CN109808785B - Modularized power track cabin, power track and unmanned platform - Google Patents
Modularized power track cabin, power track and unmanned platform Download PDFInfo
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Abstract
The invention discloses a modularized power track cabin, a power track comprising the same and an unmanned platform, wherein the power track cabin comprises a basic truss structure; one side of the basic truss structure is fixedly connected with a mechanical quick-change interface, an electrical appliance and a communication quick-change interface; the basic truss structure is also fixedly connected with a tensioning wheel support, an inducer support, a belt supporting wheel support, a loading wheel support and a driving assembly support, and is used for providing installation positions for the tensioning wheel assembly, the inducer assembly, the belt supporting wheel assembly, the loading wheel assembly and the driving assembly; the basic truss structure provides installation positions for the battery pack, the power assembly APU, the motor control assembly, the power distribution unit PDU and the driving assembly. The modular power crawler cabin can realize the rapid assembly and reconstruction of the crawler-type unmanned platform, can release the middle bearing space, and is suitable for popularization and application.
Description
Technical Field
The invention relates to the field of crawler-type unmanned platforms (vehicles), in particular to a modularized power crawler cabin, a power crawler and an unmanned platform.
Background
The development and application of the crawler-type ground unmanned platform are increasingly paid attention to, but the existing crawler-type ground unmanned platform still has some defects:
1. the chassis adopts an integral structure, and once one part is damaged, the whole body loses function;
2. the limited bearing space of the vehicle body structure is insufficient;
3. the power unit is difficult to disassemble, assemble and replace.
It is therefore apparent that the above-mentioned conventional tracked unmanned platform still has inconveniences and disadvantages in structure, method and use, and further improvements are needed. How to create a crawler structure which can enable the crawler-type ground unmanned platform to realize rapid assembly and reconstruction and release an intermediate bearing space is an object which needs to be improved in the industry at present.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a crawler structure which can enable a crawler type ground unmanned platform to realize rapid assembly and reconstruction and release a middle bearing space.
In order to solve the technical problems, the invention adopts the following technical scheme:
in one aspect, the present invention provides a modular power track pod comprising a base truss structure; one side of the basic truss structure is fixedly connected with a mechanical quick-change interface, an electrical appliance and a communication quick-change interface; the basic truss structure is also fixedly connected with a tensioning wheel support, an inducer support, a belt supporting wheel support, a loading wheel support and a driving assembly support, and is used for providing installation positions for the tensioning wheel assembly, the inducer assembly, the belt supporting wheel assembly, the loading wheel assembly and the driving assembly; the inside of the basic truss structure provides installation positions for a battery pack, a Power assembly APU (auxiliary Power Unit), a motor control assembly, a Power distribution Unit PDU (Power distribution Unit) and a driving assembly.
As a further improvement of the invention, the battery pack and the power assembly APU are arranged at the rear part in the basic truss structure, two slideways are fixedly arranged on the inner bottom surface of the rear part of the basic truss structure, the two slideways are oppositely arranged in parallel along the left-right direction of the crawler cabin, and the two slideways are respectively used for being matched with the support legs of the engine in the power assembly APU.
Furthermore, a large round hole is formed in one side of the front portion of the basic truss structure, the inner circular surface of the large round hole provides a positioning position for the driving assembly support, the driving assembly support protrudes towards the inside of the basic truss structure, a plurality of positioning holes are formed in the protruding surface of the driving assembly support, and the plurality of positioning holes are used for being connected with a driving assembly which is of a disc-shaped structure and internally integrates a driving motor, a speed reducer, a driving wheel, a brake caliper and a brake disc in a cantilever mounting mode through bolts.
Furthermore, at least two mechanical quick-change interfaces are provided; and a plurality of groups of connecting holes with different heights are arranged on the mechanical quick-change connector, and each group of connecting holes consists of three bolt holes.
