CN110510016A - Crawler type escaping apparatus - Google Patents
Crawler type escaping apparatus Download PDFInfo
- Publication number
- CN110510016A CN110510016A CN201910862420.3A CN201910862420A CN110510016A CN 110510016 A CN110510016 A CN 110510016A CN 201910862420 A CN201910862420 A CN 201910862420A CN 110510016 A CN110510016 A CN 110510016A
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- CN
- China
- Prior art keywords
- crawler type
- framework
- support
- escaping apparatus
- type escaping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
- B60S9/21—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel
- B60S9/215—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel driven by an auxiliary motor
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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
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Abstract
The invention discloses a kind of crawler type escaping apparatus, comprising: framework for support；Ground connection branch refitting is set；Upper interconnecting piece；Air bag；Compressed gas feed system；Crawler belt.It is terse based on crawler type escaping apparatus structure of the invention, and there is relatively preferable cushion performance and property.
Description
Technical field
The present invention relates to a kind of crawler type escaping apparatus.
Background technique
With the promotion of people's living condition, offroad vehicle gradually enters common people house, and the destination of self-driving travel exists
All it is many times the poor region of passability, has higher requirement to the cross-country ability of offroad vehicle.This requirement is adapted to,
Currently occur largely being mountable on offroad vehicle to improve the attachment of offroad vehicle cross-country ability.
Chinese patent literature CN106828631A, CN106864430A, CN106828438A, CN106828438A,
CN106828442A, CN106828439A and Chinese patent literature CN107458486A etc. disclose a series of to improve
Technical solution for the purpose of vehicle cross-country ability, and opposite detailed description is made that its prior art, details are not described herein.
These patent documents technical solution claimed has the function of Deformation control more, by converting such as crawler type
The form of escaping apparatus adapts to different cross-country scenes.On the one hand Deformation control will consider such as non-work of crawler type escaping apparatus
Make the structural compactness under state, on the other hand to consider structural reliability and bearing capacity under working condition.In addition, being tied
The influence of the compact requirement of structure, in a non-operative state, the component of the driving often made such as crawler type escaping apparatus deformation are applied
The generated arm of force is less than normal when power, influences going on smoothly for deformation.In turn, to avoid generating this situation, i.e. the arm of force is less than normal
Situation, it has to add other more structures, cause overall structure partially complicated.
Currently, the Deformation control of crawler type escaping apparatus is substantially all relies on mechanical mechanism, these mechanical mechanisms are opposite
Narrow space arrangement is inconvenient, and under conditions of being configured with mechanical mechanism, and the buffering of crawler type escaping apparatus itself exists
Relatively large obstacle inevitably further increases answering for crawler type escaping apparatus when configuring associated buffer mechanism
Miscellaneous degree.
Typically, such as a kind of crawler type escaping apparatus that Chinese patent literature CN107458486A is proposed, variant part
Divide and use quadrangular mechanism, the rotation based on two connecting rods realizes that rack and branch reconstruct the variation of the distance of frame, to have
Have opening and pack up two basic status, when open configuration for vehicle get rid of poverty or specific road conditions under auxiliary travelling, and
It is reduced in collapsed state and large effect is generated to the passability of vehicle.
Based on Chinese patent literature CN107458486A above-mentioned, the deformation of crawler belt escaping apparatus depends on oil cylinder classification and drives
Dynamic deformation control mechanism, the frame peripheral side length in order to realize support crawler belt in deformation front and back and deformation process is constant and makes to carry out
With keeping certain rate of tension and keep being bonded for bottom tracks part and framework, the device after the storage of crawler belt escaping apparatus
With crawler tensioning, auxiliary retraction, retraction adjustment mechanism and crawler belt lockable mechanism.
Deformation control mechanism needs to occupy relatively large upper down space and needs to be equipped with supercharging device, and deformed part
Quadrangular mechanism increases the weight of device itself, and the thickness or height and device itself weight of device collapsed state are relatively
Greatly.
In addition, Chinese patent literature CN107458486A needs that independent buffer unit, the buffer unit is arranged in tail portion
Horizontal structure can only be configured to from mounting means, horizontal structure needs the direction buffered up and down not straight with crawler type escaping apparatus
Matching is connect, cushion performance plays bad.
Summary of the invention
The purpose of the present invention is to provide a kind of structure is terse, and the shoe with relatively preferable cushion performance and property
Belt escaping apparatus.
