CN108583704A - Omnidirectional's creeper truck - Google Patents
Omnidirectional's creeper truck Download PDFInfo
- Publication number
- CN108583704A CN108583704A CN201810354508.XA CN201810354508A CN108583704A CN 108583704 A CN108583704 A CN 108583704A CN 201810354508 A CN201810354508 A CN 201810354508A CN 108583704 A CN108583704 A CN 108583704A
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- China
- Prior art keywords
- wheel
- omnidirectional
- chain
- link
- creeper truck
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention belongs to creeper truck technical field, more particularly to a kind of omnidirectional's creeper truck；A kind of its omnidirectional's creeper truck, including vehicle body and three crawler belts being connect respectively with the vehicle body by connecting shaft, and the axis of three connecting shafts is mutually 120 degree of angles, the connecting shaft and the crawler belt vertical connection；The crawler belt includes driving wheel, the driven wheel connected by chain and the driving wheel, the middle frame for being connected between driving wheel and driven wheel and mutually being slided with the chain, the middle frame and the connection axis connection, the both ends of the middle frame are connected separately with fixed frame and solid wheel carrier.The present invention provides a kind of new omnidirectional's creeper truck, and omnidirection, which can be achieved, by the cooperation of vehicle body and omni-directional wheel moves to reduce the abrasion to crawler belt；The steering of crawler belt uses differential steering, by controlling the steering of crawler belt to change the steering of omni-directional wheel；The device can realize the movement of creeper truck different directions and the rotation of vehicle body by the cooperation between 3 crawler belts.
Description
Technical field
The invention belongs to creeper truck technical field, more particularly to a kind of omnidirectional's creeper truck.
Background technology
Application of the creeper truck in every field is more and more, either military aspect, or in terms of building construction, crawler belt
Vehicle is all one of highly important tool.The advantages of creeper truck, is to advance in complicated rugged landform；Creeper truck
It turns to using differential steering, by changing crawler track speeds, differential makes car body turn to, but this steering mode is to crawler belt
It wears extremely serious, reduces the service life of creeper truck.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of new omnidirectional's creeper truck, which is that can reduce crawler belt
Abrasion, increase the service life of creeper truck.
Specific technical solution of the present invention is as follows：
The present invention provides a kind of omnidirectional's creeper truck, including vehicle body and connect respectively with the vehicle body by connecting shaft three
A crawler belt, and the axis of three connecting shafts is mutually 120 degree of angles, the connecting shaft and the crawler belt vertical connection；The shoe
Band include driving wheel, the driven wheel connected by chain and the driving wheel, be connected between driving wheel and driven wheel and with institute
The middle frame that chain mutually slides, the middle frame and the connection axis connection are stated, the both ends of the middle frame are connected separately with
Fixed frame and solid wheel carrier, the fixed frame are equipped with the driving motor of driving driving wheel rotation, and the driven wheel passes through guide wheel
Axis is slidably connected on solid wheel carrier；Multiple platforms are installed, it is parallel to be mounted at least two on each platform on the chain
The axis direction of the omni-directional wheel of setting, each omni-directional wheel is parallel with the chain, and the wheel shaft at each omni-directional wheel both ends is equal
On the platform by supporting rack installation.
Further to improve, the middle frame includes frame body, and the frame body is all provided on the two sides relative to the chain
There are at least two grooves being mutually parallel, each groove on same side is arranged along the short transverse interval of place side,
And each groove is parallel with the cross central line of place side, each groove location one for being respectively arranged on two sides is a pair of
It should be arranged, multiple rolling shafts are installed along the length direction interval of the groove in the groove, on each rolling shaft
It is equipped with scroll wheel.
Further to improve, the fixed frame includes longitudinal carrier and is propped up with longitudinal carrier transverse direction connected vertically
Frame, the longitudinal carrier are fixedly connected with a side end face of the frame body, and the horizontal support is equipped with mounting hole, the driving
The output shaft of motor is connect across the mounting hole with the driving wheel, and the fuselage of the driving motor is solid with the horizontal support
Fixed connection.
It is further to improve, the solid wheel carrier include transverse slat and with the transverse slat two stringer board connected vertically, described in two
Along the center line symmetrical setting of the transverse slat, a side end face of the transverse slat and separate longitudinal carrier on the frame body connects stringer board
Connect, connecting hole be equipped on two stringer boards, and the two connection hole sites are correspondingly arranged, the guiding wheel shaft pass through it is described from
Driving wheel is connect with two connecting holes respectively.