Furthermore, the electric appliance and communication quick-change interface comprises a load electric appliance and communication quick-change interface, a fender electric appliance and communication quick-change interface, a left power cabin electric appliance and a right power cabin electric appliance and communication quick-change interface; the electrical appliance and the communication quick-change interface are of aviation plug structures.
Furthermore, the inducer supports are oppositely arranged, and each inducer support is provided with a plurality of positioning holes for installing the inducer assembly cantilever between the opposite inducer supports through bolts; the two belt supporting wheel supports are oppositely arranged, and a plurality of positioning holes are formed in each belt supporting wheel support and used for installing the cantilever of the belt supporting wheel assembly between the opposite belt supporting wheel supports through bolts.
Furthermore, vertical beams are respectively arranged on the left side and the right side of the basic truss structure, and the interior of the basic truss structure is divided into three installation sections; the lower part of the rear mounting section is used for mounting a battery pack and a power assembly APU, and the upper part of the rear mounting section is used for mounting a power distribution unit PDU; the lower part of the middle mounting section is used for mounting a radiator assembly, and the upper part of the middle mounting section is used for mounting a motor control assembly; the front mounting region is used for mounting a drive assembly which is integrally disc-shaped.
Furthermore, an integrated structure is formed between each support and the basic truss structure in a welding mode, and a hoisting ring is further arranged at the upper part of the basic truss.
On the other hand, the invention provides a power track, which comprises the modularized power track cabin, and further comprises a tension wheel assembly, an inducer assembly, a riding wheel assembly, a loading wheel assembly and a driving assembly which are arranged on a tension wheel support, an inducer support, a riding wheel support and a driving assembly support; and the battery pack, the power assembly APU, the motor control assembly, the power distribution unit PDU and the driving assembly are arranged in the basic truss structure.
As a further improvement of the invention, the driving assembly integrates a driving motor, a speed reducer, a driving wheel, a brake caliper and a brake disc into a whole to form a disc structure, and is cantilever-mounted with the driving assembly support through bolts; the power track further comprises a fender, a hoisting ring is arranged on the basic truss structure, and the fender is installed on the hoisting ring.
In another aspect, the invention provides an unmanned platform, which comprises a bearing platform and two power tracks detachably connected with the bearing platform through mechanical quick-change interfaces, wherein the power tracks are the power tracks.
By adopting the technical scheme, the invention at least has the following advantages:
(1) the power crawler cabin can enable the crawler-type ground unmanned platform to realize modular design, and quick disassembly, assembly and reconstruction can be realized through machinery, electrical appliances and a communication quick-change interface; the integrated basic truss structure is used as the basic framework of the modular power crawler cabin, and the modular power crawler cabin has the advantages of light weight, small occupied space, high structural strength and the like; the crawler wheel assemblies are ensured to be positioned in the range of the left and right boundaries of the crawler cabin by matching with the supports, and installation and positioning positions are provided for the crawler wheel assemblies; the integrated truss structure integrates all assemblies, and the bearing space of the middle bearing platform can be released.
(2) Different from the mode that the traditional unmanned platform arranges the power assembly APU at the rear part of the bearing platform, the invention integrates the APU into the power track, which can completely release the space of the middle bearing platform, thus leading the integration level of the whole machine to be higher and being more beneficial to the quick replacement of the middle bearing platform.
(3) In order to meet the integration requirement of the power track cabin, the driving wheel assembly is designed in a compact structure and integrated mode, the driving motor, the speed reducer, the driving wheel, the brake caliper and the brake disc are integrated, and through the efforts and integration, the driving wheel assembly is finally located inside the power track cabin, and the space of the middle bearing platform is released.
(4) The universal slide way for quick positioning and installation is designed for the power assembly APU and the battery pack, and the two opposite slide ways can facilitate the taking out of the power assembly APU from the power crawler or the replacement of the power assembly APU and the battery pack.
(5) The power caterpillar band cabin truss is structurally designed with a mechanical quick-change structure which is used for being quickly connected with the middle bearing platform, the power caterpillar band cabin truss can be fixed with the middle bearing platform only by a plurality of bolts, and the structure is simple and reliable. And the height of the middle bearing platform can be changed through a plurality of groups of bolt holes on the quick-change structure so as to load different task loads.
