CN108860344A - A kind of creeper truck - Google Patents
A kind of creeper truck Download PDFInfo
- Publication number
- CN108860344A CN108860344A CN201810995711.5A CN201810995711A CN108860344A CN 108860344 A CN108860344 A CN 108860344A CN 201810995711 A CN201810995711 A CN 201810995711A CN 108860344 A CN108860344 A CN 108860344A
- Authority
- CN
- China
- Prior art keywords
- sliding rail
- driven wheel
- wheel
- car body
- carrying roller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
-
- 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
Abstract
The present invention relates to a kind of creeper truck, including car body and pedrail mechanism, pedrail mechanism includes track member, driving wheel, driven wheel, carrying roller and elastic supporting mechanism；Carrying roller is multiple, lower section of multiple carrying rollers between driving wheel and driven wheel and positioned at driving wheel and driven wheel；Track member is set on driving wheel, driven wheel and carrying roller；Carrying roller is connect by elastic supporting mechanism with car body, and elastic supporting mechanism is able to drive carrying roller and moves along the radial elastic of carrying roller；Pedrail mechanism further includes strainer, and strainer includes：Being arranged radially on the car body and along driven wheel is fixedly installed in sliding rail, sliding rail, and driven wheel is connect with follower shaft, and follower shaft is slidably installed on sliding rail, and follower shaft can be moved along sliding rail length direction so that driven wheel is close to or far from driving wheel；Operating mechanism, for making follower shaft and the sliding rail relative positioning on sliding rail length direction.Creeper truck provided by the invention can be improved the reliability used.
Description
Technical field
The present invention relates to walking arrangement technology more particularly to a kind of creeper trucks.
Background technique
With the high speed development of modern society and science and technology, creeper truck is just increasingly used in various complicated rings
Border, especially in the various fields such as hazardous environment monitoring, zone of ignorance detection, planetary detection, rescue search, explosive, creeper truck
It can replace worker and execute and have dangerous work.
Existing creeper truck includes crawler belt, chassis body, driving wheel, driven wheel, carrying roller and elastic tension structure, frame
Main body is located on the inside of crawler belt, and driving wheel and driven wheel are engaged with crawler belt, and driving wheel is directly connected by drive sprocket axle with main body motor
It connects, elastic tension structure is connected on the transmission shaft of driven wheel, and elastic tension structure is used to apply bullet to the transmission shaft of driven wheel
Property power so that driven wheel transmission shaft radially resilient movement, supported to be formed to crawler belt.
However, the creeper truck, during obstacle detouring, due to the elastic reaction of elastic tension structure, crawler belt will pull driven wheel
Radially resilient movement reduces the reliability that creeper truck uses to easily cause falling off for crawler belt.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of creeper truck, to improve the reliability that creeper truck uses.
The present invention provides a kind of creeper truck, including car body and pedrail mechanism, pedrail mechanism include track member, driving wheel, from
Driving wheel, carrying roller and elastic supporting mechanism；Carrying roller be it is multiple, multiple carrying rollers are between driving wheel and driven wheel and are located at
The lower section of driving wheel and driven wheel；Track member is set on driving wheel, driven wheel and carrying roller；Carrying roller passes through resilient support machine
Structure is connect with car body, and elastic supporting mechanism is able to drive carrying roller and moves along the radial elastic of carrying roller；Pedrail mechanism further includes
Strainer, strainer include：Sliding rail, sliding rail be fixedly installed being arranged radially on the car body and along driven wheel, driven wheel with
Follower shaft connection, follower shaft are slidably installed on sliding rail, and follower shaft can be moved along sliding rail length direction so that driven wheel leans on
Close or remote from driving wheel；Operating mechanism, for making follower shaft and the sliding rail relative positioning on sliding rail length direction.
Based on above-mentioned, creeper truck provided by the invention, follower shaft can be made to move along sliding rail to lean on when installing track member
Nearly driving wheel facilitates the installation of track member to reduce the distance between driven wheel and driving wheel；After track member installation,
Follower shaft can be made to move away from driving wheel along sliding rail, to expand the distance between driven wheel and driving wheel, be carried out with being tensioned
Strips；Make follower shaft and the sliding rail relative positioning on sliding rail length direction finally by operating mechanism, therefore can be improved pair
In the support force of track member, to effectively prevent falling off for track member, the reliability that creeper truck uses is improved.
Detailed description of the invention
Fig. 1 is the overall structure diagram of creeper truck of the present invention；
Fig. 2 is the side structure schematic diagram of creeper truck of the present invention；
Fig. 3 is the schematic diagram of internal structure of creeper truck of the present invention.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.It should be appreciated, however, that the offer of attached drawing is only
For a better understanding of the present invention, they should not be interpreted as limitation of the present invention.
