CN110282042B - High-performance self-adaptive crawler chassis device and working method - Google Patents
High-performance self-adaptive crawler chassis device and working method Download PDFInfo
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- CN110282042B CN110282042B CN201910721062.4A CN201910721062A CN110282042B CN 110282042 B CN110282042 B CN 110282042B CN 201910721062 A CN201910721062 A CN 201910721062A CN 110282042 B CN110282042 B CN 110282042B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 142
- 230000035939 shock Effects 0.000 claims abstract description 97
- 238000013016 damping Methods 0.000 claims abstract description 23
- 238000004458 analytical method Methods 0.000 claims abstract description 9
- 230000007613 environmental effect Effects 0.000 claims abstract description 9
- 239000000725 suspension Substances 0.000 claims description 38
- 238000010521 absorption reaction Methods 0.000 claims description 27
- 230000033001 locomotion Effects 0.000 claims description 26
- 230000001603 reducing effect Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 12
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 10
- 230000001154 acute effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 238000010223 real-time analysis Methods 0.000 abstract description 2
- 238000011897 real-time detection Methods 0.000 abstract description 2
- 244000309464 bull Species 0.000 description 13
- 230000007246 mechanism Effects 0.000 description 10
- 230000001105 regulatory effect Effects 0.000 description 9
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 239000006096 absorbing agent Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
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- 230000009975 flexible effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Classifications
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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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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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
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
- B62D55/125—Final drives
Abstract
The invention relates to a high-performance self-adaptive crawler chassis device and a working method thereof, wherein a controller controls a sensing assembly to collect information on road conditions in front of a vehicle body and transmits collected environmental parameters to the controller, the controller gives out control signals after analysis and decision making, the control signals are processed by a driver and then drive a power motor to control power transmission of the crawler chassis device, and meanwhile, a damping self-adaptive adjusting assembly is driven and driven by a driving adjusting motor to adjust the power transmission angle, so that a shock absorbing system is adjusted to realize self-adaptive obstacle surmounting of a road surface. The left and right vertical angle adjustment of the shock absorbing system relative to the moving platform body is realized, the obstacle crossing passing of various V-shaped slopes or other complex ground is realized, the continuous output of power during the left and right angle adjustment of the shock absorbing system relative to the moving platform body is ensured, the real-time detection, analysis and decision of road conditions in front of a vehicle body are realized, and the self-adaptive adjustment of the shock absorbing system under different road conditions is controlled.
Description
Technical Field
The invention belongs to the technical field of crawler mobile devices, and particularly relates to a high-performance self-adaptive crawler chassis device and a working method thereof.
Background
The crawler-type movable chassis has the advantages of flexible action, large contact area with the ground, strong obstacle crossing capability and the like, and has stronger obstacle crossing performance and complex terrain passing capability due to the suspension damping mechanism. Therefore, the crawler-type mobile chassis and the matched suspension structure are used as the running mechanism of the related machinery, the development direction of the crawler-type mobile chassis is always developed around the aspects of safety and reliability, wide application range, simplicity in operation, environmental protection, energy saving, low cost and the like, and the crawler-type mobile chassis is constantly improved in effort at home and abroad.
At present, a crawler-type mobile chassis mainly adopts a damping suspension system with a specific structure, and is generally divided into a symmetrical suspension structure arranged at the left side and the right side, and the number of suspensions is even. For example, patent number 201610049480.X discloses an invention patent of a crawler chassis, patent number 201210043540.9 discloses a crawler robot universal chassis, and the like.
In order to improve the obstacle crossing performance or the passing performance of the mobile chassis, the following methods are adopted for improvement and optimization:
(1) The suspension structure changes the structure to realize the horizontal adjustment of the left and right or front and back angles of the mobile platform
Typical technical scheme has the tracked vehicle chassis adjustment control system that patent was 201820105211.5 published, detects the chassis inclination through the inclination sensor, changes and hangs horizontal telescopic machanism and realize the horizontal setting of the left and right directions of platform. The patent number 201721341789.2 discloses an angle-adjustable trolley chassis, and the front-back angle adjustment of a platform is realized by controlling the front-back suspension structure to deform, so that the angle-adjustable trolley chassis is suitable for different slopes.
(2) Suspension structure deformation for realizing height adjustment of mobile platform
Typical technical scheme has an adjustable crawler device that patent number 201810575356.6 published, through adjusting hydraulic rod length, realizes the high adjustment of chassis to improve crawler-type chassis's trafficability characteristic.
(3) Advancing heading angle of suspension structure deformation adjustment crawler
Typical technical scheme has the track angle self-adaptation mechanism of pipeline robot that patent number 201621305890.8 published, changes the heading angle of both sides track motion through adjusting electric putter and realizes the pipeline adaptation to different pipe diameters.
In summary, the hanging structure of the existing crawler-type mobile chassis generally only can change the height so as to realize the horizontal angle or height adjustment of the platform, when the hanging structure passes through a V-shaped or inverted V-shaped ramp or other ramps with different angles on two sides, the crawler can be seriously deformed, the crawler is damaged or the belt is dropped by a slight person, the left and right crawler structures are unevenly stressed to generate vehicle body damage, the service life of the crawler is seriously endangered, and a great challenge is provided for the trafficability and obstacle surmounting performance of the crawler-type mobile chassis.
Disclosure of Invention
The invention aims to provide a high-performance self-adaptive crawler chassis device and a working method thereof, which solve the problem of weak passing performance when the crawler chassis passes through a V-shaped or inverted V-shaped ramp.
The technical scheme adopted for solving the technical problems is as follows: the high-performance self-adaptive crawler chassis device comprises a crawler chassis, a shock absorption system, a crawler, a shock absorption self-adaptive adjusting component, a power transmission component and a driving component, wherein the crawler chassis comprises a vehicle body framework, an upper supporting plate and side supporting plates, the upper end surface of the vehicle body framework is fixedly provided with the upper supporting plate, the two sides of the vehicle body framework are respectively provided with the side supporting plates, and the shock absorption system, the crawler, the shock absorption self-adaptive adjusting component and the power transmission component are respectively provided with two sets of components and are respectively arranged on the two sides of the upper supporting plate; the shock absorbing system is arranged on the outer side of the side supporting plate and connected with the crawler belt, the shock absorbing system is also connected with one end of the power transmission assembly, the other end of the power transmission assembly is connected with the driving assembly, the driving assembly is fixed on the crawler belt chassis, one end of the shock absorbing self-adaptive adjusting assembly is fixed on the upper supporting plate, and the other end of the shock absorbing self-adaptive adjusting assembly is connected with the side supporting plate.