The embodiment of the present invention provides a kind of crawler type escaping apparatus, comprising:
Framework for support has the two rack frames for being arranged and being parallel to each other along the front-rear direction of vehicle, and solid between two rack frames
Fixed connection；
Ground connection branch refitting is set, and connect to form five connecting rod of kink four bar linkage or hinge with the framework for support by rod piece
Mechanism, and there is ground connection branch refitting to set separate or close forms of motion between framework for support, and keep between framework for support
In parallel；
Vehicle prismatic pair in the front-back direction is formed between upper interconnecting piece, with two rack frames；
Air bag is fixedly connected between the upside of the air bag and upper interconnecting piece, and downside is fixedly connected between setting with ground connection branch refitting；
Compressed gas feed system is connect by tracheae with the air bag；
Crawler belt, using the kink four bar linkage or hinge five-bar mechanism as track frame.
Above-mentioned crawler type escaping apparatus, optionally, the upper interconnecting piece are a sliding support plate；
Correspondingly, side opposite between two rack frames is provided with the sliding slot for being oriented to sliding support plate；
The guide rod for being oriented to sliding support plate being mounted on framework for support；Or
The linear guide for being oriented to sliding support plate being mounted on framework for support.
Optionally, it is being equipped on framework for support for locking it in carrying when being grounded branch refitting and setting and run to top dead centre
Locking mechanism in rack.
Optionally, the locking mechanism includes:
Linear drives portion, for providing the actuation of rectilinear direction；
Locking rod is the institute, linear drives portion actuation on the front-rear direction of crawler type escaping apparatus, and has on the locking rod
The helix angle of dynamic screw thread, the power screw thread is greater than equivalent friction angle；
Correspondingly, it is equipped with latch in the lateral surface of framework for support frame, which is threadably mounted at lock by the power
It only on bar, and is limited on the front-rear direction of framework for support, so as to which the linear motion of locking rod is converted into latch
Rotation, with ground connection branch refitting set uplink in place after, latch overturning and support ground connection branch refitting set.
Optionally, each rack frame is equipped with three pieces of latch.
Optionally, linear drives portion includes:
Slide, the slide are directed at the rack frame, are equipped with screw on the slide；
Lead screw is laid on framework for support and parallel with rack frame, and is cooperated with the screw and formed screw screw mechanism；
Motor, output connect the lead screw.
Optionally, the hinge five-bar mechanism construction are as follows:
Framework for support constitutes the rack of the hinge five-bar mechanism；
Composition first connecting rod is set in ground connection branch refitting；
First linkage rod is provided, one end of the first linkage rod is articulated with the front end of rack, and the other end is articulated with ground connection branch refitting
The front end set；
The second connecting rod is provided, one end of second connecting rod is articulated with the rear end of rack；
Second connecting rod, one end of the second connecting rod and the other end of the second connecting rod are hinged, the other end of the second connecting rod with connect
The rear end that twelve Earthly Branches refitting is set is hinged；
Wherein, rack and the length of the second connecting rod and with the length of remaining three-link and equal.
It optionally, is the air bag of rectangular shape when air bag opens；
Bladder sidewall has pre- folding line.
Optionally, be at pre- folding line to form air bag cyst wall charge level between connection crestal line.
Optionally, air bag is made of the utricule for stacking gradually and being sequentially communicated；
It is bonded between adjacent utricule；
Wherein a utricule is connected with tracheae.
Optionally, tracheae is connected on uppermost utricule.
Optionally, the quantity of utricule is 3 ~ 8.
Optionally, it is Nian Jie that air bag, which resets the connection between setting with upper interconnecting piece, ground connection branch,.
In an embodiment of the present invention, the state transformation that crawler type escaping apparatus is realized using air bag, it is swollen due to air bag
The problem of what swollen and compression was relied on is direction-free gas, and there is no initial pressure angles, setting difficulty are much smaller than machinery machine
Structure.Meanwhile relative to mechanical structure, there can be smaller thickness under air bag utricule collapsed state, to get rid of poverty dress in crawler type
It sets under collapsed state, can have smaller thickness height in other words, so that reducing vehicle is being mounted with crawler type escaping apparatus institute
Caused by the influence that becomes smaller of road clearance.Gas compressibility is relatively good, and air bag has natural cushion performance, therefore is not necessarily
Independent buffer unit is arranged in crawler type escaping apparatus, and complexity declines to a great extent.
