving bearing, the track driving bearing is provided with a driving gearwheel, the inner side of the driving gearwheel is provided with a track driving wheel, and the driving gearwheel is meshed with the driving pinion; the crawler belt driving wheel is meshed with an inner side gear of the crawler belt;
the middle part of the upper suspension support is provided with a groove, and the upper suspension support is fixedly connected with the side support plate through a self-locking nut arranged outside a threaded column in the groove; the middle position of the front side of the upper suspension support is provided with a convex mounting hole and is connected with one end of a second shock absorber through a bolt, the other end of the second shock absorber is arranged in parallel with one end of the first shock absorber in a V shape, and the second shock absorber is hinged with a crawler wheel bottom plate through the same hinge point; the other end of the first shock absorber is connected with a mounting hole in the middle of the front guide plate through a bolt;
the rear side bottom of the upper suspension support is provided with a corner mounting hole, one end of the vibration reduction rod is connected with the upper suspension support through a bolt arranged in the corner mounting hole, and the other end of the vibration reduction rod is connected with the bottom corner mounting hole of the rear support plate; a concave hole is formed in the middle of the vibration reduction rod, and the tensioning support plate is mounted on the concave hole through a bolt; the tensioning support plate is connected with the damping rod through a tensioning spring, and a pressing chain wheel is arranged at the top of the tensioning support plate; the compaction chain wheel is arranged on the inner side of the transmission chain and is connected with the transmission chain.
The crawler belt is an synthetic rubber crawler belt, and inner gear teeth are arranged in the crawler belt and meshed with the four pairs of bogie wheels through the inner gear teeth.
The upper part of the crawler belt is arranged in an interlayer of the front roller, the rear roller and the upper part suspension support, and the crawler belt is arranged at the middle positions of the two ends of the front roller through a crawler belt clamping disc.
The outside of track drive bearing and drive shaft bearing is provided with the bearing apron.
The loading wheel is arranged on the central shaft through a bearing, a threaded hole is formed in the outer end of the central shaft, and the loading wheel is in threaded connection with the supporting plate.
A vibration reduction control method of a wearable crawler-type snowfield running device is characterized by comprising the following steps of: with one of the wearable crawler-type snowmobile described above,
the crawler belt is arranged on wheels, the wheels drive the rear roller to rotate, and then the chain wheels at the two ends of the rear roller drive the chain wheels on the rear supporting plate through chains, and then the coaxial gears are driven to rotate, and the drive large gears meshed with the drive small gears simultaneously rotate to drive the coaxial crawler belt driving wheels to drive the crawler belt to run forwards; the front part of the crawler belt is impacted instantaneously, the front guide plate rotates around the bolt joint, and the first shock absorber compresses to relieve the front impact;
the road surface at the bottom of the crawler belt is unevenly excited, the compression amounts of the front vertical vibration damper and the rear vertical vibration damper are different, and when the upper suspension support swings forwards and backwards, the second vibration damper connected with the upper suspension support compresses or stretches, so that the swing of the upper suspension support is attenuated; the crawler belt passes through the middle of the front roller and the rear roller and the upper suspension support, the front roller and the rear roller can be caused to press down the crawler belt by the front swing and the rear swing of the upper suspension support, meanwhile, the first shock absorber is compressed and the front guide plate is contracted inwards, and the first shock absorber is used for elastically tensioning the crawler belt;
the upper suspension support swings and the distance between the rear roller bearing and the driving shaft bearing is changed, and the vibration reduction rod, the rear roller bearing and the driving shaft bearing form a parallelogram structure which can restrict the movement track of the upper suspension support while swinging; meanwhile, as the transmission chain can be loosened at the moment, the tensioning mechanism positioned on the damping rod can tighten the tensioning support plate under the tension of the tensioning spring, the compression chain wheel is ensured to be tightly pressed on the transmission chain, and the reliable transmission of the transmission chain is ensured.
