CN112722068B - All-terrain carrying vehicle and combination and walking method thereof - Google Patents
All-terrain carrying vehicle and combination and walking method thereof Download PDFInfo
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- CN112722068B CN112722068B CN202110103842.XA CN202110103842A CN112722068B CN 112722068 B CN112722068 B CN 112722068B CN 202110103842 A CN202110103842 A CN 202110103842A CN 112722068 B CN112722068 B CN 112722068B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/12—Understructures, i.e. chassis frame on which a vehicle body may be mounted assembled from readily detachable parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/20—Endless-track steering having pivoted bogie carrying track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
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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
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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Abstract
The invention discloses an all-terrain carrying vehicle and a combination and walking method thereof, wherein the all-terrain carrying vehicle comprises at least two driving units and at least one supporting unit; the driving unit comprises a first frame, the first frame is connected with a first crawler belt, the supporting unit comprises a second frame, the second frame is connected with a second crawler belt, and the walking bottom surface of the second crawler belt is higher than that of the first crawler belt; the first frame and the second frame are detachably connected through the connecting piece, any adjacent second frame is detachably connected through the connecting piece, and the first frame and the second frame are mutually matched and enable the upper surface of the frame to form a plane. The crawler belt in the invention can be protruded upwards or downwards along with the terrain change, so that the crawler belt is contacted with the ground as much as possible, and the crawler belt positioned in the middle of the frame prevents obstacles from influencing the running of the carrier vehicle, so that the carrier vehicle can adapt to all terrains.
Description
Technical Field
The invention relates to the technical field of motor vehicles, in particular to an all-terrain carrying vehicle and a combination and walking method thereof.
Background
The tracked vehicle area of contact is great, and ground connection specific pressure is little, but can work in the environment than abominable, but, the tracked vehicle's among the correlation technique volume is generally great, can't adapt to the less operating position in some spaces to, common tracked vehicle structure is complicated, and it is very inconvenient to operate and use, makes the tracked vehicle comparatively difficult when crossing the barrier, has seriously influenced work efficiency.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an all-terrain carrying vehicle and a combination and walking method thereof.
The technical scheme adopted by the invention for solving the technical problem is as follows:
the invention provides an all-terrain carrier vehicle, which comprises at least two driving units and at least one supporting unit; the driving unit comprises a first frame, a first crawler belt is connected with the first frame, the supporting unit comprises a second frame, a second crawler belt is connected with the second frame, and the traveling bottom surface of the second crawler belt is higher than that of the first crawler belt; the first frame is connected with the second frame through a connecting piece in a detachable mode, the second frame is connected with the first frame through a connecting piece in a detachable mode, the first frame and the second frame are mutually matched and enable the upper surface of the frame to form a plane.
Preferably, the first crawler belt is provided with a first clamping plate, a first driving wheel and a driven wheel; the first driving wheel and the driven wheel are rotatably mounted on the first clamping plate, the first clamping plate is connected with the frame through a steering table, and the steering table is used for driving the first clamping plate to rotate.
Preferably, the first clamping plate is connected with a connecting rod, the connecting rod is hinged with a connecting rod, and the other end of the connecting rod is hinged with the steering table.
Preferably, still include the leaf spring, leaf spring one end pass through the leaf spring mount with turn to the platform and link to each other, the leaf spring other end pass through the leaf spring connecting plate with turn to the platform and link to each other, the leaf spring still with the connecting rod links to each other.
Preferably, the first driving wheel is higher than the driven wheel, so that an inclination angle is formed between the first driving wheel and the driven wheel; the length and the width of the first frame are the same as those of the second frame.
Preferably, the second crawler belt is provided with a second clamping plate, a second driving wheel and a lower auxiliary supporting wheel; the second driving wheel and the lower auxiliary supporting wheel are rotatably mounted on a second clamping plate, and the second clamping plate is connected with the second frame; the second driving wheel is matched with the lower auxiliary supporting wheel, so that the bottom surface of the second crawler belt forms a plane.
Preferably, the second crawler belt is further provided with an upper auxiliary supporting wheel, the upper auxiliary supporting wheel is arranged at a position close to the second frame, and the upper auxiliary supporting wheel is matched with the second driving wheel, so that a plane is formed on the top surface of the second crawler belt.
