CN112009585A - Contraction and expansion type crawler walking device - Google Patents
Contraction and expansion type crawler walking device Download PDFInfo
- Publication number
- CN112009585A CN112009585A CN202010685910.3A CN202010685910A CN112009585A CN 112009585 A CN112009585 A CN 112009585A CN 202010685910 A CN202010685910 A CN 202010685910A CN 112009585 A CN112009585 A CN 112009585A
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- crawler
- unit
- walking
- wheel
- pin joint
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
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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
- B62D55/14—Arrangement, location, or adaptation of rollers
-
- 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
- B62D55/18—Tracks
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a contraction and expansion type crawler walking device, which comprises: the walking frame, the main crawler walking unit, the front auxiliary crawler walking unit, the rear auxiliary crawler walking unit, the left swing rod and the right swing rod are arranged on the walking frame; the wheels D of the crawler belt walking unit are supported on the ground; the wheels A, B and C of the main crawler traveling unit are respectively connected with a traveling frame through pins; the wheels A and C of the front auxiliary crawler belt traveling unit are respectively in pin joint with two horizontal parts of the left swing rod; the tail end of the vertical part of the left swing rod is connected with a wheel B of the main crawler traveling unit in a pin mode; the wheels A and B of the rear auxiliary crawler belt traveling unit are respectively in pin joint with two horizontal parts of the right swing rod; the tail end of the vertical part of the right swing rod is connected with a wheel C of the main crawler traveling unit in a pin mode; the invention has simple structure, not only can realize the conventional ground running in the contraction state, but also can complete the running tasks of complicated ground such as rugged and uneven ground, paddy field, muddy ground, snowy ground and the like in the development state.
Description
Technical Field
The invention belongs to the technical field of vehicle traveling, and particularly relates to a contraction and expansion type crawler traveling device.
Background
The vehicle using the crawler traveling device has small ground pressure, good adhesion performance to soil, no easy slip, good stability, strong climbing performance and obstacle crossing capability, can travel off-road, and is suitable for various terrains, particularly non-road occasions, soft and easily sunk environments, fields or mountainous regions and the like. But the efficiency is lower, the maneuverability is poor, the friction loss is larger during steering, the self weight is too high, and the high energy consumption caused by the self weight limits the popularization and the application of the deformable crawler traveling device, so the deformable crawler traveling device is a current research hotspot.
At present, several granted relevant patents of wheel-track integrated running technology exist in China: a track wheel (with an authorized notice number of CN105882774B) capable of realizing the mutual conversion between a wheel type state and a track type state can realize the conversion between the wheel and the track by deforming a retainer and driving a brake assembly to drive the track to rotate, but the central shaft is eccentrically arranged in the wheel type state, so that the track wheel does not have the rolling performance; a wheel-track switching mechanism (with the authorized bulletin number of CN202358210U) realizes the switching between wheels and tracks by a variable-diameter driving gear, but because the gear diameter-changing process has no continuity, the deformation stability and timeliness of the mechanism are poor; the wheel-track-foot interconversion type advancing device (with an authorized bulletin number of CN 205499102U) consists of an attitude adjusting part and a wheel body part, can realize the interconversion of three driving modes of wheels, tracks and feet, but has a complex mechanism, high energy consumption ratio during the conversion of the driving modes and poor deformation timeliness due to the additional arrangement of the tracks.
Disclosure of Invention
In view of the above, the invention provides a retractable and extendable crawler traveling apparatus, which has a simple structure, and can not only travel on a conventional ground in a retracted state, but also travel on a complicated ground such as a rugged ground, a paddy field, a muddy ground, a snowy ground, and the like in an extended state.
