CN113619700A

CN113619700A - Self-adaptive tensioning crawler

Info

Publication number: CN113619700A
Application number: CN202110823541.4A
Authority: CN
Inventors: 李锐明; 姚燕安; 李晔卓
Original assignee: Beijing Jiaotong University
Current assignee: Beijing Jiaotong University
Priority date: 2021-07-21
Filing date: 2021-07-21
Publication date: 2021-11-09
Anticipated expiration: 2041-07-21
Also published as: CN113619700B

Abstract

The invention relates to a self-adaptive tensioning crawler which comprises a crawler body and a crawler wheel structure, wherein the crawler wheel structure comprises three crawler wheels and a crawler belt, each crawler wheel comprises two tensioning wheels positioned below and a fixed wheel positioned above, and a supporting plate is arranged between the three crawler wheels; the tensioning sliding groove is formed in the supporting plate, the first rotating shaft and the telescopic cavity are formed in the tensioning wheel, the first rotating shaft is rotatably connected with the supporting plate, the second sliding part comprises a sliding groove shaft and a telescopic rod, and one end of the telescopic rod drives the sliding groove shaft to reciprocate in the telescopic cavity. The automatic tensioning can be realized through gravity or speed in the driving process, the whole vehicle is pressed down due to gravity to enable the sliding chute shaft to slide in the tensioning sliding chute, and the tensioning wheel is connected through the sliding chute assembly for tensioning; due to the fact that the speeds of the vehicles are different, the tensioning wheel is rubbed by the crawler belt to enable the tensioning shaft to move to different positions of the sliding groove, so that different tensioning forces are obtained, and the most stable running state can be kept at different speeds all the time; simple and reliable structure, and faster and more stable obstacle crossing.

Description

Self-adaptive tensioning crawler

Technical Field

The invention belongs to the field of intelligent obstacle crossing equipment, and particularly relates to a self-adaptive tensioning crawler.

Background

At present, with the general improvement and wide application of mechanization level, most walking mechanical vehicles adopt a crawler walking mode in most fields, for example, the walking mode using a crawler is the best choice when ground walking in agriculture is easy to have obstacles and walking is unstable, and the crawler mechanical vehicle acting on farmlands needs to ensure the walking stability;

the tensioning problem of the crawler is a key problem of the crawler, if the crawler is adjusted by the tensioning mechanism of the crawler, the problem of loosening of the crawler can occur after the crawler travels for a long time, so that the automatic tensioning of the crawler is used for the walking of the crawler and needs to be solved, the tensioning of the existing crawler is realized by arranging wheels into a movable form according to the structure of the crawler, the wheels move outwards to tighten the crawler and the wheels move inwards to loosen the crawler, and the corresponding tensioning mechanism of the crawler does not consider how to perform self-adaptive tensioning according to the gravity and the traveling speed of a vehicle body, so that the tensioning mode and the condition of the automatic tensioning mechanism are too single and the applicability is low; therefore, improvements therefor are needed.

Disclosure of Invention

The invention provides a self-adaptive tracked vehicle which can realize automatic tensioning of a track by means of gravity and speed during running, has a reliable structure and can quickly cross obstacles.

The specific technical scheme is as follows:

a self-adaptive tensioning crawler comprises a crawler body and a crawler wheel structure, wherein the crawler wheel structure comprises three crawler wheels and a crawler belt wrapped outside the crawler wheels, the crawler wheels comprise two tensioning wheels positioned below and a fixed wheel positioned above the two tensioning wheels, the three crawler wheels are arranged in a triangular mode, and a supporting plate capable of swinging around the axis in the fixed wheel is arranged between the three crawler wheels; the tensioning device is characterized in that a tensioning sliding groove is formed in the supporting plate, a sliding assembly is arranged on the tensioning wheel and comprises a first sliding piece and a second sliding piece, the first sliding piece comprises a first rotating shaft and a telescopic cavity, the first rotating shaft is rotatably connected with the supporting plate, the second sliding piece comprises a sliding groove shaft and a telescopic rod, one end of the telescopic rod drives the sliding groove shaft to reciprocate in the telescopic cavity, the other end of the telescopic rod is connected with the tensioning wheel, and the end portion of the sliding groove shaft can be slidably arranged in the tensioning sliding groove.

Furthermore, the supporting plates comprise an inner plate close to the side of the automobile body and an outer plate on the outer side, the sliding assembly is arranged between the two supporting plates and the two tightening wheels, a driving shaft is connected between the inner plate and the outer plate, and the driving shaft is connected to a driving mechanism of the automobile body.

