CN112124019A - Walking crawler belt retracting and releasing structure and method - Google Patents
Walking crawler belt retracting and releasing structure and method Download PDFInfo
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- CN112124019A CN112124019A CN202011154108.8A CN202011154108A CN112124019A CN 112124019 A CN112124019 A CN 112124019A CN 202011154108 A CN202011154108 A CN 202011154108A CN 112124019 A CN112124019 A CN 112124019A
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- telescopic
- telescopic structure
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- 238000000034 method Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 230000008602 contraction Effects 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 230000004075 alteration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a walking crawler retracting structure and a walking crawler retracting method, and relates to the technical field of amphibious vehicles. The vehicle body bottom beam type telescopic structure comprises a first telescopic structure, a second telescopic structure, a third telescopic structure, an auxiliary cantilever, a main cantilever and a sliding lever, wherein the first telescopic structure is symmetrically arranged on a vehicle body bottom beam, one end of the main cantilever is hinged to the vehicle body bottom beam, the other end of the main cantilever is suspended, a fixing part of the third telescopic structure is hinged to the main cantilever, a telescopic part is hinged to a fixing part of the second telescopic structure, one end of the auxiliary cantilever is hinged to the main cantilever, the other end of the auxiliary cantilever is hinged to a fixing part of the second telescopic structure, the telescopic part of the second telescopic structure is hinged to a walking crawler, one end of the sliding lever is fixedly connected with the telescopic part of the second telescopic structure, the other end of the sliding lever is suspended, a fixing part of the first telescopic structure is fixedly connected with. The amphibious vehicle has simple structure and stable movement, is beneficial to the landing of the amphibious vehicle, and has a higher passing range on land; and the resistance in water is small.
Description
Technical Field
The invention relates to the technical field of amphibious vehicles, in particular to a walking crawler retracting structure and a walking crawler retracting method.
Background
The research of the existing amphibious vehicle mainly focuses on improving the navigation speed in water and reducing various resistances, and various modes and methods are provided, but the research on how to bring the amphibious vehicle ashore is insufficient. The practical application of the amphibious vehicle is greatly limited.
Therefore, how to make a walking track retracting structure has the advantages of simple structure, stable movement, convenience and reliability, is beneficial to landing of amphibious vehicles, has higher trafficability on land, can reduce the resistance of amphibious vehicles in water, and becomes a problem to be solved by technical personnel in the field.
Disclosure of Invention
The invention aims to provide a walking track retracting and releasing structure which is simple in structure, stable in movement, convenient and reliable, beneficial to landing of an amphibious vehicle on the shore, beneficial to landing of the amphibious vehicle on the shore, high in trafficability on the land and capable of reducing resistance of the amphibious vehicle in water.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides a walking crawler belt retracting structure, which comprises a first telescopic structure, a second telescopic structure, a third telescopic structure, an auxiliary cantilever, a main cantilever and a sliding lever which are symmetrically arranged about a bottom beam of a vehicle body, one end of the main cantilever is hinged with a bottom beam of the vehicle body, the other end of the main cantilever is suspended, the fixed part of the third telescopic structure is hinged with the main cantilever, the telescopic part is hinged with the fixed part of the second telescopic structure, one end of the auxiliary cantilever is hinged with the main cantilever, the other end of the auxiliary cantilever is hinged with the fixed part of the second telescopic structure, the telescopic part of the second telescopic structure is hinged with the walking crawler belt, one end of the sliding lever is fixedly connected with the telescopic part of the second telescopic structure, the other end of the sliding lever is suspended in the air, the fixed part of the first telescopic structure is fixedly connected with the walking crawler, and the telescopic part is in sliding connection with the sliding lever.
Optionally, a sliding groove is formed in the sliding lever, a cylindrical sliding portion matched with the sliding groove is arranged on the telescopic portion of the first telescopic structure, and the telescopic portion of the first telescopic structure is in sliding connection with the sliding lever through the matching of the sliding portion and the sliding groove.