Through the design scheme, the invention has the following beneficial effects: the wearable crawler-type snowfield running device and the vibration reduction control method thereof have the advantages of simple crawler structure, easy maintenance, convenient assembly and disassembly, no need of dismounting automobile tires and lifting equipment, independent completion by one person, simple installation, time saving and reliability. Can travel on severe snow road surface and deep snow road surface, the cross country ability is strong, and is less to the destructiveness of road, durable.
The invention has the further beneficial effects that:
1. the invention does not need to change the structure of the original wheel suspension of the vehicle, does not need to disassemble the wheels, only needs to drive the vehicle into the middle clamping groove of the crawler belt by means of the mounting frame to fix the crawler belt, and is simple and reliable and convenient to assemble and disassemble.
2. The invention utilizes a special mechanical damping structure to damp vibration during crawler running, does not need to install a hydraulic tensioning mechanism, omits vulnerable devices such as a hydraulic cylinder, a hydraulic pipeline and the like, simplifies the mechanical structure of the crawler wheel, and greatly improves the reliability and stability of the crawler.
3. The invention adopts a two-stage transmission mode of combining chain transmission and gear transmission, and is additionally provided with a chain transmission tensioning mechanism, the whole set of mechanism is stable and reliable in transmission, has strong adaptability to the environment of severe snow covered pavement, and has stronger cross-country capability compared with the common snow covered track wheel.
Drawings
The invention is further described with reference to the drawings and detailed description which follow:
fig. 1 is a schematic view of the overall structure of a wearable crawler-type snowmobile of the present invention.
Fig. 2 is a schematic diagram of the internal structure of a wearable crawler-type snowmobile of the present invention.
Fig. 3 is a schematic view of a crawler belt transmission mechanism of the wearable crawler-type snowmobile of the present invention.
Fig. 4 is a schematic structural view of a tensioning mechanism of the wearable crawler-type snowmobile of the present invention.
In the figures, the side support plates, 2-cylindrical rotor, 3-steering bracket, 4-connecting rod, 5-height adjuster, 6-track, 7-rear support plate, 8-bogie wheel, 9-track wheel base plate, 10-front guide plate, 11-front guide wheel, 12-track clamping plate, 13-large bolt, 14-first damper, 15-second damper, 16-bow support, 17-vertical damper, 18-upper suspension support, 19-bearing cover plate, 20-front roller bearing, 21-front roller, 22-rear roller bearing, 23-drive chain, 24-rear roller, 25-drive shaft bearing, 26-track drive bearing, 27-drive gearwheel, 28-track drive wheel, 29-drive pinion, 30-sprocket, 31-connecting bolt, 32-tension spring, 33-tension support plate, 34-compression sprocket, 35-damper rod, 36-triangle support plate, 37-center shaft, 38-support plate.
Detailed Description
A wearable crawler-type snowfield running device is shown in fig. 1, and comprises a suspension supporting mechanism, a crawler transmission mechanism, a crawler guiding mechanism, a crawler steering mechanism and a tensioning mechanism, wherein the core mechanism is the suspension supporting mechanism and the crawler transmission mechanism.
The suspension support mechanism comprises an upper suspension support 18, an arch support 16, a vertical damper 17, a first damper 14, a second damper 15, a rear support plate 7, a track wheel base plate 9 and a road wheel 8.
The upper suspension support 18 and the arch support 16 are integrated, four bearing holes are formed in the upper suspension support 18, a front roller 21 is mounted on the front two bearing holes through a front roller bearing 20, crawler clamping plates 12 are mounted on two ends of the front roller 21 through key connection so as to prevent the crawler 6 from deviating in the running process, a rear roller 24 is mounted on the rear two bearing holes, chain wheels 30 are mounted on two ends of the rear roller, and the chain wheels 30 are connected with a transmission mechanism of the rear supporting plate 7 through a transmission chain 23.