The invention also provides a walking method of the all-terrain carrying vehicle, and the all-terrain carrying vehicle comprises the following steps:
walking on the flat ground: the bottom surface of the second crawler belt is higher than the bottom surface of the first crawler belt and is driven by the first driving wheel and the second driving wheel to walk;
ascending a slope or a step: the first crawler belt is inclined upwards when meeting an upwards inclined terrain, the driven wheel rotates downwards along with the first driving wheel under the action of the first driving wheel, and the lower auxiliary supporting wheel rotates downwards along with the second driving wheel under the action of the second driving wheel so as to enable the first crawler belt and the second crawler belt to contact the ground to a greater extent;
downhill or lower step: the first crawler belt is inclined downwards when meeting a downward inclined terrain, the driven wheel rotates upwards along with the first driving wheel under the action of the first driving wheel, and the lower auxiliary supporting wheel rotates upwards along with the second driving wheel under the action of the second driving wheel so as to enable the first crawler belt and the second crawler belt to contact the ground to a greater extent;
in the above process, the steering table is used to drive the first crawler belt to steer.
Preferably, in the process of ascending a slope or ascending a step, the middle part of the first crawler belt is protruded downwards under the action of the plate spring, so that the first crawler belt can contact the ground to a greater extent; in the process of going down a slope or a step, the middle part of the first crawler belt is enabled to be protruded upwards under the action of the plate spring, so that the first crawler belt can be enabled to be contacted with the ground to a greater extent.
The invention provides a combination method of an all-terrain carrier, which is characterized in that the lengths of a first frame and a second frame are both preset to be L, and the method comprises the following steps:
when the length of the required carrying vehicle is 0 to 3L, sequentially arranging a driving unit, a supporting unit and a driving unit from left to right in a combined mode of the carrying vehicle, wherein the number of the units is 3;
when the length of the carrier vehicle is 3L-4L, the combination mode of the carrier vehicle comprises 4 units, namely a driving unit, a supporting unit and a driving unit from left to right;
when the length of the carrier vehicle is 4L to 5L, the carrier vehicle combination mode comprises 5 units of a driving unit, a supporting unit, a driving unit, a supporting unit and a driving unit from left to right;
when the length of the carrier vehicle is 5L to 6L, the carrier vehicle is composed of 6 units of a driving unit, a supporting unit, a driving unit and a driving unit or the driving unit, the supporting unit and the driving unit from left to right;
when the length of the carrier vehicle is 6L to 7L, the combination mode of the carrier vehicle comprises 7 units of a driving unit, a supporting unit, a driving unit or the driving unit, the supporting unit, the driving unit, the supporting unit and the driving unit from left to right;
according to the combination method of the all-terrain carrier vehicle, any adjacent driving units are connected through the supporting units, at most two supporting units are arranged between any adjacent driving units, and the driving units are arranged at two ends of the all-terrain carrier vehicle.
Compared with the prior art, the all-terrain carrying vehicle has the following beneficial effects:
1. according to the invention, the conventional crawler is divided into the crawler for driving the carrying vehicle to walk and the crawler for supporting the carrying vehicle to walk, the crawler for driving the carrying vehicle to walk and the crawler for supporting the carrying vehicle to walk are both driven by the driving wheel, and the driven wheel enables the crawler for driving the carrying vehicle to walk to form a certain inclination angle with the ground, so that the carrying vehicle is convenient to walk and is beneficial to adapting to complex terrains.
2. The crawler belts on the two sides are connected through the connecting rods, the connecting rods are connected with the vehicle plate through the plate springs, and the crawler belts are enabled to protrude upwards or downwards along with the change of the terrain under the action of the plate springs, so that the contact area of the crawler belts and the ground can be increased as much as possible, the ground grabbing force is enhanced, and the vehicle-mounted crawler belt is suitable for more complex terrains.
3. The crawler belt driving the carrier vehicle to walk is further connected with the frame through the steering table, and the steering table is used for controlling the crawler belt driving the carrier vehicle to walk to steer so as to facilitate the adjustment of the movement direction of the carrier vehicle.