Specifically, the shock absorbing system comprises a suspension supporting plate, a damping component, a driving wheel, a bearing wheel and a proximity wheel, wherein the suspension supporting plate is fixed on the outer side of the side supporting plate, the driving wheel is installed at the rear end of the suspension supporting plate, the axle center of the driving wheel is connected with one end of the power transmission component, the suspension supporting plate is connected with the bearing wheel below through the damping component, the proximity wheel is installed at the front end of the suspension supporting plate, and the outer edge of a wheel train formed by the driving wheel, the bearing wheel and the proximity wheel is meshed and connected with a crawler belt.
Specifically, shock attenuation self-adaptation adjustment subassembly includes accommodate motor, the lead screw, the sleeve, the connecting rod, the hydraulic stem, the pedestal bearing, the bull stick, the support arm, accommodate motor vertical fixation is in the lower terminal surface of backup pad, accommodate motor's output shaft lead screw, the cover has the sleeve on the lead screw, sleeve and lead screw threaded connection, the front end of hinged joint connecting rod is passed through in the sleeve middle part outside, the front end of bull stick is connected through the hydraulic stem to the rear end of connecting rod, the hydraulic stem is extending structure, hydraulic stem sets up perpendicularly with the bull stick, the bull stick sets up in the pedestal bearing, the rear end of bull stick is fixed with the support arm, the support arm sets up perpendicularly with the bull stick, and the support arm is still perpendicular with the hydraulic stem in the space, the support arm is connected to be fixed in the side backup pad.
Specifically, the power transmission assembly comprises a reversing seat, a first supporting bearing, a second supporting bearing, a first transmission shaft, a second transmission shaft, a first power shaft, a second power shaft and a power reversing transmission assembly, wherein the reversing seat is vertically arranged at the rear end of the upper supporting plate and is of a disc-shaped structure, two arc-shaped grooves are symmetrically arranged along the circumferential direction, the first supporting bearing and the second supporting bearing are respectively embedded in the two arc-shaped grooves, the first supporting bearing and the second supporting bearing are both connected in the arc-shaped grooves in a sliding manner through a pull rod and a stop block, the inner side of the first supporting bearing is connected with the first transmission shaft, the outer side of the first supporting bearing is connected with the first power shaft, the inner side of the second supporting bearing is connected with the second transmission shaft, the outer side of the second supporting bearing is connected with the second power shaft, the first transmission shaft is arranged opposite to the second transmission shaft and is connected with the second transmission shaft through the power reversing transmission assembly, and the first shaft is connected with the driving assembly, and the second shaft is connected with the axle center of a driving wheel in the shock absorbing system.
Further, through holes are formed in the first support bearing and the second support bearing, the first transmission shaft is fixedly connected with the first power shaft, and the joint of the first transmission shaft and the first power shaft is located in the through hole of the first support bearing; the second transmission shaft is fixedly connected with the second power shaft, and the connection part of the second transmission shaft and the second power shaft is positioned in the through hole of the second support bearing.
Further, the power reversing transmission assembly comprises a first reversing connector, a second reversing connector and a reversing ring, wherein the first reversing connector is connected to the end part of the first transmission shaft, the second reversing connector is connected to the end part of the second transmission shaft, the first reversing connector and the second reversing connector are oppositely arranged, and the reversing ring is connected between the first reversing connector and the second reversing connector.
Further, square grooves are formed in the opposite end faces of the first reversing connector and the second reversing connector, and the reversing ring is clamped in the square grooves.
Further, the reversing ring is perpendicular to the reversing seat, the reversing ring is of a circular ring structure, and the projection of the circle center of the reversing ring on the reversing seat coincides with the center of the reversing seat.
Specifically, drive assembly includes power motor, the deceleration module, a controller, sensing assembly, a driver, energy component, power motor and deceleration module have two sets respectively, power motor is fixed in the automobile body skeleton, every power motor's output shaft deceleration module's input, deceleration module's output and first power hub connection, the controller sets up in the automobile body skeleton, the controller is connected sensing assembly electrically, a driver, energy component, sensing assembly quantity is a plurality of, for laser radar or range sensor, sensing assembly sets up at automobile body skeleton front end, the driver includes the drive plate to power motor and accommodate motor, the driver, energy component sets up in the automobile body skeleton.
The working method of the high-performance self-adaptive crawler chassis device comprises the following steps of:
1) The movement step of the crawler chassis device under normal road conditions:
a. the controller in the driving assembly controls the sensing assembly to collect information on road conditions in front of the vehicle body and transmits collected environmental parameters to the controller, the controller gives out control signals after analysis and decision, and the control signals are processed by the driver in the driving assembly and then drive the power motor to realize motion control on the vehicle body.
b. The driving assembly drives the adjusting motor in the damping self-adaptive adjusting assembly to control and drive the damping self-adaptive adjusting assembly, and the damping self-adaptive adjusting assembly is in an initial state and does not perform angle adjustment; the two sets of shock absorbing systems move in parallel with each other, and at the moment, the crawler-type chassis realizes linear forward or backward movement.
c. The controller drives the two sets of power motors at different rotating speeds or forward and backward through the driver in the driving assembly, so as to regulate the differential speed or steering of the driving wheel and the crawler belt in the shock absorbing system at two sides, thereby realizing turning motion.
Further, in the moving steps a, b and c of the crawler chassis device under the normal road conditions, the power of the first power shaft, the first support bearing, the first transmission shaft, the power reversing transmission assembly, the second transmission shaft, the second support bearing and the second power shaft in the power transmission assembly is transmitted in a straight line.