Optionally, a sliding block is slidably disposed on the sliding lever, and the telescopic portion of the first telescopic structure is hinged to the sliding block to form a sliding connection with the sliding lever.
Optionally, the cylindrical sliding part is rotatably arranged on the telescopic part of the first telescopic structure around the axis of the sliding part.
Optionally, at least one of the first telescopic structure, the second telescopic structure and the third telescopic structure is provided as a hydraulic cylinder.
Optionally, the first telescopic structure, the second telescopic structure and the third telescopic structure are all provided as hydraulic cylinders.
Optionally, at least one of the first telescopic structure, the second telescopic structure and the third telescopic structure is provided as a push rod motor.
Optionally, the first telescopic structure, the second telescopic structure and the third telescopic structure are all provided as a push rod motor.
The invention also provides a retracting and releasing method of the retracting and releasing structure of the walking crawler, which comprises the following steps:
a putting-down stage: a lifting and lifting preparation stage, controlling the telescopic part of the first telescopic structure to contract and the telescopic part of the third telescopic structure to extend so as to lead one side of the walking crawler belt to land and lean outwards for a certain angle, and b, controlling the telescopic parts of the first telescopic structure and the third telescopic structure to synchronously extend so as to lead the vehicle body to be lifted stably away from the ground;
a retraction stage: d, synchronously controlling the telescopic parts of the first telescopic structure and the third telescopic structure to contract so as to enable the vehicle body to stably land and fall down, and e, continuously controlling the contraction part of the fourth telescopic structure to contract so as to enable the walking crawler to finish the retracting movement in water.
Optionally, after the step b, the method further comprises c controlling the extension and contraction part of the second telescopic structure to extend so as to enable the vehicle body to continue to ascend.
The technical scheme provided by the invention can have the following beneficial effects: the vehicle body bottom beam type telescopic structure comprises a first telescopic structure, a second telescopic structure, a third telescopic structure, an auxiliary cantilever, a main cantilever and a sliding lever, wherein the first telescopic structure is symmetrically arranged on a vehicle body bottom beam, one end of the main cantilever is hinged to the vehicle body bottom beam, the other end of the main cantilever is suspended, a fixing part of the third telescopic structure is hinged to the main cantilever, a telescopic part is hinged to a fixing part of the second telescopic structure, one end of the auxiliary cantilever is hinged to the main cantilever, the other end of the auxiliary cantilever is hinged to a fixing part of the second telescopic structure, the telescopic part of the second telescopic structure is hinged to a walking crawler, one end of the sliding lever is fixedly connected with the telescopic part of the second telescopic structure, the other end of the sliding lever is suspended, a fixing part of the first telescopic structure is fixedly connected with. The structure is simple, the movement is stable, convenient and reliable. The landing on the shore of the amphibious vehicle is facilitated, and the passing range on the land is wide; the resistance of the walking crawler belt in water can be further reduced by shrinking the walking crawler belt in water.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a walking track retraction structure shown in some embodiments in a land walking state;
FIG. 2 is a schematic structural view of the walking track retraction mechanism shown in some embodiments in a lift and rise preparation phase;
FIG. 3 is a schematic illustration of the operation of the lifting and raising of the walking track retraction structure shown in some embodiments.
In the figure: 1. a walking crawler belt; 2. a first telescoping structure; 3. a second telescoping structure; 4. a third telescopic structure; 5. a secondary cantilever; 6. a main boom; 7. a slide lever; 8. a vehicle body floor beam.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Specifically, "front" and "rear" refer to directions perpendicular to the plane of the paper. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus or methods consistent with certain aspects of the invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the contents of the invention described in the claims. The entire contents of the configurations shown in the following embodiments are not limited to those required as solutions of the inventions described in the claims.