Detailed description of the invention
Fig. 1 is crawler type escaping apparatus and vehicle configuration status diagram in an embodiment.
Fig. 2 is the lower view of crawler type escaping apparatus and vehicle configuration status diagram in an embodiment.
Fig. 3 is crawler type escaping apparatus fully collapsed condition schematic diagram in an embodiment.
Fig. 4 is the complete open configuration schematic diagram of crawler type escaping apparatus in an embodiment.
Fig. 5 is crawler type escaping apparatus composed structure schematic diagram in an embodiment.
Fig. 6 is crawler type escaping apparatus deformation control mechanism and lockable mechanism schematic diagram in an embodiment.
Fig. 7 is that crawler type escaping apparatus packs up rear lockup state schematic diagram completely in an embodiment.
Fig. 8 is the structural schematic diagram of five connecting rod framework of crawler type escaping apparatus crawler belt inner plane in an embodiment.
Fig. 9 is the complete expanded configuration schematic diagram of air bag in an embodiment.
Figure 10 is air bag in an embodiment regardless of expanded configuration schematic diagram.
Figure 11 is air bag receiving state schematic diagram in an embodiment.
In figure: 100. vehicles；200. crawler type escaping apparatus.
1. driving mechanism；2. framework for support；3. deformation control mechanism；4. being grounded Zhi Chongji structure；5. pivoted arm；6. pivoted arm；
7. pivoted arm；8. crawler belt；9. lockable mechanism.
201. guide runner；202. guide runner.
301. air bag；302. sliding support plates, 303. utricules, 304. connecting sewings, 305. crestal lines, 306. intercommunicating pores, 307.
Tracheae.
901. motor；902. motor support base；903. sliding seat；904. lead screw；905. locking rod；906. latch；907.
Guide support block.
Specific embodiment
Referring to Figure of description 1, such as vehicle 100, there is determining head and tail, thus have it is determining forward and backward and
It is left and right, in the present invention, with direction determined by such as 100 front and back of vehicle for the first reference direction.And the width of vehicle 100
Or left and right direction is direction perpendicular with the first reference direction in the horizontal plane.
In another example the short transverse of vehicle 100, is the desired deformation direction of crawler type escaping apparatus 200, in other words
Height change direction.
In the description of the present invention unless specifically defined or limited otherwise, term " installation ", " connection " should do broad sense reason
Solution may be a detachable connection or integral structure for example, it may be fixedly connected；It can be and be directly connected to, it can also be with
It is being indirectly connected with by intermediary.For a person skilled in the art, concrete condition can be regarded and understand above-mentioned term
Concrete meaning in the present invention.
In the present invention, the orientation or positional relationship of the instructions such as term "inner", "outside", "left", "right" can be understood as base
In orientation shown in the drawings and positional relationship, it is merely for convenience of the description present invention or simplifies description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.
In present invention description, unless explicitly stated, term " bar is long " refers to the straight line between two tie point of a component
Distance, such as pivoted arm 5, length refer to the line length that connects with the heart of its both ends hinge joint.
Fig. 1 ~ 2 be crawler type escaping apparatus 200 on vehicle 100 configuration mode, each side one be arranged in vehicle
On 100 chassis.
For biggish vehicle, such as car, 2 ~ 4 crawler types can be set in the left and right sides on 100 chassis of vehicle and get rid of poverty
Device 200, such as two groups totally four are arranged between 200 front and back wheel of vehicle, and be respectively arranged one on front side of front-wheel or on rear side of rear-wheel
Group each two.
About the basic system of crawler type escaping apparatus 200, crawler belt 8 usually requires wrapping with interior framework, with interior framework
It is matrix with framework for support 2 shown in Fig. 4, framework for support 2 is then fixedly mounted on such as chassis of vehicle 200.
The machinery with interior framework that the crawler belt 8 of crawler type escaping apparatus 200 in embodiment as shown in Figure 4 is wrapped up is former
Reason figure is equal to plane five-bar mechanism shown in Fig. 8, therefore, is stated with the basic conception of plane five-bar mechanism with interior structure
Frame, ground connection Zhi Chongji structure 4 are the breast pieces that crawler type escaping apparatus 200 is located below with interior framework, are expressed as driving lever, In
The movable link that machinery field is not directly connected to rack is known as connecting rod, and the movable link being directly connected to rack is known as frame linking
Bar.