The invention is realized by the following technical scheme:
a collapsible, expandable crawler track unit comprising: the walking frame, the main crawler walking unit, the front auxiliary crawler walking unit, the rear auxiliary crawler walking unit, the left swing rod and the right swing rod are arranged on the walking frame;
three pin connection seats are arranged on the walking frame; the three pin joint seats are distributed in an isosceles triangle shape; the pin joint seats positioned at the top angles of the isosceles triangles are made to be first pin joint seats, and the two pin joint seats positioned at the two bottom angles of the isosceles triangles are respectively a second pin joint seat and a third pin joint seat; the heights of the second pin joint seat and the third pin joint seat from the ground are the same;
the left swing rod and the right swing rod are both F-shaped rods;
the structure of main crawler travel unit, front pair crawler travel unit and back pair crawler travel unit is the same, all includes: the crawler belt comprises a crawler belt, four rollers and a crawler belt bracket; the crawler support is of a quadrilateral structure; four corners of the quadrilateral structure are respectively connected with four rollers in a pin joint manner; the crawler belt is annularly enclosed and wound outside the four rollers; the four rollers are respectively a wheel A, a wheel B, a wheel C and a wheel D, wherein the wheel A is opposite to the wheel D, and the wheel B is opposite to the wheel C;
the overall connection relationship is as follows: the wheels D of the crawler belt walking unit are supported on the ground; the wheel A of the main crawler belt traveling unit is in pin joint with a first pin joint seat of the traveling frame through a pin shaft; the wheel B of the main crawler belt walking unit is in pin joint with a second pin joint seat of the walking frame through a pin shaft; the wheel C of the main crawler belt walking unit is in pin joint with a third pin joint seat of the walking frame through a pin shaft;
the wheels A and C of the front auxiliary crawler belt traveling unit are respectively in pin joint with two horizontal parts of the left swing rod; the tail end of the vertical part of the left oscillating bar is in pin joint with a wheel B of the main crawler belt walking unit, so that the pin joint point of the left oscillating bar and the wheel B of the main crawler belt walking unit is a point B; the front auxiliary crawler unit can rotate around the point B and be locked under the action of the left swing rod;
the wheels A and B of the rear auxiliary crawler belt traveling unit are respectively in pin joint with two horizontal parts of the right swing rod; the tail end of the vertical part of the right swing rod is in pin joint with a wheel C of the main crawler belt walking unit, and the pin joint point of the right swing rod and the wheel C of the main crawler belt walking unit is a point C; the rear auxiliary crawler unit can rotate around the point C and be locked under the action of the right swing rod;
when the wheels D of the front auxiliary crawler traveling unit and the rear auxiliary crawler traveling unit are supported on the ground, the main crawler traveling unit, the front auxiliary crawler traveling unit and the rear auxiliary crawler traveling unit are in a three-section type combined crawler structure, and the wheels D of the main crawler traveling unit, the front auxiliary crawler traveling unit and the rear auxiliary crawler traveling unit are all in contact with the ground;
when the side edge between the left swing rod and the wheel A and the side edge between the wheel B of the main crawler traveling unit are parallel, and the side edge between the right swing rod and the wheel A and the side edge between the wheel C of the main crawler traveling unit are parallel, the main crawler traveling unit, the front auxiliary crawler traveling unit and the rear auxiliary crawler traveling unit are in a contraction state and are in a single crawler structure, and only the wheel D of the main crawler traveling unit is in contact with the ground.
Further, the wheel B is a driving wheel;
when the walking device is in a developed state, an external power mechanism respectively drives the driving wheels of the main crawler walking unit, the front auxiliary crawler walking unit and the rear auxiliary crawler walking unit to rotate, and further respectively drives the crawler belts of the main crawler walking unit, the front auxiliary crawler walking unit and the rear auxiliary crawler walking unit to rotate;
when the walking device is in a contraction state, the external power mechanism drives the driving wheel of the main crawler walking unit to rotate, and then the crawler of the main crawler walking unit is driven to rotate respectively.
Further, the wheel C is a driving wheel;
when the walking device is in a developed state, an external power mechanism respectively drives the driving wheels of the main crawler walking unit, the front auxiliary crawler walking unit and the rear auxiliary crawler walking unit to rotate, and further respectively drives the crawler belts of the main crawler walking unit, the front auxiliary crawler walking unit and the rear auxiliary crawler walking unit to rotate;
when the walking device is in a contraction state, the external power mechanism drives the driving wheel of the main crawler walking unit to rotate, and then the crawler of the main crawler walking unit is driven to rotate respectively.
Has the advantages that: the invention can realize the contraction or expansion of the front auxiliary crawler unit and the rear auxiliary crawler unit relative to the main crawler unit by changing the included angles alpha and beta between the left swing rod and the horizontal plane and between the right swing rod and the horizontal plane, and realize two working states of a single crawler structure or a three-section combined crawler structure; when the vehicle normally runs on a flat road surface, the traveling device is in a contraction state and is the same as a common crawler belt, and when the vehicle meets the ground with poor adhesive force such as mud, marsh, snow and the like, the traveling device is in a development state and is of a three-section combined crawler belt structure, so that the adhesive force is increased, and the passing performance is improved; further increases the driving force and the bearing capacity, overcomes the skidding and is suitable for continuous running on various road surfaces.