Referring to fig. 1 to 3, the present invention includes a first telescopic structure 2, a second telescopic structure 3, a third telescopic structure 4, a sub-boom 5, a main boom 6, and a slide lever 7, which are disposed bilaterally symmetrically with respect to a vehicle body floor beam 8. One end of main cantilever 6 articulates on automobile body floorbar 8, the other end is unsettled, the fixed part of third extending structure 4 articulates on main cantilever 6, the pars contractilis articulates on the fixed part of second extending structure 3, the one end of auxiliary boom 5 articulates on main cantilever 6, the other end articulates on the fixed part of second extending structure 3, the pars contractilis of second extending structure 3 articulates with walking track 1 (or walking wheel) mutually, the one end of slip lever 7 and the pars contractilis fixed connection of second extending structure 3, the other end is unsettled, the fixed part fixed connection of first extending structure 2 is on walking track 1, the pars contractilis forms sliding connection with slip lever 7 (the pars contractilis forms the sliding connection who only restricts a degree of freedom with slip lever 7), so form six pin joints of A, B, C, D, E, F. The device has simple structure, stable movement, convenience and reliability.
The invention has the following steps: a putting-down stage: firstly, in a lifting and lifting preparation stage, the telescopic part of the first telescopic structure 2 is controlled to contract, and the telescopic part of the third telescopic structure 4 is controlled to extend out, so that one side of a walking crawler (wheel) lands on the ground and inclines outwards for a certain angle, as shown in fig. 2; then, the lifting and hoisting phases are carried out, as shown in fig. 3, the telescopic parts of the first telescopic structure 2 and the third telescopic structure 4 are controlled to synchronously extend to enable the vehicle body to be lifted off the ground smoothly, and at the moment, as shown in fig. 1, the amphibious vehicle can walk on the land. When a high obstacle needs to be spanned, the extension part of the second extension structure 3 can be controlled to extend out, the height of the vehicle body is further improved, and the trafficability of the vehicle is improved.
A retraction stage: firstly, synchronously controlling the telescopic parts of the first telescopic structure 2 and the third telescopic structure 4 to contract so as to enable the vehicle body to stably land and fall; and then continuously controlling the contraction part of the third telescopic structure 4 to contract so that the walking crawler 1 (or the walking wheels) completes the retraction movement in the water. Thus, the resistance of the walking crawler 1 (or the walking wheels when the walking mechanism gives the walking crawler 1 to the walking wheels) in water can be reduced. It should be noted that if the vehicle body is in a high state, the telescopic part of the second telescopic structure 3 needs to be controlled to retract in advance.
The sliding lever 7 can be provided with a sliding groove, the telescopic part of the first telescopic structure 2 is provided with a cylindrical sliding part, the sliding part is matched with the sliding groove, and the telescopic part of the first telescopic structure 2 is in sliding connection with the sliding lever 7 through the matching of the sliding part and the sliding groove. Thus, the telescopic part of the first telescopic structure 2 can slide along the sliding groove and can rotate around the axis of the sliding part in the sliding groove.
Wherein the sliding part can be set up on the pars contractilis of first extending structure 2 around self axis ground of rotating, so, form rolling friction between sliding part and the spout, reduce frictional resistance.
The sliding lever 7 may be provided with a slider on which the telescopic part of the first telescopic structure 2 is hinged to form a sliding connection (a sliding connection that only limits one degree of freedom) with the sliding lever 7.
One or more of the first telescopic structure 2, the second telescopic structure 3 and the third telescopic structure 4 can be set as a hydraulic cylinder, an air cylinder or a push rod motor. Preferably, the first telescopic structure 2, the second telescopic structure 3 and the third telescopic structure 4 are all provided as hydraulic cylinders. And the hydraulic cylinder is adopted, so that the operation is more stable.
