CN108891494A - A kind of running gear and crawler type traveling machine - Google Patents

A kind of running gear and crawler type traveling machine Download PDF

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Publication number
CN108891494A
CN108891494A CN201811045855.0A CN201811045855A CN108891494A CN 108891494 A CN108891494 A CN 108891494A CN 201811045855 A CN201811045855 A CN 201811045855A CN 108891494 A CN108891494 A CN 108891494A
Authority
CN
China
Prior art keywords
wheel
load
bearing
running gear
driving
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
Application number
CN201811045855.0A
Other languages
Chinese (zh)
Inventor
欧阳小平
张武
黄强
丁志煌
郭凯
苗勋辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Wisdom Robot Technology Development Co Ltd
Original Assignee
Hunan Wisdom Robot Technology Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hunan Wisdom Robot Technology Development Co Ltd filed Critical Hunan Wisdom Robot Technology Development Co Ltd
Priority to CN201811045855.0A priority Critical patent/CN108891494A/en
Publication of CN108891494A publication Critical patent/CN108891494A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/08Endless track units; Parts thereof
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Abstract

This application discloses a kind of running gears.It is mechanical that the application also provides a kind of crawler-type mobile using above-mentioned running gear.Running gear provided by the present application and crawler type traveling machine, the flexible drive wheel assemblies moving up and down of setting, the ground contact length of crawler belt when changing running gear stair climbing or obstacle detouring, enhance effective obstacle detouring power of obstacle detouring, solve the problems, such as that the hard landing of driving wheel rigidity is impacted robot big when reversing, reduces the damage to robot simultaneously.