Further to improve, the chain is made of the link configuration of multiple articulated connections, and the link configuration includes two
Link disposed in parallel and 4 chain links, 4 chain links are two-by-two one group of the same side for being connected to the link, and two groups
Chain link position is oppositely arranged, for connecting two links one of in every group of chain link, another one end superposition connection
A chain is tied wherein, and the other end is connect with adjacent link configuration, and each chain link is vertical with the link, respectively
The omni-directional wheel is parallel with the chain link.
Further to improve, the driving wheel includes sprocket wheel and consolidates with the sprocket wheel as the structure of driven wheel
Surely the gear ring connected, the gear ring is enclosed by multiple tooth blocks to be set, and each tooth block engages connection with the link.
Further to improve, the link includes fixed pipe fitting, the telescopic rod in the fixed pipe fitting and is set to
Fixed link far from described telescopic rod one end on the fixed pipe fitting, the fixed pipe fitting are the hollow-core construction of one end open, institute
Telescopic rod is stated in the fixed pipe fitting and is extended outwardly, and screw thread is formed on the telescopic rod, close to the middle frame
The chain link be mounted on the fixed link on, far from the middle frame chain link be mounted on the telescopic rod on, the fixation
It is equipped in pipe fitting and controls the flexible elevating mechanism of the telescopic rod, the elevating mechanism includes worm gear and nibbled with the worm gear
The worm screw of conjunction, the worm gear are socketed in outside the telescopic rod, and are spirally connected with the telescopic rod, and the worm gear lower end is equipped with branch
Frame, the holder are mounted on by rotary shaft in the fixed pipe fitting on the side end face far from the open end, the worm screw
It is connected with the motor on the fixed pipe fitting inner wall by shaft coupling, and the stage+module is in same link configuration
Two chains are tied.
Further to improve, the length direction of platform described in the platform upper edge is equipped at intervals with two sliding slots, and the platform
Mounted on for connecting two two chain links chained and position is oppositely arranged, two sliding slots are vertical with the omni-directional wheel
It is arranged, slide assemblies is mounted in each sliding slot, the slide assemblies includes the pedestal for being mounted on the sliding slot bottom, peace
The leading screw and two sliding blocks for filling sliding rail on the base and being installed on the sliding rail, the leading screw pass through two cunnings
Block, and the leading screw is connect with the wherein one sliding block plus thread, is connect with another sliding block left-hand thread, the one of the leading screw
End is connected with fixed electric rotating machine on the base, and two support frames as described above being oppositely arranged before and after position are separately mounted to two
On the sliding block.
Further to improve, the omni-directional wheel includes omnidirectional's wheel shaft and is socketed in omnidirectional's wheel shaft by two bearings
On idler wheel, two bearings are respectively arranged on the left and right ends of the idler wheel, are equipped on omnidirectional's wheel shaft for locking institute
State the locking element of idler wheel, the locking element includes two chucks being set in the idler wheel, more on each chuck
A fixture block and the cylinder for being installed on omnidirectional's wheel shaft and being connect with each chuck, each fixture block pass through rotating member
It is connected on the chuck, each chuck is sheathed on omnidirectional's wheel shaft, and the cylinder controls the chuck described in
Omnidirectional's wheel shaft movement, and two chucks are moved in omnidirectional's wheel shaft upper edge opposite direction, the bearing outer ring is close to described
A side end face inside idler wheel is equipped with the card slot of locking corresponding with the fixture block.
Further to improve, the distance between two chucks and two bearings are equal, and two cylinders is first
Beginning extension elongation is also equal.
Beneficial effects of the present invention are as follows：
The present invention provides a kind of new omnidirectional's creeper truck, by the cooperation of vehicle body and omni-directional wheel can be achieved omnidirection movement from
And reduce the abrasion to crawler belt；The steering of crawler belt uses differential steering, by controlling the steering of crawler belt to change omni-directional wheel
Steering；The device can realize the movement of creeper truck different directions and the rotation of vehicle body by the cooperation between 3 crawler belts.
Description of the drawings
Fig. 1 is the structural schematic diagram of 1 omnidirectional's creeper truck of embodiment；
Fig. 2 is the structural schematic diagram of 1 crawler belt of embodiment；
Fig. 3 is the structural schematic diagram of 2 middle frame of embodiment；
Fig. 4 is the sectional view of 3 fixed frame of embodiment；
Fig. 5 is the structural schematic diagram that embodiment 4 consolidates wheel carrier；
Fig. 6 is the structural schematic diagram of 5 link configuration of embodiment；
Fig. 7 is the structural schematic diagram of 6 driving wheel of embodiment；
Fig. 8 is the sectional view that embodiment 7 chains；
Fig. 9 is the side view of Fig. 8；
Figure 10 is the sectional view of 8 platform of embodiment；
Figure 11 is the sectional view of 9 omni-directional wheel of embodiment.