Furthermore, a sun wheel is fixed on the inner plate, the driving shaft penetrates through the sun wheel and synchronously rotates, a coaxial driving wheel is arranged on the fixed wheel, and the sun wheel is connected to the driving wheel through a driving belt.

Furthermore, the crawler wheels are of a parallel inner and outer double-wheel structure, a tensioning wheel shaft is arranged between the inner and outer double wheels of the tensioning wheel, a connector clip is fixed on the tensioning wheel shaft, and one end of the telescopic rod is fixed with the connector clip.

Furthermore, the flexible chamber of first slider is formed with the inside and is hollow structure and the lateral wall sets up the inserting groove of two slides, flexible chamber certainly insert in the inserting groove and the spout axle removes in the slide.

Preferably, an elastic piece is arranged in the insertion groove of the telescopic cavity, and the telescopic rod is inserted into the insertion groove and is in contact with the elastic piece.

Preferably, the tensioning sliding groove is a semi-circular arc-shaped groove with a circle center close to one side of the corresponding tensioning wheel.

Still further, still be connected with the brake disc on the drive shaft, the brake disc is located between take-up pulley and the automobile body, be equipped with the brake spare on the automobile body, the brake disc with the brake spare is close to each other.

Still further, the crawler wheel structure adopts the underactuated mode, need not complicated controls such as sensor and can realize crossing the obstacle fast.

Compared with the prior art, the technical scheme of the invention has the following beneficial effects:

1. the automatic tensioning can be realized through gravity or speed in the driving process, the whole vehicle is pressed down due to gravity to enable the sliding chute shaft to slide in the tensioning sliding chute, and the sliding chute shaft is connected with the tensioning wheel through the sliding chute assembly to be tensioned; and because the vehicle speed difference, track friction take-up pulley makes the tensioning axle remove to the different positions of spout to obtain different tensioning forces, make can keep the most steady operating condition all the time under the different speeds.

2. When the vehicle is tensioned by gravity, the larger the load of the vehicle body is, the larger the distance between the tensioning wheels is, the larger the ground contact area of the crawler belt is, and the tighter the crawler belt is, so that the whole vehicle can run more stably; the smaller the gravity of the vehicle body is, the smaller the distance between the tension wheels is, the smaller the contact area of the crawler belt is, and the lighter and more flexible the running is.

3. The crawler is driven in an underactuated mode, rapid passive obstacle crossing can be achieved without complex control of sensors and the like, the structure is simple and reliable, and obstacle crossing is rapid and stable.

Drawings

FIG. 1 is a schematic view of the overall structure of the crawler of the present invention;

FIG. 2 is an overall side view of the tracked vehicle of the present invention;

FIG. 3 is an inside view of the track wheel structure of the present invention;

FIG. 4 is an exploded view of the crawler wheel structure of the present invention;

FIG. 5 is a schematic illustration of a track wheel of the track wheel construction of the present invention;

FIG. 6 is a schematic view of a slip assembly of the track wheel configuration of the present invention;

FIG. 7 is a partial installation effect diagram of the track wheel structure of the present invention;

FIG. 8 is a graph illustrating the effect of the forces exerted by gravity on the tracked vehicle of the present invention;

fig. 9 is an effect diagram of the crawler vehicle in the acceleration state of the present invention.

Description of reference numerals: 1. crawler wheel structure, 2, automobile body, 3, slip subassembly, 11, crawler wheel, 12, track, 13, drive shaft, 14, backup pad, 15, drive belt, 21, actuating mechanism, 22, brake piece, 31, first slider, 32, second slider, 111, take-up pulley, 112, fixed wheel, 131, brake disc, 141, tensioning spout, 142, inner panel, 143, planking, 311, first pivot, 312, flexible chamber, 321, spout axle, 322, telescopic link, 1421, sun gear, 1121, drive wheel, 1111, tensioning wheel axle, 1112, plug connector, 3121, inserting groove, 312a, slide, 3122, elastic element.

Detailed Description

An adaptive tensioning crawler of the present invention is described in further detail below with reference to the following embodiments and accompanying drawings.

Examples

Referring to fig. 1 and fig. 2, the present embodiment illustrates an adaptive tensioning tracked vehicle, including a crawler wheel structure 1 and a vehicle body 2, where 4 crawler wheel structures are provided on the vehicle body in this example, and the crawler wheel structure 1 drives the tracked vehicle in an underactuated manner; the crawler wheel structure is the same when being applied to a standard four-wheel traveling vehicle, and the crawler wheels 11 are of parallel inner and outer double-wheel structures.