Description

A kind of running gear and crawler type traveling machine
Technical field
The application relates to robotic technology field, more particularly to a kind of running gear and crawler type traveling machine.
Background technique
Existing caterpillar type robot, driving wheel is usually to be rigidly connected, non-movable.When robot obstacle detouring, with The advance of vehicle body and upward nose, when advancing to certain distance, driving wheel will be disengaged from ground, form the temporary hanging of driving wheel, Until robot surmounts obstacles;Vacantly distance is longer for driving wheel, and obstacle climbing ability is weaker, more unfavorable to robot obstacle detouring.
How a kind of driving wheel flexible connecting structure is provided, is those skilled in the art to improve robot obstacle performance Member's technical problem urgently to be resolved.
Summary of the invention
In order to solve the above technical problems, the first purpose of this invention is to provide a kind of running gear;Of the invention second A purpose is to provide a kind of crawler type traveling machine;Running gear provided by the present application and crawler type traveling machine, setting are flexible Drive wheel assemblies moving up and down, the ground contact length of crawler belt when changing running gear stair climbing or obstacle detouring, enhance obstacle detouring has Obstacle detouring power is imitated, while solving the problems, such as that the hard landing of driving wheel rigidity is impacted robot big when reversing, reduces the damage to robot Wound.
Technical solution provided by the invention is as follows:
A kind of running gear, what is be connected including bracket, respectively with bracket entrusts wheel assembly, guidance wheel assembly, carrying roller group Part, drive wheel assemblies, and be wound around it is described entrust wheel assembly, guidance wheel assembly, load-bearing wheel assembly, on the outside of drive wheel assemblies Crawler belt, the drive wheel assemblies include driving supporting mechanism, driving wheel, transmission shaft, shock-absorbing support mechanism, described transmission shaft one end It is fixedly connected with the bracket, the other end and the driving supporting mechanism are hinged, and the transmission shaft is used for power transmission to institute Driving wheel is stated, the driving wheel can be rotatably set in the described driving one end of supporting mechanism far from the transmission shaft, described to subtract The both ends for shaking supporting mechanism are hinged with the bracket and the driving supporting mechanism respectively.
Preferably, the transmission shaft and the driving wheel by band connection, chain link or gear connect in any side Formula connection.
Preferably, the load-bearing wheel assembly includes the first load-bearing wheel assembly and at least one second load-bearing wheel assembly, described First load-bearing wheel assembly includes the first load-bearing wheel support and what be can be rotatably set on the first load-bearing wheel support first hold Roller, the first load-bearing wheel support and the bracket are hinged.
Preferably, the first load-bearing wheel assembly further includes the first load-bearing cushion mechanism, first load-bearing cushion mechanism Both ends it is hinged with the first load-bearing wheel support and the bracket respectively.
Preferably, multiple first carrying rollers are equipped with, first carrying roller is respectively rotatably arranged in described the On one load-bearing wheel support.
Preferably, it is additionally provided with the first carrying roller bridge, multiple first carrying rollers are respectively rotatably arranged in described On one carrying roller bridge, the first load-bearing wheel support and the first carrying roller bridge are hinged.
Preferably, the guidance wheel assembly includes guide wheel, auxiliary wheel, mounting rack, strainer, the guide wheel and institute It states auxiliary wheel to be respectively rotatably mounted on the mounting rack, the mounting rack and the bracket are hinged, and make the auxiliary Wheel between the guide wheel and first carrying roller, the both ends of the strainer respectively with the mounting rack and described First load-bearing wheel support is hinged.
Preferably, the mounting rack is being equipped between the guide wheel and the tie point of the auxiliary wheel equipped with the first peace It decorates, the second installation point, first installation point is close to the auxiliary wheel, and second installation point is close to the guide wheel, institute It is point articulated in first installation with the bracket to state mounting rack, the mounting rack and the strainer are in second installation It is point articulated.
Preferably, the top of the guide wheel vertical direction height, higher than the top of the driving wheel in vertical side To height.
A kind of crawler type traveling machine, including car body further include running gear described in any of the above embodiments.