4. The crawler supporting the carrying vehicle to run is used for adapting to various complex road conditions, when a higher obstacle is encountered, the carrying vehicle passes over the obstacle under the action of the crawler driving the carrying vehicle to run, and in the process, the crawler supporting the carrying vehicle to run is in contact with the obstacle, so that the middle part of the frame is prevented from being in contact with the obstacle, and the normal forward operation of the carrying vehicle is influenced.
5. The part for driving the carrying vehicle to walk and the part for supporting the carrying vehicle to walk are detachably connected, the position relation of the two parts can be freely adjusted according to actual conditions, when the carrying vehicle is required to be shorter, the carrying vehicle can only consist of the part for driving the carrying vehicle to walk, when the carrying vehicle is required to be longer, the carrying vehicle can be formed by freely combining the part for driving the carrying vehicle to walk and the part for supporting the carrying vehicle to walk, the combination mode greatly improves the working efficiency, prevents the waste of resources and greatly saves the cost.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an overall perspective view (horizontal) of the present invention;
FIG. 2 is an overall perspective view (in the inverted orientation) of the present invention;
FIG. 3 is an overall perspective view (oblique direction) of the present invention;
FIG. 4 is an overall perspective view (side view) of the present invention;
FIG. 5 is an enlarged view of a portion of the first track of FIG. 1;
FIG. 6 is a schematic structural view of a first combination of the all-terrain carrying vehicle of the present invention;
FIG. 7 is a schematic structural view of a second combination of the all-terrain carrying vehicle of the present invention;
fig. 8 is a schematic structural view of a third combination mode of the all-terrain carrying vehicle.
Description of reference numerals:
1 a first frame; 2, pulling a trolley hanging rod; 3 a second frame; 4, connecting the rods; 5 a drive mechanism; 6, turning a table; 7 a first splint; 8 a first drive wheel; 9 a driven wheel; 10 a first track; 11 a second track; 12 spring fixing frame; 13 spring connecting plate; 14 leaf springs; 15 a second driving wheel; 16 lower auxiliary support wheels; 17, auxiliary supporting wheels; 18 a second splint; 19, inclination angle; 20 connecting rods; 21 small connecting plates; 22 connecting piece.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
Example one
As shown in fig. 1-8, the present embodiment provides a carrier vehicle chassis, which includes a vehicle frame 1, the vehicle frame 1 includes a plurality of units, any adjacent units are detachably connected through a connecting member 22, the units include a driving unit and a supporting unit, wherein the driving unit is used for driving the vehicle frame 1 to move integrally, and the supporting unit plays a role of supporting the vehicle frame 1 integrally.
The drive unit comprises a first frame 1, the first frame 1 is connected with a first crawler belt 10, the supporting unit comprises a second frame 3, the second frame 3 is connected with a second crawler belt 11, detachable connection is formed between a plurality of units, the number of the units can be adjusted according to actual needs, the detachable connection is used for fixing the adjacent units through connecting pieces 22, and the connecting pieces 22 are fixed with the frames in a bolt mode.
The driving unit also comprises a first clamping plate 7, a first driving wheel 8 and a driven wheel 9 which are arranged on the first crawler belt 10; the first driving wheel 8 and the driven wheel 9 are rotatably mounted on the first clamping plate 7 through bearings, the first clamping plate 7 is connected with the frame 1 through the steering table 6, and the steering table 6 is used for driving the first clamping plate 7 to rotate so as to drive the first crawler belt 10 to rotate, so that the moving direction of the frame 1 is adjusted.
Wherein, the first splint 7 is provided with two, is located first track 10 both sides, and first action wheel 8 and follow driving wheel 9 set up between two first splint 7. As shown in fig. 1, the first driving wheel 8 is higher than the driven wheel 9, so that an inclination angle 19 is formed between the first driving wheel 8 and the driven wheel 9, and the inclination angle 19 can be 45 degrees, which is beneficial for the first crawler belt 10 to climb a larger slope or step; the plurality of driven wheels 9 cooperate with each other such that the bottom surface of the first caterpillar 10 forms a plane, and the plurality of first driving wheels 8 cooperate with each other such that the top surface of the first caterpillar 10 forms a plane, and in this embodiment, each first caterpillar 10 comprises 3 driven wheels 9 and 2 first driving wheels 8.