The two ends of the inner side of the upper suspension support 18 are provided with triangular support plates 36, the triangular support plates 36 are provided with holes, and the steering support 3 is connected through bolts. The middle part of the upper suspension support 18 is provided with a groove, and the two side support plates 1 on the two sides of the inner part are connected through bolts; grooves are formed in two corners of the arch support 16, two vertical shock absorbers 17 are connected through bolts, and the two vertical shock absorbers 17 mainly relieve impact force in the vertical direction in the running process of the crawler belt 6. The bottom of the vertical shock absorber 17 is hinged on the crawler wheel bottom plate 9.
The middle part of the front side of the upper suspension support 18 is provided with a convex mounting hole, the mounting hole is provided with a second shock absorber 15 through a bolt, the second shock absorber 15 and the first shock absorber 14 are arranged in a V-shaped mode in parallel, and the second shock absorber and the first shock absorber are hinged to the front part of the crawler wheel base plate 9 through a common hinge point, so that the impact of the front part is relieved.
The two sides of the rear part of the upper suspension support 18 are provided with protruding mounting holes, the two sides of the rear part are connected with vibration damping rods 35 through bolts, and the vibration damping rods 35 are used for restraining the movement track of the upper suspension support 18 when swinging. The other ends of the two vibration reduction rods 35 are connected with the bottom corner convex mounting holes of the rear supporting plate 7 by bolts.
The front part of the central part of the crawler wheel bottom plate 9 is provided with an inner groove hole which is used for being connected with a front guide plate 10 through bolts, four pairs of eight loading wheels 8 are respectively arranged on two sides of the crawler wheel bottom plate 9, the loading wheels 8 are arranged on two sides of the inner gear of the crawler belt 6 in a straddling way, the crawler belt 6 is clamped while the weight of a vehicle is supported, and the crawler belt 6 is prevented from deviating in the running process.
The loading wheel 8 is arranged on a central shaft 37 by a bearing, a threaded hole is formed in the outer end of the central shaft 37 and used for fixing a supporting plate 38, and the loading wheel and the supporting plate are fixedly connected together through bolts.
The crawler belt transmission mechanism comprises a rear roller bearing 22, a transmission chain 23, a rear roller 24, a driving shaft bearing 25, a crawler driving shaft bearing 26, a driving large gear 27, a crawler driving wheel 28, a driving small gear 29 and a chain wheel 30.
The front chain wheel of the crawler transmission mechanism is arranged on the rear roller 24, the rear chain wheel is arranged at two ends of a driving shaft, the chain wheels are connected through keys, the driving shaft is fixed on the rear supporting plate 7 through a driving shaft bearing 25, a driving pinion 29 is arranged on the driving shaft, the driving pinion 29 is meshed with a driving large gear 27 on a crawler driving bearing 26, the crawler driving shaft is also fixed on the rear supporting plate 7 through a bearing, a crawler driving wheel 28 is arranged on the inner side of the driving large gear 27, the crawler driving wheel 28 is meshed with inner side gear teeth of the crawler 6, further, power on the wheels is transmitted to the crawler, the crawler is driven to run forwards, the crawler transmission mechanism adopts a two-stage transmission mode combining chain transmission and gear transmission, the transmission mode is stable and reliable, and the adaptability to severe snow covered pavement is high.
The crawler guide mechanism comprises a front guide wheel 11 and a front guide plate 10. The front guide plate 10 and the crawler wheel bottom plate 9 are connected with the crawler wheel bottom plate 9 through big bolts 13, namely the front guide plate 10 can rotate around the bolt connection position, a mounting hole is formed in the middle of the front guide plate 10, the first shock absorber 14 is connected through bolts, and the first shock absorber 14 and the second shock absorber 15 are hinged to the crawler wheel bottom plate 9.
The crawler steering mechanism comprises a cylindrical rotor 2, a steering bracket 3, a connecting rod 4 and a height adjuster 5. The crawler steering mechanism is mainly used for fixing the wheels and keeping good wheel steering. When the crawler wheel is installed, the wheels drive into the grooves of the front roller and the rear roller of the crawler wheel by the inclined installation frame, the height adjuster 5 is adjusted, the upper end of the height adjuster 5 is connected with the driving shaft of the wheels, and the wheels are fixedly screwed by the large nuts, so that the wheels are prevented from being separated in the running process.