Specific implementation mode
Invention is further described in detail with following embodiment below in conjunction with the accompanying drawings.
Embodiment 1
The embodiment of the present invention 1 provides a kind of omnidirectional's creeper truck, as shown in Figure 1 and Figure 2, including vehicle body 1 and passes through company respectively
Three crawler belts 3 that spindle 2 is connect with the vehicle body 1, and the axis of three connecting shafts 2 is mutually 120 degree of angles, the connecting shaft
2 with 3 vertical connection of the crawler belt；The driven wheel that the crawler belt 3 includes driving wheel 4, connect with the driving wheel 4 by chain 5
6, the middle frame 8 for being connected between driving wheel 4 and driven wheel 6 and mutually being slided with the chain 5, the middle frame 8 with it is described
Connecting shaft 2 connects, and the both ends of the middle frame 8 are connected separately with fixed frame 9 and solid wheel carrier 11, and the fixed frame 9, which is equipped with, to be driven
The driving motor 7 that dynamic driving wheel 4 rotates, the driven wheel 6 are slidably connected at by guiding wheel shaft 10 on solid wheel carrier 11；The chain
Multiple platforms 12 are installed on item 5, at least two omni-directional wheels 13 disposed in parallel are mounted on each platform 12, it is each described complete
Axis direction to wheel 13 is parallel with the chain 5, and the wheel shaft at each 13 both ends of the omni-directional wheel is installed by supporting rack 14
On the platform 12.
The present invention provides a kind of new omnidirectional's creeper truck, by the cooperation of vehicle body and omni-directional wheel can be achieved omnidirection movement from
And reduce the abrasion to crawler belt；The steering of crawler belt uses differential steering, by controlling the steering of crawler belt to change omni-directional wheel
Steering；The device can realize the movement of creeper truck different directions and the rotation of vehicle body by the cooperation between 3 crawler belts.
When creeper truck is walked vertically, the crawler belt vertical with the direction of motion does not work, and only omni-directional wheel moves, other two
Caterpillar drive speed is equal, can be by two frictional force point since ground is different to the direction of latter two crawler belt frictional force
Solution is the power of horizontal and vertical both direction, and component in horizontal direction is equal in magnitude, therefore direction is on the contrary, can offset,
The only power on remaining vertical direction, therefore, latter two crawler belt can control creeper truck and walk vertically；When needing to think left steering,
Speed positioned at the crawler belt of lower right increases, at this point, the frictional force suffered by the crawler belt positioned at lower right increases, can control crawler belt
Vehicle turns to the left；Due to being equipped with omni-directional wheel on the outer end face of crawler belt, the different directions rotation of crawler belt can drive omnidirectional
The rotation for taking turns different directions, can reduce the abrasion to crawler belt in this way.
When crawler belt works, driving motor is opened, the rotation of driving motor drives driving wheel rotation, the rotation of driving wheel to pass through
Chain-driving driven wheel rotates, and due to mutually being slided between chain and middle frame, the movement of crawler belt may be implemented, avoid
It rubs excessive between chain and middle frame and damages middle frame, and omni-directional wheel is installed on the outer end face of crawler belt, therefore, crawler belt
Rotation can drive the rotation of omni-directional wheel, and when crawler belt does not work, omni-directional wheel can also rotate, and can extend making for crawler belt in this way
Use the service life；Setting fixed frame and solid wheel carrier be in order to fix driving motor and driven wheel, in this way can to avoid driving motor and from
Influence of the movement of driving wheel to crawler travel；Omni-directional wheel can be arranged two, three, even more, with two in the present embodiment
For omni-directional wheel.
Embodiment 2
Omnidirectional's creeper truck that the embodiment of the present invention 2 provides is substantially the same manner as Example 1, unlike, as shown in figure 3, institute
It includes frame body 81 to state middle frame 8, and the frame body 81 is equipped at least two and is mutually parallel on the two sides relative to the chain 5
Groove 82, each groove 82 on same side is arranged along the short transverse interval of place side, and each groove 82
Parallel with the cross central line of place side, each 82 position of the groove for being respectively arranged on two sides is arranged in a one-to-one correspondence, institute
It states in groove 82 and multiple rolling shafts 84 is installed along the length direction interval of the groove 82, on each rolling shaft 84
It is equipped with scroll wheel 83.