The steering device further comprises a plate spring 14, one end of the plate spring 14 is connected with the steering table 6 through a plate spring fixing frame 12, the other end of the plate spring 14 is connected with the steering table 6 through a plate spring connecting plate 13, and the plate spring 14 is further connected with the connecting rod 4. Wherein, one end of the leaf spring fixing frame 12 is fixedly connected with the steering table 6, and the other end of the leaf spring fixing frame 12 is hinged with the leaf spring 14; one end of the plate spring connecting plate 13 is hinged with the plate spring 14, and the other end of the plate spring connecting plate 13 is hinged with the steering table 6. Under the action of the leaf springs 14, the first track 10 is facilitated to adapt to various terrains.
The leaf spring mount 12 is triangular in shape, the other end of the connecting rod 20 is hinged to the leaf spring mount 12, and the hinge shafts of the leaf spring 14 and the leaf spring mount 12 are coaxial with the hinge shafts of the connecting rod 20 and the leaf spring mount 12.
The supporting unit also comprises a second clamping plate 18, a second driving wheel 15 and a lower auxiliary supporting wheel 16 which are arranged on the second crawler belt 11; the second traction wheel 15 and the lower auxiliary support wheel 16 are each rotatably mounted by means of bearings to a second bridge 18, the second bridge 18 being connected to the second frame 3.
Wherein, the second clamping plates 18 are provided in two, which are located at both sides of the second caterpillar band 11, and the second driving wheel 15 and the lower auxiliary supporting wheel 16 are provided between the two second clamping plates 18. The second crawler belt 11 is further provided with an upper auxiliary support wheel 17, and the upper auxiliary support wheel 17 is provided at a position close to the second frame 3.
The upper auxiliary support wheel 17 cooperates with the second drive wheel 15 as shown in fig. 1 so that the top surface of the second track 11 forms a plane. The second driving wheel 15 and the lower auxiliary support wheel 16 cooperate so that the bottom surface of the second track 11 forms a plane. The second crawler belt 11 has a higher walking bottom than the first crawler belt 10. In this example, the secondary driving wheel 15 is provided with 2, the lower auxiliary support wheel 16 is provided with 5, and the upper auxiliary support wheel 17 is provided with 2.
The supporting unit is used for supporting the whole device, when the vehicle frame 1 meets a high obstacle in the running process, the first crawler belt 10 runs over the obstacle under the action of the plate spring 14, at the moment, the middle part of the vehicle frame 1 moves to the position of the obstacle, and the vehicle frame 1 stably runs over the obstacle under the action of the second crawler belt 11 in the supporting unit. Effectively prevents the contact between the barrier and the bottom surface of the frame 1 because the barrier is higher, and is beneficial to the device to adapt to various complex terrains.
The first clamping plate 7 and/or the second clamping plate 18 are/is provided with a tensioning structure, and the tensioning structure is as follows: the clamping plate comprises a first part and a second part, and the first part is connected with the second part in a sliding way; the concrete structural form is as follows: the first part is provided with a first sliding chute; the second part is provided with a second sliding chute, and the second sliding chute is arranged corresponding to the first sliding chute; the number of the first sliding grooves and the second sliding grooves can be provided with two grooves which are respectively arranged up and down. When the butt joint fixing device is used, the first sliding groove is aligned with the second sliding groove, the fastening bolt is arranged in the first sliding groove and the second sliding groove in a penetrating mode, and the butt joint fixing of the first portion and the second portion is achieved. The outer wall of the first part is provided with a blocking platform, the second part is welded with a fixing block, and the fixing block can be a screw cap; the adjusting bolt is in threaded connection with the nut; the end part of the adjusting bolt is supported on the blocking platform. Through setting up adjusting bolt, utilize adjusting bolt shore on keeping off the platform, when adjusting the track elasticity, unload power earlier with fastening bolt, rotate adjusting bolt, utilize adjusting bolt's shore power to realize the slip between second part and the first part, treat to adjust to suitable length after, screw up fastening bolt again can, it is more convenient to operate.