As shown in Figure 1 and Figure 2, creeper truck provided in an embodiment of the present invention, including car body 1 and pedrail mechanism, pedrail mechanism packet
Include track member 2, driving wheel 3, driven wheel 4, carrying roller 5 and elastic supporting mechanism 6；Carrying roller 5 is multiple, multiple carrying rollers 5
Lower section between driving wheel 3 and driven wheel 4 and positioned at driving wheel 3 and driven wheel 4；Track member 2 is set in driving wheel 3, driven
On wheel 4 and carrying roller 5；Carrying roller 5 is connect by elastic supporting mechanism 6 with car body 1, and elastic supporting mechanism 6 is able to drive load-bearing
Wheel 5 is moved along the radial elastic of carrying roller 5；Pedrail mechanism further includes strainer 7, and strainer 7 includes：Sliding rail 71, sliding rail
71 are fixed at being arranged radially on car body 1 and along driven wheel 4, and driven wheel 4 is connect with follower shaft 16, and follower shaft 16 is sliding
It is located on sliding rail 71, follower shaft 16 can be moved along 71 length direction of sliding rail so that driven wheel 4 is close to or far from driving wheel 3；
Operating mechanism 72, for making follower shaft 16 and the relative positioning on 71 length direction of sliding rail of sliding rail 71.
When installing track member 2 follower shaft 16 can move along sliding rail 71 close to main creeper truck in the present embodiment
Driving wheel 3 facilitates the installation of track member 2 to reduce the distance between driven wheel 4 and driving wheel 3；After the installation of track member 2,
Follower shaft 16 can be made to move away from driving wheel 3 along sliding rail 71, thus expand the distance between driven wheel 4 and driving wheel 3, with
Tensioned tracks part 2；Make follower shaft 16 and the relative positioning on 71 length direction of sliding rail of sliding rail 71 finally by operating mechanism 72,
Therefore the support force that can be improved for track member 2 improves what creeper truck used to effectively prevent falling off for track member 2
Reliability.
In the present embodiment, it is preferred that tension structure 7 further includes sliding block 73, and sliding block 73 is slidably installed on sliding rail 71, sliding block 73 with
Follower shaft 16 connects, and driven wheel 4 is rotatablely connected by bearing and follower shaft 16；Sliding block 73 can be slided along sliding rail 71, with
Follower shaft 16 is driven to move along sliding rail 71.As a result, under the guiding role of sliding block 73 and sliding rail 71, follower shaft 16 can be made
Movement it is more accurate, stablize.
In the present embodiment, it is preferred that operating mechanism 72 includes tensioner screw, and tensioner screw is set along the length direction of sliding rail 71
It sets, the first end of tensioner screw is connect by locating part 8 with car body 1, and locating part 8 is for limiting tensioner screw along the length of sliding rail 71
It is mobile to spend direction；Sliding block 73 is equipped with threaded hole, and the second end of tensioner screw is threaded through in the threaded hole of sliding block 73 and and screw thread
Hole is threadedly engaged, and tensioner screw, which can be rotated centered on axis relative to car body 1, to be moved with band movable slider 73 along sliding rail 71, and
It can make sliding block 73 and 71 relative positioning of sliding rail, to keep follower shaft 16 relatively fixed on 71 length direction of sliding rail with sliding rail 71
Position.In this way, when needing to install track member 2, rotation tensioner screw keeps follower shaft 16 mobile with close to driving wheel 3, so as to
To conveniently realize the installation of track member 2；After track member 2 is installed, rotation tensioner screw makes driven in the opposite direction
Wheel shaft 16 moves away from driving wheel 3, so as to conveniently realize the tensioning of track member 2.
In the present embodiment, it is preferred that elastic supporting mechanism 6 include connecting rod 61 and elastic dampers 62, the first of connecting rod 61
End is connect by first rotating shaft with carrying roller 5, and the second end of connecting rod 61 is connect by the second shaft with car body 1；Elastic dampers
62 being arranged radially and connecting with connecting rod 61 along carrying roller 5, elastic dampers 62 are used to apply elastic force to connecting rod 61, to drive
Connecting rod 61 is centered on the axis of the second shaft relative to 1 elastic rotary of car body.As a result, carrying roller 5 with 61, first turns of connecting rod
Axis, the second shaft and the composition of elastic dampers 62 with connecting rod 61 are the lever mechanism of lever, when encountering barrier track member 2 to
On lift, 61 rotary compression elastic dampers 62 of connecting rod, the active force of generation is evenly distributed on car body 1, realization let out power effect,
To make the track member contacted with carrying roller 52 be bonded completely with ground, guarantee the contact area of creeper truck and ground, improves
The stability of creeper truck traveling.