In view of the problems of the existing technology, the application provides a kind of running gear, including bracket, is connected respectively with bracket Entrust wheel assembly, guidance wheel assembly, load-bearing wheel assembly, drive wheel assemblies, and be wound around and described entrust wheel assembly, guide wheel Component, load-bearing wheel assembly, the crawler belt on the outside of drive wheel assemblies, the drive wheel assemblies include driving supporting mechanism, driving wheel, biography Moving axis, shock-absorbing support mechanism, described transmission shaft one end are fixedly connected with the bracket, and the other end and the driving supporting mechanism are cut with scissors It connects, the transmission shaft is used for power transmission to the driving wheel, and the driving wheel can be rotatably set in the driving support The one end of mechanism far from the transmission shaft, the both ends of the shock-absorbing support mechanism respectively with the bracket and the driving support machine Structure is hinged.Running gear provided by the present application, it is hinged by driving supporting mechanism and transmission shaft, and shock-absorbing support mechanism point is set It is not hinged with the bracket and the driving supporting mechanism, by bracket with the connection of drive wheel assemblies by being fixedly connected with the activity of being changed to Connection.Drive supporting mechanism and transmission shaft, shock-absorbing support mechanism hinged in two sites respectively, driving supporting mechanism is fixed Meanwhile can move up and down in the vertical direction, so that the driving wheel being mounted on driving supporting mechanism can also be in the vertical direction Lower activity can play the effect of enhancing obstacle climbing ability and buffer function.
Specifically, when being equipped with the crawler type traveling machine crossing over blockage for the running gear that the application is supplied to, position Drive wheel assemblies in rear end can move down to a certain extent, extend crawler belt without departing from the time on ground, so that Crawler bearing length is greater than crawler bearing length when fixed installation formula drive wheel assemblies, enhances its obstacle climbing ability.And if adopted With fixed connection method, driving wheel cannot be deformed, and the time that crawler belt is detached from ground is longer, be unfavorable for mechanically moving and smoothly turned over Obstacle-overpass.
When the crawler type traveling machine for being equipped with the running gear that the application is supplied to is moved backward from eminence, driven wheel side will It first lands, drive wheel assemblies can be in upper movement lower to a certain degree, while car body is rushed in the energy-absorbing damping of shock-absorbing support mechanism, reduction It hits and destroys.Likewise, when the crawler type traveling machine reversing for being equipped with the running gear that the application is supplied to encounters barrier When, drive wheel assemblies can still deform, while the energy-absorbing damping of shock-absorbing support mechanism, reduce impact and destroy, carry out to vehicle Protection.
The application also provides a kind of crawler type traveling machine, including car body, further includes Running System described in any of the above embodiments System.One running gear is respectively usually set in car body two sides, and car body is connected by power respectively with running gear, car body mentions For power running gear is worked, band motor vehicles bodies are mobile.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts, It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of running gear in the embodiment of the present invention;
Fig. 2 is the stereoscopic schematic diagram of running gear in the embodiment of the present invention;
Fig. 3 is that drive wheel assemblies move up and down the schematic diagram of deformation in running gear in the embodiment of the present invention;
Drive wheel assemblies move up and down the signal of deformation when Fig. 4 is running gear throwing over barrier in the embodiment of the present invention Figure;
Drive wheel assemblies move up and down the schematic diagram of deformation when Fig. 5 is running gear reversing in the embodiment of the present invention;
Appended drawing reference:1- bracket;2- crawler belt;3- entrusts wheel assembly;4- guides wheel assembly;41- guide wheel;42- auxiliary wheel; 43- mounting rack;44- strainer;5- load-bearing wheel assembly;51- carrying roller 6- drive wheel assemblies;61- drives supporting mechanism;62- Driving wheel;63- transmission shaft;64- shock-absorbing support mechanism.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, this field is common The application protection all should belong in technical staff's every other embodiment obtained without making creative work Range.