The tensioning mechanism comprises a connecting bolt 31, a tensioning spring 32, a tensioning support plate 33, a pressing chain wheel 34 and a damping rod 35. The damper rod 35 of the tensioning mechanism is connected at both ends to the bottom corner mounting hole of the upper suspension support 18 and the bottom corner mounting hole of the rear support plate 7, respectively. While the middle of the damper rod 35 has a mounting hole for mounting the tension supporting plate 33. The upper side of the damper rod 35 is provided with a hook, and the tension spring 32 is hooked on the hook.
The damping rod 35 is provided with a concave hole in the middle, the other end of the tensioning spring 32 is hooked in the hole, a small bearing is arranged on the inner side of the top of the damping rod 35 and used for installing a pressing chain wheel 34, and the pressing chain wheel presses the transmission chain 23 from the inner side of the transmission chain 23.
In a vibration damping control method of a wearable crawler-type snowfield traveling device, when the front part of a crawler 6 is subjected to instant impact during the crawler traveling of an off-road vehicle, a front guide plate 10 rotates around a bolt joint, and a first vibration damper 14 compresses to relieve the front impact.
When the track 6 receives a road surface excitation from the bottom of the track during its travel. Because the road surface at the bottom of the crawler belt 6 is unevenly distributed before and after excitation, namely, the compression amounts of the front vertical vibration damper 17 and the rear vertical vibration damper 17 are different, the vibration damping process is complex at the moment, and the vibration damping process is mainly divided into the following three processes:
when the compression amounts of the front and rear vertical dampers 17 are different, the upper suspension support 18 swings back and forth, and the second damper 15 connected to the upper suspension support 18 compresses or expands while the upper suspension support 18 swings back and forth, thereby attenuating the swing of the upper suspension support 18.
As the upper suspension support 18 swings back and forth, the front and rear rollers 24 press down the track 6 due to the track 6 passing through the front and rear rollers 21 and 24 and the upper suspension support 18, and the front and rear swing of the upper suspension support 18 causes the first shock absorber 14 to compress and the front guide plate 10 to retract inward, at which time the first shock absorber 14 plays a role of elastically tensioning the track 6.
The swinging of the upper suspension support 18 causes a change in the spacing between the rear drum shaft and the drive shaft, i.e. the two shafts on which the sprocket 30 is mounted. While the structure of the damper rod 35 forming a parallelogram with the rear drum bearing 22 and the driving shaft constrains the trajectory of the motion of the upper suspension support 18 while it swings. Meanwhile, as the transmission chain 23 can be loosened at the moment, the tensioning mechanism on the damping rod 35 can tension the tensioning support plate 33 under the tension of the tensioning spring 32, so that the pressing chain wheel 34 is tightly pressed on the transmission chain 23, and the reliable transmission of the transmission chain 23 is ensured.
The snow track driving device transmits power by means of the track transmission mechanism, wherein the track transmission mechanism ensures reliable transmission by combining a chain transmission mode and a gear transmission mode. The track wheel is damped by means of four dampers of different sizes inside while the track is travelling, wherein the first damper 14 ensures elastic tensioning of the track while damping, the hydraulic tensioning mechanism is omitted, the bogie arranged on the upper suspension support 18 clamps the wheels while ensuring reliable steering of the vehicle, and all functions of the track mechanism can be realized.