Middle frame is arranged in the present invention can increase bearing capacity, and scroll wheel is arranged on middle frame, and scroll wheel passes through rolling
Driving wheel axis rotates in groove so that scroll wheel can be rotated with opposing chain, avoid influencing each other between middle frame and chain；
Due to middle frame relative to chain two sides and chain contact, be mounted on scroll wheel on the two sides of middle frame,
And the position of two sides upper groove corresponds；Groove on same side can be arranged two, three, even more, this reality
It applies in example for two grooves are set on same side.
Embodiment 3
Omnidirectional's creeper truck that the embodiment of the present invention 3 provides, it is substantially the same manner as Example 2, unlike, as shown in figure 4, institute
State fixed frame 9 include longitudinal carrier 91 and with 91 horizontal support 92 connected vertically of the longitudinal carrier, the longitudinal carrier
91 are fixedly connected with a side end face of the frame body 81, and the horizontal support 92 is equipped with mounting hole 93, the driving motor 7
Output shaft is connect across the mounting hole 93 with the driving wheel 4, and the fuselage of the driving motor 7 is solid with the horizontal support 92
Fixed connection.
It is to avoid the hanging of driving motor from being arranged to crawler travel to fix driving motor that fixed frame is arranged in the present invention
It has an impact, the output shaft of driving motor is passed through into mounting hole, and be fixedly connected with driving wheel, and the fuselage sections of driving motor
It is then mounted on horizontal support, longitudinal carrier is fixedly mounted with middleware, can not only fix driving motor but also can fix centre
Frame so that fixed effect is more preferable.
Embodiment 4
Omnidirectional's creeper truck that the embodiment of the present invention 4 provides, it is substantially the same manner as Example 3, unlike, as shown in figure 5, institute
State solid wheel carrier 11 include transverse slat 111 and with 111 two stringer board 112 connected vertically of the transverse slat, two stringer boards 112 are along described
The center line symmetrical setting of transverse slat 111, the transverse slat 111 connect with the side end face far from longitudinal carrier 91 on the frame body 81
It connects, connecting hole 113 is equipped on two stringer boards 112, and two connecting holes, 113 position is correspondingly arranged, the guiding wheel shaft
10 connect with two connecting holes 113 respectively across the driven wheel 6.
It is to fix driven wheel that solid wheel carrier is arranged in the present invention, and transverse slat is mounted on middle frame, and transverse slat and longitudinal direction
Between be separately mounted on the end face of left and right two of the middle frame, two stringer boards are separately mounted to the rear and front end of driven wheel, and draw
Guide wheel shaft is fixedly connected with the connecting hole on stringer board so that driven wheel can be rotated around guiding wheel shaft, can preferably fix from
Driving wheel and driven wheel is controlled.
Embodiment 5
Omnidirectional's creeper truck that the embodiment of the present invention 5 provides, it is substantially the same manner as Example 1, unlike, as shown in fig. 6, institute
It states chain 5 to be made of the link configuration of multiple articulated connections, the link configuration includes two links 51 and 4 disposed in parallel
52,4 chain links 52 of chain link are one group of the same side for being connected to the link 51 two-by-two, and two groups of 52 positions of chain link are set relatively
It sets, for connecting two links 51 one of in every group of chain link 52, another one end superposition connects an institute wherein
It states on link 51, the other end is connect with adjacent link configuration, and each chain link 52 is vertical with the link 51, each described
Omni-directional wheel 13 is parallel with the chain link 52.
Chain is made of multiple link configurations in the present invention, and a platform is mounted in each link configuration, because
This, can remove omni-directional wheel by the recombination realized to crawler belt of dismantling to link configuration, link configuration while dismounting,
And when needing to add omni-directional wheel, then it only needs to add link configuration, which makes the recombination of crawler belt become simpler
And save the time.
By be arranged link not only the dismounting of link configuration can be made to become simple, and by link with driving wheel and from
Driving wheel is meshed, and without the tooth socket for being specifically used to be meshed with tooth is arranged again, and the scroll wheel in groove chains realization relatively
Sliding；The device reasonable design can be realized simultaneously multiple functions, be achieved many things at one stroke using simple.
Embodiment 6
Omnidirectional's creeper truck that the embodiment of the present invention 6 provides, it is substantially the same manner as Example 5, unlike, as shown in fig. 7, institute
Driving wheel 4 is stated as the structure of driven wheel 6, including sprocket wheel 41 and the gear ring 42 being fixedly connected with the sprocket wheel 41, institute
It states gear ring 42 and is enclosed by multiple tooth blocks 43 and set, and each tooth block 43 engages connection with the link 51.