Please be as shown in Figures 1 to 5, the embodiment of the present invention provides a kind of running gear, including bracket 1, respectively with 1 phase of bracket Even entrust wheel assembly 3, guidance wheel assembly 4, load-bearing wheel assembly 5, drive wheel assemblies 6, and be wound around and described entrust wheel assembly 3, guide wheel assembly 4, load-bearing wheel assembly 5, the outside of drive wheel assemblies 6 crawler belt 2, the drive wheel assemblies 6 include driving support Mechanism 61, driving wheel 62, transmission shaft 63, shock-absorbing support mechanism 64, described 63 one end of transmission shaft are fixedly connected with the bracket 1, The other end and the driving supporting mechanism 61 are hinged, and the transmission shaft 63 is used for power transmission to the driving wheel 62, described Driving wheel 62 can be rotatably set in the described driving one end of supporting mechanism 61 far from the transmission shaft 63, the shock-absorbing support machine The both ends of structure 64 are hinged with the bracket 1 and the driving supporting mechanism 61 respectively.
In view of the problems of the existing technology, the application provides a kind of running gear, including bracket 1, respectively with 1 phase of bracket Even entrust wheel assembly 3, guidance wheel assembly 4, load-bearing wheel assembly 5, drive wheel assemblies 6, and be wound around and described entrust wheel assembly 3, guide wheel assembly 4, load-bearing wheel assembly 5, the outside of drive wheel assemblies 6 crawler belt 2, the drive wheel assemblies 6 include driving support Mechanism 61, driving wheel 62, transmission shaft 63, shock-absorbing support mechanism 64, described 63 one end of transmission shaft are fixedly connected with the bracket 1, The other end and the driving supporting mechanism 61 are hinged, and the transmission shaft 63 is used for power transmission to the driving wheel 62, described Driving wheel 62 can be rotatably set in the described driving one end of supporting mechanism 61 far from the transmission shaft 63, the shock-absorbing support machine The both ends of structure 64 are hinged with the bracket 1 and the driving supporting mechanism 61 respectively.Running gear provided by the present application passes through drive Dynamic supporting mechanism 61 and transmission shaft are hinged, and be arranged shock-absorbing support mechanism 64 respectively with the bracket 1 and the driving support machine Structure 61 is hinged, and bracket 1 is changed to be flexibly connected with the connection of drive wheel assemblies 6 by being fixedly connected.It drives supporting mechanism 61 and passes Moving axis 63, shock-absorbing support mechanism 64 are hinged in two sites respectively, and driving supporting mechanism 61 is fixed simultaneously, can be vertical Direction is up and down, so that the driving wheel 62 being mounted on driving supporting mechanism 61 can also move up and down in the vertical direction, it can be with Play the effect of enhancing obstacle climbing ability and buffer function.
Specifically, when being equipped with the crawler type traveling machine crossing over blockage for the running gear that the application is supplied to, position Drive wheel assemblies 6 in rear end can move down to a certain extent, extend crawler belt without departing from the time on ground, so that Crawler bearing length is greater than crawler bearing length when fixed installation formula drive wheel assemblies, enhances its obstacle climbing ability.And if adopted With fixed connection method, driving wheel cannot be deformed, and the time that crawler belt is detached from ground is longer, be unfavorable for mechanically moving and smoothly turned over Obstacle-overpass.
When the crawler type traveling machine for being equipped with the running gear that the application is supplied to is moved backward from eminence, driven wheel side will It first lands, drive wheel assemblies 6 can be reduced in above movement, while 64 energy-absorbing damping of shock-absorbing support mechanism lower to a certain degree to car body Impact and destruction.Likewise, when the crawler type traveling machine reversing for being equipped with the running gear that the application is supplied to encounters barrier When hindering object, drive wheel assemblies 6 can still be deformed, while the 64 energy-absorbing damping of shock-absorbing support mechanism, reduced impact and destroyed, to whole Vehicle is protected.
Preferably, the transmission shaft 63 and the driving wheel 62 by band connection, chain link or gear connect in any Kind mode connects.
Transmission shaft 63 is used for power transmission to the driving wheel 62, then transmission shaft 63 and the driving wheel 62 pass through band even It connects, any mode in the connection of chain link or gear connects, the transmitting of achievable power.Specifically, skin can be passed through Transmission shaft 63 is connect by band, chain, gear or gear set with driving wheel 62, to realize the transmitting of power.