Drawings
FIG. 1 is a diagram of the generating state of the present invention;
FIG. 2 is a view showing the construction of the contracted state of the present invention;
FIG. 3 is a schematic structural diagram of the main crawler travel unit;
wherein, 1-a walking frame; 2-a main crawler unit; 3-left oscillating bar; 4-front auxiliary crawler unit; 5-right swing link; 6-a rear auxiliary crawler unit; 21-a crawler belt; 22-a support wheel; 23-a guide wheel; 24-a drive wheel; 25-a track support; 26-connecting wheel.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a shrink generating crawler attachment, includes: the walking frame 1, the main crawler belt walking unit 2, the front auxiliary crawler belt walking unit 4, the rear auxiliary crawler belt walking unit 6, the left swing rod 3 and the right swing rod 5;
three pin connection seats are arranged on the walking frame 1; the three pin joint seats are distributed in an isosceles triangle shape; the pin joint seats positioned at the top angles of the isosceles triangles are made to be first pin joint seats, and the two pin joint seats positioned at the two bottom angles of the isosceles triangles are respectively a second pin joint seat and a third pin joint seat; the heights of the second pin joint seat and the third pin joint seat from the ground are the same;
the left swing rod 3 and the right swing rod 5 are both F-shaped rods;
the main crawler belt walking unit 2, the front auxiliary crawler belt walking unit 4 and the rear auxiliary crawler belt walking unit 6 have the same structure and respectively comprise: a crawler 21, a support wheel 22, a guide wheel 23, a driving wheel 24, a connecting wheel 26 and a crawler support 25; the crawler support 25 is of a quadrilateral structure; four corners of the quadrilateral structure are respectively in pin joint with the supporting wheel 22, the guide wheel 23, the driving wheel 24 and the connecting wheel 26; wherein, the supporting wheel 22 is opposite to the connecting wheel 26, and the guide wheel 23 is opposite to the driving wheel 24; the crawler belt 21 is annularly enclosed and sequentially wound outside the connecting wheel 26, the guide wheel 23, the supporting wheel 22 and the driving wheel 24;
the overall connection relationship is as follows: the support wheels 22 of the main crawler travel unit 2 are supported on the ground; the connecting wheel 26 of the main crawler belt walking unit 2 is in pin joint with the first pin joint seat of the walking frame 1 through a pin shaft; the guide wheel 23 of the main crawler belt walking unit 2 is in pin joint with a second pin joint seat of the walking frame 1 through a pin shaft; the driving wheel 24 of the main crawler belt walking unit 2 is in pin joint with a third pin joint seat of the walking frame 1 through a pin shaft; further realizing the fixed connection of the track support 25 of the main track walking unit 2 and the walking frame 1;
the connecting wheel 26 and the driving wheel 24 (or the guide wheel 23) of the front auxiliary crawler belt walking unit 4 are respectively in pin joint with two horizontal parts of the left swing link 3, so that the crawler support 25 of the front auxiliary crawler belt walking unit 4 is fixedly connected with the left swing link 3; the tail end of the vertical part of the left swing rod 3 is in pin joint with a guide wheel 23 of the main crawler traveling unit 2, so that the pin joint of the left swing rod 3 and the guide wheel 23 of the main crawler traveling unit 2 is a point B; the front auxiliary crawler belt walking unit 4 can rotate around the point B and be locked under the action of the left swing rod 3; making the included angle between the left swing rod 3 and the horizontal plane alpha; when the support wheels 22 of the front crawler travel unit 4 are supported on the ground, α is maximum; when the left swing link 3 is parallel to the side edge between the connecting wheel 26 and the guide wheel 23 of the main crawler traveling unit 2, alpha is minimum;
the connecting wheel 26 and the guide wheel 23 (or the driving wheel 24) of the rear auxiliary crawler traveling unit 6 are respectively in pin joint with two horizontal parts of the right swing rod 5, so that the crawler support 25 of the rear auxiliary crawler traveling unit 6 is fixedly connected with the right swing rod 5; the tail end of the vertical part of the right swing rod 5 is in pin joint with a driving wheel 24 of the main crawler traveling unit 2, so that the pin joint of the right swing rod 5 and the driving wheel 24 of the main crawler traveling unit 2 is a C point; the rear auxiliary crawler belt walking unit 6 can rotate around the point C and be locked under the action of the right swing rod 5; making the included angle between the right swing rod 5 and the horizontal plane be beta; when the support wheels 22 of the rear sub-crawler travel unit 6 are supported on the ground, β is maximum; when the right swing link 5 is parallel to the side edge between the connecting wheel 26 and the driving wheel 24 of the main crawler traveling unit 2, beta is minimum;
when the front auxiliary crawler unit 4 rotates clockwise around the point B to the position with the minimum alpha and is locked and the rear auxiliary crawler unit 6 rotates anticlockwise around the point C to the position with the minimum beta and is locked under the action of the left swing rod 3 and the right swing rod 5, the main crawler unit 2, the front auxiliary crawler unit 4 and the rear auxiliary crawler unit 6 are in a contraction state and are in a single crawler structure, the front auxiliary crawler unit 4 and the rear auxiliary crawler unit 6 are adjacently arranged, only the supporting wheel 22 of the main crawler unit 2 is in contact with the ground, an external power mechanism drives the driving wheel 24 of the main crawler unit 2 to rotate, and then the crawler 21 of the main crawler unit 2 is driven to rotate, and the conventional running on a flat road surface is realized; the walking device has good maneuvering flexibility and small steering friction loss;
