CN112706847A - Multi-swing-arm multi-suspension type crawler travel mechanism - Google Patents
Multi-swing-arm multi-suspension type crawler travel mechanism Download PDFInfo
- Publication number
- CN112706847A CN112706847A CN202011643852.4A CN202011643852A CN112706847A CN 112706847 A CN112706847 A CN 112706847A CN 202011643852 A CN202011643852 A CN 202011643852A CN 112706847 A CN112706847 A CN 112706847A
- Authority
- CN
- China
- Prior art keywords
- shaft
- swing arm
- swing
- connecting piece
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- B62D55/14—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
- B62D55/30—Track-tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a multi-swing-arm multi-suspension type crawler travel mechanism. At least one swing arm suspension member is arranged on one side of the frame. The swing arm suspension component comprises two swing arms, the upper ends of the two swing arms are fixedly connected through an upper end shaft, one end of the elastic damping connecting piece is rotatably arranged on the upper end shaft, the other end of the elastic damping connecting piece is rotatably arranged on the connecting shaft, the connecting shaft is fixed with the positioning shaft through a spring support, the positioning shaft is fixed on the frame, and the elastic damping connecting piece is obliquely arranged. The middle parts of the two swing arms are rotatably arranged on an intermediate shaft, the intermediate shaft is fixed on the frame, and a plurality of supporting belt wheels which are used for contacting with the inner surface of the crawler belt which rotates to the upper part are rotatably arranged on the intermediate shaft. The lower ends of the two swing arms are fixedly connected through a lower end shaft, and a loading wheel assembly which is used for contacting with the inner surface of a track rotating to the lower side is rotatably arranged on the lower end shaft. The invention can effectively reduce the structural complexity and is convenient to maintain and repair while ensuring good shock absorption and obstacle crossing performance.
Description
Technical Field
The invention relates to a multi-swing-arm multi-suspension type crawler traveling mechanism for a crawler vehicle, and belongs to the technical field of crawler traveling mechanisms.
Background
Tracked vehicles can be classified as military tracked vehicles and engineering (civil) tracked vehicles according to whether they are military or not. The existing track walking mechanism of the military tracked vehicle has excellent shock absorption and obstacle crossing performance, but has large number of parts, complex composition structure and difficult and complicated maintenance. The structural complexity of a crawler traveling mechanism of the engineering crawler vehicle is much lower than that of a military crawler vehicle, but the damping and obstacle crossing capabilities of the crawler traveling mechanism are poor. Therefore, the existing crawler traveling mechanisms of military tracked vehicles and engineering tracked vehicles have some defects, and how to integrate the advantages of the military tracked vehicles and the engineering tracked vehicles is a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a multi-swing-arm multi-suspension type crawler travelling mechanism which can effectively reduce the structural complexity and is convenient to maintain and repair while ensuring good shock absorption and obstacle crossing performance.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a many suspension type crawler travel of many swing arms which characterized in that: it includes swing arm suspension member, an at least swing arm suspension member of one side installation of frame, wherein: the swing arm suspension member comprises two swing arms arranged outside two sides of the crawler belt, the upper ends of the two swing arms are fixedly connected through an upper end shaft, one end of an elastic damping connecting piece is rotatably arranged on the upper end shaft, the other end of the elastic damping connecting piece is rotatably arranged on a connecting shaft, the connecting shaft is fixed with a positioning shaft through a spring support, the inner end of the positioning shaft extending out of the spring support is fixed on the frame, and the elastic damping connecting piece is arranged in an upward inclined mode along the retreating direction from one end of the elastic damping connecting piece connected with the upper end shaft; the middle parts of the two swing arms are rotatably arranged on a middle shaft, the inner end of the middle shaft extending out of the swing arms is fixed on the frame, and a plurality of supporting belt wheels used for contacting with the inner surface of the crawler belt rotating to the upper part are rotatably arranged on the middle shaft; the lower ends of the two swing arms are fixedly connected through a lower end shaft, and a loading wheel assembly which is used for contacting with the inner surface of a track rotating to the lower side is rotatably arranged on the lower end shaft; when the swing arm rotates under the action of the elastic force of the elastic damping connecting piece, the lower end shaft and the spring support are always positioned in front of and behind the middle shaft respectively.
