CN109263739B - Turning point self-adaption device for caterpillar track integrated transfer platform and use method - Google Patents
Turning point self-adaption device for caterpillar track integrated transfer platform and use method Download PDFInfo
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- CN109263739B CN109263739B CN201810966936.8A CN201810966936A CN109263739B CN 109263739 B CN109263739 B CN 109263739B CN 201810966936 A CN201810966936 A CN 201810966936A CN 109263739 B CN109263739 B CN 109263739B
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- track
- inflection point
- chassis
- adhesion force
- caterpillar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
Abstract
The invention discloses a turning point self-adaption device for a caterpillar track integrated transfer platform and a using method of the turning point self-adaption device, wherein the turning point self-adaption device comprises an adhesion force enhancing device and a turning point driving device, a lifting mechanism is arranged on the adhesion force enhancing device, one end of the lifting mechanism is connected with a caterpillar base plate of the caterpillar track integrated transfer platform, the other end of the lifting mechanism is connected with a track below the caterpillar track integrated transfer platform, one end of the turning point driving device is installed on the caterpillar base plate, and the other end of the turning point driving device is connected with the adhesion force enhancing device to drive the adhesion force enhancing device. The invention can realize that the adhesion force enhancing device passes through with smaller deformation in the climbing and descending processes, and prevent the track from being damaged, or the self-breaking of the adhesion force enhancing device or the damage to the track chassis caused by larger elevation displacement change (comprising suspension of the top inflection point of the slope and triangular emptying of the bottom inflection point) relative to the adhesion force enhancing device when the track chassis passes over the inflection point.
Description
Technical Field
The invention belongs to the technical field of crawler transfer platform equipment, and particularly relates to a turning point self-adaption device for a crawler integrated transfer platform and a using method of the turning point self-adaption device.
Background
In agricultural operation environments with steep slopes such as hilly and mountainous areas, the transportation of agricultural machinery, agricultural materials and agricultural products is usually realized by adopting a traction mode, the type of machine basically has no autonomous walking function, can only run on a fixed track, and is low in equipment utilization rate. The operation of track platform skids easily under the abrupt slope environment and tumbles even, and the security of use is poor, leads to transporting the use of platform and has received the restriction, and the rate of utilization is low, still exists in the use in addition because of can't guarantee adhesive force, and the orbital problem of deviating appears in the automobile body.
The track integrated transfer platform can independently walk under the environment of a non-steep slope, and the track enters the running under the environment of the steep slope, so that the utilization maximization of the transfer platform is effectively realized, meanwhile, the track integrated transfer platform is provided with an adhesive force enhancing device with one end connected with the track and the other end connected with the track integrated transfer platform, and the adhesive force of the track integrated transfer platform is enhanced by pulling the track integrated transfer platform to the ground through the adhesive force enhancing device.
However, when the track integrated transfer platform moves up and down a steep slope, namely, during the process of moving from an uphill state to a horizontal state, or from the horizontal state to a downhill state, or from the horizontal state to the uphill state, or from the downhill state to the horizontal state along the track, the track may be in a partially suspended state (when located at the top of the steep slope) or enter a triangular soaring state (when located at the bottom of the steep slope). The length deformation of the connecting position of the adhesion force enhancing device and the caterpillar track integrated transferring platform is increased relative to the length deformation of the connecting position of the adhesion force enhancing device and the track, and the length of the adhesion force enhancing device is limited, so that the tensile force borne by the adhesion force enhancing device is increased, the problem that the track is damaged by pulling, the friction force between the adhesion force enhancing device and the track is increased, the caterpillar track integrated transferring platform cannot pass through the adhesion force enhancing device, or the adhesion force enhancing device is damaged by self-breaking due to overlarge tensile force can be caused.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a turning point self-adaption device for a track integrated transfer platform, which can enhance the adhesion force of a track, effectively avoid the track from slipping and smoothly pass through the turning points of an upper slope and a lower slope of a steep slope, and a use method thereof.
In order to solve the technical problems, the invention firstly discloses a turning point self-adaption device for a caterpillar track integrated transfer platform, which comprises an adhesion force enhancing device and a turning point driving device, wherein a lifting mechanism is arranged on the adhesion force enhancing device, one end of the lifting mechanism is connected with a caterpillar base plate of the caterpillar track integrated transfer platform, the other end of the lifting mechanism is connected with a track positioned below the caterpillar track integrated transfer platform, one end of the turning point driving device is arranged on the caterpillar base plate, and the other end of the turning point driving device is connected with the adhesion force enhancing device so as to drive the adhesion force enhancing device to move along the track.