(6) The quick-change plugging structure is respectively provided for the electric appliances and the communication of the load, the fender, the left power track cabin and the right power track cabin, and the quick assembly or maintenance of a vehicle and the replacement or configuration of the electric appliances of the load or the fender can be realized.
(7) The disassembling and the installing of each assembly and parts inside the crawler-type ground unmanned platform are more convenient, and the assembly and the disassembly are convenient.
(8) The integration level of the crawler-type ground unmanned platform is higher.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1 is a three-dimensional view of the structure of a modular power track pod of the present invention;
FIG. 2 is a three-dimensional view of the basic truss structure of the modular power track pod of the present invention;
FIG. 3 is an exploded view of one configuration of the modular power track pod of the present invention;
FIG. 4 is a three-dimensional view of a modular power track pod of the present invention (except for tracks and fenders) incorporating various assemblies;
FIG. 5 is a three-dimensional view of a modular power track pod of the present invention incorporating various assemblies and tracks;
FIG. 6 is an exploded view of the power track pods and load-bearing platform of the present invention on both the left and right sides;
FIG. 7 is a view of the assembly of the leg and the skid of the power assembly APU of the present invention;
FIG. 8 is a three-dimensional view of a modular power track pod incorporating fenders and various assemblies in accordance with the present invention;
FIG. 9 is an assembly view of the left and right power track pods and load-bearing platform of the present invention;
fig. 10 is a schematic view of an application of the power track pods of the present invention assembled into a tracked unmanned platform.
The symbols in the figures are as follows:
1-slideway, 2-mechanical quick-change interface, 3-tensioning wheel support, 4-load electrical appliance and communication quick-change interface, 5-inducer support, 6-fender electrical appliance and communication quick-change interface, 7-riding wheel support, 8-hoisting ring, 9-drive assembly support, 10-mechanical quick-change interface, 11-left and right power cabin electrical appliance and communication interface, 12-riding wheel support, 13-basic truss structure, 14-riding wheel assembly, 15-drive assembly, 16-motor control assembly, 17-riding wheel assembly, 18-power distribution unit (APU), 19-inducer assembly, 20-power assembly, 21-tensioning wheel assembly, 22-radiator assembly, 23-crawler belt, 24-bearing platform, 25-mechanical quick-change interface, 26-mechanical quick-change interface, 27-supporting leg, 28-fender and 29-load.
Detailed Description
The embodiment provides a modular power track cabin capable of being rapidly disassembled and replaced. The modularized power crawler cabin can enable the crawler-type ground unmanned platform to be rapidly assembled and reconfigured, release the middle bearing space and achieve modularized design. On the other hand, the modularized power crawler cabin can facilitate the replacement and maintenance of each assembly of the crawler-type ground unmanned platform.
The structure of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in the exploded view of fig. 3, the modular power track pod basically comprises: the device comprises a slideway 1, a mechanical quick-change interface 2, a tensioning wheel support 3, a load electrical appliance and communication quick-change interface 4, an inducer support 5, a fender electrical appliance and communication quick-change interface 6, a supporting wheel support 7, a hoisting ring 8, a drive assembly support 9, a mechanical quick-change interface 10, a left power cabin electrical appliance and communication quick-change interface 11, a loading wheel support 12 and a basic truss structure 13.
The modular power track cabin is formed by connecting the above parts through welding or other fixed connection modes on the basis of the basic truss structure 13 shown in fig. 2, and the relative positions of the parts on the basic truss structure 13 are shown in fig. 1.
As shown in fig. 1, and also shown in fig. 4:
the basic truss structure 13 is formed by bending and welding square pipes or other materials, which form a basic framework structure.