In the present embodiment, it is preferred that creeper truck further includes support wheel 9, and the top of carrying roller 5 and position is arranged in support wheel 9
Between driving wheel 3 and driven wheel 4, track member 2 is set on driving wheel 3, driven wheel 4, carrying roller 5 and support wheel 9.As a result,
Support wheel 9 can play a supporting role to the track member 2 for being centered around 4 top of driving wheel 3 and driven wheel, make track member 2 in crawler belt
Tensioning state is remained in vehicle driving process, to further prevent falling off for track member 2.
In the present embodiment, it is preferred that support wheel 9 is connect by triangle support frame 10 with car body 1, the triangle support frame
10 can steadily be connected to support wheel 9 on car body 1；In addition, support wheel 9 is connected by triangle support frame 10, conducive to making
Support wheel 9 gets around other component, reduces the influence to other component, keeps the design of creeper truck more simple, flexible.
As shown in figure 3, in the present embodiment, it is preferred that creeper truck further includes the servo motor 11 that is mounted in car body 1 and straight
Angle speed reducer 12, the output shaft of servo motor 11 and the input axis connection of right angle reductor 12, the output shaft of right angle reductor 12
With the wheel axis connection of driving wheel 3, to drive the wheel shaft of driving wheel 3 to rotate.Due to driving wheel 3 wheel shaft and servo motor 11 it is defeated
Shaft is connected by right angle reductor 12, not only makes mechanical structure succinct, saves space, transmission is more reliable, and safeguards
It is convenient with maintenance, significantly reduce the maintenance difficulty and production cost of creeper truck.
In the present embodiment, it is preferred that pedrail mechanism is two groups, is separately mounted to the two sides of car body 1.
In the present embodiment, it is preferred that creeper truck further includes the power supply 13 and motor driver 14 being mounted in car body 1, electricity
Source 13 and motor driver 14 are all connected with servo motor 11, and motor driver 14 is used to control the speed of servo motor 11 and turns
To.When creeper truck will realize steering, motor driver 14 controls two servo motors 11 and rotates to different directions or with difference
Speed rotates in same direction the function that can realize steering.
In the present embodiment, it is preferred that leader 15 is each provided at the both ends of car body 1, convenient for users to carrying crawler belt
Vehicle.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft etc. are all
It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude
Except protection scope of the present invention.
Claims (10)
1. a kind of creeper truck, which is characterized in that including car body (1) and pedrail mechanism, the pedrail mechanism include track member (2),
Driving wheel (3), driven wheel (4), carrying roller (5) and elastic supporting mechanism (6)；The carrying roller (5) be it is multiple, it is multiple described to hold
Lower section of the roller (5) between the driving wheel (3) and driven wheel (4) and positioned at the driving wheel (3) and driven wheel (4)；
The track member (2) is set on the driving wheel (3), driven wheel (4) and carrying roller (5)；The carrying roller (5) passes through described
Elastic supporting mechanism (6) is connect with the car body (1), and the elastic supporting mechanism (6) is able to drive the carrying roller (5) along institute
The radial elastic for stating carrying roller (5) is mobile；The pedrail mechanism further includes strainer (7), and the strainer (7) includes：
Sliding rail (71), the sliding rail (71) is fixed on the car body (1) and being arranged radially along the driven wheel (4),
The driven wheel (4) connect with follower shaft (16), and the follower shaft (16) is slidably installed on the sliding rail (71), described driven
Wheel shaft (16) can be mobile along the sliding rail (71) length direction so that the driven wheel (4) is close to or far from the driving wheel
(3)；
Operating mechanism (72), for making the follower shaft (16) and the sliding rail (71) in the sliding rail (71) length direction
Relative positioning.
2. creeper truck according to claim 1, which is characterized in that the tension structure (7) further includes sliding block (73), described
Sliding block (73) is slidably installed on the sliding rail (71), and the sliding block (73) connect with the follower shaft (16), the driven wheel (4)
It is rotatablely connected by bearing and the follower shaft (16)；The sliding block (73) can be slided along the sliding rail (71), to drive
The follower shaft (16) is mobile along the sliding rail (71).
3. creeper truck according to claim 2, which is characterized in that the operating mechanism (72) includes tensioner screw, described
Tensioner screw is arranged along the length direction of the sliding rail (71), the first end of the tensioner screw by locating part (8) with it is described
Car body (1) connection, it is mobile along the length direction of the sliding rail (71) that the locating part (8) is used to limit the tensioner screw；Institute
Sliding block (73) are stated equipped with threaded hole, the second end of the tensioner screw be threaded through in the threaded hole of the sliding block (73) and with institute
It states threaded hole to be threadedly engaged, the tensioner screw can rotate centered on axis relative to the car body (1) described to drive
Sliding block (73) is mobile along the sliding rail (71), and can make the sliding block (73) and the sliding rail (71) relative positioning, to make
The follower shaft (16) and the sliding rail (71) relative positioning on the sliding rail (71) length direction.