Furthermore, inflection point drive arrangement includes reciprocal actuating mechanism, support rail and connecting elements, the connecting elements joint is installed on the support rail and through the support rail supports, and the one end of this connecting elements is passed through reciprocal actuating mechanism drive and along support rail reciprocating motion, adhesive force reinforcing means connects the bottom of connecting elements.
Furthermore, the support guide rail is an I-shaped rail, the connecting member comprises a through groove, the support guide rail penetrates through the groove, and a guide support wheel which is connected with the edge of the bottom of the support guide rail in a sliding mode is arranged in the groove of the connecting member.
Furthermore, the compound driving mechanism is a driving oil cylinder, a driving cylinder body of the driving oil cylinder is pivoted with the crawler chassis, and a driving piston rod of the driving oil cylinder is pivoted with the connecting member.
Furthermore, the traction force enhancing device comprises a support, a sliding wheel, a buffer component, a lifting mechanism and a rotating component, wherein the lifting mechanism is used for driving the support and the sliding wheel to lift, the rotating component is used for driving the support to rotate around the support, the sliding wheel is arranged at the bottom of the support, the rotating component is arranged on the support, one end of the buffer component is connected with the rotating component, the other end of the buffer component is connected with the lifting mechanism, the lifting mechanism is arranged on a track chassis, and the sliding wheel is connected with the edge of the top of the track in a sliding manner
Furthermore, the rotating assembly comprises a rotating bearing and a rotating shaft, an opening is formed in one end of the support, the rotating bearing is arranged in the opening, and the rotating shaft is arranged on the rotating bearing; the rotating assembly further comprises a torsion return spring for driving the support to rotate back to an initial working position, and the torsion return spring is arranged between the support and the buffer assembly.
Further, buffering subassembly includes first expanding spring, upper junction plate and lower connecting plate, first expanding spring connect in between upper junction plate and the lower connecting plate, the upper junction plate still is equipped with the sleeve that the lower connecting plate extends, elevating system stretches into in the sleeve and with the sleeve links to each other, and elevating system with telescopic tie point is located the below of upper junction plate.
Furthermore, the lifting mechanism is a lifting oil cylinder, a lifting piston rod of the lifting oil cylinder is connected with the sleeve, and a lifting cylinder barrel of the lifting oil cylinder is hinged to the crawler chassis around an axis parallel to the central axis of the crawler chassis; the support includes a frame body and two curb plates, two the curb plate part is located the both sides of frame body all install at least one wheel that slides on every curb plate, the track is located between two curb plates, and the track corresponds every curb plate and all is equipped with the bearing portion.
Then, the invention discloses a use method of the inflection point self-adaption device for the track integrated transfer platform, when the track chassis enters the inflection point position of a steep slope, the inflection point driving device drives the adhesion force enhancing device to move in the direction opposite to the moving direction of the track chassis.
Further, the speed of the inflection point driving device driving the adhesion force enhancing device is equal to the speed of the crawler chassis so that the adhesion force enhancing device is static relative to the inflection point.
Compared with the prior art, the invention has the advantages that the turning point self-adapting device for the caterpillar track integrated transferring platform is used for the turning point self-adapting device for the caterpillar track integrated transferring platform, and the invention has the following advantages that:
1. the turning point self-adaption device for the track integrated transfer platform can realize that the adhesion force enhancing device passes through with smaller deformation amount in the processes of climbing and descending, and prevent the track from being damaged, or the self-breaking of the adhesion force enhancing device or the damage to the track chassis caused by the fact that the elevation displacement of the track chassis is changed greatly (comprising the suspension of the top turning point of the slope and the triangular emptying of the bottom turning point of the slope) relative to the adhesion force enhancing device when the track chassis passes over the turning point.