The invention also provides a retracting and releasing method of the retracting and releasing structure of the walking track, which comprises the following releasing stage: a lifting and lifting preparation stage, controlling the telescopic part of the first telescopic structure 2 to contract and the telescopic part of the third telescopic structure 4 to extend so as to lead one side of the walking crawler 1 to land and lean outwards for a certain angle, and b, controlling the telescopic parts of the first telescopic structure 2 and the third telescopic structure 4 to synchronously extend so as to lead the vehicle body to be lifted stably away from the ground;
a retraction stage: d, synchronously controlling the telescopic parts of the first telescopic structure 2 and the third telescopic structure 4 to contract so as to enable the vehicle body to stably land, and e, continuously controlling the contraction part of the third telescopic structure 4 to contract so as to enable the walking crawler 1 to complete the retracting movement in the water. It should be noted that if the vehicle body is in a high state, the telescopic portion of the second telescopic structure 3 needs to be controlled to contract in advance.
After the step b, the method can further comprise c controlling the extension of the telescopic part of the second telescopic structure 3 to enable the vehicle body to continuously ascend. So that the amphibious vehicle can pass through higher obstacles when running on the land.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The walking crawler belt retracting and releasing structure is characterized by comprising a first telescopic structure (2), a second telescopic structure (3), a third telescopic structure (4), an auxiliary cantilever (5), a main cantilever (6) and a sliding lever (7) which are symmetrically arranged relative to a vehicle body bottom beam (8), wherein one end of the main cantilever (6) is hinged to the vehicle body bottom beam (8), the other end of the main cantilever is suspended, a fixed part of the third telescopic structure (4) is hinged to the main cantilever (6), a telescopic part of the third telescopic structure is hinged to a fixed part of the second telescopic structure (3), one end of the auxiliary cantilever (5) is hinged to the main cantilever (6), the other end of the auxiliary cantilever is hinged to a fixed part of the second telescopic structure (3), a telescopic part of the second telescopic structure (3) is hinged to a walking crawler belt (1), and one end of the sliding lever (7) is fixedly connected with the telescopic part of the second telescopic structure (3), The other end of the first telescopic structure (2) is suspended, the fixed part of the first telescopic structure is fixedly connected with the walking crawler (1), and the telescopic part is in sliding connection with the sliding lever (7).
2. The walking track retracting and releasing structure according to claim 1, wherein a sliding groove is arranged on the sliding lever (7), a cylindrical sliding part matched with the sliding groove is arranged on the telescopic part of the first telescopic structure (2), and the telescopic part of the first telescopic structure (2) is in sliding connection with the sliding lever (7) through the matching of the sliding part and the sliding groove.
3. The walking track retracting structure according to claim 1, wherein a slider is slidingly arranged on said sliding lever (7), the telescopic portion of said first telescopic structure (2) being hinged on said slider to form a sliding connection with said sliding lever (7).
4. A walking track retracting structure according to claim 2, wherein said sliding portion is rotatably provided on the telescopic portion of said first telescopic structure (2) about its own axis.
5. A walking track retraction structure according to claim 1, characterized in that at least one of said first (2), second (3) and third (4) telescopic structures is provided as a hydraulic cylinder.
6. A walking track retracting structure according to claim 5, wherein said first (2), said second (3) and said third (4) telescopic structures are provided as hydraulic cylinders.
7. The walking track retracting structure according to claim 1, wherein at least one of the first telescopic structure (2), the second telescopic structure (3) and the third telescopic structure (4) is provided as a pusher motor.
8. The walking track retracting structure according to claim 7, wherein the first telescopic structure (2), the second telescopic structure (3) and the third telescopic structure (4) are all provided as a push rod motor.
9. A method of deploying and retracting a crawler retraction structure according to claim 1, comprising:
a putting-down stage: a lifting and lifting preparation stage, controlling the telescopic part of the first telescopic structure (2) to contract and the telescopic part of the third telescopic structure (4) to extend so as to enable one side of the walking crawler (1) to land and lean outwards for a certain angle, and b, controlling the telescopic parts of the first telescopic structure (2) and the third telescopic structure (4) to synchronously extend so as to enable the vehicle body to stably lift off the ground;
a retraction stage: d, synchronously controlling the telescopic parts of the first telescopic structure (2) and the third telescopic structure (4) to contract so as to enable the vehicle body to stably land and fall down, and e, continuously controlling the contraction part of the third telescopic structure (4) to contract so as to enable the walking crawler (1) to complete the retracting movement in water.