Framework for support 2 is the breast piece located above with interior framework of crawler type escaping apparatus 200, is expressed as rack bar,
It is also the rack section of entire crawler type escaping apparatus 200.Pivoted arm 5, pivoted arm 6 and pivoted arm 7 are expressed as plane five-bar mechanism
Its excess-three rod piece, wherein pivoted arm 5 and pivoted arm 7 belong to the connecting rod on mechanical explicans, but to facilitate description,
In an embodiment of the present invention, pivoted arm 5, pivoted arm 6 and pivoted arm 7 are referred to as connecting rod.
The part of framework for support 2 of the rack bar between 2 hinge joint of driving mechanism 1 and pivoted arm 7 and framework for support, bar
It is long to be identified as a, pivoted arm 5, ground connection Zhi Chongji structure 4, pivoted arm 6 and pivoted arm 7 bar it is long be individually identified as b, c, d and e, pivoted arm 6 and turn
Angle between arm 7 is identified as α.
In addition, specifically, the frame body above plane five-bar mechanism, i.e. framework for support 2 shown in Fig. 4 is used for crawler belt
Being fixedly connected between formula escaping apparatus 200 and such as carriage frame.Connection type is mainly connected by screw bolts.In addition, being held in Fig. 5
Carrier aircraft frame 2 has two main frames, referred to as rack frame, the two rack frames are arranged in the front-rear direction of vehicle, crawler belt 8
Between two rack frames, the upper surface of rack frame, which can be used for connecing merga pass fastener with vehicle chassis, to be fixedly connected.
Plane five-bar mechanism can control the rack bar and driving lever, i.e., framework for support 2 and ground connection Zhi Chongji structure 4 it
Between generate distance variation so that crawler type escaping apparatus 200 have height or thickness deformability.
Plane five-bar mechanism above-mentioned is based on Fig. 4 ~ 6 as it can be seen that belonging to plane hinge five-bar mechanism, i.e., between each component
Connection type belongs to hinge connection.
It can be realized rack and connecting rod (i.e. the component parallel with rack, belongs to connecting rod, rather than connecting rod) in machinery field
In parallel, and can to control the typical mechanism of distance change between the two be parallelogram mechanism, belongs to the company of plane hinge four
Linkage can also use kink four bar linkage in an embodiment of the present invention.
A kind of crawler type escaping apparatus 200 in the present embodiment, shown in Fig. 5 comprising following mechanism and component: driving machine
Structure 1, framework for support 2, crawler belt deformation control mechanism 3, ground connection Zhi Chongji structure 4, pivoted arm 5, pivoted arm 6, pivoted arm 7, crawler belt 8 and locking machine
Structure 9.
Each associated mechanisms and component and its connection relationship are specifically described below.
Framework for support 2, for being fixedly connected between crawler type escaping apparatus 200 and such as carriage frame, the framework for support 2
Front and middle part left and right sides frame body on be configured with guide runner 202 and guide runner 201, be specifically found in Fig. 6, guide runner
202 and guide runner 201 be mainly used to provide guiding, and it is compact-sized.
In addition, being linear guide or guide rod in the more common guide frame of machinery field, in the embodiment of the present invention
In can also be used, need to provide independent component relative to guide runner 202 and guide runner 201, such as linear guide, take up space
It is slightly larger, but the maintainability of such as linear guide is relatively preferable.
For being grounded Zhi Chongji structure 4, the effect of ground connection Zhi Chongji structure 4 is analogous to the thrust wheel assembly in caterpillar chassis,
For receiving and transmitting the pressure on ground.The specific structure for being grounded Zhi Chongji structure 4 in an embodiment of the present invention can be used as in
Ground connection branch refitting used in state patent document CN107458486A is set, and can also be set using other ground connection branch refittings.
In an embodiment of the present invention, ground connection Zhi Chongji structure 4 can have rigid frame body, install on frame body several negative
Roller.
For deformation control mechanism 3, for controlling framework for support 2 described in crawler type escaping apparatus 200 and ground connection Zhi Chongji
Distance changes and simultaneously to undertake the load transmitted between vehicle and ground between structure 4.
