CN110654469A - Rotary point type bilateral floating walking chassis - Google Patents
Rotary point type bilateral floating walking chassis Download PDFInfo
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- CN110654469A CN110654469A CN201910965790.XA CN201910965790A CN110654469A CN 110654469 A CN110654469 A CN 110654469A CN 201910965790 A CN201910965790 A CN 201910965790A CN 110654469 A CN110654469 A CN 110654469A
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- balance
- tail plate
- chassis
- walking
- fixedly connected
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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
- B62D55/10—Bogies; Frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
-
- 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
-
- 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
- B62D55/1086—Rubber springs
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a rotary point type bilateral floating walking chassis which is provided with a balance tail plate, wherein the balance tail plate is rotatably connected with a chassis frame through a balance rotary point connecting device, then two ends of the balance tail plate are connected and supported to a walking device through an elastic compensation connecting device, in a complex terrain environment, the walking device fluctuates up and down to drive two ends of the balance tail plate to float up and down, but the chassis frame is connected with the balance tail plate through a rotary connection center, so that the walking device fluctuates up and down in the complex terrain environment, and the balance tail plate is compensated, and the chassis frame cannot be greatly vibrated; the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanical equipment, and particularly relates to a rotary point type bilateral floating walking chassis.
Background
Agricultural machinery equipment is weaker in hilly and mountainous areas in China, the main reason is that the traditional walking chassis is large in gradient, poor in the trafficability of operation environments with complex terrain, and seriously insufficient in obstacle crossing capability, so links such as cultivation, planting, fertilization, harvesting and transportation of crops are mainly completed manually, labor and cost of high intensity and low-efficiency operation of the walking chassis seriously restrict the development of agricultural production in hilly and mountainous areas, and meanwhile, manual operation is performed under severe and changeable landform conditions, so that huge potential safety hazards are generated. In order to improve the operating capability and adaptability of agricultural mechanization in hilly and mountainous areas, the operating machine needs to have strong walking and passing capability so as to ensure the stability and efficiency of machine operation, which is also a key technology to be broken through in the development of agricultural machinery in hilly and mountainous areas and is also a primary task.
At present, the existing walking chassis comprises a rigid wheel type chassis, a floating gear train crawler chassis, a multi-degree-of-freedom climbing chassis, a multi-rod deformation chassis and the like. Most of the chassis are not suitable for operation in complex environments such as large-gradient terrain and the like, for example, the rigid wheel type chassis has good stability, but has poor ground profiling capability and is only applied to field operation; the crawler chassis of the floating gear train only has the function of internal copying of the crawler, has small copying amplitude, is suitable for partial ditch crossing obstacle crossing operation and cannot ensure large-gradient walking; the multi-degree-of-freedom climbing chassis mainly forms the chassis linkage characteristic by arranging the multi-rod deformation chassis and mainly arranging the suspension structure, most of the multi-degree-of-freedom climbing chassis only aims at the profile modeling in the pitching direction, and part of the multi-degree-of-freedom climbing chassis with the side-turning angle direction has a more complex profile modeling structure and high maintenance difficulty, and is rarely applied at home and abroad.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the rotary point type bilateral floating walking chassis, which improves the profiling capability of the chassis in walking in complex terrains such as irregular hilly and mountainous areas and enhances the adaptability of the chassis to complex terrain environments.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a revolve two side walking chassis that floats of point type, includes chassis frame, running gear, its characterized in that: the balance tail plate, the elastic compensation connecting device and the balance rotating point connecting device are also included; one end of the balance rotating point connecting device is connected to the tail end of the chassis frame, and the other end of the balance rotating point connecting device is connected to the balance tail plate; the balance rotating point connecting device is provided with a rotating center; the two end parts of the balance tail plate take a rotary connection center as a rotation center; the two end parts of the balance tail plate are respectively connected with the walking device through elastic compensation connecting devices; the walking device is used for connecting and supporting the front end of the chassis frame, and connecting and supporting two ends of the balance tail plate through the elastic compensation connecting device to drive the chassis frame to walk and move.
