CN113147931B - Crawler chassis working in mixed mode - Google Patents
Crawler chassis working in mixed mode Download PDFInfo
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- CN113147931B CN113147931B CN202110400851.5A CN202110400851A CN113147931B CN 113147931 B CN113147931 B CN 113147931B CN 202110400851 A CN202110400851 A CN 202110400851A CN 113147931 B CN113147931 B CN 113147931B
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- chassis
- crawler
- connecting rod
- wheel type
- wheel
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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
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Abstract
The invention discloses a crawler chassis working in a mixed mode, which relates to the technical field of crawler chassis and comprises a chassis, a wheel type structure, a crawler structure and a hydraulic device, wherein the chassis is provided with a plurality of wheels; the crawler structure is connected with the chassis; the wheel type structure is connected with the chassis through the hydraulic device. The crawler-type chassis structure combines two chassis structures of a crawler and a wheel, so that the chassis can adopt different working modes according to different environments, the wheel is used for running under general conditions, and the crawler is used for working under special environments, so that not only can fuel be effectively saved, but also the abrasion of parts can be reduced to save cost; the invention adopts the hydraulic device as the switching device of the chassis working mode, has the characteristics of small movement inertia, high reaction speed and the like, can ensure that the chassis is more rapid and effective when the working mode is switched, can also relieve the problem of part abrasion caused by the mode switching of chassis parts, and saves the maintenance cost.
Description
Technical Field
The invention relates to the field of crawler chassises, in particular to a crawler chassis working in a mixed mode.
Background
The traveling mode of the engineering machinery is generally divided into a crawler chassis and a wheel chassis. The wheel type chassis has wide application range and has the main advantages of low oil consumption, strong maneuverability and low manufacturing cost. But the traction and adhesion performance is poor, and the method is not suitable for being used in sloping fields, sandy soil fields and wet working environments. The crawler chassis has great driving force and strong climbing capability, and can keep good stability in severe working environment. The crawler chassis is more expensive to manufacture than a wheel, runs at a slower speed and is extremely prone to wear of parts. The existing patents are used for processing and modifying the chassis structure, the flexibility of the chassis is increased to improve the flexible stability of the chassis, and the lightweight and diversified processing is carried out on the crawler chassis according to the working field and the environment. The design and use of a crawler chassis is also of concern not only with regard to its driving force, flexibility and suitability for a particular work environment, construction price, and wear and tear repair of parts. In the prior patent, the structure is modified only based on the large structure of the crawler chassis, and the proper integration of the crawler chassis and the wheel chassis is not considered to have two working modes. It is not of concern to protect parts with special structures to reduce maintenance costs. The defects of the prior art are as follows: 1) Only the large structure of the crawler chassis is improved, and the fusion of the crawler chassis and the wheel chassis is not considered; 2) The traditional crawler chassis has the disadvantages of low running speed, high power consumption during running and steering, high part abrasion and extra transportation and maintenance cost; 3) Aiming at the variable crawler chassis, no special structure is additionally arranged to protect chassis parts.
Therefore, those skilled in the art are dedicated to develop a crawler chassis operating in a hybrid mode, which improves the adaptability of the chassis to special environments and combines the advantages of the trafficability of the crawler vehicle and the mobility of the wheeled vehicle.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are: the problems that an existing crawler chassis is low in running speed, high in cost, large in power consumption and fast in part abrasion are solved.
In order to achieve the purpose, the invention provides a mixed-mode working crawler chassis, which comprises a chassis, a wheel type structure, a crawler structure and a hydraulic device, wherein the chassis is provided with a base plate and a crawler belt; the crawler structure is connected with the chassis; the wheel type structure is connected with the chassis through the hydraulic device.
Further, the track structure comprises a first track connecting rod, a second track connecting rod, a third track connecting rod and a fourth track connecting rod; one end of the second track connecting rod is connected with one end of the first track connecting rod, the other end of the second track connecting rod is connected with one end of the fourth track connecting rod, and the other end of the fourth track connecting rod is connected with one end of the third track connecting rod.