when the front auxiliary crawler unit 4 rotates around the point B counterclockwise to the position with the maximum alpha and locks under the action of the left swing rod 3, and the rear auxiliary crawler unit 6 rotates around the point C clockwise to the position with the maximum beta and locks under the action of the right swing rod 5, the main crawler unit 2, the front auxiliary crawler unit 4 and the rear auxiliary crawler unit 6 are in the unfolding state and are in a three-section type combined crawler structure, the main crawler unit 2, the front auxiliary crawler unit 4 and the support wheels 22 of the rear auxiliary crawler unit 6 are all in contact with the ground, the external power mechanism respectively drives the driving wheels 24 of the main crawler unit 2, the front auxiliary crawler unit 4 and the rear auxiliary crawler unit 6 to rotate, and further respectively drives the crawlers 21 of the main crawler unit 2, the front auxiliary crawler unit 4 and the rear auxiliary crawler unit 6 to rotate, the vehicle runs in different surface environments with poor adhesive force such as mud, marsh and snowy land; the walking device can increase the adhesive force and improve the passing performance.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. The utility model provides a shrink formula crawler travel unit, its characterized in that includes: the walking frame (1), the main crawler belt walking unit (2), the front auxiliary crawler belt walking unit (4), the rear auxiliary crawler belt walking unit (6), the left swing rod (3) and the right swing rod (5);
three pin connection seats are arranged on the walking frame (1); the three pin joint seats are distributed in an isosceles triangle shape; the pin joint seats positioned at the top angles of the isosceles triangles are made to be first pin joint seats, and the two pin joint seats positioned at the two bottom angles of the isosceles triangles are respectively a second pin joint seat and a third pin joint seat; the heights of the second pin joint seat and the third pin joint seat from the ground are the same;
the left swing rod (3) and the right swing rod (5) are both F-shaped rods;
the structure of main crawler travel unit (2), front auxiliary crawler travel unit (4) and back auxiliary crawler travel unit (6) is the same, all includes: a track (21), four rollers and a track support (25); the crawler support (25) is of a quadrilateral structure; four corners of the quadrilateral structure are respectively connected with four rollers in a pin joint manner; the crawler belt (21) is annularly and closely wound outside the four rollers; the four rollers are respectively a wheel A, a wheel B, a wheel C and a wheel D, wherein the wheel A is opposite to the wheel D, and the wheel B is opposite to the wheel C;
the overall connection relationship is as follows: the wheels D of the crawler belt walking unit (2) are supported on the ground; the wheels A of the main crawler belt walking unit (2) are in pin joint with the first pin joint seats of the walking frame (1) through pin shafts; the wheels B of the main crawler belt walking unit (2) are in pin joint with the second pin joint seats of the walking frame (1) through pin shafts; the wheel C of the main crawler belt walking unit (2) is in pin joint with a third pin joint seat of the walking frame (1) through a pin shaft;
the wheels A and C of the front auxiliary crawler belt walking unit (4) are respectively in pin joint with two horizontal parts of the left swing rod (3); the tail end of the vertical part of the left swing rod (3) is in pin joint with a wheel B of the main crawler belt walking unit (2), and a pin joint point of the left swing rod (3) and the wheel B of the main crawler belt walking unit (2) is a point B; the front auxiliary crawler belt walking unit (4) can rotate around the point B and be locked under the action of the left swing rod (3);
the wheels A and B of the rear auxiliary crawler belt walking unit (6) are respectively in pin joint with two horizontal parts of the right swing rod (5); the tail end of the vertical part of the right swing rod (5) is in pin joint with a wheel C of the main crawler belt walking unit (2), and a pin joint point of the right swing rod (5) and the wheel C of the main crawler belt walking unit (2) is a point C; the rear auxiliary crawler belt walking unit (6) can rotate around the point C and be locked under the action of the right swing rod (5);
when the wheels D of the front auxiliary crawler traveling unit (4) and the rear auxiliary crawler traveling unit (6) are supported on the ground, the main crawler traveling unit (2), the front auxiliary crawler traveling unit (4) and the rear auxiliary crawler traveling unit (6) are in a three-section type combined crawler structure, and the wheels D of the main crawler traveling unit (2), the front auxiliary crawler traveling unit (4) and the rear auxiliary crawler traveling unit (6) are in contact with the ground;
when the side between the left swing rod (3) and the wheel A and the wheel B of the main crawler traveling unit (2) are parallel, and the side between the right swing rod (5) and the wheel A and the wheel C of the main crawler traveling unit (2) are parallel, the main crawler traveling unit (2), the front auxiliary crawler traveling unit (4) and the rear auxiliary crawler traveling unit (6) are in a contraction state, and are of a single crawler structure, and only the wheel D of the main crawler traveling unit (2) is in contact with the ground.