The invention has the advantages that:
the invention overcomes the defects of the prior crawler traveling mechanisms of military tracked vehicles and engineering tracked vehicles, ensures good shock absorption and obstacle crossing performance, can effectively reduce the structural complexity and is convenient to maintain.
Drawings
Fig. 1 is a schematic structural diagram of the multi-swing-arm multi-suspension type crawler walking mechanism of the invention.
Fig. 2 is a perspective view of fig. 1 (track and frame not shown).
Fig. 3 is another perspective view of fig. 1 (showing the track and frame).
Fig. 4 is a schematic diagram of the installation positions of the positioning assembly and the limiting plate on the swing arm.
Fig. 5 is an explanatory view of installation of the positioning member.
Fig. 6 is an explanatory view showing that the stopper plate restricts the rotation of the bogie assembly.
Fig. 7 is an explanatory diagram of the limiting plate limiting the rotation of the swing arm.
Detailed Description
As shown in fig. 1 to 7, the multi-swing-arm multi-suspension type crawler travel mechanism of the present invention comprises swing arm suspension members, at least one swing arm suspension member is installed on one side of the frame 1 (fig. 1 to 3 show the case that two swing arm suspension members are installed on two sides of the frame 1 respectively in the front and back direction of travel), wherein: the swing arm suspension member comprises two swing arms 6 arranged outside two sides of the track 9, a track 9 is arranged on each side of the frame 1, the two swing arms 6 are arranged side by side along the advancing direction or the retreating direction, the swing arms 6 rotate in a vertical plane (as shown in figure 3), the upper ends of the two swing arms 6 are fixedly connected through an upper end shaft 12, the upper end shaft 12 is non-rotatable on the swing arms 6, one end of an elastic damping connecting piece 8 is rotatably arranged on the upper end shaft 12, the other end of the elastic damping connecting piece 8 is rotatably arranged on a connecting shaft 13, the connecting shaft 13 is fixed with a positioning shaft 20 through a spring support 3, the inner end of the positioning shaft 20 extending out of the spring support 3 is fixed on the frame 1, the connecting shaft 13, the spring support 3 and the positioning shaft 20 are fixed relative to the frame 1, the elastic damping connecting piece 8 is upwards inclined along the retreating direction from, i.e., the coupling shaft 13 is located higher than the upper end shaft 12; the middle parts of the two swing arms 6 are rotatably arranged on an intermediate shaft 11, the inner ends of the intermediate shaft 11 extending out of the swing arms 6 are fixed on the frame 1, and a plurality of supporting belt wheels 7 which are used for contacting with the inner surface of a crawler belt 9 rotating to the upper part are rotatably arranged on the intermediate shaft 11; the lower ends of the two swing arms 6 are fixedly connected through a lower end shaft 10, the lower end shaft 10 is non-rotatable on the swing arms 6, and the lower end shaft 10 is rotatably provided with a bogie wheel assembly 5 which is used for contacting with the inner surface of a track 9 which rotates to the lower side; when the swing arm 6 rotates under the elastic force of the elastic damping connecting piece 8, the lower end shaft 10 and the spring support 3 are always positioned in front of and behind the intermediate shaft 11 respectively.
As shown in fig. 1 to 3, a tensioning mechanism 2 is disposed in front of the swing arm suspension member, the tensioning mechanism 2 includes a frame 23 fixed on the vehicle frame 1, a tensioning shaft 24 is slidably mounted in the frame 23, a tensioning wheel 21 is rotatably mounted on the tensioning shaft 24, and when the tensioning shaft 24 slides to a desired tensioning position, the tensioning shaft 24 and the tensioning wheel 21 thereon are adjusted and positioned in the tensioning position by a tensioning rod 22 (rotating the tensioning rod 22) mounted on the frame 23, that is, tensioning or loosening of the track 9 is completed.
As shown in fig. 1 to 3, a driving wheel 4 is disposed behind the swing arm suspension member, the rotatable driving wheel 4 is fixedly connected to the frame 1 through a speed reducer, and the driving wheel 4 is rotatable but fixed relative to the frame 1.