Example two
Referring to the attached drawings 1-8, the all-terrain carrying vehicle further comprises a carrying vehicle chassis described in the first embodiment, wherein both sides of the vehicle frame 1 comprise a first crawler belt 10 and a second crawler belt 11, the first driving wheel 8 and the second driving wheel 15 on both sides are respectively connected with an independent driving mechanism 5, each steering table 6 is connected with the driving mechanism 5, and the driving mechanism 5 is connected with the vehicle frame 1; the first clamping plates 7 on both sides of the steering table 6 are connected to the same connecting rod 4.
The walking bottom surface of the second crawler belt 11 is higher than that of the first crawler belt 10, the first frame 1 and the second frame 3 are matched with each other, the upper surfaces of the frames form a plane, the plane is used for storing goods, the height of each second crawler belt 11 is the same, and the height of each first crawler belt 10 is the same, so that the all-terrain carrying vehicle can walk conveniently.
A driving shaft of the first driving wheel 8 is rotatably mounted on the first clamping plate 7 through a bearing, and the driving shaft is connected with a driving mechanism 5 (a motor); a driving shaft of the second driving pulley 15 is rotatably mounted to the second clamping plate 18 through a bearing, and the driving shaft is connected with the driving mechanism 5 (motor); the steering table 6 is connected with a driving mechanism 5 (motor) through a main shaft. The driving mechanism 5 is used for driving the steering table 6, the first driving wheel 8 and the second driving wheel 15 to rotate.
The frame 1 is also connected with a pull hanging rod 2 through a small connecting plate 21, wherein the small connecting plate 21 is fixedly connected with the frame 1, and the small connecting plates 21 are arranged on two sides of the pull hanging rod 2 and are rotationally connected with the pull hanging rod 2. The trolley hanging rod 2 is wound with a steel wire rope, and is used for assisting the travelling work of the loading trolley by drawing the steel wire rope on the trolley hanging rod 2 when the road condition is complex and the travelling is difficult only by a driving mechanism of the device.
Referring to fig. 1-8, in this embodiment, the first frame 1 and the second frame 3 are detachably connected through the connecting member 22, any adjacent second frame 3 is detachably connected through the connecting member 22, the positional relationship between the two units can be freely adjusted according to actual conditions, when the carrier vehicle is short, the carrier vehicle can only comprise 2 driving units and 1 supporting unit (as shown in fig. 7), and when the carrier vehicle is long, the carrier vehicle can be formed by freely combining a plurality of driving units and a plurality of supporting units (as shown in fig. 8).
In the example, the combination method of the all-terrain carrying vehicle is that any adjacent driving units are connected through the supporting units, and at most two supporting units are arranged between any adjacent driving units.
The method further comprises a combination method of the all-terrain carrying vehicle, the length of the first vehicle frame 1 and the length of the second vehicle frame 3 are both preset to be L, and the method comprises the following steps:
when the length of the required carrying vehicle is 0 to 3L, sequentially arranging a driving unit, a supporting unit and a driving unit from left to right in a combined mode of the carrying vehicle, wherein the number of the units is 3;
when the length of the required carrying vehicle is 3L to 4L, the carrying vehicle combination mode comprises 4 units, namely a driving unit, a supporting unit and a driving unit from left to right;
when the length of the carrier vehicle is 4L to 5L, the carrier vehicle is composed of 5 units, namely a driving unit, a supporting unit, a driving unit, a supporting unit and a driving unit from left to right in sequence;
when the length of the carrier vehicle is 5L to 6L, the carrier vehicle is composed of 6 units of a driving unit, a supporting unit, a driving unit and a driving unit or the driving unit, the supporting unit and the driving unit from left to right;
when the length of the carrier vehicle is 6L to 7L, the combination mode of the carrier vehicle sequentially comprises 7 units, namely a driving unit, a supporting unit, a driving unit, a supporting unit and a driving unit or the driving unit, the supporting unit, the driving unit, the supporting unit and the driving unit from left to right;
according to the combination method of the all-terrain carrier vehicle, any adjacent driving units are connected through the supporting units, at most two supporting units are arranged between any adjacent driving units, and the driving units are arranged at two ends of the all-terrain carrier vehicle.