2) The self-adaptive suspension angle adjustment step of the crawler chassis device when crossing a V-shaped ramp comprises the following steps:
the controller controls the sensing assembly to collect information on road conditions in front of the vehicle body and transmit collected environmental parameters to the controller, the controller gives out control signals after analysis and decision, the control signals are processed by the driver and then drive the power motor to control power transmission of the crawler chassis device, meanwhile, the adjusting motor is driven to control and drive the damping self-adaptive adjusting assembly and adjust the power transmission angle, and then the shock absorbing system is adjusted to achieve self-adaptive obstacle crossing of the road surface.
3) The step of adaptive suspension angle adjustment of the crawler belt chassis device when crossing the inverted V-shaped ramp is opposite to the control process in the step 2).
4) When crossing the ramps with the angle difference at the other sides, the adjustment process of the crawler chassis device is similar to the principle of the process in the step 1) or the step 2), except that the adjusting angles of the shock absorption self-adaptive adjusting components at the left side and the right side are different to the shock absorption system, so that the efficient and safe obstacle crossing of the ramps with the angle difference at the left side and the right side is completed.
Further, the step of controlling the power transmission of the power motor to the crawler chassis device in the step 2) is as follows: the power motor drives a speed reduction assembly in the driving assembly to rotate, the output end of the speed reduction assembly drives a first power shaft in the power transmission assembly to rotate, and the power transmission process is as follows: the crawler chassis comprises a power motor, a speed reduction assembly, a first power shaft, a first support bearing, a first transmission shaft, a power reversing transmission assembly, a second transmission shaft, a second support bearing, a second power shaft and a driving wheel, and finally, the driving wheel and a crawler on the driving wheel are driven to move, and the movement driving function of the crawler chassis is realized.
Further, the specific driving steps of the damping self-adaptive adjusting component in the step 2) are as follows: the controller controls the driver to drive the regulating motor to rotate positively, drives the lead screw to rotate, drives the connecting rod to move upwards or downwards obliquely, thereby drives the hydraulic rod to realize length telescopic adjustment, simultaneously drives the connecting rod and the hydraulic rod to generate angle offset adjustment, and then drives the bull stick at the rear of the hydraulic rod to rotate, the rear of the bull stick is connected with the support arm, the outer end face of the support arm is fixed with the side support plate and the shock absorbing system, so that the vertical angle increase adjustment of the vehicle body framework or the upper support plate of the relative crawler chassis of the shock absorbing system is finally realized, the adjustment of the working angle of the shock absorbing system is realized, thereby adapting to the 'V' -shaped ramp road surface, at the moment, the included angle formed by two sets of shock absorbing systems is an acute angle, and the angle of the acute angle is consistent with the included angle of the ground 'V' -shaped ramp.
Further, the step of adjusting the power transmission angle by the adjusting motor in the step 2) is as follows: the adjusting motor rotates positively, the vibration absorbing system and a driving wheel on the vibration absorbing system deflect at an angle relative to a vehicle body framework of the crawler chassis, a second power shaft connected with the driving wheel deflects at the moment, so that a second supporting bearing connected with the second power shaft is driven to deflect relative to a reversing seat, and a second transmission shaft is driven to deflect, at the moment, a reversing function is realized through a first reversing connector, a second reversing connector and a reversing ring in the power reversing transmission assembly, and therefore, when the vibration absorbing system deflects relative to the crawler chassis, continuous power transmission can be carried out at the same time.
The invention has the following beneficial effects:
(1) The shock absorption self-adaptive adjusting component is matched with the reciprocating adjusting mechanism and the telescopic hydraulic rod structure, so that left and right vertical angle adjustment of the shock absorption system relative to the moving platform body is realized, obstacle crossing passing of various V-shaped slopes or other complex ground is realized, obstacle crossing performance of the moving platform is improved, safety and stability of the platform are protected, and applicability of the platform to various complex ground environments is further improved.
(2) Through the power transmission subassembly under the variable angle based on shock attenuation self-adaptation adjustment subassembly, set up switching-over seat and power switching-over transmission subassembly, the power when having realized the left and right sides angle adjustment of shock absorber system relative movement platform body lasts the output, has guaranteed the power source who hangs the mobile platform under the angle adjustment function, has promoted mobile platform multifunctionality and high self-adaptation.
(3) Based on shock attenuation self-adaptation adjustment subassembly, power transmission subassembly, cooperation sensing assembly has realized real-time detection, analysis and decision to automobile body the place ahead road conditions to control the self-adaptation adjustment to the shock absorber system under the different road conditions, improved intelligent mobile platform's obstacle crossing self-adaptation nature and intelligent level, have great significance to the full autonomy of improvement robot motion, high security and strong climbing obstacle crossing shock absorber.
Drawings
Fig. 1 is a schematic perspective view of a crawler chassis device according to the present invention.
Fig. 2 is a schematic front view of the crawler chassis device of the present invention.
Fig. 3 is a schematic left-hand view of the crawler chassis device of the present invention.
Fig. 4 is a schematic bottom view of the crawler chassis device of the present invention.
FIG. 5 is a schematic perspective view of a shock absorbing adaptive adjustment assembly according to the present invention.
FIG. 6 is a schematic diagram of the front view of the shock absorbing adaptive adjustment assembly of the present invention.
FIG. 7 is a schematic left-hand view of the shock absorbing adaptive adjustment assembly of the present invention.
Fig. 8 is a schematic perspective view of a power transmission assembly according to the present invention.
Fig. 9 is a schematic front view of the power transmission assembly of the present invention.
Fig. 10 is a schematic top view of a power transmission assembly of the present invention.
Fig. 11 is an enlarged partial schematic view of a power reversing drive assembly in a power transfer assembly of the present invention.
Detailed Description
The following are specific examples of the present invention, and the technical solutions of the present invention are further described, but the scope of the present invention is not limited to these examples. All changes and equivalents that do not depart from the gist of the invention are intended to be within the scope of the invention.