As shown in fig. 1, the crawler belt 9 is disposed around the tension pulley 21, the idler pulley 7, the drive pulley 4, and the bogie wheel assembly 5.
In the present invention, the tensioning mechanism 2, the driving wheel 4 and the speed reducer connected thereto are conventional in the art, and therefore, will not be described in detail herein.
As shown in fig. 2 and 3, the bogie wheel assembly 5 includes two triangular support frames 17, the support frame 17 is disposed between the two swing arms 6, the support frame 17 is disposed adjacent to the swing arms 6, the top end of each support frame 17 is rotatably mounted on the lower end shaft 10, a bogie axle 18 is fixedly mounted between the lower ends of the two support frames 17, fig. 1 to 3 illustrate a case where two bogie axles 18 are horizontally mounted between the two support frames 17 side by side, a plurality of bogie wheels 51 are rotatably mounted on the bogie axle 18, and the bogie wheels 51 are used for applying pressure to the crawler 9.
Further, in actual design, the two bogies 51 of weight-wheel assembly 5 corresponding to the track teeth 19 of track 9 have a gap therebetween that allows the track teeth 19 to pass therethrough, or the width of the gap between the two bogies 51 corresponding to the track teeth 19 should be greater than the width of the track teeth 19, so that the track teeth 19 can freely pass through weight-wheel assembly 5, as will be understood with reference to fig. 1.
For a swing arm suspension member near the tensioning mechanism 2, an L-shaped limit plate 16 is fixedly mounted between the two swing arms 6, and the limit plate 16 is located below the intermediate shaft 11 and above the support frame 17, wherein the limit plate 16 is used for limiting the rotation angle of the support frame 17 when the support frame 17 rotates around the lower end shaft 10 in the traveling direction (as shown in fig. 6, a dotted circle in the figure shows the moment when the limit plate 16 contacts the support frame 17 and shows the maximum angle a that the support frame 17 can rotate under the limit of the limit plate 16), and for limiting the rotation angle of the swing arms 6 when the lower end of the swing arms 6 rotates around the intermediate shaft 11 in the traveling direction by means of the contact of the limit plate 16 and the frame 23 of the tensioning mechanism 2 (as shown in fig. 7, a dotted circle in the figure shows the moment when the limit plate 16 contacts the frame 23. As shown in fig. 6 and 7, an L-shaped stopper plate 16 is shown. Of course, the sectional shape of the stopper plate 16 is not limited to the L shape, and may be other shapes.
In the present invention, the swing arm 6 is preferably in a form of a lying V, and an opening of the V-shaped swing arm 6 faces the traveling direction and is at an obtuse angle.
When the position of the bogie assembly 5 pressed vertically against the crawler 9 is set as the initial position, the maximum angle a of the bogie assembly 5 rotating from the initial position in the traveling direction should be 15 ° or more and 30 ° or less, that is, 15 ° or more and 30 ° or less, and the limit plate 16 should be located in front of the line connecting the center points of the lower shaft 10 and the intermediate shaft 11, in view of the optimum traveling and obstacle crossing performance.
As shown in fig. 4 and 5, the lower end shaft 10 is fixed on the two swing arms 6 through a positioning assembly, wherein: the outer end of the lower end shaft 10 is provided with an upward positioning strip-shaped groove 101; the positioning assembly comprises a positioning sheet 14 and a positioning bolt 15; after the lower shaft 10 penetrates between the lower ends of the two swing arms 6, the positioning piece 14 is inserted downwards into the positioning strip-shaped groove 101 on the end portion of the swing arm 6, which is located outside and extends out of the lower shaft 10, and is fixed on the swing arm 6 by the positioning bolt 15 in cooperation with a positioning nut (not shown in the figure), so as to fix the lower shaft 10 on the swing arm 6.
In practical designs, typically, two swing arm suspension members are mounted to one side of the frame 1.