The slideway 1 is positioned on the inner bottom surface of the rear part of the basic truss structure 13, the slideway and the basic truss structure are fixed by bolts or welding, and the position of the slideway can be adaptively adjusted according to different selected power assemblies APU 20; the slide 1 is two relative settings, and two slide 1 are parallel relative settings along the left and right sides direction of track cabin. The two opposite slideways 1 can provide a fixed position for the power assembly APU20 or a battery pack, and enable an engine of the power assembly APU20 to conveniently and quickly slide out of the power track cabin when being replaced quickly.
The mechanical quick-change connector 2 and the mechanical quick-change connector 10 are of the same structure, are fixed at the first vertical beam and the third vertical beam of the basic truss structure 13 in other modes such as welding or bolts, and the height and the distance of the mechanical quick-change connector can be adjusted adaptively according to different requirements; and the mechanical quick-change connector 2 and the mechanical quick-change connector 10 are respectively provided with a plurality of groups of connecting holes with different heights, preferably three groups, and each group of connecting holes consists of three bolt holes, so that the height of the bearing platform connected with the connecting holes is convenient to adjust.
The two tensioning wheel supports 3 are fixedly connected to the middle position of the rear part of the basic truss structure 13 in a welding mode and are used for supporting a tensioning wheel assembly 21 for adjusting the tensioning degree of the track.
The load electrical appliance and communication quick-change interface 4, the fender electrical appliance and communication quick-change interface 6, the left power compartment electrical appliance and the right power compartment electrical appliance and communication quick-change interface 11 are fixedly arranged on the outer side of the basic truss structure 13, and no specific requirement is required at the fixed positions on the outer side, so that the plugging and the arrangement are convenient. The electrical appliance and communication quick-change interface preferably adopts an aviation plug structure, can be respectively installed on the outer side of the basic truss structure 13 through a fixing plate, and is mainly used for realizing the connection of electrical equipment between the power tracks on the left side and the right side and the quick connection and disconnection of communication, the quick connection and disconnection of electrical equipment on a fender and the quick connection and disconnection of electrical loads on a middle bearing platform.
The inducer supports 5 are fixedly connected to the corners of the rear vertical beams and the cross beams of the basic truss structure 13; the inducer supports 5 are oppositely arranged, and a plurality of positioning holes are formed in each inducer support 5 and used for installing the inducer assembly 19 between the opposite inducer supports 5 in a cantilever mode through bolts. The installation mode of cantilever is convenient for installation and replacement.
The supporting wheel support 7 is fixedly connected to the middle position of the upper cross beam of the basic truss structure 13; the two belt supporting wheel supports 7 are oppositely arranged, and a plurality of positioning holes are formed in each belt supporting wheel support 7 and used for installing the cantilever of the belt supporting wheel assembly 17 between the opposite belt supporting wheel supports 7 through bolts. The installation mode of the cantilever is convenient for installation and disassembly and replacement.
The hoisting ring 8 is fixedly connected to the upper cross beam of the basic truss structure 13 by bolts or welding and is used for hoisting the power crawler cabin.
The drive assembly support 9 is fixedly connected to the front large circular hole of the basic truss structure 13 by welding, wherein the inner circular surface of the large circular hole provides a positioning position for the drive assembly support 9. The driving assembly support 9 protrudes towards the inside of the basic truss structure 13, a plurality of positioning holes are formed in the protruding face (inner circular face) of the driving assembly support, preferably 8 positioning unthreaded holes are adopted, and the positioning holes are connected with a driving assembly 15 which is of a disc-shaped structure and internally integrates a driving motor, a speed reducer, a driving wheel, a brake caliper and a brake disc in a cantilever mounting mode through bolts. The installation mode of the cantilever is convenient for installation and disassembly and replacement. The driving assembly 15 is an integrated structure, so that the driving wheel assembly is completely positioned in the power crawler cabin, and the space of the middle bearing platform is released.
The five bogie wheel supports 12 are arranged in front and back at equal intervals, and are fixedly connected to a cross beam at the lower part of the basic truss structure 13 in a welding mode, so that hole positions are provided for balancing the bogie wheel assembly 14 and installing the shock absorber.
