CN111348114A - General tracked vehicle of modularization - Google Patents
General tracked vehicle of modularization Download PDFInfo
- Publication number
- CN111348114A CN111348114A CN201811561815.1A CN201811561815A CN111348114A CN 111348114 A CN111348114 A CN 111348114A CN 201811561815 A CN201811561815 A CN 201811561815A CN 111348114 A CN111348114 A CN 111348114A
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- Prior art keywords
- crawler
- assembly
- vehicle body
- drive
- modular
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The invention provides a modular universal crawler, characterized in that it comprises: the vehicle body is provided with a waterproof joint; the welding beams are arranged at two ends of the vehicle body; the crawler walking module comprises a driving assembly, the crawler walking module is connected with a vehicle body through a welding beam, and the driving assembly is connected with a cable in the vehicle body through a waterproof joint. The crawler body and the crawler traveling module are highly modularized, so that the crawler can be assembled and replaced in a modularized mode, the manufacturability is improved, the universality is enhanced, and convenience is brought to subsequent improvement and upgrading of products.
Description
Technical Field
The invention relates to the field of special robots, in particular to a modularized universal crawler.
Background
The existing crawler structures are generally of three types: one is that the interior of the vehicle body contains a driving and transmission part, and the connection between the vehicle body and the crawler walking part depends on the external extending shaft of the vehicle body. This configuration has the disadvantage that neither the vehicle body nor the crawler track are independent modules, and the assembly of the crawler track must be carried out after the vehicle body has been assembled. And in the second time, the inside of the vehicle body comprises a driving and transmission part, the crawler walking part is modularized, but the crawler walking part is still connected with the vehicle body by virtue of the vehicle body overhang shaft. The third is that the vehicle body and the crawler belt walking part are both in a modular structure, and the driving and transmission part is integrated into the crawler belt walking module, but is arranged at one end close to the vehicle body and needs to extend into the vehicle body, so that the vehicle body is required to be in a semi-open structure, and the gear protection can be realized only after the vehicle body is connected with the crawler belt walking module. The latter two structures do not achieve true modularity.
Disclosure of Invention
The invention mainly solves the technical problem of providing a modularized universal crawler with better manufacturability and higher universality.
A modular universal crawler comprising:
the vehicle body is provided with a waterproof joint;
the welding beams are arranged at two ends of the vehicle body;
the crawler walking module comprises a driving assembly, the crawler walking module is connected with a vehicle body through a welding beam, and the driving assembly is connected with a cable in the vehicle body through a waterproof joint.
In one embodiment, the crawler traveling module further comprises a crawler, a vertical plate, a thrust wheel assembly and a tensioning wheel assembly, the thrust wheel assembly and the tensioning wheel assembly are fixed on the vertical plate, the driving assembly is fixed on the vertical plate, the crawler is sleeved on the thrust wheel assembly, the tensioning wheel assembly and the driving assembly, the thrust wheel assembly is used for supporting the crawler, the tensioning wheel assembly is used for tensioning the crawler, and the driving assembly is used for driving the modular universal crawler to travel.
In one embodiment, the drive and transmission assembly is engaged with a track.
In one embodiment, the welding beam comprises a cross beam and fixing plates fixed at two ends of the cross beam, and the vehicle body is connected to the vertical plate through the fixing plates.
In one embodiment, the fixing plate is fixed on the vertical plate through screws.
In one embodiment, a reinforcing beam is arranged on the cross beam.
In one embodiment, the crawler belt is tightly sleeved on each wheel of the driving and transmission assembly, the thrust wheel assembly and the tension wheel assembly through the tension wheel assembly, the vertical plate is positioned on one side attached to the vehicle body, and the crawler belt extends outwards along two sides of the vehicle body.
In one embodiment, the drive assembly includes a driver assembly and a transmission assembly coupled to the driver assembly.
In one embodiment, the driver assembly, the drive assembly and the transmission assembly are provided with protective shells.
In one embodiment, the drive and transmission assembly includes a motor, a gear box, and a drive wheel.
In the general crawler of above-mentioned modularization, crawler travel module is all fixed drive and transmission subassembly, driver subassembly, thrust wheel subassembly, take-up pulley subassembly and track on the riser, and the modularization of automobile body part is realized on crawler travel part modularization basis, because crawler travel module has integrateed drive assembly, therefore the automobile body need not have the transmission between with the track and be connected to make an independent box. The two are connected only through the welding beam and the screw. The drive assembly is integrated into the crawler belt walking module and located outside the crawler belt vehicle, and protection is achieved without the need for connecting the vehicle body with the crawler belt vehicle. The crawler traveling module and the vehicle body are connected without transmission, and only rigid connection is needed. The crawler body and the crawler belt walking part are highly modularized, so that the crawler belt can be assembled and replaced in a modularized mode, the manufacturability is improved, the universality is enhanced, and convenience is brought to subsequent improvement and upgrading of products.