Wheel is divided into sprocket wheel and multiple tooth blocks, tooth by the size and structure all same of driving wheel and driven wheel in the present invention
Block is meshed with link and realizes the movement of chain, and sprocket wheel and gear ring are provided separately, and can facilitate the replacement of sprocket wheel, and gear ring
It is made of multiple tooth blocks, when sprocket wheel or tooth block kind have side failure, it is only necessary to change the part of failure, no longer
It needs all to change entire wheel；Cost is more saved in the setting of the device.
Embodiment 7
Omnidirectional's creeper truck that the embodiment of the present invention 7 provides, it is substantially the same manner as Example 5, unlike, such as Fig. 8, Fig. 9 institute
Show, the link 51 includes fixed pipe fitting 511, the telescopic rod 512 in the fixed pipe fitting 511 and is set to the fixation
Fixed link 513 far from 512 one end of the telescopic rod on pipe fitting 511, the fixed pipe fitting 511 are the hollow knot of one end open
Structure, the telescopic rod 512 is set in the fixed pipe fitting 511 and extends outwardly, and is formed with screw thread on the telescopic rod 512,
The chain link 52 close to the middle frame 8 is mounted in the fixed link 513, and the chain link 52 far from the middle frame 8 is installed
It is equipped on the telescopic rod 512, in the fixed pipe fitting 511 and controls the flexible elevating mechanism of the telescopic rod 512, the liter
Descending mechanism includes worm gear 514 and the worm screw 515 with 514 fit engagement of the worm gear, and the worm gear 514 is socketed in the telescopic rod
It outside 512, and is spirally connected with the telescopic rod 512, and 514 lower end of the worm gear is equipped with holder 516, the holder 516 passes through rotation
Shaft 517 is mounted in the fixed pipe fitting 511 on the side end face far from the open end, and the worm screw 515 passes through shaft coupling
Device 518 is connected with the motor 519 on 511 inner wall of fixed pipe fitting, and the platform 12 is mounted on same chain nodule
On two links 51 of structure.
It is to control the width of two opposite chain links of position that elevating mechanism is arranged in the present invention, and fixed beam is set to
Close to one end of the middle frame, when needing to adjust the width of two chain links, motor is opened, the rotation of motor passes through shaft coupling band
The rotation of dynamic worm screw rotation, worm screw drives worm gear rotation, is connect since worm gear is spirally connected with telescopic rod, the rotation of worm gear can
To control the lifting of telescopic rod, to realize the adjusting of two chain byte wides, setting holder is in order to which worm gear is fixed on fixation
The bottom of pipe fitting, and the rotation of worm gear may be implemented in the setting of rotary shaft；The device design science, it is easy to use, it is suitable for extensive
It promotes the use of；Because the width of two chain links can be adjusted in the present embodiment, therefore by stage+module the two of same link configuration
Chain is tied.
Embodiment 8
Omnidirectional's creeper truck that the embodiment of the present invention 8 provides, it is substantially the same manner as Example 5, unlike, as shown in Figure 10,
The length direction of platform 12 described in 12 upper edge of the platform is equipped at intervals with two sliding slots 121, and the platform 12 is mounted on for connecting
It connects on two links 51 and two chain links 52 that are oppositely arranged of position, two sliding slots 121 are vertical with the omni-directional wheel 13 to be set
It sets, slide assemblies is mounted in each sliding slot 121, the slide assemblies include mounted on the bottom of 121 bottom of the sliding slot
Seat 122, the sliding rail 123 on the pedestal 122 and the leading screw 124 and two sliding blocks being installed on the sliding rail 123
125, the leading screw 124 passes through two sliding blocks 125, and the leading screw 124 is connect with 125 plus thread of wherein one sliding block,
It is connect with another 125 left-hand thread of the sliding block, one end of the leading screw 124 is connected with the rotation being fixed on the pedestal 122
Motor 126, two support frames as described above 14 being oppositely arranged before and after position are separately mounted on two sliding blocks 125.