Further, the steering component comprises a first steering component and a second steering component which are connected with each other.
Further, the other end of the first track connecting rod is connected with the first steering component, and the other end of the third track connecting rod is connected with the second steering component.
Further, the wheeled structure includes a plurality of single wheels.
Furthermore, every two single wheels are connected in series through a first wheel type connecting rod to form a group wheel, and every two group wheels are connected in series through a second wheel type connecting rod to form a driving wheel.
Furthermore, the wheel type structure is also provided with a wheel type connecting shaft and a wheel type steering shaft, one end of the wheel type connecting shaft is connected with the chassis, the other end of the wheel type steering shaft is connected with one end of the wheel type steering shaft, and the other end of the wheel type steering shaft is connected with the group wheel.
Furthermore, the hydraulic device consists of a first hydraulic rod, a second hydraulic rod and a hydraulic base; the first hydraulic rod and the second hydraulic rod are connected with the hydraulic base, and the hydraulic base is arranged on the chassis.
Further, the first hydraulic rod and the second hydraulic rod are connected with the wheel structure.
Furthermore, a groove for accommodating the wheel type structure is formed in the chassis.
Compared with the prior art, the invention at least has the following beneficial technical effects:
(1) The invention creatively combines two chassis structures of a crawler and a wheel. The wheel type chassis is used for running in a general environment, so that the running speed can be increased, the flexibility of chassis motion is improved, and the transportation cost is reduced; the abrasion of parts can be effectively slowed down, and the maintenance cost is saved; and the damage of the wheel type chassis to the road surface is small. The crawler belt is used for running in severe environments such as a steep slope and the like, and the crawler belt can still have strong running capability in special environments due to the characteristics of large driving force and high stability. Have wheeled and two kinds of mode of track concurrently, can let chassis mechanism select suitable mode according to the difference of environment, have stronger environmental adaptation ability, more saving cost under the prerequisite of guaranteeing the operational capability. The crawler vehicle has the advantages of good trafficability and good maneuverability of the wheeled vehicle, can be suitable for any complex terrain, and is suitable for being used as a chassis of underwater walking equipment such as mining vehicles, ditching machines and the like.
(2) The invention creatively uses the hydraulic device for converting the working mode of the chassis mechanism. One problem that has been faced with variable track undercarriage is the inevitable irreversible wear on the structural parts during the change of undercarriage mode, which not only reduces the operational capacity of the undercarriage, but also increases the maintenance costs and even more even causes greater losses in direct operation failures. Fast switching of the operating modes is also desirable. The hydraulic device has the advantages of light weight, small volume, small movement inertia, high reaction speed, long service life and the like, and can be flexibly arranged according to the requirement of the structure. The use of the hydraulic device can ensure that the chassis is more rapid and efficient when the working modes are switched, and meanwhile, a certain degree of protection can be provided for parts in the switching process.
The conception, specific structure and technical effects of the present invention will be further described in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention.
Drawings
FIG. 1 is a front view of a track chassis of the present invention in a first mode of operation;
FIG. 2 is a side view of the track chassis of the present invention in a first mode of operation;
FIG. 3 is an isometric view of the track chassis of the present invention in a first mode of operation;
FIG. 4 is a front view of the track chassis of the present invention in a second mode of operation;
FIG. 5 is a side view of the track chassis of the present invention in a second mode of operation;
FIG. 6 is an isometric view of the track chassis of the present invention in a second mode of operation;
the four-wheel type hydraulic steering mechanism comprises a chassis 1, a first hydraulic rod 2, a second hydraulic rod 3, a hydraulic base 4, a crawler belt structure 5, a first steering component 6, a first crawler belt connecting rod 7, a second crawler belt connecting rod 8, a second steering component 9, a third crawler belt connecting rod 10, a fourth crawler belt connecting rod 11, a wheel type structure 12, a first wheel type connecting rod 13, a second wheel type connecting rod 14, a wheel type connecting shaft 15 and a wheel type steering shaft 16.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings for clarity and understanding of technical contents. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, elements that are structurally identical are represented by like reference numerals, and elements that are structurally or functionally similar in each instance are represented by like reference numerals. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1-6, the invention provides a mixed mode working crawler chassis, which comprises a chassis 1, a crawler structure 5, a wheel structure 12 and a hydraulic device.