According to the technical scheme, the rotary point type bilateral floating walking chassis is provided with the balance tail plate, the balance tail plate is rotatably connected with the chassis frame through the balance rotary point connecting device, then two ends of the balance tail plate are connected and supported to the walking device through the elastic compensation connecting device, in a complex terrain environment, the walking device fluctuates up and down to drive two ends of the balance tail plate to float up and down, but the chassis frame is connected with the balance tail plate through the rotary connection center, so that the fluctuation of the walking device in the complex terrain environment is compensated through the balance tail plate, and the chassis frame cannot be subjected to too large vibration; the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments.
In some embodiments, the balance turning point connecting device includes a rear hinge rod, the balance tail plate is provided with a hinge hole, one end of the rear hinge rod is fixedly connected to the tail end of the chassis frame, the other end of the rear hinge rod is fixed in the hinge hole of the balance tail plate in a hinged manner, and the rotation center of the rear hinge rod and the hinge hole is the turning center of the balance turning point connecting device.
In some embodiments, the balance rotation point connecting device comprises a rear hinge rod, the rear end of the chassis frame is provided with a hinge hole, one end of the rear hinge rod is fixedly connected to the balance tail plate, the other end of the rear hinge rod is fixed in the hinge hole of the chassis frame in a hinged manner, and the rotation center of the rear hinge rod and the hinge hole is the rotation center of the balance rotation point connecting device.
In some embodiments, the balance rotating point connecting device comprises a chassis frame connecting mechanism and a balance tail board connecting mechanism, wherein the chassis frame connecting mechanism and the balance tail board connecting mechanism are respectively provided with a connecting head rod and two connecting foot rods, and the two connecting foot rods are symmetrically connected to one end of the connecting head rod; the connecting foot rods of the chassis frame connecting mechanism are respectively and fixedly connected to two sides of the tail end of the chassis frame; the connecting foot rods of the balance tail plate connecting mechanism are respectively and fixedly connected to two sides of the balance tail plate, the connecting head rod of the chassis frame connecting mechanism is hinged to the connecting head rod of the balance tail plate connecting mechanism through a coupler, and the hinged point is the screwing center of the balance screwing point connecting device.
In some embodiments, the elastic compensation connecting device comprises a rear connecting beam and an elastic cushion block, one end of the rear connecting beam is fixedly connected to the traveling device, the elastic cushion block is fixedly arranged on the rear connecting beam, and the end part of the balance tail plate is supported on the elastic cushion block.
In some embodiments, the resilient pad is a cylindrical rubber pad.
In some embodiments, the resilient pad is a compression spring.
In some embodiments, the elastic compensation connecting device comprises a transverse cylindrical pair, a transverse sliding rail, a transverse return spring, a linkage rod, a linkage hinge pair, a longitudinal sliding rail, a longitudinal cylindrical pair and a longitudinal return spring; one end of the transverse sliding rail is fixedly connected to the walking device, and the transverse cylindrical pair is rotatably sleeved on the transverse sliding rail in a sliding manner; a transverse return spring is arranged on the transverse sliding rail, one end of the transverse return spring is fixedly connected with the transverse sliding rail, and the other end of the transverse return spring is fixedly connected with a transverse cylindrical pair; one end of the linkage rod is fixedly connected to the transverse cylindrical pair, and the other end of the linkage rod is hinged to one end of the linkage hinge pair; the other end of the linkage hinge pair, which is far away from the hinge end, is fixedly connected with the longitudinal cylindrical pair; one end of the longitudinal slide rail is fixedly connected with the end part of the balance tail plate; the longitudinal cylinder pair is rotatably sleeved on the longitudinal slide rail in a sliding manner, a longitudinal reset spring is arranged on the longitudinal slide rail, one end of the longitudinal reset spring is fixedly connected with the longitudinal slide rail, and the other end of the longitudinal reset spring is fixedly connected with the longitudinal cylinder pair.
In certain embodiments, the running gear is a running track gear or a running gear.