It is in order to adjust the width in identical platform between two omni-directional wheels, when needing to adjust that slide assemblies are arranged in the present invention
When width between two omni-directional wheels, motor is opened, the rotation of motor drives leading screw rotation, due to being spirally connected for two sliding blocks and leading screw
Connection, but the direction difference that is spirally connected, therefore the rotation of leading screw drives two sliding blocks to be slided in opposite direction on sliding rail, and supporting rack is pacified
The width in identical platform between two omni-directional wheels can be adjusted on sliding block, therefore by the sliding of sliding block in opposite direction,
And be separately mounted on the different sliding blocks of two different sliding slots due to installing two supporting racks of same omni-directional wheel, the two cunnings
Block is identical as the direction that is spirally connected of leading screw；What plus thread connection, left-hand thread connection indicated is the precession direction of screw thread, plus thread table
Show that precession direction is left or right rotation, left-hand thread indicates that precession direction is dextrorotation or left-handed；It therefore need not be adjusted in the present embodiment
Save the width of two chain links in same link configuration, thus can by stage+module in two chain links for connecting two links, when
So, two chains that can also be by stage+module in same link configuration are tied, preferably by stage+module for even in the present embodiment
It connects on two chain links of two links.
Embodiment 9
Omnidirectional's creeper truck that the embodiment of the present invention 9 provides, it is substantially the same manner as Example 1, unlike, as shown in figure 11,
The omni-directional wheel 13 includes omnidirectional's wheel shaft 131 and is socketed in the idler wheel on omnidirectional's wheel shaft 131 by two bearings 132
133, two bearings 132 are respectively arranged on the left and right ends of the idler wheel 133, are equipped on omnidirectional's wheel shaft 131 for locking
The only locking element of the idler wheel 133, the locking element include two chucks 134 being set in the idler wheel 133, are set to each institute
The gas for stating multiple fixture blocks 135 on chuck 134 and being installed on omnidirectional's wheel shaft 131 and being connect with each chuck 134
Cylinder 136, each fixture block 135 are connected to by rotating member 137 on the chuck 134, and each chuck 134 is sheathed on institute
It states on omnidirectional's wheel shaft 131, the cylinder 136 controls the chuck 134 and moved along omnidirectional's wheel shaft 131, and two chucks
134 move in opposite direction on omnidirectional's wheel shaft 131, side of 132 outer ring of the bearing inside the idler wheel 133
End face is equipped with the card slot 138 of locking corresponding with the fixture block 135.
The distance between two chucks 134 and two bearings 132 are equal in the present embodiment, and two cylinders
136 initial extension elongation is also equal.
In the present invention be arranged locking element be in order to by locking bearing come locking omni-directional wheel, when creeper truck is on smooth road
It is vertical on face that the omni-directional wheel on two crawler belts being arranged at angle with direction of travel can skid, and influence the walking of creeper truck when driving,
Therefore, it when walking in smooth road, needs, by omni-directional wheel locking, the walking of creeper truck to be controlled by crawler belt；Locking omnidirectional
When wheel, two cylinders on omni-directional wheel are opened simultaneously, and two cylinders work in opposite direction, the protruding band of telescopic rod in cylinder
Dynamic chuck is moved to bearing direction, and until the locking corresponding with the card slot on bearing of the fixture block on chuck, cylinder is stopped, avoids
The high-speed rotation of bearing destroys fixture block, therefore rotating member is arranged on chuck so that fixture block is engaged in rotation with card slot；The dress
Reasonable design is set, using simple, is easy to implement the function of omni-directional wheel locking.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the scope of the present invention into
Row limits, and under the premise of not departing from design spirit of the present invention, those of ordinary skill in the art make technical scheme of the present invention
The various modifications gone out and improvement should all be fallen into the protection domain of claims of the present invention determination.
Claims (10)
1. a kind of omnidirectional's creeper truck, which is characterized in that pass through connecting shaft (2) and the vehicle body (1) including vehicle body (1) and respectively
Three crawler belts (3) of connection, and the axis of three connecting shafts (2) is mutually 120 degree of angles, the connecting shaft (2) and the shoe
Band (3) vertical connection；The driven wheel that the crawler belt (3) includes driving wheel (4), is connect with the driving wheel (4) by chain (5)
(6), the middle frame (8) for being connected between driving wheel (4) and driven wheel (6) and mutually being slided with the chain (5), the centre
Frame (8) is connect with the connecting shaft (2), and the both ends of the middle frame (8) are connected separately with fixed frame (9) and solid wheel carrier (11),
The fixed frame (9) is equipped with the driving motor (7) that driving driving wheel (4) rotates, and the driven wheel (6) passes through guiding wheel shaft
(10) it is slidably connected on solid wheel carrier (11)；Multiple platforms (12) are installed, on each platform (12) on the chain (5)
At least two omni-directional wheels (13) disposed in parallel are installed, the axis direction of each omni-directional wheel (13) is parallel with the chain (5),
And the wheel shaft at each omni-directional wheel (13) both ends is mounted on by supporting rack (14) on the platform (12).