Drawings
FIG. 1 is an exploded view of an embodiment of a modular universal crawler;
fig. 2 is a partial structural schematic view of an embodiment of a modular universal crawler.
In the figure: 1. the vehicle body, 2, water joint, 3, crawler walking module, 4, weld the roof beam, 5, drive and transmission assembly, 6, track, 7, riser, 8, driver subassembly, 9, take-up pulley subassembly, 10, thrust wheel subassembly.
Detailed Description
Referring to fig. 1 and 2, a modular universal crawler 100 according to an embodiment of the present invention mainly includes a crawler body 1, a waterproof joint 2, a crawler traveling module 3, a welding beam 4, a driving and transmitting assembly 5, a crawler 6, a vertical plate 7, a driver assembly 8, a tension wheel assembly 9, and a thrust wheel assembly 10. The drive and transmission assembly 5 and the driver assembly 8 together constitute a drive assembly. The crawler traveling module 3 is connected with the vehicle body 1 through the welding beam 4, and the cable inside the vehicle body 1 is connected with the driving assembly through the waterproof connector 2.
Because the crawler belt walking module 3 integrates the driving and transmission assembly 5, the vehicle body 1 does not need to be in transmission connection with the crawler belt 6, and therefore, the vehicle body is made into an independent box body. The two are connected only by the welding beam 4. The integration of the drive and transmission assembly 5 into the crawler belt module 3, outside the crawler, does not require the body 1 to be connected to it for protection. The crawler belt walking module 3 and the vehicle body 1 are not in transmission connection, but only in rigid connection. By highly modularizing the body and the crawler sections, modular assembly and replacement of the crawler can be achieved.
Specifically, the vehicle body 1 is substantially rectangular parallelepiped and is an independent box. The crawler belt walking modules 3 are arranged in two groups and are respectively arranged on two sides of the vehicle body 1, and the waterproof joints 2 are arranged on the vehicle body 1 and are used for being connected with driving component cables in the crawler belt walking modules 3.
Specifically, in one embodiment, the welding beams 4 are provided at both ends of the vehicle body 1 for connecting the vehicle body 1 and the crawler belt module 3. The welding beam 4 comprises a cross beam 40 and fixing plates 42 fixed at two ends of the cross beam 40, and the vehicle body 1 is connected to the vertical plate 7 through the fixing plates 42. In one embodiment, the fixing plate 42 is fixed to the vertical plate 7 by screws. In particular, in one embodiment, the cross beam 4 is provided with a reinforcement beam 44.
Specifically, in one embodiment, crawler belt module 3 is integrated with a drive and transmission assembly 5, a crawler belt 6, a vertical plate 7, a driver assembly 8, a tension wheel assembly 9, and a thrust wheel assembly 10. The track roller assembly 10 is used for supporting the crawler track 6, the tensioning wheel assembly 9 is used for tensioning the crawler track 6, and the driving and transmission assembly 5 and the driver assembly 8 are used for driving the modular universal crawler track to walk together.
Specifically, in one embodiment, the crawler belt traveling module is to drive and drive assembly 5, driver assembly 8, take-up pulley assembly 9, and thrust wheel assembly 10 is fixed on riser 7 through the screw, and track 6 is tightly covered on each wheel through take-up pulley assembly 9, and all is located the tracked vehicle outside, avoids crawler belt traveling module and automobile body interval too big, and has avoided drive and drive assembly 5 to influence the closure of automobile body. The cable between the drive assembly and the vehicle body 1 is connected through a watertight joint 2. .
Specifically, in one embodiment, the track 6 is tightly sleeved on each wheel of the driving and transmission assembly 5, the thrust wheel assembly 10 and the tension wheel assembly 9 through the tension wheel assembly 9, the vertical plate 7 is positioned at one side attached to the vehicle body 1, and the track 6 extends outwards along two sides of the vehicle body 1. The overlarge distance between the crawler belt walking module 3 and the vehicle body 1 is avoided, and the influence of the driving and transmission assembly 5 on the sealing performance of the vehicle body 1 is avoided.
In particular, in one embodiment, the driver assembly 8 and the drive and transmission assembly 5 are each provided with a protective shell. Specifically, in one embodiment, the drive and transmission assembly 5 includes a motor, a gearbox, and drive wheels.