For a swing arm suspension member near the tensioning mechanism 2, a gap for accommodating the tensioning rod 22 is formed between the two idler wheels 7 corresponding to the tensioning rod 22 of the tensioning mechanism 2 on the intermediate shaft 11, or the width of the gap between the two idler wheels 7 corresponding to the tensioning rod 22 is larger than the outer diameter of the tensioning rod 22, so that the tensioning rod 22 can freely extend into the gap between the two idler wheels 7 to facilitate tensioning adjustment.
For a swing arm suspension member close to the drive pulley 4, each carrier roller 7 on the intermediate shaft 11 is not in contact with the drive pulley 4 and all carrier rollers 7 are located between two drive gear teeth 41 of the drive pulley 4.
Setting the central point of the horizontal side projection of the connecting shaft 13 as A, the central point of the horizontal side projection of the upper end shaft 12 as B, the central point of the horizontal side projection of the intermediate shaft 11 as C, the central point of the horizontal side projection of the lower end shaft 10 as D, establishing a rectangular coordinate system in a vertical projection plane, setting the coordinates of A, B, C, D points as A (Ax, Ay), B (Bx, By), C (Cx, Cv), D (Dx, Dy), setting the load required to be borne By the multi-swing-arm multi-suspension crawler running mechanism of the invention as G (unit N), the number of swing arms 6 as N, the elastic force of the elastic damping connecting piece 8 as F (unit N) and the minimum length when the elastic damping connecting piece is compressed to be incompressible as L (unit m), calculating the stress F of the elastic damping connecting piece 8 By the following formula 1 at any time in the normal operation of the multi-swing-arm multi-suspension crawler running mechanism of the invention, based on the specific structural design, model selection and evaluation of the elastic damping connecting piece 8 and other parts, the position relationship among the swing arm 6, the elastic damping connecting piece 8 and the spring support 3 is determined based on the minimum length L of the elastic damping connecting piece 8 calculated by the following formula 2), so that in the process that the swing arm 6 rotates under the elastic force action of the elastic damping connecting piece 8, the lower end shaft 10 and the spring support 3 are always positioned in front of and behind the intermediate shaft 11 respectively, thereby preventing the swing arm 6 from being excessively reversed and inverted, and ensuring the use safety:
in practical design, the rotating surface of the carrier roller 7 can be wrapped with a film layer made of softer material such as rubber or polyurethane, so as to ensure that the carrier roller 7 can contact with the crawler 9 and generate lifting supporting force at any time when the crawler 9 is loose or tight.
In the present invention, the elastic damping links 8, the tracks 9, etc. are well known in the art and will not be described in detail here.
Fig. 1 shows the direction of travel (or forward direction) and the direction of retreat of the crawler travel mechanism of the present invention. In the present invention, the front (front, etc.) and the rear (rear, etc.) of the crawler travel mechanism of the present invention are defined in the traveling direction, and as shown in fig. 1, the left side of the crawler travel mechanism of the present invention is front and the right side is rear. The end, side, etc. facing the inside, i.e., the end, side, etc. facing the frame 1, are defined as the inner end, the inner side, etc. for the components, etc. on the crawler travel mechanism of the present invention, and conversely, the end, side, etc. facing the outside are defined as the outer end, the outer side, etc. for the components, etc. on the crawler travel mechanism, respectively, in other words, the end, side, etc. facing the inside is defined as the inner end, the inner side.
When the crawler belt walking mechanism of the invention encounters an obstacle (such as a stone, a ladder, etc.) during the forward or backward movement of the crawler belt walking mechanism, the bogie wheel assembly 5 rotates around the lower end shaft 10, the swing arm 6 rotates around the intermediate shaft 11, the elastic damping connecting piece 8 changes the compression length thereof, and the two ends thereof rotate around the connecting shaft 13 and the upper end shaft 12, thereby smoothly crossing the obstacle. The rotating designs effectively avoid the situation that the bogie wheels 51 are separated from the ground, such as suspension, and the like, so that the tracked vehicle can smoothly and stably cross obstacles, the adaptability to different driving roads and driving environments is enhanced, and the driving smoothness is good.
The invention has the following advantages:
1. in the invention, the position of the tension rod of the tension mechanism without being shielded is designed to leave necessary space for operating the tension rod, thereby facilitating the tension adjustment operation.