As shown in fig. 1-4, a high performance adaptive crawler chassis device comprises a crawler chassis 1, a shock absorbing system 2, a crawler 3, a shock absorbing adaptive adjustment assembly 4, a power transmission assembly 5 and a driving assembly 6. The crawler chassis 1 provides functions of support, installation, protection and the like for the attached components, the crawler chassis 1 comprises a vehicle body framework 11, an upper supporting plate 12 and a side supporting plate 13, the vehicle body framework 11 is a supporting body of the whole set of crawler chassis and is of a plate-shaped structure, and a plurality of baffles are arranged outside the crawler chassis to realize the sealing of a main body structure of the vehicle body. The upper end face of the vehicle body framework 11 is fixedly provided with an upper supporting plate 12, the upper supporting plate 12 is of a horizontal rectangular flat plate structure, two sides of the vehicle body framework 11 are respectively provided with side supporting plates 13, the side supporting plates 13 are rectangular plates in appearance, and the side supporting plates 13 are respectively vertically arranged at two sides of the upper supporting plate 12. The shock absorbing system 2, the crawler belt 3, the shock absorbing self-adaptive adjusting component 4 and the power transmission component 5 are respectively provided with two sets which are respectively arranged at two sides of the upper supporting plate 12; the shock absorbing system 2 is arranged outside the side supporting plate 13, the shock absorbing system 2 is connected with the crawler belt 3, the shock absorbing system 2 is also connected with one end of the power transmission assembly 5, the other end of the power transmission assembly 5 is connected with the driving assembly 6, the driving assembly 6 is fixed on the crawler-type chassis 1, one end of the shock absorbing self-adaptive adjusting assembly 4 is fixed on the upper supporting plate 12, and the other end of the shock absorbing self-adaptive adjusting assembly is connected with the side supporting plate 13.
The shock absorbing system 2 mainly realizes a shock absorbing effect through each structure, so that contact shock and the like of the crawler belt and the ground are weakened or even eliminated, and the stability and the safety of the upper equipment are ensured; meanwhile, the obstacle crossing performance on various V-shaped and inverted V-shaped slopes or other complex ground surfaces can be realized by adjusting the angle of the self-hanging framework.
As shown in fig. 2, each set of shock absorbing system 2 at least comprises a suspension supporting plate 21, a shock absorbing assembly 22, a driving wheel 23, a bearing wheel 24 and a approaching wheel 25, wherein the suspension supporting plate 21 is of a hollow plate structure, the suspension supporting plate 21 is fixed on the outer side of the side supporting plate 13, the shock absorbing assembly 22 is a suspension shock absorbing mechanism composed of shock absorbing plates, elastic elements and the like, the number of the suspension shock absorbing mechanisms is multiple, the suspension shock absorbing mechanisms are arranged on the suspension supporting plate 21, and the suspension shock absorbing mechanism is matched with the elastic elements to support the crawler belt 3. The suspension supporting plate 21 is connected with the bearing wheels 24 below through the damping components 22, the bearing wheels 24 are contacted with the crawler belt 3, the contact area of the movable chassis and the ground is ensured, and the chassis and the upper equipment are borne.
The driving wheels 23 are arranged on two sides of the rear end of the suspension supporting plate 21, the axes of the driving wheels 23 are connected with the second power shaft 57 of the power transmission assembly 5, and the driving wheels 23 realize self-driving rotation through the force transmission function of the second power shaft 57, so that the crawler belt 3 is driven to rotate, and the power movement effect is realized.
The front end of the suspension supporting plate 21 is provided with the approaching wheels 25, the approaching wheels 25 are fixed at the front end positions of the two sides of the suspension supporting plate 21 through rotating shafts, and the damping assemblies 22, the bearing wheels 24 and the crawler belt 3 are matched to form a tensioning state, so that obstacle surmounting and obstacle avoidance and obstacle supporting and obstacle surmounting effects are realized. The outer edge of the wheel train consisting of the driving wheel 23, the bearing wheel 24 and the approaching wheel 25 is connected with the crawler belt 3 in a meshed manner.
The number of the two tracks 3 is two, and the function of the damping tracks is realized by being driven by the driving wheel 23, so that the continuous rolling laying function is realized by the supporting function of the bearing wheels 24 on the tracks 3, and the crawler chassis 1 is driven to move.
The damping self-adaptive adjusting components 4 are arranged on two sides of the lower wall surface of the upper supporting plate 12 in a bilateral symmetry manner. As shown in fig. 5-7, each set includes an adjustment motor 41, a lead screw 42, a sleeve 43, a connecting rod 44, a hydraulic rod 45, a base bearing 46, a rotating rod 47, and a support arm 48.
The regulating motor 41 is a stepping motor or a servo motor, the regulating motor 41 is vertically arranged at the lower end of one side of the center of the upper supporting plate 12, the upper end face of the regulating motor 41 body is fixedly connected with the lower end face of the upper supporting plate 12, an output shaft of the regulating motor 41 is connected with the screw rod 42, the screw rod 42 is sleeved with a sleeve 43, threads are arranged in the sleeve 43, the sleeve 43 is in threaded connection with the screw rod 42, and when the screw rod 42 rotates forwards or reversely, the sleeve 43 moves up and down. The front end of connecting rod 44 is passed through to the hinge connection in the middle part outside of sleeve 43, and connecting rod 44 is the cylinder structure, transversely sets up, and the front end of bull stick 47 is connected through hydraulic stem 45 to the rear end of connecting rod 44, and hydraulic stem 45 is the extending structure, and when sleeve 43 was driven the up-and-down motion by accommodate motor 41, connecting rod 44 can take place to slant upwards or slant down motion to drive the passive length extending motion that takes place along axial direction of hydraulic stem 45. The hydraulic stem 45 sets up with the bull stick 47 is perpendicular, bull stick 47 be the cylinder structure, and bull stick 47 sets up in base bearing 46, and bull stick 47 can rotate around base bearing 46 angle, and base bearing 46 is the cylinder structure, and base bearing 46 level is fixed in one side of upper support plate 12. The rear end of the rotating rod 47 is fixed with a support arm 48, the support arm 48 is of a column structure, the support arm 48 is perpendicular to the rotating rod 47, the support arm 48 is also perpendicular to the hydraulic rod 45 in space, and the support arm 48 is fixedly connected to the side support plate 13. When the support arm 48 is angularly deflected along with the rotating rod 47, the side support plate 13 and the shock absorbing system 2 thereon are driven to angularly deflect.