2. The turning point self-adaption device for the integrated track transfer platform increases the pressure of the tracked vehicle on the ground through the pulling force of the lifting mechanism when the tracked vehicle runs, so that the adhesive force between the track and the ground is increased, when the tracked vehicle moves on a steep slope, the forward pressure of the vehicle body vertical to the ground is insufficient due to overlarge gradient, so that the adhesive force required by the running of the track is insufficient, and the vehicle slips, the device and the track on the ground are used for tensioning control, so that the pressure of the chassis vertical to the ground is enhanced, the adhesive force of the track ground is enhanced, the problem caused by the insufficient adhesive force when a climbing state or a chassis of the vehicle body and the track perform offset motion is solved, the problems of slippage, overturning and the like of the vehicle body in the climbing process are effectively avoided, and the normal running of the integrated track transfer platform is ensured, the safety performance is improved, and the method is suitable for more complex terrain environments.
3. The invention discloses a turning point self-adaption device for a caterpillar track integrated transfer platform, which comprises a support, a sliding wheel, a buffer component, a lifting mechanism and a rotating component, wherein the buffer component can complete force transmission, the impact force generated by uneven ground is absorbed while the adhesion force is enhanced, the damage of hard connection to a track is prevented, the lifting mechanism can control the lifting of the support and the sliding wheel, and the adhesion force of the sliding wheel to the track is enhanced by adjusting the height positions of the support and the sliding wheel.
4. When the vehicle body chassis runs on a flat ground, the central axis of the vehicle body chassis is parallel to the track, when the vehicle body chassis enters a ramp, the central axis of the vehicle body chassis and the track have an angle difference, the buffering component is stressed and deformed in the direction of the track, and the adhesive force can still be ensured. For example, when the chassis enters a slope of 30 degrees, the chassis is converted from 0 degree to 30 degrees in the process of entering the slope of the chassis of the vehicle body, and the chassis and the slope are not parallel in the conversion process, so that the angle difference between the chassis and the track in the same direction can be eliminated through the elastic deformation of the buffer assembly, and the positive pressure of the track to the ground is enhanced.
5. When the central axis of the vehicle body chassis and the track move in a horizontal direction in a deviating manner, namely the central axis of the vehicle body moves horizontally relative to the track, the buffer assembly is stressed and deformed, and has a component force action in a direction perpendicular to the track on a horizontal plane, so that the rail is prevented from being pulled by hard connection, the track is protected, the normal running of the vehicle body is not influenced, and meanwhile, the ground adhesion force can still be reliably ensured by the tension of the lifting mechanism on the track, and the adhesion force required by the normal running of the vehicle body chassis and the ground is ensured.
Drawings
Fig. 1 is an axial schematic view of a crawler chassis with a turning point self-adapting device for a track-integrated transfer platform disclosed in the embodiment.
Fig. 2 is a schematic structural diagram of a front view of a track adhesion force enhancing device of a turning point self-adaptive device for a track-integrated transfer platform disclosed in this embodiment.
Fig. 3 is a cross-sectional view taken along a-a of fig. 2.
Fig. 4 is a side view of a partial cross-sectional view of a track adhesion force enhancing device of the inflection point self-adaptive device for the track-integrated transporting platform disclosed in the embodiment.
Fig. 5 is an axial schematic view of a track adhesion force enhancing device of the inflection point self-adaptive device for the track-integrated transfer platform disclosed in the embodiment.
Illustration of the drawings:
1. a crawler chassis;
2. an inflection point driver; 21. supporting the guide rail; 22. a connecting member; 221. a groove; 222. a guide support wheel; 23. a driving oil cylinder; 231. a drive cylinder; 232. a drive piston rod;
3. an adhesion enhancement device; 31. a support; 311. a rack body; 312. a side plate; 32. a slipping wheel; 33. a buffer assembly; 331. a first extension spring; 332. an upper connecting plate; 333. a lower connecting plate; 334. a sleeve; 34. a lifting mechanism; 341. lifting the oil cylinder; 35. a rotating assembly; 351. a rotating bearing; 352. a rotating shaft; 353. a torsion return spring;
4. a track.
Detailed Description
In order to facilitate understanding of the invention, the invention will be described more fully and in detail with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below.