In some embodiments, the front end of the base frame is provided with a frame configuration platform, and the base frame is provided with a safety protection frame; the screwing center is positioned on a common vertical plane where the gravity center of the balance tail plate and the gravity center of the chassis frame are positioned.
The invention has the beneficial effects that: the rotary point type bilateral floating walking chassis is provided with the balance tail plate, the balance tail plate is rotatably connected with a chassis frame through a balance rotary point connecting device, then two ends of the balance tail plate are connected and supported to the walking device through an elastic compensation connecting device, in a complex terrain environment, the walking device fluctuates up and down to drive two ends of the balance tail plate to float up and down, but the chassis frame is connected with the balance tail plate through a rotary connection center, so that the fluctuation of the walking device in the complex terrain environment is compensated through the balance tail plate, and the chassis frame cannot be subjected to too large vibration; the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of a pivot point type double-sided floating traveling chassis according to an embodiment of the present invention;
fig. 2 is a rear view schematically illustrating a pivot point type double-sided floating traveling chassis according to an embodiment of the present invention;
fig. 3 is a schematic top view of a swivel point type double-sided floating chassis according to an embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present application, it is to be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The rotation point type double-side floating walking chassis of the present application is described in detail by referring to fig. 1-3 through several embodiments.
In the technical scheme of the application, the front end and the tail end of the chassis frame 1 are not particularly limited to the forward direction of the chassis frame as the front end; the two ends of the chassis frame are described as a relative concept only, and the front end of the chassis frame, the rear end of the chassis frame, may be the front end of the chassis frame in the actual forward direction.
Example 1
As shown in fig. 1 and 2, the rotation point type double-sided floating walking chassis comprises a chassis frame 1, a walking device 2, a balance tail plate 3, an elastic compensation connecting device 5 and a balance rotation point connecting device 4; one end of the balance rotating point connecting device 4 is connected to the tail end of the chassis frame 1, and the other end of the balance rotating point connecting device is connected to the balance tail plate 3; the balance rotating point connecting device 4 is provided with a rotating center; the two end parts of the balance tail plate 3 take a rotary connection center as a rotation center; the two end parts of the balance tail plate 3 are respectively connected with the walking device 2 through elastic compensation connecting devices 5; the walking device 2 is used for connecting and supporting the front end of the chassis frame 1 and connecting and supporting two ends of the balance tail plate 3 through the elastic compensation connecting device 5 to drive the chassis frame 1 to walk and move.
In the technical scheme, the rotating point type bilateral floating walking chassis is provided with the balance tail plate 3, the balance tail plate 3 is rotatably connected with the chassis frame 1 through the balance rotating point connecting device 4, then two ends of the balance tail plate 3 are connected and supported to the walking device 2 through the elastic compensation connecting device 5, in a complex terrain environment, the walking device 2 fluctuates up and down to drive two ends of the balance tail plate 3 to float up and down, but the chassis frame 1 is connected with the balance tail plate 3 through the rotating center, so that the walking device 2 fluctuates up and down in the complex terrain environment, and the balance tail plate 3 compensates for the fluctuation, and cannot bring too much vibration to the chassis frame 1; the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments.
The front end of the walking device 2 is connected with the front end of the chassis frame 1, the rear end of the walking device 2 is connected with the balance tail plate 3 through the elastic compensation connecting device 5, and the balance tail plate 3 is connected with the chassis frame 1 through the balance rotating point connecting device 4, so that the chassis frame 1 can be suspended in the air, and can walk and displace under the driving of the walking device 2. The chassis frame 1 can be provided with working components and operating components of various agricultural machines, and different agricultural machines are formed according to different working components and different operating components. And the agricultural machines can have the advantages and the advantages of the walking chassis of the application.
As shown in fig. 1 and referring to fig. 3, in this embodiment 1, the balance rotation point connecting device 4 includes a rear hinge rod 41, the balance tail plate 3 is provided with a hinge hole 31, one end of the rear hinge rod 41 is fixedly connected to the tail end of the chassis frame 1, the other end of the rear hinge rod 41 is fixed in the hinge hole 31 of the balance tail plate 3 in a hinged manner, and the rotation center of the rear hinge rod 41 and the hinge hole 31 is the rotation center of the balance rotation point connecting device 4.