The whole working effect of the shock absorption self-adaptive adjusting component 4 is as follows: when the regulating motor 41 rotates, the screw rod 42 is driven to rotate, the sleeve 43 cannot rotate and only moves upwards or downwards because the sleeve 43 is clamped by the connecting rod 44 and the hydraulic rod 45, so that the connecting rod 44 is driven to move obliquely upwards or obliquely downwards, the hydraulic rod 45 behind the connecting rod 44 is driven to realize length expansion regulation, meanwhile, the connecting rod 44 and the hydraulic rod 45 are driven to perform angle offset regulation, the rotating rod 47 behind the hydraulic rod 45 is driven to rotate, the support arm 48 is connected behind the rotating rod 47, the outer end surface of the support arm is fixedly provided with the side support plate 13 and the shock absorbing system 2, and finally, the shock absorbing system 2 is driven to perform vertical angle regulation relative to the vehicle body framework 11 or the upper support plate 12, the working angle of the shock absorbing system 2 is regulated, and thus the slope road surface with different angles is adapted.
As shown in fig. 8-11, the power transmission assembly 5 includes a reversing seat 51, a first support bearing 52, a second support bearing 53, a first drive shaft 54, a second drive shaft 55, a first power shaft 56, a second power shaft 57, and a power reversing drive assembly 58. The number of the power transmission components 5 is two, and the two power transmission components are respectively arranged between the driving wheel 23 and the speed reduction component 62, and have the main functions of: when the shock absorption self-adaptive adjusting component 4 adjusts the angle of the shock absorption system 2, the power transmission component 5 outputs power from the output shaft of the speed reduction component 62 to the driving wheel 23 through the angle adjustment.
The reversing seat 51 is vertically arranged at the rear end of the upper supporting plate 12, the reversing seat 51 is of a disc-shaped structure, two arc-shaped grooves 511 are symmetrically arranged along the circumferential direction, a first supporting bearing 52 and a second supporting bearing 53 are respectively embedded in the two arc-shaped grooves 511, the first supporting bearing 52 and the second supporting bearing 53 are both connected in the arc-shaped grooves 511 in a sliding mode through a pull rod and a stop block, and the first supporting bearing 52 and the second supporting bearing 53 can rotate around the center of the reversing seat 51 in the arc-shaped grooves 511.
The first support bearing 52 and the second support bearing 53 are respectively provided with a through hole, the first transmission shaft 54 is fixedly connected with the first power shaft 56 to realize power transmission, and the connection part of the first transmission shaft 54 and the first power shaft 56 is positioned in the through holes of the first support bearing 52; the second transmission shaft 55 is fixedly connected with the second power shaft 57 to realize power transmission, and the connection part of the second transmission shaft 55 and the second power shaft 57 is positioned in the through hole of the second support bearing 53.
The inside of first support bearing 52 is connected first transmission shaft 54, first power shaft 56 is connected in the outside of first support bearing 52, second transmission shaft 55 is connected to the inboard of second support bearing 53, second power shaft 57 is connected in the outside of second support bearing 53, first transmission shaft 54 and second transmission shaft 55 relative setting and first transmission shaft 54 are connected with second transmission shaft 55 through power switching-over drive assembly 58, first power shaft 56 is connected with the output shaft of the last decelerator assembly 62 of drive assembly 6, second power shaft 57 is connected with the axle center of action wheel 23 in shock absorber system 2.
The power reversing transmission assembly 58 mainly realizes self angle adjustment, and realizes angle adjustment between the first transmission shaft 54 and the second transmission shaft 55 which are connected left and right. The power reversing gear assembly 58 includes a first reversing connector 581, a second reversing connector 582, and a reversing ring 583.
The first reversing connector 581 and the second reversing connector 582 are of a semi-cylindrical structure, the outer arc-shaped wall surface of the first reversing connector 581 is connected to the end portion of the first transmission shaft 54, the outer arc-shaped wall surface of the second reversing connector 582 is connected to the end portion of the second transmission shaft 55, the first reversing connector 581 and the second reversing connector 582 are oppositely arranged, square grooves 5811 are formed in the opposite end surfaces of the first reversing connector 581 and the second reversing connector 582, and the reversing ring 583 is clamped in the square grooves 5811. The center axes of the first and second reversing connectors 581 and 582 coincide with the center of the reversing seat 51. The reversing ring 583 is in a circular ring structure, the reversing ring 583 is perpendicular to the reversing seat 51, the reversing ring 583 is in a circular ring structure, and the projection of the center of the reversing ring 583 on the reversing seat 51 coincides with the center of the reversing seat 51. The reversing ring 583 serves as a power transmission and reversing function therein, and can effect both transmission of power from the first drive shaft 54 to the second drive shaft 55 and reversing of power from the first drive shaft 54 to the second drive shaft 55.
The overall mechanism of operation of the power reversing drive assembly 58 described above is:
1) Power transmission function: when the power motor 61 drives the speed reducing assembly 62 to rotate, the output end of the speed reducing assembly 62 drives the first power shaft 56 to rotate, and the power transmission process is as follows: the power motor 61- & gt the speed reducing assembly 62- & gt the first power shaft 56- & gt the first support bearing 52- & gt the first transmission shaft 54- & gt the power reversing transmission assembly 58- & gt the second transmission shaft 55- & gt the second power shaft 57- & gt the driving wheel 23, and finally the driving wheel 23 and the crawler belt 3 on the driving wheel 23 are driven to move, and the movement driving function of the crawler belt chassis is realized.
2) Power transmission angle adjustment function: in the working process of the shock absorption self-adaptive adjusting component 4, due to the action of the adjusting motor 41, the relative angle adjustment of the shock absorption system 2 and the track 3 relative to the vehicle body frame 11 and the upper supporting plate 12 is finally caused, and at the moment, in the power transmission component 5 consisting of the first supporting bearing 52, the second supporting bearing 53, the first transmission shaft 54, the second transmission shaft 55, the first power shaft 56, the second power shaft 57 and the power reversing transmission component 58, the power transmission is not in a straight line form any more, but is reversed along with the angle deflection of the shock absorption system 2, specifically: when the shock absorbing system 2 and the driving wheel 23 on the shock absorbing system are deflected at an angle relative to the vehicle body frame 11, the second power shaft 57 connected with the driving wheel 23 is deflected at the same time, so that the second support bearing 53 connected with the second power shaft 57 is driven to deflect relative to the reversing seat 51, and the second transmission shaft 55 and the second power shaft 57 are driven to deflect, at the same time, the reversing function is realized through the first reversing connector 581, the second reversing connector 582 and the reversing ring 583 in the power reversing transmission assembly 58, and therefore, the continuous power transmission can be ensured when the shock absorbing system 2 is deflected relative to the vehicle body finally.