In turn, as shown in fig. 6, the deformation control mechanism 3 includes:
Air bag 301, lower end are fixedly connected on the upper plane of ground connection Zhi Chongji structure 4, and the air bag 301 is close made of film cloth material
The cavity closed and the blow vent being configured with outside connection, function flexible up and down can only be generated with inside and outside draught head by having.
For air bag 301, bag material used in such as aircushion vehicle, itself has bigger intensity, and in this hair
In bright embodiment, since air bag 301 does not contact directly with bottom surface, can be relatively low using intensity, it is sufficient to support
Play 301 material of the air bag production of constant weight.
Sealing-in about air bag 301, it will usually sealing-in crestal line is generated, air bag 301 is easy to fold at sealing-in crestal line, because
This can control the folded state of air bag 301 as shown in figure 4, having sealing-in crestal line in figure in the middle part of the side of air bag 301.
Fig. 9 ~ Figure 11 can more accurately reflect the shape and deformation process of air bag 301, it can be seen that air bag 301
It is stacked gradually by 6 utricules 303, is connected between adjacent utricule 303 by intercommunicating pore 306 shown in figure.
Bonding way between adjacent utricule 303 between preferred joint surface is attached.
In general, the quantity of utricule 303 is more, stability is better, is that the front-to-back ratio of gas is poor, effect
It is different in the position of the power on utricule 303, utricule position, shape can be made to generate variation.When 303 quantity of utricule is more, this
One reduces the brought stability problem of gas direction difference.
Utricule 303 with 6 be it is best, should not usually be less than 3, should not also be more than 8, when 303 quantity of utricule is more,
Height when 301 receiving state of air bag as shown in figure 11 can inevitably be increased.
In figure, utricule 303 is formed by two panels fabric, is specifically carried out into the mode that bonding can be used in edge
Type is bonded in such as field of rubber technology using commonplace, and bonding can be using self bonding, can also be viscous using viscose glue
It connects, self bonding can carry out sealing-in using such as hot knife, and viscose glue is bonded, and can be used and glue between being suitable for such as rubber plus
The glue connect is bonded.
Be tracheae 307, can be connected to utricule 303 placed in the middle in the utricule 303 of stacking, can also be located at it is most upper
The utricule 303 in face is connected to.
Tracheae 307 can with only one, can also there are two, when using one, tracheae 307 need to be equipped with reversal valve, such as
Two-position three-way valve, one connects gas source, and one connects air bag 301, an atmosphere all.
It is understood that additional support provided by crawler type escaping apparatus 200, main support is still wheel, therefore,
The total support force provided needed for each crawler type escaping apparatus 200 does not need too big.In an embodiment of the present invention, if
One trolley 100 crawler type escaping apparatus 200 with there are two, the bearing capacity of single crawler type escaping apparatus 200 is 300 ~ 500
Kilogram more appropriate, experiment is more conservative with selection, and bearing capacity reaches 800 kilograms, for offroad vehicle, especially miniature cross-country
Vehicle, self weight are often below 1500 kilograms, for Large off-road vehicle, are self-possessed also at 2 ~ 3 tons, excessive bearing capacity setting, meeting
Relatively high price is generated, and has no real value in most of application.
For sliding support plate 302 as shown in Figure 6, constrains on the left and right rack frame of framework for support 2 and formed
Guide runner 201, and there is one-movement-freedom-degree on the direction that guide runner 201 extends, so as to slide back and forth, and the cunning
The lower plane of dynamic support plate 302 is fixedly connected on the upper end of air bag 301, support is provided for air bag 301, for undertaking air bag 301
Upward active force is simultaneously transmitted to framework for support 2.
Connection between air bag 301 and sliding support plate 302 is preferably be bonded.
About driving mechanism 1, as shown in figure 5, it is axial in left and right directions be configured at framework for support 2 front end and with carrying machine
Frame 2 constitutes rotatable connection relationship, and the driving mechanism 1 is configured with chain sprocket structure, and chain sprocket structure adapts to crawler belt 8, and
The power that crawler belt 8 rotates is provided.
Pivoted arm 5, one end is articulated with driving mechanism 1, the other end is articulated with the front end for being grounded Zhi Chongji structure 4, as shown in Figure 5.
Pivoted arm 6, one end are articulated with the rear end of ground connection Zhi Chongji structure 4, as shown in Figure 5.