Claims (6)
1. A wearable crawler-type snow traveling device is characterized in that: the crawler belt steering device comprises a suspension supporting mechanism, a crawler belt transmission mechanism, a crawler belt guiding mechanism, a crawler belt steering mechanism and a tensioning mechanism, wherein the suspension supporting mechanism comprises an upper suspension support (18), an arch support (16), a vertical shock absorber (17), a first shock absorber (14), a second shock absorber (15), a rear supporting plate (7), a crawler belt wheel bottom plate (9) and a loading wheel (8);
the crawler transmission mechanism comprises a rear roller bearing (22), a transmission chain (23), a rear roller (24), a driving shaft bearing (25), a crawler driving bearing (26), a driving large gear (27), a crawler driving wheel (28), a driving pinion (29) and a chain wheel (30);
the crawler guide mechanism comprises a front guide wheel (11) and a front guide plate (10);
the crawler steering mechanism comprises a cylindrical rotor (2), a steering bracket (3), a connecting rod (4) and a height adjuster (5);
the tensioning mechanism comprises a connecting bolt (31), a tensioning spring (32), a tensioning supporting plate (33), a pressing chain wheel (34) and a damping rod (35);
the upper suspension support (18) and the arch support (16) are of an integral structure; two corners of the arch support (16) are fixedly connected with one end of the vertical shock absorber (17) through bolts respectively; the other end of the vertical shock absorber (17) is hinged with the crawler wheel bottom plate (9); four pairs of loading wheels (8) are symmetrically arranged on two sides of the crawler wheel bottom plate (9) respectively; the crawler wheel bottom plate (9) is connected with one end of the front guide plate (10) through a large bolt (13), and the other end of the front guide plate (10) is connected with the front guide wheel (11);
two pairs of triangular support plates (36) are symmetrically arranged at two ends of the inner side of the upper suspension support (18), openings are formed in the triangular support plates (36), and the upper suspension support (18) is connected with the steering support (3) through the triangular support plates (36) through bolts; the steering support (3) is of a V-shaped structure, the top and the bottom of the V-shaped structure of the steering support (3) are respectively provided with a cylindrical rotor (2), and the middle position of the steering support (3) is provided with a connecting rod (4); the connecting rod (4) is provided with a height adjuster (5);
four bearing holes are formed in the upper portion of the upper portion suspension support (18), a front roller (21) is installed in the front end two bearing holes through a front roller bearing (20), crawler clamping discs (12) are installed at two ends of the front roller (21) through key connection, a rear roller (24) is installed in the rear end two bearing holes through a rear roller bearing (22), the rear roller (24) is connected with a driving shaft bearing (25) through a transmission chain (23) arranged on a chain wheel (30), the driving shaft bearing (25) is fixedly arranged on a rear supporting plate (7), and a driving pinion (29) is arranged on the driving shaft bearing (25); a crawler driving bearing (26) is fixedly arranged on the rear supporting plate (7), a driving large gear (27) is arranged on the crawler driving bearing (26), a crawler driving wheel (28) is arranged on the inner side of the driving large gear (27), and the driving large gear (27) is meshed with a driving small gear (29); the crawler belt driving wheel (28) is meshed with an inner side gear of the crawler belt (6);
the middle part of the upper suspension support (18) is provided with a groove, and the upper suspension support is fixedly connected with the side support plate (1) through a self-locking nut arranged outside a threaded column in the groove; the middle position of the front side of the upper suspension support (18) is provided with a convex mounting hole, and is connected with one end of a second shock absorber (15) through a bolt, the other end of the second shock absorber (15) is arranged in parallel with one end of the first shock absorber (14) in a V-shaped manner, and is hinged with the crawler wheel bottom plate (9) through the same hinge point; the other end of the first shock absorber (14) is connected with a mounting hole in the middle of the front guide plate (10) through a bolt;
a corner mounting hole is formed in the bottom of the rear side of the upper suspension support (18), one end of a vibration reduction rod (35) is connected with the upper suspension support (18) through a bolt arranged in the corner mounting hole, and the other end of the vibration reduction rod (35) is connected with a bottom corner mounting hole of the rear support plate (7); a concave hole is formed in the middle of the vibration reduction rod (35), and the tensioning support plate (33) is mounted on the concave hole through a bolt; the tensioning support plate (33) is connected with the damping rod (35) through a tensioning spring (32), and a pressing chain wheel (34) is arranged at the top of the tensioning support plate (33); the pressing chain wheel (34) is arranged on the inner side of the transmission chain (23) and is connected with the transmission chain (23).