The drive member 6 is an adaptive crawler chassis device power drive source and torque transmission medium. As shown in fig. 3 and 4, the driving assembly 6 includes a power motor 61, a speed reducing assembly 62, a controller 63, a sensing assembly 64, a driver 65, and an energy source assembly 66.
The power motors 61 and the speed reduction assemblies 62 are respectively provided with two sets, the power motors 61 are servo motors and are power sources for robot movement, the two sets of power motors 61 are respectively arranged at the positions of the left side and the right side of the inside of the vehicle body framework 11, the output shafts of the power motors 61 are connected with the input ends of the speed reduction assemblies 62, and the output ends of the speed reduction assemblies 62 are connected with the first power shaft 56 to transmit output power to the power transmission assemblies 5. The speed reducing assembly 62 is of a wheel shaft structure, is arranged between the power motor 61 and the driving wheel 23, and is used for realizing power transmission and speed reducing effect through mechanisms such as a belt and a belt pulley, and has the following functions: the high speed, low torque of the power motor 61 is converted to low speed, high torque power, thereby improving the power strength and load capacity of the adaptive track chassis device.
The controller 63 is a control core of the system, and is arranged at the inner side of the lower end surface of the upper supporting plate 12, the controller 63 is electrically connected with the sensing assembly 64, the driver 65 and the energy assembly 66, and analysis and decision are carried out by collecting ground environment information returned by the sensing assembly 64, so that the driver 65 is controlled to drive the power motor 61 and the regulating motor 41.
The sensing components 64 are plural, and may be lidar or ranging sensors, and the sensing components 64 are disposed at the front end of the body frame 11 for detecting the ground heave condition.
The driver 65 includes a drive plate for the power motor 61 and the adjustment motor 41, and the driver 65 and the energy source assembly 66 are provided in the vehicle body frame 11. The energy source assembly 66 is used to provide power to the electrical components on the chassis.
The overall working effect of the drive member 6 is: the controller 63 controls the sensing assembly 64 to collect information on road conditions in front of the vehicle body and transmit collected environmental parameters to the controller 63, the controller 63 gives out control signals after analysis and decision, the control signals are processed by the driver 65 and then drive the power motor 61 to control the motion of the vehicle body, meanwhile, the adjusting motor 41 is driven to control and drive the shock absorption self-adaptive adjusting assembly 4, and then the shock absorption system 2 is adjusted to realize self-adaptive obstacle surmounting on the road surface, so that the system safety and obstacle surmounting passing performance are ensured.
The working method of the high-performance self-adaptive crawler chassis device comprises the following steps:
1) The movement step of the crawler chassis device under normal road conditions:
a. the controller 63 controls the sensing component 64 to collect information on road conditions in front of the vehicle body and transmit collected environmental parameters to the controller 63, the controller 63 gives out control signals after analysis and decision, and the control signals are processed by the driver 65 and then drive the power motor 61 to realize motion control on the vehicle body.
b. The driving and adjusting motor 41 realizes the control and driving of the shock absorption self-adaptive adjusting component 4, and the shock absorption self-adaptive adjusting component 4 is in an initial state and does not perform angle adjustment action; the vehicle body frame 11 on the shock absorbing system 2 is perpendicular to the upper supporting plate 12, the two sets of shock absorbing systems 2 move in parallel with each other, and at the moment, the crawler chassis 1 realizes linear forward or backward movement.
c. The controller 63 drives the two sets of power motors 61 at different rotation speeds or forward and backward through the driver 65 in the driving electric assembly 6, so as to regulate the differential speed or the steering of the driving wheels 23 and the caterpillar tracks 3 at two sides, thereby realizing turning motion.
d. In the process of steps a, b and c, the power in the power transmission assembly 5 consisting of the first support bearing 52, the second support bearing 53, the first transmission shaft 54, the second transmission shaft 55, the first power shaft 56, the second power shaft 57 and the power reversing transmission assembly 58 is transmitted in a linear form.
2) The self-adaptive suspension angle adjustment step of the crawler chassis device when crossing a V-shaped ramp comprises the following steps: the controller 63 controls the sensing assembly 64 to collect information on road conditions in front of the vehicle body and transmit collected environmental parameters to the controller 63, the controller 63 gives out control signals after analysis and decision, the control signals are processed by the driver 65 and then drive the power motor 61 to control the motion of the vehicle body, meanwhile, the adjusting motor 41 is driven to control the damping self-adaptive adjusting assembly 4, and then the shock absorbing system 2 is adjusted to realize self-adaptive obstacle surmounting on the road surface; the method comprises the following steps:
a. the control driving steps of the shock absorption self-adaptive adjusting component 4 are as follows: the controller 63 controls the driver 65 to drive the regulating motor 41 to rotate positively, drives the lead screw 42 to rotate, drives the connecting rod 44 to move obliquely upwards or downwards, thereby driving the hydraulic rod 45 to realize length telescopic adjustment, simultaneously driving the connecting rod 44 and the hydraulic rod 45 to perform angle offset adjustment, further driving the rotating rod 47 at the rear of the hydraulic rod 45 to rotate, the rear of the rotating rod 47 is connected with the support arm 48, the outer end surface of the support arm is fixedly provided with the side support plate 13 and the shock absorbing system 2, so that the vertical angle increase adjustment of the shock absorbing system 2 relative to the vehicle body framework 11 or the upper support plate 12 is finally realized, the adjustment of the working angle of the shock absorbing system 2 is realized, the road surface of a V-shaped ramp is adapted, the included angle formed by two sets of shock absorbing systems 2 is an acute angle at the moment, and the acute angle is consistent with the included angle of a V-shaped ramp on the ground.