4. creeper truck according to claim 1, which is characterized in that the elastic supporting mechanism (6) include connecting rod (61) and
The first end of elastic dampers (62), the connecting rod (61) is connect by first rotating shaft with the carrying roller (5), the connecting rod
(61) second end is connect by the second shaft with the car body (1)；The elastic dampers (62) are along the carrying roller (5)
It being arranged radially and is connect with the connecting rod (61), the elastic dampers (62) are used to apply elastic force to the connecting rod (61),
To drive the connecting rod (61) centered on the axis of second shaft relative to the car body (1) elastic rotary.
5. creeper truck according to any one of claims 1 to 4, which is characterized in that further include support wheel (9), the branch
Support wheel (9) is arranged the top in the carrying roller (5) and between the driving wheel (3) and driven wheel (4), the track member
(2) it is set on the driving wheel (3), driven wheel (4), carrying roller (5) and support wheel (9).
6. creeper truck according to claim 5, which is characterized in that the support wheel (9) passes through triangle support frame (10)
It is connect with the car body (1).
7. creeper truck according to any one of claims 1 to 4, which is characterized in that further include being mounted on the car body (1)
Interior servo motor (11) and right angle reductor (12), output shaft and the right angle reductor (12) of the servo motor (11)
Input axis connection, the wheel axis connection of the output shaft of the right angle reductor (12) and the driving wheel (3), to drive the master
The wheel shaft of driving wheel (3) rotates.
8. creeper truck according to claim 7, which is characterized in that further include the power supply being mounted in the car body (1)
(13) and motor driver (14), the power supply (13) and motor driver (14) are all connected with the servo motor (11), described
Motor driver (14) is used to control speed and the steering of the servo motor (11).
9. according to claim 1 to 4 described in any item creeper trucks, which is characterized in that the pedrail mechanism is two groups, is pacified respectively
Mounted in the two sides of the car body (1).
10. creeper truck according to claim 9, which is characterized in that be each provided with leader at the both ends of the car body (1)
(15)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810995711.5A CN108860344A (en) | 2018-08-29 | 2018-08-29 | A kind of creeper truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810995711.5A CN108860344A (en) | 2018-08-29 | 2018-08-29 | A kind of creeper truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860344A true CN108860344A (en) | 2018-11-23 |
Family
ID=64322320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810995711.5A Pending CN108860344A (en) | 2018-08-29 | 2018-08-29 | A kind of creeper truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860344A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398516A (en) * | 2018-12-14 | 2019-03-01 | 宁波史河机器人科技有限公司 | A kind of crawler attachment |
| CN109436117A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
| CN112078680A (en) * | 2020-08-21 | 2020-12-15 | 安徽晟东科技有限公司 | Plateau environment emergency type intelligent robot |
| CN112977656A (en) * | 2021-02-22 | 2021-06-18 | 成都亿创达科技有限公司 | Transmission structure of crawler-type armored moving target vehicle |
| CN113117121A (en) * | 2021-05-19 | 2021-07-16 | 长江师范学院 | Crawler-type wheel traveling system and environment disinfection trolley thereof |
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| CN208947443U (en) * | 2018-08-29 | 2019-06-07 | 宁波史河机器人科技有限公司 | Creeper truck |
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| US20080105472A1 (en) * | 2006-11-02 | 2008-05-08 | Tuhy Lance S | Suspension system for track vehicle |
| US20140138168A1 (en) * | 2012-03-20 | 2014-05-22 | Irobot Corporation | High Travel Suspension for Small Ground Mobile Robots |
| CN205997982U (en) * | 2016-07-31 | 2017-03-08 | 山东国兴智能科技有限公司 | A kind of asymmetric parallel connection damp type creeper truck |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398516A (en) * | 2018-12-14 | 2019-03-01 | 宁波史河机器人科技有限公司 | A kind of crawler attachment |
| CN109436117A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
| CN112078680A (en) * | 2020-08-21 | 2020-12-15 | 安徽晟东科技有限公司 | Plateau environment emergency type intelligent robot |
| CN112977656A (en) * | 2021-02-22 | 2021-06-18 | 成都亿创达科技有限公司 | Transmission structure of crawler-type armored moving target vehicle |
| CN113117121A (en) * | 2021-05-19 | 2021-07-16 | 长江师范学院 | Crawler-type wheel traveling system and environment disinfection trolley thereof |
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