2. In the invention, the design of the multiple bogie wheels of the bogie wheel assembly ensures that the pressure of the tracked vehicle can be uniformly distributed on the track as far as possible, thereby reducing the vibration and the abrasion of the track.
3. According to the invention, the design of the plurality of carrier rollers can realize uniform support of the crawler belt, and is beneficial to reducing the swinging and vibration of the crawler belt and reducing noise.
4. In the invention, the elastic force of the elastic damping connecting piece is beneficial to the quick reset of the swing arm after the swing arm rotates, and the damping force of the elastic damping connecting piece is beneficial to the dissipation of the vibration energy of the swing arm, thereby reducing the conduction of the vibration to the frame. In practice, the elastic force and the damping force of the elastic damping connecting piece can be adjusted, and the elastic damping connecting piece can be adaptively adjusted according to the requirements of loads and working environments during working.
5. For the design that the supporting belt wheel on the intermediate shaft of the swing arm suspension member close to the driving wheel is positioned between two driving wheel teeth of the driving wheel, the self structural space of the driving wheel is fully utilized, and the design provides greater flexibility for selection of materials, types and the like of the supporting belt wheel, so that the optimal belt supporting effect can be pursued. For example, when an inflatable pneumatic tire wheel is selected as the carrier wheel according to requirements, the pneumatic tire wheel is in an unfilled concave-flat state in the installation process, so that the pneumatic tire wheel can be smoothly installed on the intermediate shaft and is positioned on the inner side of the driving wheel teeth, after the pneumatic tire wheel is installed, the pneumatic tire wheel can be put into use after being filled with air, and the pneumatic tire wheel filled with air is equivalent to an air elastic damper and can play an effective supporting and damping role on the crawler belt.
6. The positioning assembly plays a limiting role on one hand, limits the rotation of the lower end shaft, avoids the abrasion and noise of the lower end shaft and parts contacted with the lower end shaft, and limits the axial movement of the lower end shaft on the other hand, so that the lower end shaft and the swing arm form a relatively fixed whole.
7. In the invention, the spring damping connecting piece is connected with the positioning shaft arranged on the frame by means of the spring support, the traditional mode that the spring damping connecting piece is directly fixed with the frame through a connecting shaft (equivalent to a small-diameter cantilever beam) is replaced, and the strength of the spring damping connecting piece in the working process is greatly enhanced.
8. The design of the limiting plate effectively limits the displacement or the rotation angle of the swing arm and the loading wheel assembly, avoids the friction between the loading wheel and the tensioning wheel, avoids the excessive overturning and reversing of the loading wheel assembly, and plays a role of reinforcing ribs for the swing arm.
The above description is of the preferred embodiment of the present invention and the technical principles applied thereto, and it will be apparent to those skilled in the art that any changes and modifications based on the equivalent changes and simple substitutions of the technical solutions of the present invention are within the protection scope of the present invention without departing from the spirit and scope of the present invention.
Claims (9)
1. The utility model provides a many suspension type crawler travel of many swing arms which characterized in that: it includes swing arm suspension member, an at least swing arm suspension member of one side installation of frame, wherein: the swing arm suspension member comprises two swing arms arranged outside two sides of the crawler belt, the upper ends of the two swing arms are fixedly connected through an upper end shaft, one end of an elastic damping connecting piece is rotatably arranged on the upper end shaft, the other end of the elastic damping connecting piece is rotatably arranged on a connecting shaft, the connecting shaft is fixed with a positioning shaft through a spring support, the inner end of the positioning shaft extending out of the spring support is fixed on the frame, and the elastic damping connecting piece is arranged in an upward inclined mode along the retreating direction from one end of the elastic damping connecting piece connected with the upper end shaft; the middle parts of the two swing arms are rotatably arranged on a middle shaft, the inner end of the middle shaft extending out of the swing arms is fixed on the frame, and a plurality of supporting belt wheels used for contacting with the inner surface of the crawler belt rotating to the upper part are rotatably arranged on the middle shaft; the lower ends of the two swing arms are fixedly connected through a lower end shaft, and a loading wheel assembly which is used for contacting with the inner surface of a track rotating to the lower side is rotatably arranged on the lower end shaft; when the swing arm rotates under the action of the elastic force of the elastic damping connecting piece, the lower end shaft and the spring support are always positioned in front of and behind the middle shaft respectively.