Referring to fig. 3, the crawler wheel structure 1 includes three crawler wheels 11 and a crawler 12 wrapped outside the crawler wheels, and is characterized in that: the crawler wheels 11 comprise two tensioning wheels 111 positioned below and a fixed wheel 112 positioned above between the two tensioning wheels, the three crawler wheels 11 are arranged in a triangular shape, and a supporting plate 14 capable of swinging around the axis of the fixed wheel 112 is arranged between the three crawler wheels 11; the tensioning sliding groove 141 is a semi-arc groove with the circle center close to one side of the corresponding tensioning wheel 111; the support plate 14 includes an inner plate 142 adjacent to the vehicle body 2 and an outer plate 143 on the outer side, the slide module 3 is provided between the two support plates 14 and the two tension rollers 111, and the drive shaft 13 is connected between the inner plate 142 and the outer plate 143.

With further reference to fig. 4 and 5, a tensioning sliding groove 141 is disposed on the supporting plate 14, a sliding assembly 3 is disposed on the tensioning wheel 111, the sliding assembly 3 includes a first sliding member 31 and a second sliding member 32, the first sliding member 31 includes a first rotating shaft 311 and a telescopic cavity 312, the first rotating shaft 311 is rotatably connected to the supporting plate 14, the second sliding member 32 includes a sliding groove shaft 321 and a telescopic rod 322, one end of the telescopic rod 322 drives the sliding groove shaft 321 to reciprocate in the telescopic cavity 312, the other end of the telescopic rod 322 is connected to the tensioning wheel 111, and an end of the sliding groove shaft 321 is slidably disposed in the tensioning sliding groove 141.

There is tensioning wheel axle 1111 between the inside and outside double round of tensioning wheel 111, be fixed with plug connector 1112 on the tensioning wheel axle, the one end of telescopic link 322 with plug connector 1112 is fixed.

Referring to fig. 6, the telescopic cavity 312 of the first sliding member 31 is formed with an insertion groove 3121 having a hollow structure inside and two sliding ways 312a formed on a side wall thereof, and the telescopic cavity 312 is inserted into the insertion groove 3121 and the sliding way shaft 321 moves in the sliding ways 312 a. An elastic member 3122 (preferably a compression spring) is disposed in the insertion groove 3121 of the telescopic cavity 312, and the telescopic rod 322 is inserted into the insertion groove 3121 to contact with the elastic member 3122.

As further shown in fig. 7, the driving shaft 13 is connected to the driving mechanism 21 of the vehicle body 2, a sun gear 1421 is fixed on the inner plate 142, the driving shaft 13 penetrates through the sun gear 1421 and rotates synchronously, a coaxial driving wheel 1121 is arranged on the fixed wheel 112, and the sun gear 1421 is connected to the driving wheel 1121 through a transmission belt 15; a brake disc 131 is further connected to the driving shaft 13, the brake disc 131 is disposed between the tension wheel 111 and the vehicle body 2, a brake 22 is disposed on the vehicle body 2, and the brake disc 131 and the brake 22 are close to each other.

The working principle of the invention and the driving effect of the crawler are further shown in fig. 8 and 9.

FIG. 8 is a schematic view showing the effect of the gravity of the vehicle body, when the vehicle body is loaded with articles, the vehicle body will be subjected to downward gravity G, and the supporting plate 3 will move downward when the vehicle body is subjected to downward pressure by the upper fixed wheels 112 and the supporting plate 14, and has a downward gravity G₁And G₂The supporting plate 14 drives the sliding component 3 to move, so that the sliding groove shaft of the sliding component 3 is arranged in the tensioning sliding groove 141A downward sliding is generated, and each tension wheel 111 has a supporting force F which is inclined upwards₁-F₄The stress of the whole vehicle body is balanced, so that the tensioning wheels 111 are pushed to expand outwards, the wheel space between the front tensioning wheel 111 and the rear tensioning wheel 111 is increased, the tighter the crawler belt is, the contact area between the crawler belt and the ground is increased, and the walking is more stable; the smaller the gravity of the same vehicle body is, the smaller the distance between the tension wheels is, the smaller the contact area of the crawler belt is, and the lighter and more flexible the running is.