Preferably, the load-bearing wheel assembly 5 includes the first load-bearing wheel assembly 51 and at least one second load-bearing wheel assembly 52, The first load-bearing wheel assembly 51 includes the first load-bearing wheel support 511 and can be rotatably set in the first load-bearing wheel support The first carrying roller 512 on 511, the first load-bearing wheel support 511 and the bracket 1 are hinged.
Preferably, the first load-bearing wheel assembly 51 further includes the first load-bearing cushion mechanism 513, first load-bearing cushion The both ends of mechanism 513 are hinged with the first load-bearing wheel support 511 and the bracket 1 respectively.
Preferably, multiple first carrying rollers 512 are equipped with, first carrying roller 512 is respectively rotatably arranged in On the first load-bearing wheel support 511.
Preferably, it is additionally provided with the first carrying roller bridge, multiple first carrying rollers 512 are respectively rotatably arranged in described On first carrying roller bridge, the first load-bearing wheel support 511 and the first carrying roller bridge are hinged.
Preferably, the load-bearing wheel assembly 5 includes the first load-bearing wheel assembly 51 and at least one second load-bearing wheel assembly 52, the first load-bearing wheel assembly 51 includes the first load-bearing wheel support 511 and can be rotatably set in the first carrying roller branch The first carrying roller 512 on frame 511, the first load-bearing wheel support 511 and the bracket 1 are hinged.More preferably setting first is held Weight buffer gear 513.Multiple first carrying rollers 512 are more preferably set.Further preferably by described in setting the first carrying roller bridge installation First carrying roller 512.When 2 the first carrying rollers 512 are set, the first carrying roller 512 can be separately positioned on the first carrying roller Bracket 511 is in the front and rear sides of direction of advance;It, can be with two or three combinations when 4,6 the first carrying rollers 512 are arranged Mode is separately positioned on the front and rear sides of the direction of advance of the first load-bearing wheel support 511 in pairs or three rows, or along the Multiple rows of first carrying roller 512 is arranged in the front and rear sides of direction of advance in one load-bearing wheel support 511.Multiple first carrying rollers 512 Connection, can also be realized by the first carrying roller bridge.
Likewise, to may also set up second load-bearing wheel support, the second carrying roller, the second load-bearing slow for the second load-bearing wheel assembly 52 Punch mechanism, and the second carrying roller can be rotatably set on the second load-bearing wheel support, by the second load-bearing wheel support and branch Frame 1 is hinged, and the both ends of the second load-bearing cushion mechanism are hinged with the second load-bearing wheel support and bracket 1 respectively.Second carrying roller Component 52 may also set up multiple second carrying rollers, multiple second carrying rollers directly with the second rotatable connection of load-bearing wheel support, Or connection is realized by the second carrying roller bridge of setting.
Preferably, the guidance wheel assembly 4 includes guide wheel 41, auxiliary wheel 42, mounting rack 43, and strainer 44 is described Guide wheel 41 and the auxiliary wheel 42 are respectively rotatably mounted on the mounting rack 43, the mounting rack 43 and the bracket 1 is hinged, and makes the auxiliary wheel 42 between the guide wheel 41 and first carrying roller 512, the strainer 44 Both ends it is hinged with the mounting rack 43 and the first load-bearing wheel support 511 respectively.
Preferably, the guidance wheel assembly 4 includes guide wheel 41, auxiliary wheel 42, mounting rack 43, strainer 44, institute It states guide wheel 41 and the auxiliary wheel 42 is respectively rotatably mounted on the mounting rack 43, the mounting rack 43 and the branch Frame 1 is hinged, and makes the auxiliary wheel 42 between the guide wheel 41 and first carrying roller 512, the strainer 44 both ends are hinged with the mounting rack 43 and the first load-bearing wheel support 511 respectively.By being held in guide wheel 41 with first Auxiliary wheel 42 is added between roller 512, and passes through mounting rack 4 and strainer 44 for guide wheel 41, auxiliary wheel 42, the first load-bearing Wheel assembly 51 connects, and forms the linkage structure of guide wheel 41, auxiliary wheel 42 and the first load-bearing wheel assembly 51, and in direction of advance Front, forms the structure of the first carrying roller of guide wheel 41- auxiliary wheel 42- 512, the outsides of three wheels be located at a curve (or The broken line of one curve of approximation) on, the movement for being equipped with running gear provided by the invention can be guided when encountering barrier Machinery moves upwards, throwing over barrier of smoothly climbing.