10. The retracting and extending method according to claim 9, further comprising c controlling the extending and extending of the telescopic part of the second telescopic structure (3) after the step b so as to enable the vehicle body to continuously ascend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011154108.8A CN112124019A (en) | 2020-10-26 | 2020-10-26 | Walking crawler belt retracting and releasing structure and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011154108.8A CN112124019A (en) | 2020-10-26 | 2020-10-26 | Walking crawler belt retracting and releasing structure and method |
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| Publication Number | Publication Date |
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| CN112124019A true CN112124019A (en) | 2020-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011154108.8A Pending CN112124019A (en) | 2020-10-26 | 2020-10-26 | Walking crawler belt retracting and releasing structure and method |
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| CN (1) | CN112124019A (en) |
Citations (8)
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| US4958584A (en) * | 1987-12-02 | 1990-09-25 | Mpv, Inc. | Amphibious vehicle having an efficient water-borne operational mode |
| US20040112661A1 (en) * | 2001-05-01 | 2004-06-17 | Royle David Albert Cyril | Vehicle with retractable wheel |
| US20100136858A1 (en) * | 2007-01-15 | 2010-06-03 | Gibbs Technologies Ltd | Wheel suspension and retraction apparatus |
| CN206485156U (en) * | 2017-01-19 | 2017-09-12 | 大连浦州航空科技有限公司 | The front suspension of amphibious vehicle |
| CN207151125U (en) * | 2017-07-28 | 2018-03-30 | 天津农学院 | A kind of agricultural fertilizer pesticide applying vehicle suitable for complicated landform |
| CN208452722U (en) * | 2018-04-08 | 2019-02-01 | 武汉理工大学 | The efficient hydrofoil landing craft of multifunction caterpillar |
| WO2020124592A1 (en) * | 2018-12-21 | 2020-06-25 | 深圳市大疆创新科技有限公司 | Vehicle and lifting and lowering device thereof |
| CN213354117U (en) * | 2020-10-26 | 2021-06-04 | 北京中油龙硕信息技术有限公司 | Walking crawler belt retracting structure |
-
2020
- 2020-10-26 CN CN202011154108.8A patent/CN112124019A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4958584A (en) * | 1987-12-02 | 1990-09-25 | Mpv, Inc. | Amphibious vehicle having an efficient water-borne operational mode |
| US20040112661A1 (en) * | 2001-05-01 | 2004-06-17 | Royle David Albert Cyril | Vehicle with retractable wheel |
| US20100136858A1 (en) * | 2007-01-15 | 2010-06-03 | Gibbs Technologies Ltd | Wheel suspension and retraction apparatus |
| US20150343867A1 (en) * | 2007-01-15 | 2015-12-03 | Gibbs Technologies Limited | Wheel suspension and retraction apparatus |
| CN206485156U (en) * | 2017-01-19 | 2017-09-12 | 大连浦州航空科技有限公司 | The front suspension of amphibious vehicle |
| CN207151125U (en) * | 2017-07-28 | 2018-03-30 | 天津农学院 | A kind of agricultural fertilizer pesticide applying vehicle suitable for complicated landform |
| CN208452722U (en) * | 2018-04-08 | 2019-02-01 | 武汉理工大学 | The efficient hydrofoil landing craft of multifunction caterpillar |
| WO2020124592A1 (en) * | 2018-12-21 | 2020-06-25 | 深圳市大疆创新科技有限公司 | Vehicle and lifting and lowering device thereof |
| CN213354117U (en) * | 2020-10-26 | 2021-06-04 | 北京中油龙硕信息技术有限公司 | Walking crawler belt retracting structure |
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