Pivoted arm 7, one end are articulated with the other end of pivoted arm 6, and the other end of the pivoted arm 7 is articulated with the rear end of framework for support 2,
As shown in Figure 5.
It should be understood that three companies of the pivoted arm 5, pivoted arm 6 and pivoted arm 7 as the plane five-bar mechanism
Bar, for stablizing and keeping the mutual alignment relation between ground connection Zhi Chongji structure 4 and framework for support 2, as shown in Figure 5.
Crawler belt 8, around being coated on outside pentagon mechanism as shown in Figure 8, as shown in Figure 4, Figure 5；
About lockable mechanism 9, attached drawing 5, attached drawing 6 indicate the basic components and its connection relationship of crawler belt lockable mechanism:
Motor support base 902 is fixedly connected on the front end of framework for support 2.
Motor 901 is fixedly installed on the motor support base 902.
Sliding seat 903, be configured with screw, and the guide runner 202 configured with framework for support 2 is configured to slide back and forth
Mating connection relationship.
It is understood that sliding seat 903 is also to form guiding structure in the front-back direction on framework for support 2, such as preceding institute
It states, includes linear guide, guide rod etc. in the available guiding structure of machinery field, it is clear that also all adapt to the principle of the present invention.
Lead screw 904 is connected to the output shaft of the motor 901, and cooperatively forms screw silk with the screw on sliding seat 903
Thick stick mechanism.
Locking rod 905, the left and right sides is organized in pairs, and front end is connected to the left and right sides of the sliding seat 903, and rear end is along institute
The front-rear direction level for stating framework for support 2 rearward extends, and locking rod 905 guide sleeve can be used to be oriented on rack frame.
In structure shown in Fig. 6, guide support block 907 is provided, is connected under 2 left and right sides frame body of framework for support
Portion, and be placed on the locking rod 905, the connection relationship that is rotatably assorted is constituted with the locking rod.
Latch 906 is placed on the locking rod 905, and is formed large pitch spiral with the locking rod 905 and connect and match
Conjunction relationship, large pitch here refer to that the helix angle for being formed by screw thread pair is greater than the angle of friction of screw thread pair, this screw thread pair
The linear motion of locking rod 905 can be directly converted into the rotation of latch 906.
Than the mop that can be dried of more typical exactly current household, mop rod is two-stage structure, is used between two sections
Be exactly steep-lead thread pair, when pressing down on mop rod, so that it may be converted into the rotary motion of mophead for moving up and down.
The latch 906 is mobile by the guide support block 907 limitation front-rear direction, so that the straight line of locking rod 905
Movement can be converted into the rotary motion of latch 906.
Based on structure above-mentioned, as shown in Figure 4, Figure 5, Figure 6 and Figure 7,200 deformed movement process of crawler type escaping apparatus is such as
Under:
Crawler belt expansion action process:
Original state, for crawler type escaping apparatus 200 when packing up off working state, air bag 301 is merged compression, is grounded Zhi Chongji
Structure 4 and framework for support 2 are in pressure and state, and have the relatively low height or thickness set as shown in Figure 3, under this state, locking
Block 906 is in the pre-pressing lockup state to 8 bottom surface of crawler belt, and sliding support plate 302 follows air bag 301 to be in 2 institute of framework for support
The rear end of the guide runner 201 of configuration.
It manipulates motor 901 to rotate, then exports the lead screw 904 of axis connection with motor 901 in company with rotation, drive and lead screw 904
Sliding seat 903 with screw thread pair connection relationship moves forward along guide runner 202, and then sliding seat 903 drives locking rod 905 to move forward,
The Forward of locking rod 905 promotes to rotate downwards with its latch 906 with large pitch spiral connection relationship, gradually disengages pair
The contact of 8 bottom surface of crawler belt turns to until the latch 906 is in contact surface when compressing lockup state with crawler belt 8 in perpendicular
Histogram is to motor 901 stops operating, and completes the lockable mechanism 9 and acts to the releasing of the locking of crawler belt 8.