As shown in fig. 4, the bogie wheel assembly 14, the driving assembly 15, the idler wheel assembly 17, the inducer assembly 19 and the idler wheel assembly 21 are respectively mounted at corresponding positions of the idler wheel support 3, the inducer support 5, the idler wheel support 7, the driving assembly support 9 and the bogie wheel support 12; after installation, the power track 23 is installed on the respective assembly, as shown in fig. 4 and 5. The driving assembly 15, the power assembly APU20, the motor control assembly 16, the power distribution unit PDU18, the battery pack and the like are respectively arranged in the inner space of the power track cabin, and enough bearing space is reserved for the bearing platform 23. Wherein, basic truss structure roughly divides inside into three installation intervals through the perpendicular roof beam of left and right sides: the lower part of the rear mounting section is provided with a battery pack and a power assembly APU20, and the upper part is provided with a power distribution unit PDU 18; the lower part of the middle mounting section is used for a radiator assembly 22, the upper part is provided with a motor control assembly 16, and the front mounting section is provided with a drive assembly 15 which is integrally disc-shaped.
As shown in fig. 7, the fixed connection between the power assembly APU20 and the basic truss structure 13 is completed by the cooperation of the 4 legs 27 on the power assembly APU20 and the chute 1, so that the power assembly APU20 can be conveniently taken out or put on the chute 1 when needing to be installed or taken out, and the power assembly APU20 is fixed by bolts when reaching the installation position.
As shown in fig. 8, a hole site matched with the hoisting ring 8 is reserved on the fender 28, and the fender can be installed on the upper part of the power track cabin through the hoisting ring 8. The fender 28 on the one hand plays the role of a mud-blocking tile, and on the other hand, equipment such as an antenna, a nacelle, a camera, a car lamp and the like can be arranged on the fender on the upper portion of the fender, and electric appliances and communication interfaces of the equipment can be rapidly plugged in and pulled out of the fender electric appliance and the communication quick-change interface 6 on the power track cabin, so that the fender can be conveniently detached, replaced and combined.
As shown in fig. 6, the power track cabin is assembled with the mechanical quick-change interface 25 and the mechanical quick-change interface 26 on the carrying platform 24 in a matching manner through the mechanical quick-change interface 2 and the mechanical quick-change interface 10 on the power track cabin, so that the complete vehicle can be quickly disassembled, assembled and combined. Meanwhile, the heights of the bearing platform 24 can be adjusted through three groups of bolt holes with different heights on the mechanical quick-change connector 2 and the mechanical quick-change connector 10. The assembled basic frame is shown in fig. 9.
As shown in fig. 10, the crawler-type modular unmanned combat platform assembled by adopting a basic truss structure, a load 29 arranged on a bearing platform 24 can realize quick plugging and unplugging of power supply and communication through cooperation with load electrical appliances on a power crawler cabin and a communication quick-change interface 4. The power crawler cabin can conveniently provide power supply and communication interfaces for different loads (such as the load 29) through the load electric appliance and the communication quick-change interface 4.
In conclusion, the modular power crawler cabin can realize the rapid assembly and reconstruction of the crawler-type unmanned platform, can release the middle bearing space, and is suitable for popularization and application.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (9)
1. A modular power track pod comprising a base truss structure;
one side of the basic truss structure is fixedly connected with a mechanical quick-change interface, an electrical appliance and a communication quick-change interface;
the basic truss structure is also fixedly connected with a tensioning wheel support, an inducer support, a belt supporting wheel support, a loading wheel support and a driving assembly support, and is used for providing installation positions for the tensioning wheel assembly, the inducer assembly, the belt supporting wheel assembly, the loading wheel assembly and the driving assembly;
the basic truss structure provides installation positions for a battery pack, a power assembly APU, a motor control assembly, a power distribution unit PDU and a driving assembly;
the battery pack and the power assembly APU are used for being mounted at the rear part in the basic truss structure, two slideways are fixedly mounted on the inner bottom surface of the rear part of the basic truss structure, the two slideways are oppositely arranged in parallel along the left and right direction of the crawler cabin, and the two slideways are respectively used for being matched with support legs of an engine in the power assembly APU;
the driving assembly support protrudes towards the inside of the basic truss structure, a plurality of positioning holes are formed in the protruding surface of the driving assembly support, and the plurality of positioning holes are used for being connected with a driving assembly which is of a disc-shaped structure and internally integrates a driving motor, a speed reducer, a driving wheel, a brake caliper and a brake disc through bolts in a cantilever mounting mode.