EXAMPLE III
Referring to fig. 1-8, the structure is the same as that of the embodiment, any adjacent units in the embodiment are detachably connected, the position relationship between the two units can be freely adjusted according to actual conditions, when the carrier vehicle is short, the carrier vehicle can only consist of the driving units (as shown in fig. 6), when the carrier vehicle is short, the carrier vehicle can only consist of 2 driving units and 1 supporting unit (as shown in fig. 7), when the carrier vehicle is long, the carrier vehicle can freely consist of a plurality of driving units and a plurality of supporting units (as shown in fig. 8), the combination mode greatly improves the working efficiency, prevents the waste of resources and greatly saves the cost.
In this example, the combination method of the all-terrain carrier vehicle is that any adjacent drive units are detachably connected, and in consideration of the overall support and strength of the device, there are at most two support units between any adjacent drive units.
The invention also provides an all-terrain walking method, and the all-terrain carrying vehicle adopting the embodiment comprises the following steps:
walking on the flat ground: the bottom surface of the second crawler belt 11 is higher than that of the first crawler belt 10, and the second crawler belt is driven to travel by the first driving wheel 8 and the second driving wheel 15;
ascending a slope or a step: the first crawler belt 10 meets the upward inclined terrain, the first crawler belt 10 inclines upwards, the driven wheel 9 rotates downwards along with the first driving wheel 8 under the action of the first driving wheel 8, and the lower auxiliary supporting wheel 16 rotates downwards along with the second driving wheel 15 under the action of the second driving wheel 15 so as to enable the first crawler belt 10 and the second crawler belt 11 to contact the ground to a greater extent;
downhill or lower step: the first crawler belt 10 meets the downward inclined terrain, the first crawler belt 10 inclines downward, the driven wheel 9 rotates upwards along with the first driving wheel 8 under the action of the first driving wheel 8, and simultaneously, the lower auxiliary supporting wheel 16 rotates upwards along with the second driving wheel 15 under the action of the second driving wheel 15, so that the first crawler belt 10 and the second crawler belt 11 contact the ground to a greater extent;
in the above process, the steering table 6 is used to drive the first crawler belt 10 to steer.
In the process of ascending or climbing steps, under the action of the plate spring 14, the middle part of the first crawler belt 10 protrudes downwards, so that the first crawler belt 10 contacts the ground to a greater extent; during a downhill descent or a step, the middle portion of the first track 10 is raised upward by the plate spring 14 to make the first track 10 contact the ground to a greater extent.
When a higher obstacle is encountered during walking, the first crawler belt 10 runs over the obstacle, at this time, the middle part of the frame 1 moves to the position of the obstacle, the driving mechanism 5 drives the second driving wheel 15 to rotate, the second driving wheel 15 drives the second crawler belt 11 to rotate, and the frame 1 stably runs over the obstacle under the action of the second crawler belt 11. Effectively prevents the damage to the ground of the frame 1 caused by the contact of the barrier with the bottom surface of the frame 1 due to the higher barrier, and is beneficial to the device to adapt to various complex terrains.
The method further comprises a combination method of the all-terrain carrying vehicle, the length of the first vehicle frame 1 and the length of the second vehicle frame 3 are both preset to be L, and the method comprises the following steps:
when the length of the required carrying vehicle is 0 to L, the carrying vehicle consists of 1 unit of driving units;
when the length of the required carrying vehicle is L-2L, the carrying vehicle consists of two driving units, and the total number of the driving units is 2;
when the length of the required carrier vehicle is 2L-3L, the combination mode of the carrier vehicle comprises 3 units of a driving unit, a supporting unit and a driving unit from left to right;
when the length of the carrier vehicle is 3L-4L, the combination mode of the carrier vehicle comprises 4 units, namely a driving unit, a supporting unit and a driving unit from left to right;
when the length of the carrier vehicle is 4L to 5L, the carrier vehicle combination mode comprises 5 units of a driving unit, a supporting unit, a driving unit, a supporting unit and a driving unit from left to right;
when the length of the carrier vehicle is 5L to 6L, the carrier vehicle is composed of 6 units of a driving unit, a supporting unit, a driving unit and a driving unit or the driving unit, the supporting unit and the driving unit from left to right;
when the length of the carrier vehicle is 6L to 7L, 7 units of the drive unit, the support unit, the driving unit, the support unit and the drive unit are sequentially arranged from left to right in a combined mode of the carrier vehicle;
when the length of the carrier vehicle is 7L to 8L, the carrier vehicle combination mode comprises a driving unit, a supporting unit, a driving unit, a supporting unit and a driving unit or the driving unit, the supporting unit, the driving unit, the supporting unit and the driving unit, which are 8 units;