Further, compressed air, 301 inner chamber gas of air bag are filled to 301 inner cavity of air bag by blow vent described in air bag 301
Pressure is stepped up, and extended state up and down is presented, and promotes the increase for being grounded distance between Zhi Chongji structure 4 and framework for support 2, and with
The pivoted arm 5 and pivoted arm 6 and the pivoted arm 7 hinged with pivoted arm 6 that the ground connection Zhi Chongji structure 4 has hinged relationship in company with rotation, this
Shifting state before ground connection Zhi Chongji structure 4 is presented gradually simultaneously in the process, in turn, ground connection Zhi Chongji structure 4 advance through air bag 301
Traction action drives sliding support plate 302 to move forward along guide runner 201, until reaching between ground connection Zhi Chongji structure 4 and framework for support 2
The opening distance of setting, and state as shown in Figure 4 is presented.
Crawler belt contractive action process:
Blow vent described in air bag 301 is manipulated, 301 inner cavity compressed air of air bag is discharged, and passes through blow vent described in air bag 301 to gas
301 inner cavity of capsule applies negative pressure, and under the action of 301 outside atmospheric pressure of air bag, the contraction-like of up and down direction is presented in air bag 301
State promotes the reduction for being grounded distance between Zhi Chongji structure 4 and framework for support 2, and has hinged close with the ground connection Zhi Chongji structure 4
The pivoted arm 5 and pivoted arm 6 and the pivoted arm 7 hinged with pivoted arm 6 of system are in company with rotation, and ground connection Zhi Chongji structure 4 is presented simultaneously during this
Shifting state after gradually, in turn, moving back for ground connection Zhi Chongji structure 4 drive 302 edge of sliding support plate by the traction action of air bag 301
Guide runner 201 moves back, until reaching the contract by distance of setting between ground connection Zhi Chongji structure 4 and framework for support 2, and such as Fig. 3 is presented
Shown state.
Further, manipulation motor 901 reversely rotates, then the lead screw 904 of axis connection is exported with motor 901 in company with reversed rotation
Turn, driving with lead screw 904 there is the sliding seat 903 of threaded connection pair connection relationship to move back along guide runner 202, and then sliding seat
903 drive locking rods 905 move back, and moving back for locking rod 905 promotes and its latch 906 with large pitch spiral connection relationship
It is rotated to the inside of crawler type escaping apparatus shown in Fig. 7, until the latch 906 contacts with 8 bottom surface of crawler belt and further will
Crawler belt 8 presses to ground connection Zhi Chongji structure 4 and certain pre-pressing state is presented, and motor 901 stops operating, and completes the lockable mechanism
The compression locking of 9 pairs of crawler belts 8, is presented state as shown in Figure 7；
It is noted that in the present embodiment, aforementioned 200 basic component framework for support 2 of crawler type escaping apparatus, pivoted arm 5, ground connection
The plane five-bar mechanism that Zhi Chongji structure 4, pivoted arm 6 and pivoted arm 7 are constituted should meet following relationship:
The long the constraint relationship of each bar of five-bar mechanism: i.e. a+e=b+c+d, to guarantee crawler type escaping apparatus 200 under collapsed state
With the smallest height as shown in Figure 3 or thickness, as shown in Figure 8；
Under complete open configuration, angle the constraint relationship between pivoted arm 6 and pivoted arm 7: i.e. 180 ° of α <, to guarantee that crawler type is de-
Tired device 200 pivoted arm 6 and pivoted arm 7 during packing up are turned round according to the rotary motion trace of setting, as shown in Figure 8；
Also it is noted that, for crawler type works, the tensioning apparatus of crawler belt is permanent organization, in the present embodiment no longer
It is repeated；
About the operation of crawler type escaping apparatus 200, as shown in Figure 1, Figure 2 and Figure 4, opened in the crawler type escaping apparatus 200
When opening to state as shown in Figure 4, manipulation driving mechanism 1 is rotated, then chain-wheel mechanism described in driving mechanism 1 drives crawler belt 8 to run, real
Moving ahead or retreating for existing vehicle 100, does not repeat further herein.
Claims (13)
1. a kind of crawler type escaping apparatus characterized by comprising
Framework for support has the two rack frames for being arranged and being parallel to each other along the front-rear direction of vehicle, and solid between two rack frames
Fixed connection；
Ground connection branch refitting is set, and connect to form five connecting rod of kink four bar linkage or hinge with the framework for support by rod piece
Mechanism, and there is ground connection branch refitting to set separate or close forms of motion between framework for support, and keep between framework for support
In parallel；
Vehicle prismatic pair in the front-back direction is formed between upper interconnecting piece, with two rack frames；
Air bag is fixedly connected between the upside of the air bag and upper interconnecting piece, and downside is fixedly connected between setting with ground connection branch refitting；
Compressed gas feed system is connect by tracheae with the air bag；
Crawler belt, using the kink four bar linkage or hinge five-bar mechanism as track frame.