2. omnidirectional's creeper truck according to claim 1, which is characterized in that the middle frame (8) includes frame body (81), described
Frame body (81) is equipped at least two grooves (82) being mutually parallel on the two sides relative to the chain (5), on same side
Each groove (82) along the short transverse interval of place side be arranged, and each groove (82) with place side
Cross central line is parallel, and each groove (82) position for being respectively arranged on two sides is arranged in a one-to-one correspondence, in the groove (82)
Multiple rolling shafts (84) are installed along the length direction interval of the groove (82), are worn on each rolling shaft (84)
There is scroll wheel (83).
3. omnidirectional's creeper truck according to claim 2, which is characterized in that the fixed frame (9) includes longitudinal carrier (91)
And with the longitudinal carrier (91) horizontal support connected vertically (92), the longitudinal carrier (91) and the frame body (81)
One side end face is fixedly connected, and the horizontal support (92) is equipped with mounting hole (93), and the output shaft of the driving motor (7) passes through
The mounting hole (93) connect with the driving wheel (4), and the fuselage and the horizontal support (92) of the driving motor (7) are fixed
Connection.
4. omnidirectional's creeper truck according to claim 3, which is characterized in that the solid wheel carrier (11) include transverse slat (111) with
And with the transverse slat (111) two stringer board (112) connected vertically, center line of two stringer boards (112) along the transverse slat (111)
It is symmetrical arranged, the transverse slat (111) connect with the side end face far from longitudinal carrier (91) on the frame body (81), and two is described vertical
Connecting hole (113) is equipped on plate (112), and two connecting hole (113) positions are correspondingly arranged, the guiding wheel shaft (10) is worn
The driven wheel (6) is crossed to connect with two connecting holes (113) respectively.
5. omnidirectional's creeper truck according to claim 1, which is characterized in that the chain (5) by multiple articulated connections chain
Section structure forms, and the link configuration includes two links (51) and 4 chain links (52) disposed in parallel, 4 chain links
(52) it is one group of the same side for being connected to the link (51) two-by-two, and two groups of chain link (52) positions are oppositely arranged, every group of chain link
(52) for connecting two links (51) one of in, another one end superposition connects a link wherein
(51) on, the other end is connect with adjacent link configuration, and each chain link (52) is vertical with the link (51), each described
Omni-directional wheel (13) is parallel with the chain link (52).
6. omnidirectional's creeper truck according to claim 5, which is characterized in that the structure of the driving wheel (4) and driven wheel (6)
Equally, the gear ring (42) for including sprocket wheel (41) and being fixedly connected with the sprocket wheel (41), the gear ring (42) is by multiple teeth
Block (43), which encloses, to be set, and each tooth block (43) engages connection with the link (51).
7. omnidirectional's creeper truck according to claim 5, which is characterized in that the link (51) include fixed pipe fitting (511),
Telescopic rod (512) in the fixed pipe fitting (511) and the separate telescopic rod on the fixed pipe fitting (511)
(512) fixed link (513) of one end, the fixed pipe fitting (511) are the hollow-core construction of one end open, the telescopic rod (512)
In the fixed pipe fitting (511) and extend outwardly, and screw thread is formed on the telescopic rod (512), close to the centre
The chain link (52) of frame (8) is mounted in the fixed link (513), and the chain link (52) far from the middle frame (8) is mounted on
It is equipped on the telescopic rod (512), in the fixed pipe fitting (511) and controls the flexible elevating mechanism of the telescopic rod (512), institute
It includes worm gear (514) and the worm screw (515) with the worm gear (514) fit engagement, worm gear (514) socket to state elevating mechanism
The telescopic rod (512) outside, and be spirally connected with the telescopic rod (512), and the worm gear (514) lower end is equipped with holder
(516), the holder (516) is mounted in the fixed pipe fitting (511) one far from the open end by rotary shaft (517)
On side end face, the worm screw (515) is connected with the electricity on fixed pipe fitting (511) inner wall by shaft coupling (518)
Machine (519), and the platform (12) is mounted on two links (51) of same link configuration.