The crawler structure is connected with the chassis 1 through a first crawler connecting rod 7, a second crawler connecting rod 8, a third crawler connecting rod 10, a fourth crawler connecting rod 11, a first steering component 6 and a second steering component 9, so that the relative position of the crawler structure 5 in a wheel type working mode and the smooth conversion in the process of switching the working mode are ensured; the single wheel forms a wheel type structure 12 through a first wheel type connecting rod 13 and a second wheel type connecting rod 14, and is connected with the chassis 1 through a wheel type connecting shaft 15, a wheel type steering shaft 16, a hydraulic device formed by the first hydraulic rod 2, the second hydraulic rod 3 and the hydraulic base 4, so that the stability and the quick switching performance of the wheel type system during use are guaranteed.
Specifically, the embodiment discloses a variable crawler chassis structure, which can switch two working modes of a crawler and a wheel according to a working environment, so that the cost is saved, and the loss is reduced, wherein the main part of the variable crawler chassis structure consists of a chassis 1, a wheel structure 12, a crawler structure 5, and a hydraulic device consisting of a first hydraulic rod 2, a second hydraulic rod 3 and a hydraulic base 4;
the crawler structure 5 is connected with the chassis 1 through a first crawler connecting rod 7, a second crawler connecting rod 8, a third crawler connecting rod 10, a fourth crawler connecting rod 11, a first steering component 6 and a second steering component 9; the first crawler connecting rod 7, the second crawler connecting rod 8, the third crawler connecting rod 10, the fourth crawler connecting rod 11, the first steering component 6 and the second steering component 9 can ensure the relative positions of the first crawler connecting rod, the second crawler connecting rod, the third crawler connecting rod and the fourth crawler connecting rod in a non-crawler working mode, do not interfere with normal work, and simultaneously enable the crawler structure to quickly reach a set position when the working modes are switched;
the wheel type structure 12 is composed of a single wheel through a first wheel type connecting rod 13 and a second wheel type connecting rod 14, and is connected with the chassis 1 through a hydraulic device composed of a wheel type connecting shaft 15, a wheel type steering shaft 16, a first hydraulic rod 2 and a second hydraulic rod 3 and a hydraulic base 4, the wheel type structure 12 can be perfectly hidden in the chassis through the movement of the wheel type connecting shaft 15, the wheel type steering shaft 16, the first hydraulic rod 2, the second hydraulic rod 3 and the hydraulic base 4 in a non-working mode, the work of the crawler belt structure is not interfered, and the preset working position can be quickly reached through the action of the components;
the hydraulic device consists of a first hydraulic rod 2, a second hydraulic rod 3 and a hydraulic base 4, is a connecting component between the chassis 1 and the wheel type structure 12, and can provide certain protection for partial parts while ensuring the quick switching of the working modes of the chassis 1;
when the chassis 1 operates in a general environment, a wheel type working mode is adopted by the chassis 1, the relative positions of a wheel type structure 12 and a crawler belt structure 5 are shown as in a figure 1-3, at the moment, the wheel type structure 12 is completely unfolded and used for the operation of the chassis 1, and the crawler belt structure 5 is positioned at a certain height from the horizontal plane; when climbing or bad road conditions are met, the chassis 1 adopts a crawler working mode, and the relative positions of the wheel type structure 12 and the crawler type structure 5 are shown in figures 4-6; the track structure 5 is now released to the ground for operation of the chassis 1, the wheel structure 12 being perfectly hidden under the chassis 1.