In this embodiment 1, as shown in fig. 1 and fig. 2, the elastic compensation connection device 5 includes a rear connection beam 51 and an elastic pad 52, one end of the rear connection beam 51 is fixedly connected to the traveling device 2, the elastic pad 52 is fixedly disposed on the rear connection beam 51, and an end of the balance tailboard 3 is supported on the elastic pad 52.
In this embodiment 1, the elastic pad 52 is a cylindrical rubber pad. Of course, the present application is not limited thereto, and in some embodiments, the resilient pad 52 may also be a compression spring. The elastic pad 52 in this embodiment mainly plays a role of elastic compensation in the up-down direction and a slight compensation in the left-right direction.
In the embodiment 1, the traveling device 2 is a traveling crawler device; however, the present application is not limited thereto, and in other embodiments, the traveling device 2 may also be a traveling wheel device.
In some embodiments, as shown in fig. 2, the base frame 1 is mainly used for carrying and installing an integrated machine body 13, as shown in fig. 1, a rack configuration platform 11 may be further disposed at the front end of the base frame 1, as shown in fig. 2, and a safety protection frame 12 may be further disposed on the base frame 1.
The screwing center is positioned on a common vertical plane where the gravity center of the balance tail plate 3 and the gravity center of the chassis frame 1 are positioned; the balance performance is stronger.
in this embodiment 2, the balance turning point connecting device 4 includes a rear hinge rod 41 and a hinge hole 31 disposed at the tail end of the chassis frame 1, one end of the rear hinge rod 41 is fixedly connected to the balance tail plate 3, the other end is fixed in the hinge hole 31 of the chassis frame 1 in a hinged manner, and the rotation center of the rear hinge rod 41 and the hinge hole 31 is the turning center of the balance turning point connecting device 4.
Example 3, example 3 differs from example 1 in that:
in embodiment 3, the balanced pivot connection device 3 includes a chassis frame connection mechanism and a balanced tail plate connection mechanism, where the chassis frame connection mechanism and the balanced tail plate connection mechanism are both provided with a connection head rod and two connection foot rods, and the two connection foot rods are both symmetrically connected to one end of the connection head rod; the connecting foot rods of the chassis frame connecting mechanism are respectively and fixedly connected to two sides of the tail end of the chassis frame; the connecting foot rods of the balance tail plate connecting mechanism are respectively and fixedly connected to two sides of the balance tail plate, the connecting head rod of the chassis frame connecting mechanism is hinged to the connecting head rod of the balance tail plate connecting mechanism through a coupler, and the hinged point is the screwing center of the balance screwing point connecting device. The structure is shown in the attached drawings, but the basic connection structure can be deduced without doubt according to the literal meaning of the section, the corresponding effect and function can be achieved, and the disclosure is sufficient.
Example 4, example 4 differs from example 1 in that:
as shown in fig. 3, in this embodiment 4, the elastic compensation connecting device 5 includes a transverse cylindrical pair 53, a transverse sliding rail 54, a transverse return spring 55, a linkage rod 56, a linkage hinge pair 57, a longitudinal sliding rail 50, a longitudinal cylindrical pair 59, and a longitudinal return spring 58; one end of the transverse sliding rail 54 is fixedly connected to the walking device 2, and the transverse cylindrical pair 53 is rotatably sleeved on the transverse sliding rail 54 in a sliding manner; a transverse return spring 55 is arranged on the transverse slide rail 54, one end of the transverse return spring 55 is fixedly connected with the transverse slide rail 54, and the other end of the transverse return spring 55 is fixedly connected with the transverse cylindrical pair 53; one end of the linkage rod 56 is fixedly connected to the transverse cylindrical pair 53, and the other end of the linkage rod 56 is hinged to one end of the linkage hinge pair 57; the other end of the linkage hinge pair 57 far away from the hinge end is fixedly connected with a longitudinal cylindrical pair 59; one end of the longitudinal slide rail 50 is fixedly connected with the end part of the balance tail plate 3; the longitudinal cylindrical pair 59 is rotatably sleeved on the longitudinal slide rail 50 in a sliding manner, a longitudinal return spring 58 is arranged on the longitudinal slide rail 50, one end of the longitudinal return spring 58 is fixedly connected with the longitudinal slide rail 50, and the other end of the longitudinal return spring 58 is fixedly connected with the longitudinal cylindrical pair 59. In this embodiment, the transverse cylindrical pair 53 can rotate and slide left and right, the longitudinal cylindrical pair 59 can rotate and slide back and forth, and the linkage hinge pair 57 and the linkage rod 56 are hinged and rotatable; this makes it possible for the spring-compensating connection 5 to form a spring compensation for the balancing tailboard 3 in a plurality of directions; further, the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments.