As shown in fig. 1-5, the invention firstly discloses a inflection point self-adapting device for a caterpillar track integrated transferring platform, which comprises an adhesion force enhancing device 3 and an inflection point driving device 2, wherein the adhesion force enhancing device 3 is installed on a caterpillar track chassis 1 of the caterpillar track integrated transferring platform to be matched with a track 4 to adjust the adhesion force of the caterpillar track chassis 1, one end of the inflection point driving device 2 is installed on the caterpillar track chassis 1, and the other end of the inflection point driving device is connected with the adhesion force enhancing device 3 to drive the adhesion force enhancing device 3 to move along the track 4. In the present embodiment, the inflection point driver 2 includes a reciprocating driving mechanism, a support rail 21 and a connecting member 22, wherein the reciprocating driving mechanism is a driving cylinder 23, a driving cylinder 231 of the driving cylinder 23 is pivotally connected to the crawler chassis 1, and a driving piston rod 232 of the driving cylinder 23 is pivotally connected to the connecting member 22. And the connecting member 22 is snap-fitted on the support rail 21 and supported by the support rail 21, one end of the connecting member 22 reciprocates along the support rail 21 by being driven toward the driving cylinder 23, and the adhesion enhancing device 3 is attached to the bottom of the connecting member 22. The supporting rail 21 is an i-shaped rail and is mounted on the supporting rail along the moving direction of the crawler chassis 1, a through groove 221 is formed in the middle of the connecting member 22 to form a U-shaped member, the supporting rail 21 passes through the groove 221, guide supporting wheels 222 which are matched with the edges of the bottom of the supporting rail 21 and hook the edges of the bottom of the supporting rail 21 are arranged on the opposite sides of the connecting member 22 in the groove 221, so that the guide supporting wheels 222 are limited to move back and forth along the edges of the bottom of the supporting rail 21, the bottom of the connecting member 22 is connected with a lifting oil cylinder 341 of the adhesion force enhancing device 3, and in the process of enhancing the adhesion force, the lifting oil cylinder 341 exerts a continuous pulling force on the edges of the bottom of the supporting rail 21, so that the guide supporting wheels.
The operation process of the inflection point driving device 2 is as follows:
when the crawler chassis 1 enters the top inflection point of the steep slope (including two conditions of entering the steep slope from the top and entering the top from the steep slope), the crawler chassis 1 moves towards the forward direction, the adhesion force enhancing device 3 is driven to move in the track 4, when the adhesion force enhancing device 3 reaches the top inflection point of the track 4, the front of the crawler chassis 1 can be slowly suspended, the adhesion force enhancing device 3 is acted by the inflection point force, and certain deformation occurs. At this time, the arrival of the inflection point at the top of the slope is determined by the change in the relative angular relationship between the inclination sensor mounted on the adhesion force enhancing device 3 and the chassis attitude sensor. And a track speed sensor is synchronously detected, the driving oil cylinder 23 is controlled to drive the driving piston rod 232 to act, and the driving piston rod 232 is enabled to execute the movement with the same traveling speed and the opposite direction as the traveling speed of the track chassis 1, so that the adhesion force enhancing device 3 is enabled to move backwards relative to the track chassis 1 in the whole suspension process of the track chassis 1, and meanwhile, the adhesion force enhancing device is still at the turning point of the track relative to the track 4. When the gravity center of the crawler chassis 1 changes and completely enters a steep slope or a slope top, the relative value between the inclination angle value of the adhesion force enhancing device 3 and the inclination angle value of the crawler chassis 1 is recovered to a horizontal relative value, so that the condition that the crawler chassis 1 crosses the inflection point of the slope top and reaches the slope surface of the steep slope or the plane of the slope top is judged, and the adhesion force enhancing device 3 crosses the inflection point of the slope top and reaches the initial position of the crawler chassis 1.