in the method for combining the all-terrain carrier vehicle, any adjacent units are detachably connected, and in consideration of the integral support and strength of the device, at most two support units are arranged between any adjacent drive units.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. An all-terrain carrying vehicle is characterized by comprising at least two driving units and at least one supporting unit; the driving unit comprises a first frame (1), a first crawler belt (10) is connected to the first frame (1), the supporting unit comprises a second frame (3), a second crawler belt (11) is connected to the second frame (3), and the walking bottom surface of the second crawler belt (11) is higher than that of the first crawler belt (10); any adjacent first frame (1) is detachably connected with the second frame (3) through a connecting piece (22), any adjacent second frame (3) is detachably connected through the connecting piece (22), and the first frame (1) and the second frame (3) are matched with each other and the upper surfaces of the frames form a plane;
a first clamping plate (7), a first driving wheel (8) and a driven wheel (9) are arranged on the first crawler (10); the first driving wheel (8) and the driven wheel (9) are both rotatably mounted on the first clamping plate (7), the first clamping plate (7) is connected with the first vehicle frame (1) through a steering platform (6), and the steering platform (6) is used for driving the first clamping plate (7) to rotate;
the first clamping plate (7) is connected with a connecting rod (4), the connecting rod (4) is hinged with a connecting rod (20), and the other end of the connecting rod (20) is hinged with the steering table (6);
the steering mechanism is characterized by further comprising a plate spring (14), wherein one end of the plate spring (14) is connected with the steering table (6) through a plate spring fixing frame (12), the other end of the plate spring (14) is connected with the steering table (6) through a plate spring connecting plate (13), and the plate spring (14) is further connected with the connecting rod (4);
the shape of the plate spring fixing frame (12) is triangular, one end of the plate spring fixing frame (12) is fixedly connected with the steering table (6), the other end of the plate spring fixing frame (12) is hinged with a plate spring (14), the other end of the connecting rod (20) is hinged with the plate spring fixing frame (12), and the hinged shafts of the plate spring (14) and the plate spring fixing frame (12) are coaxial with the hinged shafts of the connecting rod (20) and the plate spring fixing frame (12);
the first driving wheel (8) is higher than the driven wheel (9), so that an inclination angle (19) is formed between the first driving wheel (8) and the driven wheel (9); the length and the width of the first frame (1) and the second frame (3) are the same.
2. The all-terrain vehicle according to claim 1, characterized in that the second track (11) is provided with a second cleat (18), a second drive wheel (15) and a lower auxiliary support wheel (16); the second driving wheel (15) and the lower auxiliary support wheel (16) are both rotatably mounted on the second bridge (18), the second bridge (18) being connected to the second frame (3); the second driving wheel (15) and the lower auxiliary supporting wheel (16) are matched, so that the bottom surface of the second crawler belt (11) forms a plane.
3. An all terrain vehicle as claimed in claim 2, characterised in that the second track (11) is provided with a plurality of upper auxiliary support wheels (17), each of the upper auxiliary support wheels (17) being rotatably mounted to the second cleat (18), the upper auxiliary support wheels (17) being disposed adjacent the second frame (3), the upper auxiliary support wheels (17) and the second drive wheel (15) cooperating to provide a plane for the top surface of the second track (11).
4. A method for walking an all-terrain vehicle, characterized in that the all-terrain vehicle as claimed in any one of claims 1 to 3 is used, and the method comprises the following steps:
walking on the flat ground: the bottom surface of the second crawler belt (11) is higher than that of the first crawler belt (10), and the second crawler belt is driven to travel by the first driving wheel (8) and the second driving wheel (15);
ascending a slope or a step: the first crawler belt (10) meets an upward inclined terrain, the first crawler belt (10) inclines upwards, the driven wheel (9) rotates downwards along with the first driving wheel (8) under the action of the first driving wheel (8), and meanwhile, the lower auxiliary supporting wheel (16) rotates downwards along with the second driving wheel (15) under the action of the second driving wheel (15) so as to enable the first crawler belt (10) and the second crawler belt (11) to contact the ground to a greater degree;
downhill or lower step: the first crawler belt (10) meets the downward inclined terrain, the first crawler belt (10) inclines downward, the driven wheel (9) rotates upwards along with the first driving wheel (8) under the action of the first driving wheel (8), and meanwhile, the lower auxiliary supporting wheel (16) rotates upwards along with the second driving wheel (15) under the action of the second driving wheel (15) so as to enable the first crawler belt (10) and the second crawler belt (11) to contact the ground to a greater extent;
in the process, the steering table (6) is used for driving the first crawler belt (10) to steer.