When the walking chassis walks to a sloping field position, as shown in fig. 2, the height of the left-side crawler belt is greater than that of the right-side crawler belt, at this time, the left-side crawler belt floats upwards with the increase of the terrain height, the left-side crawler belt takes a left-side hinge pair (as a reference number 14 shown in fig. 3) as an axis, the rear end of the left-side crawler belt is in a floating rotation trend (the state shown in fig. 2), at this time, as the distance between the transverse sliding rail 54 and the balance tail plate 3 is reduced, the longitudinal cylindrical pair 59 moves forwards under the traction state of the linkage rod against the pressure of the return spring, and simultaneously, as the horizontal height of the left-side crawler belt in the floating rotation process is increased, the longitudinal cylindrical pair 59 drives the longitudinal sliding rail 50 to move upwards under the combined action of the linkage rod 56 and the linkage hinge pair 57, and simultaneously, under the action of the longitudinal cylindrical pair 59, the balance tail plate 3 rotates clockwise with a rotary center as, because the elastic compensation connecting device 5 of the embodiment is mainly composed of the return springs 55 and 58 to form elastic connection, the cooperative adjusting actions of the left and right crawler belts are non-appointed actions in the process of sloping field profiling, and thus, a profiling self-adjusting action is completed.
In other embodiments, the elastic compensation connecting device 5 with other structures may be used to balance and compensate the two ends of the balance tail plate 3, which is not limited to the embodiments shown in this application and should fall within the scope of this application.
It should be noted that the balance tail plate 3 of the present application is a "plate" like structure, but in other embodiments, a rod-like structure may be used; in the claims of this application, the term "balance tailboard" is used for the sake of clarity only; in the protection range, the balance tail plate is not limited to be in a plate-shaped structure. Other technical terms are also applicable to the principle.
The invention has the beneficial effects that: the rotary point type bilateral floating walking chassis is provided with the balance tail plate, the balance tail plate is rotatably connected with a chassis frame through a balance rotary point connecting device, then two ends of the balance tail plate are connected and supported to the walking device through an elastic compensation connecting device, in a complex terrain environment, the walking device fluctuates up and down to drive two ends of the balance tail plate to float up and down, but the chassis frame is connected with the balance tail plate through a rotary connection center, so that the fluctuation of the walking device in the complex terrain environment is compensated through the balance tail plate, and the chassis frame cannot be subjected to too large vibration; the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments. The application is applicable to any machinery and equipment for walking vehicles or similar vehicles.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides a revolve two side walking chassis that floats of point type, includes chassis frame, running gear, its characterized in that: the balance tail plate, the elastic compensation connecting device and the balance rotating point connecting device are also included; one end of the balance rotating point connecting device is connected to the tail end of the chassis frame, and the other end of the balance rotating point connecting device is connected to the balance tail plate; the balance rotating point connecting device is provided with a rotating center; the two end parts of the balance tail plate take a rotary connection center as a rotation center; the two end parts of the balance tail plate are respectively connected with the walking device through elastic compensation connecting devices; the walking device is used for connecting and supporting the front end of the chassis frame, and connecting and supporting two ends of the balance tail plate through the elastic compensation connecting device to drive the chassis frame to walk and move.
2. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the balance rotating point connecting device comprises a rear hinge rod, hinge holes are formed in the balance tail plate, one end of the rear hinge rod is fixedly connected to the tail end of the chassis frame, the other end of the rear hinge rod is fixed in the hinge holes of the balance tail plate in a hinged mode, and the rotating center of the rear hinge rod and the hinge holes is the rotating center of the balance rotating point connecting device.
3. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the balance rotating point connecting device comprises a rear hinge rod, a hinge hole is formed in the tail end of the chassis frame, one end of the rear hinge rod is fixedly connected to the balance tail plate, the other end of the rear hinge rod is fixed in the hinge hole of the chassis frame in a hinged mode, and the rotating center of the rear hinge rod and the hinge hole is the rotating center of the balance rotating point connecting device.
4. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the balance rotating point connecting device comprises a chassis frame connecting mechanism and a balance tail plate connecting mechanism, wherein the chassis frame connecting mechanism and the balance tail plate connecting mechanism are respectively provided with a connecting head rod and two connecting foot rods, and the two connecting foot rods are symmetrically connected to one end of the connecting head rod; the connecting foot rods of the chassis frame connecting mechanism are respectively and fixedly connected to two sides of the tail end of the chassis frame; the connecting foot rods of the balance tail plate connecting mechanism are respectively and fixedly connected to two sides of the balance tail plate, the connecting head rod of the chassis frame connecting mechanism is hinged to the connecting head rod of the balance tail plate connecting mechanism through a coupler, and the hinged point is the screwing center of the balance screwing point connecting device.
5. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the elastic compensation connecting device comprises a rear connecting beam and an elastic cushion block, wherein one end of the rear connecting beam is fixedly connected to the traveling device, the elastic cushion block is fixedly arranged on the rear connecting beam, and the end part of the balance tail plate is supported on the elastic cushion block.
6. The rotary point type bilateral floating walking chassis according to claim 5, characterized in that: the elastic cushion block is a cylindrical rubber cushion block.
7. The rotary point type bilateral floating walking chassis according to claim 5, characterized in that: the elastic cushion block is a compression spring.
8. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the elastic compensation connecting device comprises a transverse cylindrical pair, a transverse sliding rail, a transverse reset spring, a linkage rod, a linkage hinge pair, a longitudinal sliding rail, a longitudinal cylindrical pair and a longitudinal reset spring; one end of the transverse sliding rail is fixedly connected to the walking device, and the transverse cylindrical pair is rotatably sleeved on the transverse sliding rail in a sliding manner; a transverse return spring is arranged on the transverse sliding rail, one end of the transverse return spring is fixedly connected with the transverse sliding rail, and the other end of the transverse return spring is fixedly connected with a transverse cylindrical pair; one end of the linkage rod is fixedly connected to the transverse cylindrical pair, and the other end of the linkage rod is hinged to one end of the linkage hinge pair; the other end of the linkage hinge pair, which is far away from the hinge end, is fixedly connected with the longitudinal cylindrical pair; one end of the longitudinal slide rail is fixedly connected with the end part of the balance tail plate; the longitudinal cylinder pair is rotatably sleeved on the longitudinal slide rail in a sliding manner, a longitudinal reset spring is arranged on the longitudinal slide rail, one end of the longitudinal reset spring is fixedly connected with the longitudinal slide rail, and the other end of the longitudinal reset spring is fixedly connected with the longitudinal cylinder pair.
9. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the walking device is a walking crawler device or a walking wheel device.
10. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the front end of the base frame is provided with a rack configuration platform, and the base frame is provided with a safety protection frame; the screwing center is positioned on a common vertical plane where the gravity center of the balance tail plate and the gravity center of the chassis frame are positioned.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019108617587 | 2019-09-11 | ||
| CN201910861758 | 2019-09-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110654469A true CN110654469A (en) | 2020-01-07 |
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ID=69040690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910965790.XA Pending CN110654469A (en) | 2019-09-11 | 2019-10-11 | Rotary point type bilateral floating walking chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110654469A (en) |
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2019
- 2019-10-11 CN CN201910965790.XA patent/CN110654469A/en active Pending
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