When the road condition is better, the chassis 1 adopts a wheel type working mode, the wheel type vehicle is mainly in greater relation with the tire characteristics and the self vehicle body structure, the wheel type working mode has strong maneuverability, light weight, high speed, relatively small oil consumption and easy guarantee, and when the road condition is poorer, the crawler type vehicle can adopt a crawler working mode, the crawler type vehicle is not only in relation with a crawler plate structure, but also in greater relation with the physical and mechanical properties of the ground, the crawler working mode is suitable for complex landforms, has strong maneuverability, can form 360-degree in-situ rotation, has strong obstacle crossing capability and better trafficability. The external running resistance of a wheeled vehicle is much greater than that of a tracked vehicle under the same load and the same ground conditions, and both increase with increasing load. The chassis can be suitable for complex terrains and can be used as a chassis of underwater walking equipment such as mining vehicles, ditching machines and the like.
The workflow of this embodiment is as follows:
1) On a common road surface, the chassis 1 selects a wheel type structure 12 to operate in a working mode;
2) When encountering a steep slope or a bad road, the first steering component 6 and the second steering component 9 rotate to drive the first crawler connecting rod 7, the second crawler connecting rod 8, the third crawler connecting rod 10 and the fourth crawler connecting rod 11 to rotate, so that the crawler structure 5 is released to the road;
3) Under the operation of the wheel type steering shaft 16, the wheel type connecting shaft 15 and the hydraulic device, the wheel type structure 12 is moved to the lower part of the chassis 1, and the normal work of the crawler belt structure 5 is not influenced;
4) When a stable road surface is encountered, the chassis structure needs to rapidly operate, the wheel type structure 12 is released to the road surface from the lower part of the chassis 1 through the operation of the wheel type connecting shaft 15, the wheel type steering shaft 16 and the hydraulic device, and the crawler belt structure 5 is lifted away from the road surface to a set position through the first steering component 6, the first crawler belt connecting rod 7, the second crawler belt connecting rod 8, the second steering component 9 and the third crawler belt connecting rod 10 so as to ensure the normal work of the wheel type structure 12;
5) The wheel structure 12 or the crawler structure 5 is selected as the working mode of the chassis 1 according to the road conditions.
Compared with the prior art, the crawler chassis can obviously improve the adaptive capacity of the chassis, prolong the service life and reduce the cost; the chassis structure has two working modes of a crawler and a wheel, so that the adaptability of the chassis is obviously improved, the chassis can freely cope with severe conditions by using the crawler structure, a certain working capacity is kept, the wheel type can accelerate the running speed in a general environment, reduce the running cost and avoid part abrasion and excessive energy consumption caused by long-term use of the crawler, and the two working modes are complementary to each other, so that the chassis structure can save time and reduce cost as much as possible while ensuring the working capacity; the mode switching efficiency can be obviously improved, and parts can be protected; because the advantages of small movement inertia, high reaction speed and the like of the hydraulic device, the chassis can have higher speed when the crawler and wheel modes are switched, time is not delayed, and meanwhile, the parts of the chassis are not easy to be seriously damaged when being frequently switched under the buffer action and the overload protection action of the hydraulic device, so that the maintenance cost is reduced to a certain extent.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.