5. The method for walking an all-terrain vehicle according to claim 4, wherein during uphill or stepped uphill, the middle portion of the first track (10) is raised downward by the leaf spring (14) to make the first track (10) contact the ground to a greater extent; during the downhill or downstep, the middle part of the first crawler belt (10) is raised upwards under the action of the plate spring (14) to make the first crawler belt (10) contact the ground to a greater extent.
6. A method of assembling an all terrain vehicle, characterized in that an all terrain vehicle according to any of claims 1-3 is used, and the length of the first frame (1) and the length of the second frame (3) are both preset to L, and the method is as follows:
when the length of the required carrying vehicle is 0 to 3L, sequentially arranging a driving unit, a supporting unit and a driving unit from left to right in a combined mode of the carrying vehicle, wherein the number of the units is 3;
when the length of the required carrying vehicle is 3L to 4L, the carrying vehicle combination mode comprises 4 units, namely a driving unit, a supporting unit and a driving unit from left to right;
when the length of the carrier vehicle is 4L to 5L, the carrier vehicle is composed of 5 units, namely a driving unit, a supporting unit, a driving unit, a supporting unit and a driving unit from left to right in sequence;
when the length of the carrier vehicle is 5L to 6L, the carrier vehicle is composed of 6 units of a driving unit, a supporting unit, a driving unit and a driving unit or the driving unit, the supporting unit and the driving unit from left to right;
when the length of the carrier vehicle is 6L to 7L, the combination mode of the carrier vehicle comprises 7 units of a driving unit, a supporting unit, a driving unit or the driving unit, the supporting unit, the driving unit, the supporting unit and the driving unit from left to right;
according to the combination method of the all-terrain carrier vehicle, any adjacent driving units are connected through the supporting units, at most two supporting units are arranged between any adjacent driving units, and the driving units are arranged at two ends of the all-terrain carrier vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110103842.XA CN112722068B (en) | 2021-01-26 | 2021-01-26 | All-terrain carrying vehicle and combination and walking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110103842.XA CN112722068B (en) | 2021-01-26 | 2021-01-26 | All-terrain carrying vehicle and combination and walking method thereof |
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| Publication Number | Publication Date |
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| CN112722068A CN112722068A (en) | 2021-04-30 |
| CN112722068B true CN112722068B (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB386987A (en) * | 1931-07-27 | 1933-01-27 | Colonel Gifford Le Quesne Mart | Improvements in motor vehicles |
| US2397104A (en) * | 1943-02-15 | 1946-03-26 | Fmc Corp | Amphibian propulsion mechanism |
| US20060060395A1 (en) * | 2004-06-09 | 2006-03-23 | Denis Boivin | Track assembly for an all-terrain vehicle |
| DE102005013692B4 (en) * | 2005-03-22 | 2011-03-31 | Grobler, Hendrik, Dr., Clyde Park | Motor vehicle with additional crawler undercarriage |
| SE538096C2 (en) * | 2013-05-08 | 2016-03-01 | BAE Systems Hägglunds Aktiebolag | Cargo carrying frame and vehicles fitted with cargo carrying frame |
| CN103963856A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Torsion bar semi-rigid track chassis of mining robot |
| DK3560795T3 (en) * | 2018-04-26 | 2023-09-04 | Gerotto Federico S R L | SELF-PROPELLED DEVICE FOR ENTERING AND MOVING SPECIFIC EQUIPMENT IN CONFINED SPACES WITH MUDDY SEDIMENTS |
| AU2020266472A1 (en) * | 2019-05-02 | 2021-06-17 | Commonwealth Scientific And Industrial Research Organisation | Inspection vehicle |
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| CN112722068A (en) | 2021-04-30 |
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