First load-bearing wheel assembly 51 and guidance wheel assembly 4 are close, in order to by the first load-bearing wheel assembly 51 and guidance wheel assembly 4 Realize linkage, the both ends of strainer 44 are hinged with the mounting rack 43 and the first load-bearing wheel support 511 respectively.It is preferred that Two installation sites of third installation point and the 4th installation point are set on the first load-bearing wheel support 511, and third installation point is set It sets above the 4th installation point, third installation point is used for strainer 44 hingedly, and the 4th installation point is used for hinged with bracket 1. Second load-bearing wheel assembly 52 is similar to the structure of the first load-bearing wheel assembly 51, and it is hinged with strainer 44 not need setting only Position.
Preferably, the mounting rack 43 is equipped between the guide wheel 41 and the tie point of the auxiliary wheel 42 being equipped with First installation point 431, the second installation point 432, first installation point 431 is close to the auxiliary wheel 42, second installation point 432 close to the guide wheel 41, the mounting rack 43 and the bracket 1 hinged, the mounting rack in first installation point 431 43 is hinged in second installation point 432 with the strainer 44.
It is preferred that the mounting rack 43 is equipped with the being equipped between the guide wheel 41 and the tie point of the auxiliary wheel 42 One installation point 431, the second installation point 432, first installation point 431 is close to the auxiliary wheel 42, second installation point 432 Close to the guide wheel 41, the mounting rack 43 and the bracket 1 are hinged in first installation point 431, the mounting rack 43 It is hinged in second installation point 432 with the strainer 44.Mounting rack 43 is preferably arranged to arc, fold-line-shaped or triangle Shape.The guide wheel 41 and the auxiliary wheel 42 are separately positioned on to the both ends of mounting rack 43, and set at the middle part of mounting rack 43 The first installation point 431, the second installation point 432 are set, while limiting 42 position of auxiliary wheel, can more preferably realize guidance wheel assembly 4 and first load-bearing wheel assembly 51 linkage, by guide wheel assembly 4, especially auxiliary wheel 42 position limitation within a certain area, Keep its tension to crawler belt.
Preferably, the top of the guide wheel 41 is being erected in the height of vertical direction higher than the top of the driving wheel 62 Histogram to height.
Preferably, height of the top in vertical direction of the guide wheel 41 is arranged, higher than the top of the driving wheel 62 Hold the height in vertical direction.It is being erected in the height of vertical direction higher than the top of the driving wheel 62 on the top of guide wheel 41 Histogram to height so that crawler belt presentation 41 side of guide wheel around guide wheel 41 and driving wheel 62 is higher, and driving wheel 62 The shorter structure in side.And the direction of travel of running gear provided by the present application be from driving wheel 62 to the direction of guide wheel 41, Then the shape tilted is presented in crawler belt of the running gear provided by the present application in front of direction of travel, is more advantageous to throwing over barrier. For example, being equipped with the crawler type traveling machine of running gear provided by the present application, guidance (is equal to or higher than by vertical barrier The barrier of wheel 41) when, barrier is contacted with guide wheel 41 first, when walking mechanism provided by the utility model continues to move ahead When, guide wheel 41, to its reaction force, will be driven the tie point of mounting rack 4 to rotate clockwise by vertical barrier, and At this point, keeping mounting rack 4 and the connection site change in location of strainer 44 small, then barrier due to the effect of strainer 44 The reaction force for giving guide wheel 41 will make guide wheel 41 generate upward active force, will generate and is lifted up with motor vehicles bodies Movement tendency, and be lifted up climb up vertical barrier during, auxiliary wheel 42, the first carrying roller 512 successively contact hang down Straight obstacle object, to make to be equipped with the crawler-type mobile mechanical energy of mobile system provided by the present application at a relatively high speed smoothly Run over vertical obstacle.
A kind of crawler type traveling machine, including car body further include running gear described in any of the above embodiments.
The application also provides a kind of crawler type traveling machine, including car body, further includes Running System described in any of the above embodiments System.One running gear is respectively usually set in car body two sides, and car body is connected by power respectively with running gear, car body mentions For power running gear is worked, band motor vehicles bodies are mobile.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims (10)