Claims (1)
1. A caterpillar chassis working in a mixed mode is characterized by comprising a chassis, a wheel type structure, a caterpillar structure and a hydraulic device; the crawler structure is connected with the chassis; the wheel type structure is connected with the chassis through the hydraulic device;
a groove for accommodating the wheel type structure is formed in the chassis;
the wheel type structure comprises a plurality of single wheels, every two single wheels are connected in series through a first wheel type connecting rod to form a group wheel, and every two group wheels are connected in series through a second wheel type connecting rod to form a driving wheel; the wheel type structure is also provided with a wheel type connecting shaft and a wheel type steering shaft, one end of the wheel type connecting shaft is connected with the chassis, the other end of the wheel type connecting shaft is connected with one end of the wheel type steering shaft, and the other end of the wheel type steering shaft is connected with the group wheel;
the crawler structure comprises a first crawler connecting rod, a second crawler connecting rod, a third crawler connecting rod, a fourth crawler connecting rod, a first steering component and a second steering component which are connected with each other; one end of the second track connecting rod is connected with one end of the first track connecting rod, the other end of the second track connecting rod is connected with one end of the fourth track connecting rod, the other end of the fourth track connecting rod is connected with one end of the third track connecting rod, the other end of the first track connecting rod is connected with the first steering component, and the other end of the third track connecting rod is connected with the second steering component;
the hydraulic device consists of a first hydraulic rod, a second hydraulic rod and a hydraulic base; the first hydraulic rod and the second hydraulic rod are both connected with the hydraulic base, and the hydraulic base is arranged on the chassis; the first hydraulic rod and the second hydraulic rod are connected with the wheel type structure;
the first steering component and the second steering component rotate to drive the first track connecting rod, the second track connecting rod, the third track connecting rod and the fourth track connecting rod to rotate, and the track structure can be released to the road surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110400851.5A CN113147931B (en) | 2021-04-14 | 2021-04-14 | Crawler chassis working in mixed mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110400851.5A CN113147931B (en) | 2021-04-14 | 2021-04-14 | Crawler chassis working in mixed mode |
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| Publication Number | Publication Date |
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| CN113147931A CN113147931A (en) | 2021-07-23 |
| CN113147931B true CN113147931B (en) | 2023-03-14 |
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| CN202110400851.5A Active CN113147931B (en) | 2021-04-14 | 2021-04-14 | Crawler chassis working in mixed mode |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4459932A (en) * | 1981-02-27 | 1984-07-17 | Georges Hildebrand | All-terrain and amphibious automotive vehicle |
| US5975226A (en) * | 1996-07-30 | 1999-11-02 | Honda Giken Kogyo Kabushiki Kaisha | Crawler belt vehicle |
| CN102582706A (en) * | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN102862615A (en) * | 2012-09-05 | 2013-01-09 | 西北工业大学 | Wheel-crawler-variable chassis |
| CN202716954U (en) * | 2012-04-09 | 2013-02-06 | 西北农林科技大学 | All-terrain hybrid chassis |
| CN108454717A (en) * | 2018-04-16 | 2018-08-28 | 三明学院 | A kind of changeable dredger of wheel shoe formula |
| CN209888968U (en) * | 2019-05-05 | 2020-01-03 | 北京中资燕京汽车有限公司 | Torsion bar spring independent suspension system of wheel-track conversion vehicle and wheel-track conversion vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386150A (en) * | 2014-10-14 | 2015-03-04 | 广西大学 | Excavator chassis capable of switching half track walking or full wheeled walking |
| CN109911043A (en) * | 2019-04-24 | 2019-06-21 | 华东交通大学 | It is a kind of to take turns the cell logistics carrying platform for carrying out switching |
-
2021
- 2021-04-14 CN CN202110400851.5A patent/CN113147931B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4459932A (en) * | 1981-02-27 | 1984-07-17 | Georges Hildebrand | All-terrain and amphibious automotive vehicle |
| US5975226A (en) * | 1996-07-30 | 1999-11-02 | Honda Giken Kogyo Kabushiki Kaisha | Crawler belt vehicle |
| CN102582706A (en) * | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN202716954U (en) * | 2012-04-09 | 2013-02-06 | 西北农林科技大学 | All-terrain hybrid chassis |
| CN102862615A (en) * | 2012-09-05 | 2013-01-09 | 西北工业大学 | Wheel-crawler-variable chassis |
| CN108454717A (en) * | 2018-04-16 | 2018-08-28 | 三明学院 | A kind of changeable dredger of wheel shoe formula |
| CN209888968U (en) * | 2019-05-05 | 2020-01-03 | 北京中资燕京汽车有限公司 | Torsion bar spring independent suspension system of wheel-track conversion vehicle and wheel-track conversion vehicle |
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| CN113147931A (en) | 2021-07-23 |
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