2. A wearable crawler snowmobile as in claim 1 wherein: the crawler belt (6) is an synthetic rubber crawler belt, and inner gear teeth are arranged in the crawler belt (6) and meshed with the four pairs of bogie wheels (8) through the inner gear teeth.
3. A wearable crawler snowmobile as in claim 1 wherein: the upper part of the crawler belt (6) is arranged in the interlayer of the front roller (21) and the interlayer of the rear roller (24) and the upper suspension support (18), and the crawler belt (6) is arranged at the middle position of the two ends of the front roller (21) through the crawler belt clamping disc (12).
4. A wearable crawler snowmobile as in claim 1 wherein: the crawler belt drive bearing (26) and the outside of the drive shaft bearing (25) are provided with a bearing cover plate (19).
5. A wearable crawler snowmobile as in claim 1 wherein: the loading wheel (8) is arranged on a central shaft (37) through a bearing, a threaded hole is formed in the outer end of the central shaft (37), and the loading wheel is in threaded connection with a supporting plate (38).
6. A vibration reduction control method of a wearable crawler-type snowfield running device is characterized by comprising the following steps of: with a wearable crawler snowmobile of claim 1,
the crawler belt (6) is arranged on wheels, the wheels drive the rear roller (24) to rotate, further drive chain wheels (30) at two ends to rotate, the chain wheels (30) at two ends of the rear roller (24) drive chain wheels on the rear supporting plate (7) through a chain, further drive a coaxial gear to rotate, and drive a large driving gear (27) meshed with a small driving gear (29) to rotate simultaneously, so that the coaxial crawler belt driving wheel (28) is driven to drive the crawler belt (6) to run forwards; the front part of the crawler belt (6) is subjected to instant impact, the front guide plate (10) rotates around the bolt connection part, and the first shock absorber (14) compresses to relieve the front impact;
the road surface at the bottom of the crawler belt (6) is unevenly excited, the compression amounts of the front vertical vibration damper and the rear vertical vibration damper (17) are different, and when the upper suspension support (18) swings forwards and backwards, the second vibration damper (15) connected with the upper suspension support compresses or stretches, so that the swing of the upper suspension support (18) is attenuated; the crawler belt (6) passes through the middle of the front roller (21) and the rear roller (24) and the upper suspension support (18), the front roller (21) and the rear roller (24) are pressed down by the upper suspension support (18), meanwhile, the first shock absorber (14) compresses and the front guide plate (10) contracts inwards, and the first shock absorber (14) elastically tightens the crawler belt (6);
the distance between the rear roller bearing (22) and the driving shaft bearing (25) is changed while the upper suspension support (18) swings, and the vibration reduction rod (35), the rear roller bearing (22) and the driving shaft bearing (25) form a parallelogram structure, so that the movement track of the upper suspension support (18) can be restrained while the upper suspension support (18) swings; meanwhile, as the transmission chain (23) can be loosened at the moment, the tensioning mechanism on the damping rod (35) can tension the tensioning support plate (33) under the tension of the tensioning spring (32), so that the pressing chain wheel (34) is pressed on the transmission chain (23) tightly, and the reliable transmission of the transmission chain (23) is ensured.
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| CN111497548B (en) * | 2020-04-27 | 2023-02-03 | 安徽大学 | Active vibration reduction type fire-fighting robot base device and control method |
| CN113246673A (en) * | 2021-06-21 | 2021-08-13 | 广东省智能机器人研究院 | Crawler-type action system applied to amphibious unmanned vehicle |
| CN114633819B (en) * | 2022-04-27 | 2023-02-03 | 吉林大学 | Crawler belt walking device |
| CN114633818B (en) * | 2022-04-27 | 2023-07-21 | 吉林大学 | Crawler belt walking device |
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