b. In the power transmission, the power motor 61 drives the speed reducing assembly 62 to rotate, and the output end of the speed reducing assembly 62 drives the first power shaft 56 to rotate, so that the power transmission process is as follows: the power motor 61- & gt the speed reduction assembly 62- & gt the first power shaft 56- & gt the first support bearing 52- & gt the first transmission shaft 54- & gt the power reversing transmission assembly 58- & gt the second transmission shaft 55- & gt the second support bearing 53- & gt the second power shaft 57- & gt the driving wheel 23, and finally, the driving wheel 23 and the crawler belt 3 on the driving wheel 23 are driven to move, and the movement driving function of the crawler belt chassis is realized.
c. In the aspect of power transmission angle adjustment, the adjusting motor 41 rotates positively, the vibration absorbing system 2 and the driving wheel 23 on the vibration absorbing system rotate positively relative to the vehicle body frame 11, and at the moment, the second power shaft 57 connected with the driving wheel 23 deflects similarly, so as to drive the second supporting bearing 53 connected with the second power shaft 57 to deflect relative to the reversing seat 51, and further drive the second transmission shaft 55 to deflect, at the moment, the reversing function is realized through the first reversing connector 581, the second reversing connector 582 and the reversing ring 583 in the power reversing transmission assembly 58, and therefore, the continuous power transmission can be carried out when the vibration absorbing system 2 deflects relative to the vehicle body finally.
3) The step of adaptive suspension angle adjustment of the crawler belt chassis device when crossing the inverted V-shaped ramp is opposite to the control process in the step 2).
4) When crossing the slopes with the angle difference at the other sides, the adjustment process of the crawler chassis device is similar to the principle of the process in the step 1) or the step 2), except that the adjusting angles of the shock absorption self-adaptive adjusting components 4 at the left side and the right side on the shock absorption system 2 are different, so that the efficient and safe obstacle crossing on the slopes with the angle difference at the left side and the right side is completed.
The present invention is not limited to the above embodiments, and any person who can learn the structural changes made under the teaching of the present invention can fall within the scope of the present invention if the present invention has the same or similar technical solutions.
The technology, shape, and construction parts of the present invention, which are not described in detail, are known in the art.
Claims (3)
1. The high-performance self-adaptive crawler chassis device is characterized by comprising a crawler chassis, a shock absorption system, a crawler, a shock absorption self-adaptive adjusting component, a power transmission component and a driving component, wherein the crawler chassis comprises a vehicle body framework, an upper supporting plate and side supporting plates, the upper end surface of the vehicle body framework is fixedly provided with the upper supporting plate, the two sides of the vehicle body framework are respectively provided with the side supporting plates, and the shock absorption system, the crawler, the shock absorption self-adaptive adjusting component and the power transmission component are respectively provided with two sets and are respectively arranged at the two sides of the upper supporting plate; the shock absorbing system is arranged on the outer side of the side supporting plate, is connected with the crawler belt, is also connected with one end of the power transmission assembly, the other end of the power transmission assembly is connected with the driving assembly, the driving assembly is fixed on the crawler belt chassis, one end of the shock absorbing self-adaptive adjusting assembly is fixed on the upper supporting plate, and the other end of the shock absorbing self-adaptive adjusting assembly is connected with the side supporting plate;
the damping self-adaptive adjusting component comprises an adjusting motor, a screw rod, a sleeve, a connecting rod, a hydraulic rod, a base bearing, a rotating rod and a supporting arm, wherein the adjusting motor is vertically fixed on the lower end face of the upper supporting plate, an output shaft of the adjusting motor is connected with the screw rod, the screw rod is sleeved with the sleeve, the sleeve is in threaded connection with the screw rod, the outer side of the middle part of the sleeve is connected with the front end of the connecting rod through a hinge, the rear end of the connecting rod is connected with the front end of the rotating rod through the hydraulic rod, the hydraulic rod is of a telescopic structure, the hydraulic rod is vertically arranged with the rotating rod, the rotating rod is arranged in the base bearing, the rear end of the rotating rod is fixedly provided with the supporting arm, the supporting arm is vertically arranged with the rotating rod, the supporting arm is also vertical to the hydraulic rod in space, and the supporting arm is fixedly connected on the side supporting plate;
the power transmission assembly comprises a reversing seat, a first supporting bearing, a second supporting bearing, a first transmission shaft, a second transmission shaft, a first power shaft, a second power shaft and a power reversing transmission assembly, wherein the reversing seat is vertically arranged at the rear end of the upper supporting plate, the reversing seat is of a disc-shaped structure, two arc-shaped grooves are symmetrically arranged along the circumferential direction, the first supporting bearing and the second supporting bearing are respectively embedded in the two arc-shaped grooves, the first supporting bearing and the second supporting bearing are both connected in the arc-shaped grooves in a sliding manner through a pull rod and a stop block, the inner side of the first supporting bearing is connected with the first transmission shaft, the outer side of the first supporting bearing is connected with the first power shaft, the inner side of the second supporting bearing is connected with the second transmission shaft, the outer side of the second supporting bearing is connected with the second power shaft, the first transmission shaft is arranged opposite to the second transmission shaft, the first transmission shaft is connected with the second transmission shaft through the power reversing transmission assembly, and the first power shaft is connected with the driving assembly, and the second power shaft is connected with the axle center of a driving wheel in the system;
the suspension system comprises a suspension supporting plate, a damping component, a driving wheel, a bearing wheel and a proximity wheel, wherein the suspension supporting plate is fixed on the outer side of the side supporting plate, the driving wheel is arranged at the rear end of the suspension supporting plate, the axle center of the driving wheel is connected with one end of the power transmission component, the suspension supporting plate is connected with the bearing wheel below through the damping component, the proximity wheel is arranged at the front end of the suspension supporting plate, and the outer edge of a wheel train consisting of the driving wheel, the bearing wheel and the proximity wheel is connected with a crawler in a meshed manner;
the first support bearing and the second support bearing are internally provided with through holes, the first transmission shaft is fixedly connected with the first power shaft, and the joint of the first transmission shaft and the first power shaft is positioned in the through holes of the first support bearing; the second transmission shaft is fixedly connected with the second power shaft, and the connection part of the second transmission shaft and the second power shaft is positioned in the through hole of the second support bearing;
the power reversing transmission assembly comprises a first reversing connector, a second reversing connector and a reversing ring, wherein the first reversing connector is connected to the end part of the first transmission shaft, the second reversing connector is connected to the end part of the second transmission shaft, the first reversing connector and the second reversing connector are oppositely arranged, and the reversing ring is connected between the first reversing connector and the second reversing connector;
square grooves are formed in the opposite end faces of the first reversing connector and the second reversing connector, and the reversing ring is clamped in the square grooves;
the reversing ring is perpendicular to the reversing seat, the reversing ring is of a circular ring structure, and the projection of the circle center of the reversing ring on the reversing seat coincides with the center of the reversing seat.