2. The multi-swing arm multi-suspension crawler travel mechanism of claim 1, wherein:
a tensioning mechanism is arranged in front of the swing arm suspension member and comprises a frame fixed on the frame, a tensioning shaft is slidably arranged in the frame, a tensioning wheel is rotatably arranged on the tensioning shaft, and the tensioning shaft and the tensioning wheel on the tensioning shaft realize tensioning position adjustment and positioning by virtue of a tensioning rod arranged on the frame;
a driving wheel is arranged behind the swing arm suspension member, and the rotatable driving wheel is fixedly connected with the frame through a speed reducer;
the track is arranged around the tension wheel, the supporting belt wheel, the driving wheel and the loading wheel component.
3. The multi-swing arm multi-suspension crawler travel mechanism of claim 2, wherein:
the bogie wheel assembly comprises two triangular support frames, the support frames are arranged between the swing arms, the top ends of the support frames are rotatably arranged on the lower end shafts, a bogie wheel shaft is fixedly arranged between the lower ends of the two support frames, and a plurality of bogie wheels are rotatably arranged on the bogie wheel shaft.
4. The multi-swing arm multi-suspension crawler travel mechanism of claim 3, wherein:
and a gap allowing the track teeth to pass through is formed between the two bogie wheels corresponding to the track teeth of the track on the weight-bearing wheel shaft of the weight-bearing wheel component.
5. The multi-swing arm multi-suspension crawler travel mechanism of claim 4, wherein:
for one swing arm suspension member that is close to straining device, two fixed mounting has a limiting plate between the swing arm, and the limiting plate is located the below of jackshaft, the top of support frame, wherein, the limiting plate is used for when the support frame is around the lower extreme axle restricts when rotating towards the direction of travel the turned angle of support frame to and be used for when the lower extreme of swing arm is around the jackshaft restricts by the limiting plate with straining device's frame contact when rotating towards the direction of travel the turned angle of swing arm.
6. The multi-swing arm multi-suspension crawler travel mechanism of claim 5, wherein:
and setting the position of the heavy weight wheel assembly when the heavy weight wheel assembly is vertically pressed on the crawler belt as an initial position, wherein the maximum angle of the heavy weight wheel assembly rotating from the initial position to the traveling direction is more than or equal to 15 degrees and less than or equal to 30 degrees, and the limiting plate is positioned in front of a connecting line of central points of the lower end shaft and the intermediate shaft.
7. The multi-swing-arm multi-suspension type crawler travel mechanism according to claim 1 or 4, wherein:
the lower end shaft is fixed on the two swing arms through a positioning assembly, wherein: the outer end of the lower end shaft is provided with an upward positioning strip-shaped groove; the positioning assembly comprises a positioning sheet and a positioning bolt; when the lower end shaft penetrates between the lower ends of the two swing arms, the positioning sheet is inserted downwards into the positioning strip-shaped groove on the end part of the swing arm, which extends outwards from the lower end shaft and is positioned outside, and is fixed on the swing arm by the positioning bolt.
8. The multi-swing arm multi-suspension crawler travel mechanism of claim 2, wherein:
for a swing arm suspension member close to the tensioning mechanism, a gap for accommodating the tensioning rod is formed between two idler wheels corresponding to the tensioning rod of the tensioning mechanism on the intermediate shaft;
for a swing arm suspension member close to the driving wheel, each carrier wheel on the intermediate shaft is not in contact with the driving wheel and all the carrier wheels are located between two driving wheel teeth of the driving wheel.