FIG. 9 is a view showing the effect of the acceleration of the crawler, in which the whole body has a forward speed v, the whole body is inclined backward, the supporting plate 14 is also inclined, the chute shaft 321 corresponding to the front tension pulley 111 is located at the middle of the tension chute 141, but the chute shaft 321 corresponding to the rear tension pulley is located at the upper portion of the tension chute 141, and the rear tension pulley also has a supporting force F upward and rearward₁And F₂And the rear tension wheel simultaneously has a speed v along the tangent direction of the rear side of the wheel₁And v₂And the whole vehicle body can move the tensioning shaft to different positions of the sliding groove due to different vehicle speeds by virtue of the friction tensioning wheel of the crawler belt, so that different tensioning forces are obtained, and the most stable running state can be always kept at different speeds.

The crawler wheel structure of the embodiment drives the crawler in an underactuated mode, rapid passive obstacle crossing can be achieved without complex control of sensors and the like, the structure is simple and reliable, and obstacle crossing is rapid and stable.

The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and all other embodiments that can be obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention, and various changes and modifications of the technical solution of the present invention by those skilled in the art without departing from the concept of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. The utility model provides an adaptive tensioning tracked vehicle, includes crawler wheel structure (1) and automobile body (2), crawler wheel structure (1) includes three crawler wheel (11) and cladding track (12) outside the crawler wheel, its characterized in that: the crawler wheels (11) comprise two tensioning wheels (111) positioned below and a fixed wheel (112) positioned above the space between the two tensioning wheels, the three crawler wheels (11) are arranged in a triangular shape, and a supporting plate (14) capable of swinging around the axis of the fixed wheel (112) is arranged between the three crawler wheels (11);

the tensioning device is characterized in that a tensioning sliding groove (141) is formed in the supporting plate (14), a sliding assembly (3) is arranged on the tensioning wheel (111), the sliding assembly (3) comprises a first sliding piece (31) and a second sliding piece (32), the first sliding piece (31) comprises a first rotating shaft (311) and a telescopic cavity (312), the first rotating shaft (311) is rotatably connected with the supporting plate (14), the second sliding piece (32) comprises a sliding groove shaft (321) and an expansion rod (322), one end of the expansion rod (322) drives the sliding groove shaft (321) to reciprocate in the telescopic cavity (312), the other end of the expansion rod (322) is connected with the tensioning wheel (111), and the end of the sliding groove shaft (321) is slidably arranged in the tensioning sliding groove (141).

2. The tracked vehicle defined in claim 1, wherein: the supporting plate (14) comprises an inner plate (142) close to the vehicle body (2) side and an outer plate (143) on the outer side, the sliding assembly (3) is arranged between the two supporting plates (14) and the two tight wheels (111), a driving shaft (13) is connected between the inner plate (142) and the outer plate (143), and the driving shaft (13) is connected to a driving mechanism (21) of the vehicle body (2).

3. The tracked vehicle defined in claim 2, wherein: a sun wheel (1421) is fixed on the inner plate (142), the driving shaft (13) penetrates through the sun wheel (1421) and synchronously rotates, a coaxial driving wheel (1121) is arranged on the fixed wheel (112), and the sun wheel (1421) is connected to the driving wheel (1121) through a driving belt (15).

4. The tracked vehicle defined in claim 1, wherein: the crawler wheel (11) is parallel inner and outer double round structure, there is tensioning wheel axle (1111) between the inner and outer double round of take-up pulley (111), be fixed with plug connector (1112) on the tensioning wheel axle, the one end of telescopic link (322) with plug connector (1112) are fixed.

5. The tracked vehicle defined in claim 1, wherein: an insertion groove (3121) which is hollow inside and has two slide ways (312a) on the side wall is formed in a telescopic cavity (312) of the first sliding member (31), the telescopic cavity (312) is inserted from the insertion groove (3121) and the slide way shaft (321) moves in the slide ways (312 a).

6. The tracked vehicle defined in claim 5, wherein: an elastic piece (3122) is arranged in the insertion groove (3121) of the telescopic cavity (312), and the telescopic rod (322) is inserted into the insertion groove (3121) and contacts with the elastic piece (3122).

7. The tracked vehicle defined in claim 1, wherein: the tensioning sliding groove (141) is a semi-arc groove with the circle center close to one side of the corresponding tensioning wheel (111).

8. The tracked vehicle defined in claim 2, wherein: the driving shaft (13) is further connected with a brake disc (131), the brake disc (131) is arranged between the tensioning wheel (111) and the vehicle body (2), a brake piece (22) is arranged on the vehicle body (2), and the brake disc (131) and the brake piece (22) are close to each other.

9. The tracked vehicle defined in claim 1, wherein: the crawler wheel structure (1) is driven by an under-actuated mode.