2. The modular power track pod of claim 1, wherein the mechanical quick-change interfaces are at least two; and a plurality of groups of connecting holes with different heights are arranged on the mechanical quick-change connector, and each group of connecting holes consists of three bolt holes.
3. The modular power track pod of claim 1 wherein the electrical and communications quick-change interfaces include a load electrical and communications quick-change interface, a fender electrical and communications quick-change interface, left and right power pod electrical and communications quick-change interfaces;
the electrical appliance and the communication quick-change interface are of aviation plug structures.
4. The modular power track pod of claim 1 wherein the inducer supports are oppositely disposed, each inducer support having a plurality of locating holes for mounting the inducer assembly cantilevered between the opposing inducer supports via bolts;
the two belt supporting wheel supports are oppositely arranged, and a plurality of positioning holes are formed in each belt supporting wheel support and used for installing the cantilever of the belt supporting wheel assembly between the opposite belt supporting wheel supports through bolts.
5. The modular power track cabin of claim 1, wherein vertical beams are respectively disposed on the left and right sides of the basic truss structure to divide the interior of the basic truss structure into three installation sections;
the lower part of the rear mounting section is used for mounting a battery pack and a power assembly APU, and the upper part of the rear mounting section is used for mounting a power distribution unit PDU;
the lower part of the middle mounting section is used for mounting a radiator assembly, and the upper part of the middle mounting section is used for mounting a motor control assembly;
the front mounting section is used for mounting a drive assembly which is integrally disc-shaped.
6. The modular power track cabin of claim 1, wherein each support is welded to the basic truss structure to form an integral structure, and the upper part of the basic truss is further provided with a hoisting ring.
7. A power track, comprising the modular power track pod of any of claims 1-6, further comprising a tensioner assembly, an inducer assembly, a idler assembly, a bogie wheel assembly, and a drive assembly mounted on the tensioner support, the inducer support, the idler wheel support, the bogie wheel support, and the drive assembly support;
and the battery pack, the power assembly APU, the motor control assembly, the power distribution unit PDU and the driving assembly are arranged in the basic truss structure.
8. The power track of claim 7, wherein said drive assembly integrates a drive motor, a speed reducer, a drive wheel, a brake caliper and a brake disc, forming a disc structure, and being cantilevered to said drive assembly support by bolts;
the power track further comprises a fender, a hoisting ring is arranged on the basic truss structure, and the fender is installed on the hoisting ring.
9. An unmanned platform, comprising a bearing platform and two power tracks which are detachably connected with the bearing platform through a mechanical quick-change interface, wherein the power tracks adopt the power tracks of claim 7 or 8.
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| CN201910105613.4A CN109808785B (en) | 2019-02-01 | 2019-02-01 | Modularized power track cabin, power track and unmanned platform |
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| CN201910105613.4A CN109808785B (en) | 2019-02-01 | 2019-02-01 | Modularized power track cabin, power track and unmanned platform |
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| CN201709101U (en) * | 2010-07-21 | 2011-01-19 | 吕小荣 | Crawler-type small scale multi-functional chassis for crops relay intercropping |
| JP5667594B2 (en) * | 2012-03-15 | 2015-02-12 | 株式会社小松製作所 | Dump truck with obstacle detection mechanism and obstacle detection method thereof |
| CN107351928A (en) * | 2017-07-21 | 2017-11-17 | 北京理工大学 | A kind of Modular track formula drives platform |
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