2. crawler type escaping apparatus according to claim 1, which is characterized in that the upper interconnecting piece is a sliding support
Plate；
Correspondingly, side opposite between two rack frames is provided with the sliding slot for being oriented to sliding support plate；
The guide rod for being oriented to sliding support plate being mounted on framework for support；Or
The linear guide for being oriented to sliding support plate being mounted on framework for support.
3. crawler type escaping apparatus according to claim 1, which is characterized in that be equipped on framework for support for being grounded
The locking mechanism locked it on framework for support when running to top dead centre is set in branch refitting.
4. crawler type escaping apparatus according to claim 3, which is characterized in that the locking mechanism includes:
Linear drives portion, for providing the actuation of rectilinear direction；
Locking rod is the institute, linear drives portion actuation on the front-rear direction of crawler type escaping apparatus, and has on the locking rod
The helix angle of dynamic screw thread, the power screw thread is greater than equivalent friction angle；
Correspondingly, it is equipped with latch in the lateral surface of framework for support frame, which is threadably mounted at lock by the power
It only on bar, and is limited on the front-rear direction of framework for support, so as to which the linear motion of locking rod is converted into latch
Rotation, with ground connection branch refitting set uplink in place after, latch overturning and support ground connection branch refitting set.
5. crawler type escaping apparatus according to claim 4, which is characterized in that each rack frame is equipped with three pieces of lockings
Block.
6. crawler type escaping apparatus according to claim 4 or 5, which is characterized in that linear drives portion includes:
Slide, the slide are directed at the rack frame, are equipped with screw on the slide；
Lead screw is laid on framework for support and parallel with rack frame, is cooperated with the screw and is formed screw screw mechanism；
Motor, output connect the lead screw.
7. crawler type escaping apparatus according to claim 1, which is characterized in that the hinge five-bar mechanism construction are as follows:
Framework for support constitutes the rack of the hinge five-bar mechanism；
Composition first connecting rod is set in ground connection branch refitting；
First linkage rod is provided, one end of the first linkage rod is articulated with the front end of rack, and the other end is articulated with ground connection branch refitting
The front end set；
The second connecting rod is provided, one end of second connecting rod is articulated with the rear end of rack；
Second connecting rod, one end of the second connecting rod and the other end of the second connecting rod are hinged, the other end of the second connecting rod with connect
The rear end that twelve Earthly Branches refitting is set is hinged；
Wherein, rack and the length of the second connecting rod and with the length of remaining three-link and equal.
8. crawler type escaping apparatus according to claim 1, which is characterized in that be the gas of rectangular shape when air bag opens
Capsule；
Bladder sidewall has pre- folding line.
9. crawler type escaping apparatus according to claim 8, which is characterized in that be the material to form air bag cyst wall at pre- folding line
Connection crestal line between face.
10. crawler type escaping apparatus according to claim 8, which is characterized in that air bag is by stacking gradually and being sequentially communicated
Utricule composition；
It is bonded between adjacent utricule；
Wherein a utricule is connected with tracheae.
11. crawler type escaping apparatus according to claim 10, which is characterized in that tracheae is connected to positioned at uppermost capsule
On body.
12. crawler type escaping apparatus according to claim 10, which is characterized in that the quantity of utricule is 3 ~ 8.
13. according to claim 1,8 ~ 12 any crawler type escaping apparatus, which is characterized in that air bag and upper interconnecting piece,
Connection between ground connection branch refitting is set is bonding.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910862420.3A CN110510016B (en) | 2019-09-12 | 2019-09-12 | Crawler-type escaping device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910862420.3A CN110510016B (en) | 2019-09-12 | 2019-09-12 | Crawler-type escaping device |
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| CN110510016A true CN110510016A (en) | 2019-11-29 |
| CN110510016B CN110510016B (en) | 2021-02-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022511A (en) * | 2021-03-01 | 2021-06-25 | 重庆长江电工工业集团有限公司 | Vehicle escaping device |
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| CN110510016B (en) | 2021-02-12 |
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