8. omnidirectional's creeper truck according to claim 5, which is characterized in that platform (12) described in platform (12) upper edge
Length direction is equipped at intervals with two sliding slots (121), and the platform (12) is mounted on for connecting two link (51) and the positions
On two chain links (52) being oppositely arranged, two sliding slots (121) are vertically arranged with the omni-directional wheel (13), each sliding slot
(121) slide assemblies are mounted in, the slide assemblies include the pedestal (122) for being mounted on the sliding slot (121) bottom, peace
Sliding rail (123) and the leading screw (124) being installed on the sliding rail (123) on the pedestal (122) and two sliding blocks
(125), the leading screw (124) passes through two sliding blocks (125), and the leading screw (124) and wherein one sliding block (125) are just
It is threadedly coupled, is connect with another sliding block (125) left-hand thread, one end of the leading screw (124), which is connected with, is fixed on the bottom
Electric rotating machine (126) on seat (122), two support frames as described above (14) being oppositely arranged before and after position are separately mounted to two cunnings
On block (125).
9. omnidirectional's creeper truck according to claim 1, which is characterized in that the omni-directional wheel (13) includes omnidirectional's wheel shaft
(131) and by two bearings (132) idler wheel (133) on omnidirectional's wheel shaft (131), two bearings are socketed in
(132) left and right ends of the idler wheel (133) are respectively arranged on, are equipped on omnidirectional's wheel shaft (131) for being rolled described in locking
The locking element of (133) is taken turns, the locking element includes two chucks (134) being set in the idler wheel (133), set on each described
Multiple fixture blocks (135) on chuck (134) and be installed on omnidirectional's wheel shaft (131) and with each chuck (134) even
The cylinder (136) connect, each fixture block (135) are connected to by rotating member (137) on the chuck (134), each card
Disk (134) is sheathed on omnidirectional's wheel shaft (131), and the cylinder (136) controls the chuck (134) along the omni-directional wheel
Axis (131) is mobile, and two chucks (134) are moved in opposite direction on omnidirectional's wheel shaft (131), the bearing
(132) outer ring is equipped with the card slot of locking corresponding with the fixture block (135) close to the internal side end face of the idler wheel (133)
(138)。
10. omnidirectional's creeper truck according to claim 9, which is characterized in that two chucks (134) and two bearings
The distance between (132) it is equal, and the initial extension elongation of two cylinders (136) is also equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810354508.XA CN108583704B (en) | 2018-04-19 | 2018-04-19 | Omnidirectional tracked vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810354508.XA CN108583704B (en) | 2018-04-19 | 2018-04-19 | Omnidirectional tracked vehicle |
Publications (2)
| Publication Number | Publication Date |
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| CN108583704A true CN108583704A (en) | 2018-09-28 |
| CN108583704B CN108583704B (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810354508.XA Active CN108583704B (en) | 2018-04-19 | 2018-04-19 | Omnidirectional tracked vehicle |
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| CN (1) | CN108583704B (en) |
Cited By (6)
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| CN109459501A (en) * | 2018-12-29 | 2019-03-12 | 汕头市超声检测科技有限公司 | A kind of Ultrasonic NDT chain type scanning frame for large diameter pipeline |
| CN110053679A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot |
| CN112956431A (en) * | 2021-02-20 | 2021-06-15 | 福建省邵武华友农业机械制造有限公司 | Boat form is actuating mechanism for rotary cultivator |
| CN113200096A (en) * | 2021-04-06 | 2021-08-03 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
| CN113264125A (en) * | 2021-05-18 | 2021-08-17 | 重庆科技学院 | Wheel-track composite omnidirectional walking device |
| WO2023104269A1 (en) * | 2021-12-06 | 2023-06-15 | Bladerobots A/S | Self-adjusting drive track of a robotic device for repairing a wind turbine blade |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109459501A (en) * | 2018-12-29 | 2019-03-12 | 汕头市超声检测科技有限公司 | A kind of Ultrasonic NDT chain type scanning frame for large diameter pipeline |
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| CN110053679A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot |
| CN112956431A (en) * | 2021-02-20 | 2021-06-15 | 福建省邵武华友农业机械制造有限公司 | Boat form is actuating mechanism for rotary cultivator |
| CN113200096A (en) * | 2021-04-06 | 2021-08-03 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
| CN113200096B (en) * | 2021-04-06 | 2023-02-21 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
| CN113264125A (en) * | 2021-05-18 | 2021-08-17 | 重庆科技学院 | Wheel-track composite omnidirectional walking device |
| WO2023104269A1 (en) * | 2021-12-06 | 2023-06-15 | Bladerobots A/S | Self-adjusting drive track of a robotic device for repairing a wind turbine blade |
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|---|---|
| CN108583704B (en) | 2020-11-03 |
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