9. The multi-swing-arm multi-suspension crawler travel mechanism according to any one of claims 1 to 8, wherein:
setting a central point of a horizontal side projection of the coupling shaft as A, a central point of a horizontal side projection of the upper end shaft as B, a central point of a horizontal side projection of the intermediate shaft as C, a central point of a horizontal side projection of the lower end shaft as D, establishing a rectangular coordinate system in a vertical projection plane, setting A, B, C, D point coordinates as A (Ax, Ay), B (Bx, By), C (Cx, Cy), and D (Dx, Dy), setting a load to be borne By the multi-swing-arm multi-suspension type crawler travel mechanism as G, setting the number of swing arms as n, setting the elastic force of the elastic damping connecting piece as F, and setting the minimum length of the elastic damping connecting piece when the elastic damping connecting piece is compressed to be incompressible as L, calculating the stress F of the elastic damping connecting piece according to the following formula 1), and determining the minimum length L of the elastic damping connecting piece calculated according to the following formula 2) to determine the stress F, the stress of the, The position relation between the elastic damping connecting piece and the spring support is that in the process that the swing arm rotates under the action of the elastic force of the elastic damping connecting piece, the lower end shaft and the spring support are always positioned in front of and behind the intermediate shaft respectively:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011643852.4A CN112706847B (en) | 2020-12-31 | 2020-12-31 | Multi-swing-arm multi-suspension type crawler travel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011643852.4A CN112706847B (en) | 2020-12-31 | 2020-12-31 | Multi-swing-arm multi-suspension type crawler travel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112706847A true CN112706847A (en) | 2021-04-27 |
| CN112706847B CN112706847B (en) | 2022-06-07 |
Family
ID=75548075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011643852.4A Active CN112706847B (en) | 2020-12-31 | 2020-12-31 | Multi-swing-arm multi-suspension type crawler travel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112706847B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329375A (en) * | 2019-07-04 | 2019-10-15 | 中国人民解放军陆军装甲兵学院 | Track Type swing arm suspension type walking mechanism and endless-track vehicle |
| CN113524996A (en) * | 2021-08-10 | 2021-10-22 | 芜湖造船厂有限公司 | Amphibious vehicle |
| CN113829813A (en) * | 2021-11-11 | 2021-12-24 | 郑州宇通重工有限公司 | Liftable variant track structure and wheel-track composite equipment |
| CN113895188A (en) * | 2021-08-10 | 2022-01-07 | 芜湖造船厂有限公司 | Driving system of amphibious vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514641A (en) * | 2012-01-04 | 2012-06-27 | 江苏柳工机械有限公司 | Triangular crawler walking system with suspended shock-absorbing device |
| CN103496408A (en) * | 2013-09-27 | 2014-01-08 | 中国矿业大学 | Two-step dependent caterpillar band suspension chassis system |
| CN103935412A (en) * | 2014-04-29 | 2014-07-23 | 中国人民解放军63908部队 | Modularized rubber crawler wheel |
| CN205997982U (en) * | 2016-07-31 | 2017-03-08 | 山东国兴智能科技有限公司 | A kind of asymmetric parallel connection damp type creeper truck |
| CN206107385U (en) * | 2016-09-30 | 2017-04-19 | 山东国兴智能科技有限公司 | Crawler -type removes chassis shock attenuation running gear |
| CN106741114A (en) * | 2016-11-16 | 2017-05-31 | 徐州科源液压股份有限公司 | For the Electric hand cart of delivery goods of going up a hill |
| US20190023334A1 (en) * | 2017-07-18 | 2019-01-24 | General Electric Company | Omnidirectional traction module for a robot |
| CN110356484A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of Athey wheel set mechanism of efficient damping |
-
2020
- 2020-12-31 CN CN202011643852.4A patent/CN112706847B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514641A (en) * | 2012-01-04 | 2012-06-27 | 江苏柳工机械有限公司 | Triangular crawler walking system with suspended shock-absorbing device |
| CN103496408A (en) * | 2013-09-27 | 2014-01-08 | 中国矿业大学 | Two-step dependent caterpillar band suspension chassis system |