When the crawler chassis 1 enters the slope bottom inflection point of the steep slope (including two conditions of entering the steep slope from the slope bottom and entering the slope bottom from the steep slope), the crawler chassis 1 moves towards the advancing direction to drive the adhesion force enhancing device 3 to move in the track 4, when the adhesion force enhancing device 3 reaches the slope bottom inflection point of the track 4, a triangular rising space area can be slowly formed at the inflection point of the crawler chassis 1 and the slope top, the adhesion force enhancing device 3 is acted by the inflection point force, and certain tensile deformation occurs. At this time, the arrival of the inflection point at the base of the slope is determined by the change in the relative angular relationship between the inclination sensor mounted on the adhesion force enhancing device 3 and the chassis attitude sensor. And a track speed sensor is synchronously detected, the driving oil cylinder 23 is controlled to drive the driving piston rod 232 to act, and the driving piston rod 232 is enabled to execute the movement with the same speed and the opposite direction as the advancing speed of the track chassis 1, so that the adhesion force enhancing device 3 is enabled to move backwards relative to the track chassis 1 and to be still at the turning point of the track relative to the track 4 in the process that the track chassis 1 is in the whole triangular empty space. When the gravity center of the crawler chassis 1 changes and completely enters a steep slope or a slope bottom, (the relative value between the inclination angle value of the adhesion force enhancing device 3 and the inclination angle value of the crawler chassis 1 is recovered to a horizontal state relative value, so that the condition that the crawler chassis 1 crosses over a slope top inflection point and reaches a steep slope surface or a slope bottom plane) is judged, the driving oil cylinder 23 is controlled to act, and the adhesion force enhancing device 3 crosses over the slope top inflection point and reaches the initial position of the crawler chassis 1 (in the adjustment and control process of the slope bottom inflection point of the steep slope, the lifting oil cylinder 341 can act similarly, namely, a piston rod is extended out, so that the distance between the sliding wheel 32 and the crawler chassis 1 is increased, and the pulling force between the crawler chassis 1 and the track 4.
Through the control mode, the adhesion enhancement can be ensured by the adhesion enhancement device 3 with smaller deformation in the process of climbing and descending, and the damage to the track 4, the snapping of the adhesion enhancement device 3 or the damage to the crawler chassis 1 caused by larger elevation displacement change of the crawler chassis 1 relative to the adhesion enhancement device 3 when the crawler chassis 1 passes over an inflection point is prevented. As shown in fig. 2 to 5, in order to achieve the matching degree between the adhesion force enhancing device 3 and the inflection point driving device 2, and simultaneously prevent the damage to the track 4, the breakage of the adhesion force enhancing device 3 itself, or the damage to the track chassis 1, which is caused by the deformation of the adhesion force enhancing device 3 due to the up-and-down bump of the track during the traveling process, the novel adhesion force enhancing device 3 of the present embodiment includes a bracket 31, a sliding wheel 32, a buffer component 33, a lifting mechanism 34 for driving the bracket 31 and the sliding wheel 32 to ascend and descend, and a rotating component 35 for enabling the bracket 31 to rotate around the bracket 31 itself, wherein the sliding wheel 32 is disposed at the bottom of the bracket 31, the rotating component 35 is disposed on the bracket 31, one end of the buffer component 33 is connected with the rotating component 35, the other end of the buffer component 33 is connected with the lifting mechanism 34, and the lifting, the glide wheel 32 hooks the inner edge above the rail 4. Promote support 31 through elevating system 34, make the edge that the wheel 32 that slides on the support 31 compressed tightly I-shaped track 4, the pressure of multiplicable track to ground realizes the reinforcing of adhesive force, has effectively avoided skidding, the tipping, the skew track 4 scheduling problem that appear when track chassis 1 traveles in various topography, and the security performance is high, has guaranteed track integration transport platform's normal operating, and application scope is wider. The adhesion force enhancing device 3 has the advantages of simple and compact structure and stable and reliable operation.
In this embodiment, the rotating assembly 35 includes a rotating bearing 351 and a rotating shaft 352, an opening is formed at one end of the bracket 31, the rotating bearing 351 is disposed in the opening, and the rotating shaft 352 is disposed on the rotating bearing 351. Through the rotation of rotating assembly 35, when crawler chassis 1 and track 4 are at a certain angle in the horizontal direction, such as the condition of a bend, etc., support 31 rotates under the effect of rotating assembly 35, and cushioning assembly 33 and elevating system 34, etc. can not receive the influence of revolving force and cause the damage.
In this embodiment, the rotating assembly 35 further includes a torsion return spring 353 for driving the support 31 to rotate back to the initial working position, and the torsion return spring 353 is disposed between the support 31 and the buffer assembly 33. The torsion return spring 353 can drive the bracket 31 and the sliding wheel 32 to rotate to the correct working position before the sliding wheel 32 enters the rail.
In this embodiment, the torsion return spring 353 is provided with an encoder disc and an angle sensor (not shown in the figure). The coding disc and the angle sensor are used for detecting the deflection of the vehicle body, when the crawler chassis 1 runs along the track 4, the vehicle body of the crawler chassis 1 may not be parallel to the track 4, and at the moment, the coding disc can detect the angular displacement difference between the vehicle body of the crawler chassis 1 and the track 4, so that the crawler chassis 1 can be controlled to turn to adjust, and the vehicle body of the crawler chassis 1 and the track 4 run in a straight line in parallel.
In this embodiment, the buffer assembly 33 includes a first expansion spring 331, an upper connecting plate 332 and a lower connecting plate 333, the first expansion spring 331 is connected between the upper connecting plate 332 and the lower connecting plate 333, the upper connecting plate 332 is further provided with a sleeve 334 extending toward the lower connecting plate 333, the lifting mechanism 34 extends into the sleeve 334 and is connected with the sleeve 334, and a connection point of the lifting mechanism 34 and the sleeve 334 is located below the upper connecting plate 332. Specifically, the upper connecting plate 332 and the lower connecting plate 333 are provided with eyebolts, the first extension spring 331 is installed between the upper connecting plate 332 and the lower connecting plate 333 through the eyebolts so as to be convenient for installation and disassembly, and when the first extension spring 331 is installed, a small amount of initial tension of the first extension spring 331 is utilized to enable the first extension spring 331 to be in a certain stretching position during assembly. The first expansion spring 331 can complete the transmission of force, when the crawler chassis 1 runs on an uneven slope, the ground can generate a certain impact force to the lifting mechanism 34, at this time, the first expansion spring 331 can absorb the part of impact load, in addition, when the crawler chassis 1 deviates from the track 4 and forms an included angle with the track 4 in a certain elevation direction, through the deformation of the first expansion spring 331, the adhesion force is enhanced, meanwhile, the damage of the rigid connection to the track 4 in the horizontal direction and the vertical direction can be prevented, the damage of the displacement change of the lifting mechanism 34 to the track 4 in the vertical direction can be prevented, meanwhile, the structure of the upper connecting plate 332, the lower connecting plate 333 and the sleeve 334 is adopted, the connection point of the lifting mechanism 34 and the sleeve 334 is positioned below the upper connecting plate 332, namely, a part of the lifting mechanism 34 is arranged in the sleeve 334, the installation distance can be effectively reduced, the vertical space occupied by the whole adhesion enhancement device 3 is reduced, the structure compactness can be greatly improved, and the device is also suitable for the crawler chassis 1 with a lower chassis.
In this embodiment, the first expansion springs 331 are disposed in a plurality, and the first expansion springs 331 are uniformly distributed around the sleeve 334. If only a single first extension spring 331 is used, the wire diameter required to stretch the first extension spring 331 is very large, and the force can be distributed to each first extension spring 331 by using the plurality of first extension springs 331, so that the buffering effect is better.
In this embodiment, the lifting mechanism 34 is a lifting cylinder 341, a piston rod of the lifting cylinder 341 is connected to the sleeve 334, a cylinder of the lifting cylinder 341 is hinged to the crawler chassis 1, and a hinge axis of the cylinder and the crawler chassis 1 is parallel to a central axis of the crawler chassis 1. Specifically, the hinge is used to achieve the articulation of the end of the cylinder of the lift cylinder 341 with the crawler chassis 1. The lifting oil cylinder 341 is used for controlling the lifting of the bracket 31 and the sliding wheel 32, so that the adhesion of the sliding wheel 32 to the track 4 is enhanced, the upper end of the lifting oil cylinder 341 adopts the hinged mode, the deflection of the adhesion enhancing device 3 in the width direction of the vehicle body can be realized, the deviation of the crawler chassis 1 relative to the track 4 is adapted, and the damage of the adhesion enhancing device 3 and other structures caused by hard connection is avoided.
When the adhesion force does not need to be increased, the lifting mechanism 34 integrally lifts the adhesion force enhancing device 3, so that the adhesion force enhancing device 3 can be prevented from interfering the walking of the crawler chassis 1. In other embodiments, a retraction mechanism may be provided for driving the track adhesion enhancement device 3 to rotate about a hinge with the track chassis 1. Specifically, the retraction mechanism is a retraction cylinder. The retracting oil cylinder can drive the adhesion force enhancing device 3 to rotate around the hinge axis, so that the adhesion force enhancing device 3 is contracted when moving on the ground and is put down in a climbing state.
In this embodiment, the bracket 31 includes a frame body 311 and two side plates 312, the two side plates 312 are respectively disposed on two sides of the frame body 311, two sliding wheels 32 are mounted on each side plate 312, the rail 4 is located between the two side plates 312, and the rail 4 is provided with a pressure-bearing edge corresponding to each side plate 312. This kind of setting can improve the homogeneity and the stability of atress between adhesive force reinforcing means 3 and the track 4, and the wheel 32 that slides can not deviate from, does benefit to assurance job stabilization nature and reliability.
The working process of the adhesion force enhancing device 3 of the embodiment is as follows:
the crawler chassis 1 is controlled to run to the starting end of the track 4, the lifting oil cylinder 341 is controlled, the height of the sliding wheel 32 is reduced to be consistent with that of the track 4, the crawler chassis 1 is moved, and the sliding wheel 32 enters the track 4.
The direction in which the rail 4 extends is defined as a Y-axis, a direction perpendicular to the Y-axis on a horizontal plane is defined as an X-axis, and a direction perpendicular to the Y-axis on a vertical plane is defined as a Z-axis.
In the moving process of the crawler chassis 1, if the crawler chassis 1 rotates at a certain angle relative to the track 4, that is, when a certain angle occurs with the Y axis, the sliding wheel 32 can move freely in the track 4 through the rotating bearing 351 without being influenced by the rotating direction force of the crawler chassis 1 on the track 4, and the track 4 and the crawler chassis 1 are prevented from being in hard connection and even from derailing.
When the central axis of the tracked chassis 1 deviates from the track 4 on the horizontal plane, that is, the tracked chassis 1 deviates from the Y axis in a manner of being parallel to the Y axis along the X axis direction as a whole, the first extension spring 331 is deformed by a force, and although a component force acts in a direction perpendicular to the track 4 on the horizontal plane, the adhesion force enhancing device 3 can still be ensured to normally work, so as to ensure that the tracked chassis 1 maintains the adhesion force required by normal running.
When the central axis of the crawler chassis 1 and the track 4 have an angle difference in the same direction, that is, under a climbing state, the crawler chassis 1 advances along the Y-axis direction, when the crawler chassis 1 has a certain angle with the Y-axis along the Z-axis direction, the first expansion spring 331 deforms under stress in the direction of the track 4, and the adhesive force is still ensured, so that the transmission of the displacement deviation adhesive force of the vehicle chassis in a certain range under the two states can be realized through the force transmission effect of the first expansion spring 331, the length of the lifting oil cylinder 341 is adjusted according to the size of the adhesive force in real time, and the best adhesive force is ensured.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. The utility model provides a turning point self-adaptation device for caterpillar track integration transport platform, its characterized in that, includes adhesive force reinforcing apparatus (3) and turning point drive arrangement (2), be provided with elevating system (34) on adhesive force reinforcing apparatus (3), caterpillar track integration transport platform includes caterpillar base plate (1) and track (4), caterpillar base plate (1) of caterpillar track integration transport platform is connected to the one end of elevating system (34), and the other end is connected and is located track (4) of caterpillar track integration transport platform below, the one end of turning point drive arrangement (2) is installed on caterpillar base plate (1), the other end with adhesive force reinforcing apparatus (3) are connected in order to drive adhesive force reinforcing apparatus (3) along track (4) remove.
2. The inflection point adaptive device for the caterpillar track integrated transfer platform, according to claim 1, wherein the inflection point driving device (2) comprises a reciprocating driving mechanism, a support rail (21) and a connecting member (22), the connecting member (22) is snap-mounted on the support rail (21) and supported by the support rail (21), one end of the connecting member (22) is driven by the reciprocating driving mechanism to reciprocate along the support rail (21), and the adhesion force enhancing device (3) is connected to the bottom of the connecting member (22).
3. The inflection point adaptive device for the caterpillar track integrated transfer platform, according to claim 2, wherein the support rail (21) is an I-shaped rail, the connecting member (22) comprises a through groove (221), the support rail (21) passes through the groove (221), and the connecting member (22) is provided with a guide support wheel (222) which is positioned in the groove (221) and is in sliding connection with the edge of the bottom of the support rail (21).
4. The inflection point adaptive device for the track-integrated transfer platform according to claim 2, wherein the reciprocating driving mechanism is a driving cylinder (23), a driving cylinder body (231) of the driving cylinder (23) is pivoted with the track chassis (1), and a driving piston rod (232) of the driving cylinder (23) is pivoted with the connecting member (22).
5. The inflection point self-adapting device for the caterpillar track integrated transfer platform according to any one of claims 1 to 4, characterized in that the adhesion force enhancing device (3) comprises a bracket (31), a sliding wheel (32), a buffer component (33), a lifting mechanism (34) for driving the bracket (31) and the sliding wheel (32) to realize lifting and a rotating component (35) for realizing that the bracket (31) rotates around the bracket (31), the sliding wheel (32) is arranged at the bottom of the bracket (31), the rotating component (35) is arranged on the bracket (31), one end of the buffer component (33) is connected with the rotating component (35), the other end of the buffer component (33) is connected with the lifting mechanism (34), the lifting mechanism (34) is installed on the crawler chassis (1), and the sliding wheels (32) are connected with the edge of the top of the track (4) in a sliding mode.
6. The inflection point adaptive device for the caterpillar track integrated transfer platform, according to claim 5, wherein the rotating assembly (35) comprises a rotating bearing (351) and a rotating shaft (352), one end of the bracket (31) is provided with an opening, the rotating bearing (351) is arranged in the opening, and the rotating shaft (352) is arranged on the rotating bearing (351); the rotating assembly (35) further comprises a torsion return spring (353) for driving the support (31) to rotate back to an initial working position, and the torsion return spring (353) is arranged between the support (31) and the buffer assembly (33).
7. The inflection point adaptive device for the track-integrated transfer platform of claim 5, wherein the buffer assembly (33) comprises a first expansion spring (331), an upper connecting plate (332) and a lower connecting plate (333), the first expansion spring (331) is connected between the upper connecting plate (332) and the lower connecting plate (333), the upper connecting plate (332) is further provided with a sleeve (334) extending towards the lower connecting plate (333), the lifting mechanism (34) extends into the sleeve (334) and is connected with the sleeve (334), and the connection point of the lifting mechanism (34) and the sleeve (334) is positioned below the upper connecting plate (332).
8. The inflection point self-adaption device for the track-integrated transfer platform as claimed in claim 7, wherein the lifting mechanism (34) is a lifting cylinder (341), a lifting piston rod of the lifting cylinder (341) is connected with the sleeve (334), and a lifting cylinder barrel of the lifting cylinder (341) is hinged and installed on the track chassis (1) around an axis parallel to a central axis of the track chassis (1); the support (31) comprises a frame body (311) and two side plates (312), the two side plates (312) are respectively arranged on two sides of the frame body (311), at least one sliding wheel (32) matched with the edge above the track (4) is arranged on each side plate (312), and the track (4) is positioned between the two side plates (312).
9. Use method of the inflection point adaptive device for the tracked integrated transfer platform according to any one of claims 1 to 8, wherein when the tracked chassis (1) enters an inflection point position of a steep slope, the inflection point driving device (2) drives the adhesion force enhancing device (3) to move in a direction opposite to the moving direction of the tracked chassis (1).
10. Use according to claim 9, characterised in that the speed at which the traction-enhancing device (3) is driven by the inflection-point drive (2) is of the same magnitude as the speed of the crawler chassis (1) in order to make the traction-enhancing device (3) stationary with respect to the inflection point position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810966936.8A CN109263739B (en) | 2018-08-23 | 2018-08-23 | Turning point self-adaption device for caterpillar track integrated transfer platform and use method |
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| CN201810966936.8A CN109263739B (en) | 2018-08-23 | 2018-08-23 | Turning point self-adaption device for caterpillar track integrated transfer platform and use method |
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| CN109263739B true CN109263739B (en) | 2020-05-08 |
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| CN112977646A (en) * | 2019-12-13 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Robot chassis with adjustable focus |
| CN115432080A (en) * | 2022-09-05 | 2022-12-06 | 苏州瑞奇安机电科技有限公司 | Large-gradient climbing chassis, forest rescue vehicle and fire-extinguishing robot |
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| JPH08119101A (en) * | 1994-10-20 | 1996-05-14 | Jishaku Yuso Syst Kaihatsu Kk | Magnetic belt type transport device |
| US8567536B1 (en) * | 2010-01-29 | 2013-10-29 | Stephen Lee Canfield | Tracked climbing machine with compliant suspension apparatus |
| CN201980308U (en) * | 2011-01-21 | 2011-09-21 | 孙广军 | Multi-purpose monorail vehicle in paddy field |
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