1. a kind of running gear, what is be connected including bracket (1), respectively with bracket (1) entrusts wheel assembly (3), guidance wheel assembly (4), load-bearing wheel assembly (5), drive wheel assemblies (6), and be wound around and described entrust wheel assembly (3), guidance wheel assembly (4), hold Crawler belt (2) on the outside of roller component (5), drive wheel assemblies (6), which is characterized in that the drive wheel assemblies (6) include driving branch Support mechanism (61), driving wheel (62), transmission shaft (63), shock-absorbing support mechanism (64), described transmission shaft (63) one end and the branch Frame (1) is fixedly connected, and hingedly, the transmission shaft (63) is used for power transmission extremely for the other end and the driving supporting mechanism (61) The driving wheel (62), the driving wheel (62) can be rotatably set in the driving supporting mechanism (61) far from the transmission shaft (63) one end, the both ends of the shock-absorbing support mechanism (64) respectively with the bracket (1) and the driving supporting mechanism (61) Hingedly.
2. running gear according to claim 1, which is characterized in that the transmission shaft (63) and the driving wheel (62) are logical Any mode crossed in band connection, chain link or gear connection connects.
3. running gear according to claim 1, which is characterized in that the load-bearing wheel assembly (5) includes the first carrying roller Component (51) and at least one second load-bearing wheel assembly (52), the first load-bearing wheel assembly (51) include the first load-bearing wheel support (511) the first carrying roller (512) on the first load-bearing wheel support (511), first load-bearing be can be rotatably set in and Wheel support (511) and the bracket (1) are hinged.
4. running gear according to claim 3, which is characterized in that the first load-bearing wheel assembly (51) further includes first Load-bearing cushion mechanism (513), the both ends of first load-bearing cushion mechanism (513) respectively with the first load-bearing wheel support (511) and the bracket (1) is hinged.
5. running gear according to claim 4, which is characterized in that multiple first carrying rollers (512) are equipped with, it is described First carrying roller (512) is respectively rotatably arranged on the first load-bearing wheel support (511).
6. running gear according to claim 5, which is characterized in that it is additionally provided with the first carrying roller bridge, multiple described first Carrying roller (512) is respectively rotatably arranged on the first carrying roller bridge, the first load-bearing wheel support (511) with it is described First carrying roller bridge is hinged.
7. the running gear according to any one of claim 3-6, which is characterized in that the guidance wheel assembly (4) includes Guide wheel (41), auxiliary wheel (42), mounting rack (43), strainer (44), the guide wheel (41) and the auxiliary wheel (42) It is respectively rotatably mounted on the mounting rack (43), the mounting rack (43) and the bracket (1) hingedly, and make described auxiliary Help wheel (42) between the guide wheel (41) and first carrying roller (512), the both ends point of the strainer (44) It is not hinged with the mounting rack (43) and the first load-bearing wheel support (511).
8. running gear according to claim 7, which is characterized in that the mounting rack (43) is being equipped with and the guide wheel (41) between the tie point of the auxiliary wheel (42) be equipped with the first installation point (431), the second installation point (432), described first Installation point (431) is close to the auxiliary wheel (42), and second installation point (432) is close to the guide wheel (41), the installation Frame (43) and the bracket (1) first installation point (431) hingedly, the mounting rack (43) and the strainer (44) It is hinged in second installation point (432).
9. running gear according to claim 7, which is characterized in that the top of the guide wheel (41) is in vertical direction Highly, it is higher than the height of the top in vertical direction of the driving wheel (62).
10. a kind of crawler type traveling machine, including car body, which is characterized in that further include of any of claims 1-9 Running gear.
CN201811045855.0A 2018-09-07 2018-09-07 A kind of running gear and crawler type traveling machine Pending CN108891494A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811045855.0A CN108891494A (en) 2018-09-07 2018-09-07 A kind of running gear and crawler type traveling machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811045855.0A CN108891494A (en) 2018-09-07 2018-09-07 A kind of running gear and crawler type traveling machine

Publications (1)

Publication Number Publication Date
CN108891494A true CN108891494A (en) 2018-11-27

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Application Number Title Priority Date Filing Date
CN201811045855.0A Pending CN108891494A (en) 2018-09-07 2018-09-07 A kind of running gear and crawler type traveling machine

Country Status (1)

Country Link
CN (1) CN108891494A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110779492A (en) * 2019-10-30 2020-02-11 南京奥达升智能科技有限公司 Terrain three-dimensional visual measuring device and measuring method thereof
CN110775175A (en) * 2019-11-15 2020-02-11 北京邮电大学 Enhancement mode kristetty suspension

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110779492A (en) * 2019-10-30 2020-02-11 南京奥达升智能科技有限公司 Terrain three-dimensional visual measuring device and measuring method thereof
CN110775175A (en) * 2019-11-15 2020-02-11 北京邮电大学 Enhancement mode kristetty suspension

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