2. The high-performance self-adaptive crawler chassis device according to claim 1, wherein the driving assembly comprises a power motor, a speed reducing assembly, a controller, a sensing assembly, a driver and an energy assembly, the power motor and the speed reducing assembly are respectively provided with two sets, the power motor is fixed in a vehicle body framework, an output shaft of each set of power motor is connected with an input end of the speed reducing assembly, an output end of the speed reducing assembly is connected with a first power shaft in the power transmission assembly, the controller is arranged in the vehicle body framework, the controller is electrically connected with the sensing assembly, the driver and the energy assembly, the sensing assembly is a plurality of laser radars or ranging sensors, the sensing assembly is arranged at the front end of the vehicle body framework, the driver comprises a driving plate for driving the power motor and an adjusting motor in the damping self-adaptive adjusting assembly, and the driver and the energy assembly are arranged in the vehicle body framework.
3. A method of operating a high performance adaptive crawler belt chassis apparatus as in claim 2 comprising the steps of:
1) The movement step of the crawler chassis device under normal road conditions:
a. the controller controls the sensing assembly to collect information of road conditions in front of the vehicle body and transmits collected environmental parameters to the controller, the controller gives out control signals after analysis and decision, and the control signals are processed by the driver and then drive the power motor to realize motion control of the vehicle body;
b. the damping self-adaptive adjusting component is controlled and driven by the driving adjusting motor, and is in an initial state at the moment, and does not perform angle adjusting action; the vehicle body framework on the shock absorbing system is perpendicular to the upper supporting plate, the two sets of shock absorbing systems move in parallel with each other, and at the moment, the crawler chassis moves forwards or backwards linearly;
c. the controller drives the two sets of power motors at different rotating speeds or forward and backward through the driver in the driving electric assembly, so as to regulate the differential speed or steering of the driving wheels and the crawler belt at two sides, thereby realizing turning motion;
d. in the process of the steps a, b and c, power is transmitted in a linear form in a power transmission assembly consisting of a first support bearing, a second support bearing, a first transmission shaft, a second transmission shaft, a first power shaft, a second power shaft and a power reversing transmission assembly;
2) The self-adaptive suspension angle adjustment step of the crawler chassis device when crossing a V-shaped ramp comprises the following steps: the controller controls the sensing assembly to collect information of road conditions in front of the vehicle body and transmits collected environmental parameters to the controller, the controller gives out control signals after analysis and decision, the control signals are processed by the driver and then drive the power motor to control the motion of the vehicle body, meanwhile, the adjusting motor is driven to control and drive the damping self-adaptive adjusting assembly, and then the damping system is adjusted to realize self-adaptive obstacle crossing of the road surface; the method comprises the following steps:
a. the control driving steps of the damping self-adaptive adjusting component are as follows: the controller controls the driver to drive the adjusting motor to rotate positively to drive the lead screw to rotate to drive the connecting rod to move obliquely upwards or obliquely downwards, so as to drive the hydraulic rod to realize length telescopic adjustment, simultaneously drive the connecting rod and the hydraulic rod to perform angle offset adjustment, further drive the rotating rod at the rear of the hydraulic rod to rotate, the rear of the rotating rod is connected with the support arm, and the outer end surface of the support arm is fixedly provided with the side support plate and the shock absorbing system, so that the vertical angle increase adjustment of the shock absorbing system relative to the vehicle body framework or the upper support plate is finally realized, the adjustment of the working angle of the shock absorbing system is realized, and the device is suitable for a road surface of a V-shaped slope, at the moment, the included angle formed by the two sets of shock absorbing systems is an acute angle, and the angle of the acute angle is consistent with the included angle of a V-shaped slope on the ground;
b. on power transmission, the power motor drives the speed reducing assembly to rotate, and the output end of the speed reducing assembly drives the first power shaft to rotate, and the power transmission process is as follows: the power motor- & gt the speed reduction assembly- & gt the first power shaft- & gt the first support bearing- & gt the first transmission shaft- & gt the power reversing transmission assembly- & gt the second transmission shaft- & gt the second support bearing- & gt the second power shaft- & gt the driving wheel, and finally realizing the function of driving the driving wheel and the crawler on the driving wheel to move and realizing the movement driving function of the crawler chassis;
c. in the power transmission angle adjustment, the adjusting motor rotates positively, the vibration absorbing system and the driving wheel on the vibration absorbing system deflect relative to the vehicle body framework, and at the moment, the second power shaft connected with the driving wheel deflects similarly, so that the second supporting bearing connected with the second power shaft deflects relative to the reversing seat, and further the second transmission shaft deflects, at the moment, the reversing function is realized through the first reversing connector, the second reversing connector and the reversing ring in the power reversing transmission assembly, and therefore, the continuous power transmission can be carried out when the vibration absorbing system deflects relative to the vehicle body finally;
3) The self-adaptive suspension angle adjusting step of the crawler chassis device is opposite to the control process in the step 2) when crossing the inverted V-shaped ramp;
4) When crossing the slopes with the angle difference at the other sides, compared with the principle of the process in the step 1) or the step 2), the adjusting process of the crawler chassis device is different in that the adjusting angles of the shock absorption self-adaptive adjusting components at the left side and the right side are different to the shock absorption system, and the efficient and safe obstacle crossing of the slopes with the angle difference at the left side and the right side is completed.
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| CN111619683B (en) * | 2020-06-08 | 2022-02-01 | 神华神东煤炭集团有限责任公司 | Detection equipment used in coal mine tunnel and control method thereof |
| CN114872805A (en) * | 2022-06-06 | 2022-08-09 | 重庆医药高等专科学校 | All-terrain scooter and control system thereof |
| CN115071851A (en) * | 2022-06-23 | 2022-09-20 | 中车长江铜陵车辆有限公司 | Differential rear-drive type flexible track bearing chassis mechanism |
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