2. The crawler belt unit of claim 1, wherein said wheels B are driving wheels;
when the walking device is in a developed state, an external power mechanism respectively drives the driving wheels of the main crawler walking unit (7), the front auxiliary crawler walking unit (4) and the rear auxiliary crawler walking unit (10) to rotate, and further respectively drives the crawler (71) of the main crawler walking unit (7), the front auxiliary crawler walking unit (4) and the rear auxiliary crawler walking unit (10) to rotate;
when the walking device is in a contraction state, an external power mechanism drives the driving wheel of the main crawler walking unit (2) to rotate, and further drives the crawler (21) of the main crawler walking unit (2) to rotate respectively.
3. The crawler belt unit of claim 1, wherein said wheels C are driving wheels;
when the walking device is in a developed state, an external power mechanism respectively drives the driving wheels of the main crawler walking unit (7), the front auxiliary crawler walking unit (4) and the rear auxiliary crawler walking unit (10) to rotate, and further respectively drives the crawler (71) of the main crawler walking unit (7), the front auxiliary crawler walking unit (4) and the rear auxiliary crawler walking unit (10) to rotate;
when the walking device is in a contraction state, an external power mechanism drives the driving wheel of the main crawler walking unit (2) to rotate, and further drives the crawler (21) of the main crawler walking unit (2) to rotate respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010685910.3A CN112009585B (en) | 2020-07-16 | 2020-07-16 | Contraction and expansion type crawler walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010685910.3A CN112009585B (en) | 2020-07-16 | 2020-07-16 | Contraction and expansion type crawler walking device |
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| Publication Number | Publication Date |
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| CN112009585A true CN112009585A (en) | 2020-12-01 |
| CN112009585B CN112009585B (en) | 2021-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010685910.3A Active CN112009585B (en) | 2020-07-16 | 2020-07-16 | Contraction and expansion type crawler walking device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1079526A1 (en) * | 1982-10-29 | 1984-03-15 | Белорусский институт механизации сельского хозяйства | Vehicle propelling gear |
| JP5026059B2 (en) * | 2006-12-11 | 2012-09-12 | 大和ハウス工業株式会社 | A crawler-type traveling vehicle equipped with a stepper flipper |
| CN105109568A (en) * | 2015-08-31 | 2015-12-02 | 中国矿业大学 | Transformable-crawler suspension bracket and robot moving platform with same |
| CN105235759A (en) * | 2015-10-30 | 2016-01-13 | 重庆鑫水机械制造有限公司 | Agricultural machinery running gear |
| CN210617739U (en) * | 2019-10-21 | 2020-05-26 | 南京工程学院 | Deformable wheel-track combined type wheel applied to trolley robot |
-
2020
- 2020-07-16 CN CN202010685910.3A patent/CN112009585B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1079526A1 (en) * | 1982-10-29 | 1984-03-15 | Белорусский институт механизации сельского хозяйства | Vehicle propelling gear |
| JP5026059B2 (en) * | 2006-12-11 | 2012-09-12 | 大和ハウス工業株式会社 | A crawler-type traveling vehicle equipped with a stepper flipper |
| CN105109568A (en) * | 2015-08-31 | 2015-12-02 | 中国矿业大学 | Transformable-crawler suspension bracket and robot moving platform with same |
| CN105235759A (en) * | 2015-10-30 | 2016-01-13 | 重庆鑫水机械制造有限公司 | Agricultural machinery running gear |
| CN210617739U (en) * | 2019-10-21 | 2020-05-26 | 南京工程学院 | Deformable wheel-track combined type wheel applied to trolley robot |
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| Publication number | Publication date |
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| CN112009585B (en) | 2021-11-05 |
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