In the above-mentioned general crawler 100 of modularization, the crawler module 3 fixes the drive and transmission assembly 5, the driver assembly 8, the thrust wheel assembly 9, the tension wheel assembly 10 and the crawler 6 on the vertical plate 7, and the modularization of the vehicle body 1 part is realized on the basis of the modularization of the crawler walking part, because the crawler module integrates the drive and transmission assembly 5, the vehicle body 1 does not need to be connected with the crawler 6 by transmission, thereby making an independent box. The two are connected only through the welding beam 4 and the screw. The integration of the drive and transmission assembly 5 into the crawler belt module 3, outside the crawler, does not require the body 1 to be connected to it for protection. The crawler belt walking module 3 and the vehicle body 1 are not in transmission connection, but only in rigid connection. Through highly modularizing with automobile body 1 and crawler module 3, can realize the modularized assembly and the change of tracked vehicle, improve manufacturability and commonality, facilitate for the follow-up improvement upgrading of product.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A modular universal crawler, comprising:
the vehicle body is provided with a waterproof joint;
the welding beams are arranged at two ends of the vehicle body;
the crawler walking module comprises a driving assembly, the crawler walking module is connected with a vehicle body through a welding beam, and the driving assembly is connected with a cable in the vehicle body through a waterproof joint.
2. The modular universal crawler according to claim 1, wherein the crawler traveling module further comprises a crawler, a vertical plate, a thrust wheel assembly and a tension wheel assembly fixed on the vertical plate, the driving assembly is fixed on the vertical plate, the crawler is sleeved on the thrust wheel assembly, the tension wheel assembly and the driving assembly, the thrust wheel assembly is used for supporting the crawler, the tension wheel assembly is used for tensioning the crawler, and the driving assembly is used for driving the modular universal crawler to travel.
3. The modular versatile crawler of claim 2, wherein the drive and transmission assembly is engaged with a track.
4. The modular universal crawler according to claim 2, wherein the welding beam comprises a cross beam and fixing plates fixed at two ends of the cross beam, and the crawler body is connected to the vertical plate through the fixing plates.
5. The modular versatile crawler according to claim 4, wherein the fixing plate is fixed to the riser by screws.
6. The modular versatile crawler as in claim 4, wherein the cross-members are provided with stiffening beams.
7. The modular universal crawler of claim 1, wherein the track is mounted on the drive and transmission assembly, the track roller assembly and the tension roller assembly via the tension roller assembly, and the riser is located on a side of the vehicle body that engages the vehicle body, the track extending outwardly along both sides of the vehicle body.
8. The modular universal crawler of claim 1, wherein said drive assembly comprises a drive assembly and a transmission assembly to which the drive assembly is connected.
9. The modular universal crawler according to claim 7, wherein the drive assembly, the drive and transmission assembly are each provided with a protective shell.
10. The modular versatile crawler of claim 7, wherein the drive and transmission assembly comprises a motor, a gear box, and a drive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811561815.1A CN111348114A (en) | 2018-12-20 | 2018-12-20 | General tracked vehicle of modularization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811561815.1A CN111348114A (en) | 2018-12-20 | 2018-12-20 | General tracked vehicle of modularization |
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| Publication Number | Publication Date |
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| CN111348114A true CN111348114A (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811561815.1A Pending CN111348114A (en) | 2018-12-20 | 2018-12-20 | General tracked vehicle of modularization |
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| CN (1) | CN111348114A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200954839Y (en) * | 2006-09-01 | 2007-10-03 | 孙亚新 | Modularized electric caterpillar |
| KR100835952B1 (en) * | 2008-01-16 | 2008-06-09 | (주)엔티렉스 | Independence driving module for robot |
| CN201176189Y (en) * | 2007-12-20 | 2009-01-07 | 湖北汉丹机电有限公司 | Independent walking mechanism for robot platform |
| US7798261B1 (en) * | 2006-02-24 | 2010-09-21 | Norman Rittenhouse | Electrically driven track wheels for tracked vehicles |
| CN107351928A (en) * | 2017-07-21 | 2017-11-17 | 北京理工大学 | A kind of Modular track formula drives platform |
| CN107554630A (en) * | 2017-08-10 | 2018-01-09 | 南京理工大学 | One kind wheel carries out the upset unmanned mobile platform of combined type |
| CN108860351A (en) * | 2018-08-08 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of Modular track and robot |
-
2018
- 2018-12-20 CN CN201811561815.1A patent/CN111348114A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7798261B1 (en) * | 2006-02-24 | 2010-09-21 | Norman Rittenhouse | Electrically driven track wheels for tracked vehicles |
| CN200954839Y (en) * | 2006-09-01 | 2007-10-03 | 孙亚新 | Modularized electric caterpillar |
| CN201176189Y (en) * | 2007-12-20 | 2009-01-07 | 湖北汉丹机电有限公司 | Independent walking mechanism for robot platform |
| KR100835952B1 (en) * | 2008-01-16 | 2008-06-09 | (주)엔티렉스 | Independence driving module for robot |
| CN107351928A (en) * | 2017-07-21 | 2017-11-17 | 北京理工大学 | A kind of Modular track formula drives platform |
| CN107554630A (en) * | 2017-08-10 | 2018-01-09 | 南京理工大学 | One kind wheel carries out the upset unmanned mobile platform of combined type |
| CN108860351A (en) * | 2018-08-08 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of Modular track and robot |
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Application publication date: 20200630 |
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