| CN103935412A (en) * | 2014-04-29 | 2014-07-23 | 中国人民解放军63908部队 | Modularized rubber crawler wheel |
| CN205997982U (en) * | 2016-07-31 | 2017-03-08 | 山东国兴智能科技有限公司 | A kind of asymmetric parallel connection damp type creeper truck |
| CN206107385U (en) * | 2016-09-30 | 2017-04-19 | 山东国兴智能科技有限公司 | Crawler -type removes chassis shock attenuation running gear |
| CN106741114A (en) * | 2016-11-16 | 2017-05-31 | 徐州科源液压股份有限公司 | For the Electric hand cart of delivery goods of going up a hill |
| US20190023334A1 (en) * | 2017-07-18 | 2019-01-24 | General Electric Company | Omnidirectional traction module for a robot |
| CN110356484A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of Athey wheel set mechanism of efficient damping |
Non-Patent Citations (2)
| Title |
|---|
| ZHANG YUNAN,LI HANFEI,YAN NANMING,SHANG YINDONG,WANG DONG: "Analysis on Thermal Current Field in Powertrain Cabin of Tracked Vehicles With Electric Transmission System Configuration", 《JOURNAL OF CHINA ORDNANCE》 * |
| 黄涛，张豫南，田鹏，颜南明，张健: "一种履带式全方位移动平台的设计与运动学分析", 《机械工程学报》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329375A (en) * | 2019-07-04 | 2019-10-15 | 中国人民解放军陆军装甲兵学院 | Track Type swing arm suspension type walking mechanism and endless-track vehicle |
| CN110329375B (en) * | 2019-07-04 | 2024-04-30 | 中国人民解放军陆军装甲兵学院 | Caterpillar type swing arm suspension type travelling mechanism and tracked vehicle |
| CN113524996A (en) * | 2021-08-10 | 2021-10-22 | 芜湖造船厂有限公司 | Amphibious vehicle |
| CN113895188A (en) * | 2021-08-10 | 2022-01-07 | 芜湖造船厂有限公司 | Driving system of amphibious vehicle |
| CN113524996B (en) * | 2021-08-10 | 2023-03-14 | 芜湖造船厂有限公司 | Amphibious vehicle |
| CN113829813A (en) * | 2021-11-11 | 2021-12-24 | 郑州宇通重工有限公司 | Liftable variant track structure and wheel-track composite equipment |
| CN113829813B (en) * | 2021-11-11 | 2023-10-20 | 郑州宇通重工有限公司 | Liftable modification track structure and wheel-track compound equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112706847B (en) | 2022-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112706847B (en) | Multi-swing-arm multi-suspension type crawler travel mechanism | |
| CA2832180C (en) | Track suspension | |
| CN103935412B (en) | Modularization rubber belt track is taken turns | |
| US6601664B2 (en) | Crawler device for a crawler type vehicle | |
| CA1148993A (en) | Single roller-idler assembly for crawler undercarriage | |
| CN106335563A (en) | Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism | |
| CN103171636A (en) | Crawler-type running system of amphibious special vehicle | |
| CN105059408A (en) | Crawler-type mobile platform passively adaptive to terrain and robot having same | |
| CN219096860U (en) | All-terrain triangular crawler device and crawler all-terrain vehicle | |
| CN210101212U (en) | Vehicle and independent suspension system | |
| CN213974219U (en) | Multi-swing-arm multi-suspension type crawler travel mechanism | |
| CN109533054B (en) | Magnetic adsorption walking device and magnetic adsorption wall-climbing robot | |
| CN212473705U (en) | Crawler vehicle chassis | |
| CN204937293U (en) | The crawler-type mobile platform of passive adaptation landform and there is its robot | |
| JP3625909B2 (en) | Anti-vibration mechanism for crawler type traveling device | |
| CN111645769A (en) | Crawler chassis floating thrust wheel structure and sugarcane harvester | |
| CN110422010B (en) | Buffering mechanism for passive overturning of planetary wheel set | |
| CN2787541Y (en) | Shock absorbing unit for pedrail suspension | |
| CN111731401B (en) | Universal profiling supporting device for driving tracked vehicle | |
| CN221114141U (en) | Rubber crawler belt structure for tractor | |
| CN114368433B (en) | Caterpillar chassis guiding device and engineering machinery | |
| CN220500843U (en) | Crawler-type running gear and snowplow | |
| CN220500851U (en) | Caterpillar band running gear of tracked vehicle | |
| CN218112817U (en) | Suspension profiling crawler chassis structure | |
| CN214084504U (en) | Fire-fighting robot high-temperature-resistant crawler suspension system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |