CN114313041A - Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler - Google Patents
Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler Download PDFInfo
- Publication number
- CN114313041A CN114313041A CN202210034806.7A CN202210034806A CN114313041A CN 114313041 A CN114313041 A CN 114313041A CN 202210034806 A CN202210034806 A CN 202210034806A CN 114313041 A CN114313041 A CN 114313041A
- Authority
- CN
- China
- Prior art keywords
- frame
- adaptive
- adaptive frame
- crawler
- hydraulic
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 64
- 230000003044 adaptive effect Effects 0.000 claims abstract description 132
- 238000013016 damping Methods 0.000 claims description 38
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000006978 adaptation Effects 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 8
- 241000283984 Rodentia Species 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 5
- 238000005553 drilling Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 239000012530 fluid Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000411 inducer Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a whole-vehicle hydraulic anti-tilt control mechanism of an unmanned crawler, which comprises: the self-adaptive walking frame comprises a frame, a driving mechanism, a track main body, a self-adaptive frame and a hydraulic adjusting mechanism communicated with the self-adaptive frame, wherein supporting connecting rods are fixedly mounted on two sides of the frame, the other end of each supporting connecting rod is fixedly connected with an independent walking frame, the driving mechanism is fixedly mounted on the surface of the independent walking frame, an auxiliary fixed wheel is arranged on one side of the independent walking frame, and the track main body is movably sleeved on the outer sides of the self-adaptive frame and the auxiliary fixed wheel. According to the invention, by arranging the hydraulic self-adaptive mechanism, the deformation of the main body structure of the crawler belt can be carried out through the linkage of the first adaptive frame and the second adaptive frame in the process of running on the road surface so as to be attached to the ground for stable running, and the torsion angles of the first adaptive frame and the second adaptive frame are changed by pressing down the crawler body under the self weight of the crawler body on the rugged or large-pothole road surface so as to be attached to the ground in radian, so that the crawler body can be prevented from overturning under various road conditions.
Description
Technical Field
The invention relates to the technical field of unmanned tracked vehicles, in particular to a whole-vehicle hydraulic anti-tilting control mechanism of an unmanned tracked vehicle.
Background
The crawler is an annular chain belt on which the crawler runs, and is a flexible chain ring which is driven by a driving wheel and surrounds the driving wheel, a loading wheel, an inducer and a riding wheel. The crawler belt consists of crawler belt plates, crawler belt pins and the like. The track pin connects the track shoes together to form a track link. The both ends of grip-pad are porose, with the action wheel meshing, and there is the induction tooth in the middle part for regular track to the track drops when preventing that the tank from turning to or heeling to travel, has the enhancement non slipping spur (for short the decorative pattern) in the one side with ground contact, with the sturdiness that improves the grip-pad and the adhesive force of track and ground.
At present, a crawler traveling machine, particularly a crawler engineering machine, generally needs to travel in a relatively bad road condition, and when a crawler of the traveling machine is suspended due to a depression on the ground, the traveling machine is prone to tipping. Taking a crawler-type rotary drilling rig as an example, because the ground environment of a construction site is severe, if the crawler of the rotary drilling rig is suspended, the rotary drilling rig may be tilted or turned over, the tilt of the rotary drilling rig may affect the construction accuracy, and the turning over may not only affect the construction efficiency but also cause the structural part of the body to be damaged. Along with the development of science and technology, the intelligent application is more and more extensive, the technique of unmanned car is more and more mature, when unmanned car is operated in the field, because open-air road surface unevenness, and unmanned car does not have anti-tilt mechanism, unmanned car inclines easily when traveling, then make the condition that unmanned car turned over appear, make unmanned car appear damaging, can not protect unmanned car, current anti-tilt technique to the crawler-type rotary drilling rig, install inclination sensor at rotary drilling rig chassis mostly, gather the rig inclination state by inclination sensor, then judge whether it will or is turning over according to the inclination state of the chassis of rotary drilling rig through the controller, if yes, send alarm command.
Disclosure of Invention
The present invention is directed to solving one of the technical problems of the prior art or the related art.
Therefore, the technical scheme adopted by the invention is as follows: unmanned tracked vehicle puts in order car hydraulic pressure and prevents inclining control mechanism includes: the crawler belt type self-adaptive walking frame comprises a frame, a driving mechanism, a crawler belt main body, a self-adaptive frame and a hydraulic adjusting mechanism communicated with the self-adaptive frame, wherein supporting connecting rods are fixedly arranged on two sides of the frame, the other end of each supporting connecting rod is fixedly connected with the independent walking frame, the driving mechanism is fixedly arranged on the surface of the independent walking frame, an auxiliary fixed wheel is arranged on one side of the independent walking frame, and the crawler belt main body is movably sleeved on the outer sides of the self-adaptive frame and the auxiliary fixed wheel; the self-adaptive frame comprises a first adaptive frame, a second adaptive frame, a variable damping rod and a balance connecting rod, wherein two ends of the balance connecting rod are fixedly connected with the surface of the independent walking frame, rotating pin holes are formed in the surfaces of the first adaptive frame and the second adaptive frame, rotating pins are arranged on the surfaces of the first adaptive frame and the second adaptive frame, the rotating pins are movably sleeved and penetrate through the surfaces of the first adaptive frame, the second adaptive frame and the balance connecting rod, supporting lugs are arranged on the top surfaces of the first adaptive frame and the second adaptive frame, two ends of the variable damping rod are respectively movably connected with the supporting lugs of the first adaptive frame and the second adaptive frame, tension guide blocks are movably mounted at the bottom ends of the first adaptive frame and the second adaptive frame, and a supporting plate and a driving plate are respectively arranged at one end of the first adaptive frame and one end of the second adaptive frame; the hydraulic adjusting mechanism comprises a hydraulic pump and a compression cylinder structure, an inner cavity of the compression cylinder is communicated with an inner cavity of the variable damping rod, and an input end of the hydraulic pump is electrically connected with a power control module used for adjusting hydraulic pressure.
The present invention in a preferred example may be further configured to: the number of actuating mechanism, track main part and self-adaptation frame is two sets of, and two sets of actuating mechanism, track main part and self-adaptation frame are the symmetrical arrangement in the both sides of frame, actuating mechanism's input electric connection has differential control module.
By adopting the technical scheme, the deformation of the crawler bodies on the two sides in different states is respectively and adaptively adjusted on the road surface by utilizing the matching of the two groups of independent variable damping rods, the first adaptive frame and the second adaptive frame, and the deformation shapes of the crawler bodies on the two sides are separately adjusted.
The present invention in a preferred example may be further configured to: actuating mechanism includes driving case, transmission wheelset and action wheel, the action wheel rotates and installs in the surface of drive plate and cup joints in the inboard of track main part, transmission wheelset rotates and installs in the surface of independent walking frame, output, transmission wheelset and the action wheel of driving case pass through belt drive and connect, the surface of action wheel is equipped with a plurality of transmission rodent, the inboard of track main part is equipped with a plurality of in transmission rodent intermeshing's drive tooth piece.
By adopting the technical scheme, the crawler main body is installed by utilizing the driving plate, the driving plate and the independent walking frame, and the driving mechanisms with two independent sides are adopted for sub-control driving, so that the straight walking and differential turning of the vehicle body are realized.
The present invention in a preferred example may be further configured to: the structure of first adaptation frame and second adaptation frame is the same and is the opposite direction and arranges, the surface drive of backup pad and tension guide block installs a plurality of supporting wheels with the inboard mutual butt of track main part, the tension guide block is located the middle part of tension guide block with the even axle of first adaptation frame and second adaptation frame, the supporting wheel is located the both ends of tension guide block respectively.
Furthermore, first adaptation frame and second adaptation frame are arc strip structure, tension guide block, support ear are round pin initial point symmetry about first adaptation frame surface, supplementary fixed wheel and first adaptation frame, second adaptation frame are located same vertical face.
Through adopting above-mentioned technical scheme, under the automobile body dead weight effect, push down first adaptation frame and second adaptation frame and rotate around surperficial pin rod to control the angle of deflection at drive plate and backup pad both ends respectively and change the shape of track main part, carry out the self-adaptation deformation laminating bottom surface pothole face of track main part and improve trafficability characteristic and stability.
The present invention in a preferred example may be further configured to: the variable damping rod comprises a piston loop rod and a piston rod, a piston plate which is sleeved on the inner side of the piston loop rod in a sliding mode is fixedly installed at one end of the piston rod, hydraulic oil is filled on the inner side of the piston loop rod, and a hydraulic interface communicated with the hydraulic adjusting mechanism is formed in the surface of the piston loop rod.
Furthermore, the inner side of the hydraulic interface is provided with a return spring which is movably sleeved on the outer sides of the piston loop bar and the piston rod and is abutted to the surfaces of the piston loop bar and the piston rod through damping.
Through adopting above-mentioned technical scheme, utilize the increase of the inside hydraulic pressure of hydraulic pump and compression cylinder to control the inside hydraulic pressure increase of variable damping pole to make the extension motion of variable damping pole, increase the deflection angle of first adaptation frame and second adaptation frame, carry out the deformation of active control track main part.
The present invention in a preferred example may be further configured to: the surface embedding of balanced connecting rod installs horizontal sensor, horizontal sensor's output electric connection has the controller, the output of controller and hydraulic pressure adjustment mechanism's input electric connection.
Through adopting above-mentioned technical scheme, through level sensor automated inspection automobile body suspension gradient to carry out automatic control to track main part shape, thereby increase the ground effect of grabbing of the deformation radian initiative control track main part of first adaptation frame and second adaptation frame, prevent the toppling of automobile body forward and backward.
The beneficial effects obtained by the invention are as follows:
1. according to the invention, by arranging the hydraulic self-adaptive mechanism, the deformation of the main body structure of the crawler belt can be carried out through the linkage of the first adaptive frame and the second adaptive frame in the process of running on the road surface so as to be attached to the ground for stable running, and the torsion angles of the first adaptive frame and the second adaptive frame are changed by pressing down the crawler body under the self weight of the crawler body on the rugged or large-pothole road surface so as to be attached to the ground in radian, so that the crawler body can be prevented from overturning under various road conditions.
2. According to the invention, through arranging the two-side independent deformation mechanisms, the two groups of independent variable damping rods are matched with the first adaptive frame and the second adaptive frame, the deformation of the two-side crawler main bodies in different states is respectively adjusted in a self-adaptive manner on a road surface, and the deformation shapes of the two-side crawler main bodies are adjusted in a sub-control manner, so that the two-side crawler vehicle can be adjusted in a split manner according to different road conditions on two sides, and the passing performance and the stability of the crawler vehicle are further improved.
3. According to the invention, by arranging a hydraulic damping control structure, a hydraulic adjusting electric control system is used for carrying out damping adjustment on the variable damping rod, a balance connecting rod surface level sensor is used for automatically monitoring the sound level state of the vehicle, the variable damping rod is pressurized under the control of a non-horizontal signal, and the deformation radians of the first adaptive frame and the second adaptive frame are increased, so that the ground grabbing effect of the crawler body is actively controlled, and the vehicle body is prevented from overturning forwards and backwards.
Drawings
FIG. 1 is a schematic overall structure diagram of one embodiment of the present invention;
FIG. 2 is a schematic structural view of an adaptive frame and track body according to one embodiment of the invention;
FIG. 3 is a schematic plan view of an adaptive frame and track body configuration according to one embodiment of the present invention;
FIG. 4 is a schematic view of a drive mechanism mounting structure according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an adaptive vehicle frame according to an embodiment of the invention;
FIG. 6 is a schematic diagram of an adaptive frame structure according to an embodiment of the present invention;
fig. 7 is a schematic view of a variable damping rod according to an embodiment of the present invention.
Reference numerals:
100. a frame; 110. a support link; 120. an independent walking frame; 121. an auxiliary fixed wheel;
200. a drive mechanism; 210. a drive chassis; 220. a transmission wheel set; 230. a driving wheel; 231. a transmission gear;
300. a track body; 310. a drive block;
400. a self-adaptive frame; 410. a first adaptive mount; 420. a second adaptive mount; 430. a variable damping rod; 440. a balance link; 450. a drive plate; 460. a support plate; 411. a tension guide block; 412. a support ear; 431. a piston rod; 432. a piston rod; 433. hydraulic oil liquid; 434. and a hydraulic interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
It is to be understood that this description is made only by way of example and not as a limitation on the scope of the invention.
The whole-vehicle hydraulic anti-tilt control mechanism of the unmanned crawler vehicle provided by some embodiments of the invention is described below with reference to the accompanying drawings.
Example 1:
referring to fig. 1-7, the present invention provides a whole vehicle hydraulic anti-tilt control mechanism for an unmanned tracked vehicle, comprising: the self-adaptive crawler belt comprises a frame 100, a driving mechanism 200, a crawler belt body 300, a self-adaptive frame 400 and a hydraulic adjusting mechanism communicated with the self-adaptive frame 400, wherein support connecting rods 110 are fixedly mounted on two sides of the frame 100, an independent walking frame 120 is fixedly connected with the other end of each support connecting rod 110, the driving mechanism 200 is fixedly mounted on the surface of the independent walking frame 120, an auxiliary fixed wheel 121 is arranged on one side of the independent walking frame 120, and the crawler belt body 300 is movably sleeved on the outer sides of the self-adaptive frame 400 and the auxiliary fixed wheel 121; the adaptive frame 400 comprises a first adaptive frame 410, a second adaptive frame 420, a variable damping rod 430 and a balance connecting rod 440, wherein two ends of the balance connecting rod 440 are fixedly connected with the surface of the independent walking frame 120, rotating pin holes are formed in the surfaces of the first adaptive frame 410 and the second adaptive frame 420, rotating pins are arranged on the surfaces of the first adaptive frame 410 and the second adaptive frame 420, the rotating pins movably penetrate through the surfaces of the first adaptive frame 410, the second adaptive frame 420 and the balance connecting rod 440 in a sleeved mode, supporting lugs 412 are arranged on the top surfaces of the first adaptive frame 410 and the second adaptive frame 420, two ends of the variable damping rod 430 are movably connected with the supporting lugs 412 of the first adaptive frame 410 and the second adaptive frame 420 respectively, tension guide blocks 411 are movably mounted at the bottom ends of the first adaptive frame 410 and the second adaptive frame 420, and supporting plates 460 and driving plates 450 are arranged at one ends of the first adaptive frame 410 and the second adaptive frame 420 respectively; the hydraulic adjusting mechanism comprises a hydraulic pump and a compression cylinder structure, the inner cavity of the compression cylinder is communicated with the inner cavity of the variable damping rod 430, and the input end of the hydraulic pump is electrically connected with a power control module for adjusting hydraulic pressure.
In this embodiment, the number of the driving mechanisms 200, the track main body 300 and the adaptive frame 400 is two, the two driving mechanisms 200, the track main body 300 and the adaptive frame 400 are symmetrically arranged on two sides of the frame 100, and the input end of the driving mechanism 200 is electrically connected with a differential control module.
Specifically, two sets of independent variable damping rods 430 are matched with the first adaptive frame 410 and the second adaptive frame 420, deformation of the crawler main bodies 300 on two sides in different states is adjusted in a self-adaptive mode on the road surface, deformation shapes of the crawler main bodies 300 on two sides are adjusted in a sub-control mode, and accordingly the passing performance and stability of the crawler are further improved according to split adjustment of different road conditions on two sides.
In this embodiment, the driving mechanism 200 includes a driving chassis 210, a transmission wheel set 220 and a driving wheel 230, the driving wheel 230 is rotatably installed on the surface of the driving plate 450 and is sleeved on the inner side of the track main body 300, the transmission wheel set 220 is rotatably installed on the surface of the independent walking frame 120, the output end of the driving chassis 210, the transmission wheel set 220 and the driving wheel 230 are connected by a belt transmission, the surface of the driving wheel 230 is provided with a plurality of transmission teeth 231, and the inner side of the track main body 300 is provided with a plurality of driving blocks 310 engaged with the transmission teeth 231.
Specifically, the track main body 300 is installed by using the drive plate 450, the drive plate 450 and the independent traveling frame 120, the independent drive mechanisms 200 on the two sides are used for sub-control drive, straight traveling and differential turning of the vehicle body are realized, the independent drive of the track main bodies 300 on the two sides is performed by using the two sets of drive mechanisms 200, the two sets of drive mechanisms 200 are used for straight traveling at the same speed, and steering is realized by speed difference.
In this embodiment, the first adaptive frame 410 and the second adaptive frame 420 have the same structure and are arranged in opposite directions, a plurality of supporting wheels which are mutually abutted with the inner side of the crawler body 300 are installed on the surfaces of the supporting plate 460 and the tension guide block 411 in a transmission manner, the connecting shafts of the tension guide block 411 and the first adaptive frame 410 and the second adaptive frame 420 are located in the middle of the tension guide block 411, the supporting wheels are respectively located at two ends of the tension guide block 411, and the first adaptive frame 410 and the second adaptive frame 420 can rotate around the pin rod surface to change the shape of the crawler body 300.
Further, the first adaptive frame 410 and the second adaptive frame 420 are in an arc-shaped strip structure, the tension guide block 411 and the support lug 412 are symmetrical with respect to the origin of the pivot pin on the surface of the first adaptive frame 410, and the auxiliary fixed wheel 121, the first adaptive frame 410 and the second adaptive frame 420 are located on the same vertical plane.
Specifically, under the action of the self weight of the vehicle body, the first adaptive frame 410 and the second adaptive frame 420 are pressed down to rotate around the surface pins, so that the deflection angles at the two ends of the driving plate 450 and the supporting plate 460 are respectively controlled to change the shape of the crawler body 300, and the crawler body 300 is adaptively deformed to be attached to the bottom concave surface, thereby improving the passing performance and stability.
In this embodiment, the variable damping rod 430 includes a piston rod 431 and a piston rod 432, one end of the piston rod 432 is fixedly installed with a piston plate slidably sleeved on the inner side of the piston rod 431, the inner side of the piston rod 431 is filled with hydraulic oil 433, and a hydraulic interface 434 communicated with the hydraulic adjusting mechanism is opened on the surface of the piston rod 431.
Further, a return spring which abuts against the surfaces of the piston rod 431 and the piston rod 432 is movably sleeved on the outer sides of the piston rod 431 and the piston rod 432 through damping on the inner side of the hydraulic interface 434.
Specifically, the increase of the hydraulic pressure inside the variable damping rod 430 is controlled by the increase of the hydraulic pressure inside the hydraulic pump and the compression cylinder, so that the variable damping rod 430 is extended, the deflection angles of the first adaptive frame 410 and the second adaptive frame 420 are increased, and the deformation of the crawler body 300 is actively controlled.
In this embodiment, a level sensor is embedded in the surface of the balance link 440, an output end of the level sensor is electrically connected to a controller, and an output end of the controller is electrically connected to an input end of the hydraulic pressure adjusting mechanism.
Specifically, the inclination of the vehicle body suspension is automatically detected through the level sensor, so that the shape of the crawler body 300 is automatically controlled, the deformation radian of the first adaptive frame 410 and the second adaptive frame 420 is increased, the ground grabbing effect of the crawler body 300 is actively controlled, and the vehicle body is prevented from overturning in the front-back direction.
Example 2:
unmanned tracked vehicle puts in order car hydraulic pressure and prevents inclining control mechanism includes: the self-adaptive walking frame comprises a frame 100, a driving mechanism 200, a crawler body 300 and a self-adaptive frame 400, wherein support connecting rods 110 are fixedly arranged on two sides of the frame 100, the other ends of the support connecting rods 110 are fixedly connected with an independent walking frame 120, the driving mechanism 200 is fixedly arranged on the surface of the independent walking frame 120, an auxiliary fixed wheel 121 is arranged on one side of the independent walking frame 120, and the crawler body 300 is movably sleeved on the outer sides of the self-adaptive frame 400 and the auxiliary fixed wheel 121; the adaptive frame 400 comprises a first adaptive frame 410, a second adaptive frame 420, a variable damping rod 430 and a balance connecting rod 440, wherein two ends of the balance connecting rod 440 are fixedly connected with the surface of the independent walking frame 120, rotating pin holes are formed in the surfaces of the first adaptive frame 410 and the second adaptive frame 420, rotating pins are arranged on the surfaces of the first adaptive frame 410 and the second adaptive frame 420, the rotating pins movably penetrate through the surfaces of the first adaptive frame 410, the second adaptive frame 420 and the balance connecting rod 440 in a sleeved mode, supporting lugs 412 are arranged on the top surfaces of the first adaptive frame 410 and the second adaptive frame 420, two ends of the variable damping rod 430 are movably connected with the supporting lugs 412 of the first adaptive frame 410 and the second adaptive frame 420 respectively, tension guide blocks 411 are movably mounted at the bottom ends of the first adaptive frame 410 and the second adaptive frame 420, and supporting plates 460 and driving plates 450 are arranged at one ends of the first adaptive frame 410 and the second adaptive frame 420 respectively;
in this embodiment, the variable damping rod 430 includes a piston rod 431 and a piston rod 432, one end of the piston rod 432 is fixedly installed with a piston plate slidably sleeved on the inner side of the piston rod 431, the inner side of the piston rod 431 is filled with hydraulic oil 433, and the hydraulic oil 433 is an electro-rheological fluid structure;
further, the inboard of piston loop bar 431 is equipped with the electrode point that is located hydraulic fluid 433 inside, and the tip electric connection of electrode point has the circular telegram module, and the solidification degree of circular telegram module through changing the size that hydraulic fluid 433 lets in the electric current changes hydraulic fluid 433 to improve variable damping rod 430's deformation degree of difficulty.
The beneficial effects obtained by the embodiment are as follows: after the electro-rheological fluid is electrified, the intermolecular force is gradually solidified along with the increase of the current, the deformation difficulty between the first adaptive frame 410 and the second adaptive frame 420 is adjusted, the flexible movement between the first adaptive frame 410 and the second adaptive frame 420 is realized by the liquefaction of the hydraulic oil 433 under the rugged and complicated road condition, under the action of the self weight of the vehicle body, the first adaptive frame 410 and the second adaptive frame 420 are pressed downwards to rotate around the surface pin rod, thereby respectively controlling deflection angles at both ends of the driving plate 450 and the supporting plate 460 to change the shape of the track body 300, making the track body 300 travel more closely to the ground, improving the stability of the vehicle body, the hydraulic oil 433 is improved on a smooth road surface and is solidified through current, the first adaptive frame 410 and the second adaptive frame 420 keep a certain angle, shaking of a vehicle body in normal advancing caused by movement of the adaptive frame 400 is avoided, and practicability of the crawler vehicle is improved.
The working principle and the using process of the invention are as follows:
in the whole vehicle traveling process of the unmanned crawler vehicle, two groups of driving mechanisms 200 are used for independently driving the crawler main bodies 300 on two sides, the two groups of driving mechanisms 200 are in direct motion at the same speed, steering is realized when the speed difference exists, the crawler main bodies 300 on two sides and the adaptive frame 400 are respectively subjected to adaptive adjustment according to potholes on the road surface of a traveling route, the first adaptive frame 410 and the second adaptive frame 420 are pressed downwards to rotate around surface pins under the action of the self weight of the vehicle body, so that the deflection angles at the two ends of the driving plate 450 and the supporting plate 460 are respectively controlled to change the shape of the crawler main body 300, the crawler main body 300 travels more closely to the ground, forward and backward overturning of the vehicle body due to ground furrows are avoided, the ground attaching degree of the crawler main bodies 300 on two sides is ensured through the independent control of the adaptive frame 400 on two sides, left and right overturning prevention is performed, and two groups of independent variable damping rods 430 and the first adaptive frame 410 are used, Through the cooperation of the second adaptive frame 420, the deformation of the crawler main bodies 300 on the two sides in different states is respectively and adaptively adjusted on the road surface, and the deformation shape of the crawler main bodies 300 on the two sides is separately adjusted through sub-control, so that the trafficability and the stability of the crawler are further improved according to the split adjustment of different road conditions on the two sides;
in the process of advancing, if the balance connecting rod 440 tilts along with the vehicle body due to a large ground gully depth, the surface level sensor of the balance connecting rod 440 sends an electric signal to control the hydraulic adjusting system through the tilting amplitude, the hydraulic pressure inside the variable damping rod 430 is controlled to be increased by the increase of the hydraulic pressure inside the hydraulic pump and the compression cylinder, so that the variable damping rod 430 extends to move, the deflection angles of the first adaptive frame 410 and the second adaptive frame 420 are increased, the model variable of the track body 300 is increased, one end of the track body 300 is contacted with the bottom surface of the gully as much as possible, the track vehicle is ensured to pass through smoothly, the damping adjustment of the variable damping rod 430 is performed by the hydraulic adjusting electric control system, the vehicle sound level state is automatically monitored by the surface level sensor of the balance connecting rod 440, the pressurization of the variable damping rod 430 is performed under the control of a non-horizontal signal, the deformation radians of the first adaptive frame 410 and the second adaptive frame 420 are increased, so as to actively control the ground catching effect of the track body 300, preventing the vehicle body from overturning forwards and backwards.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "mounted," "connected," "fixed," and the like are used broadly and encompass, for example, a fixed connection, a removable connection, or an integral connection, and a connection may be a direct connection or an indirect connection via intermediate media. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It will be understood that when an element is referred to as being "mounted to," "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.
Claims (8)
1. Unmanned tracked vehicle puts in order car hydraulic pressure and prevents control mechanism that inclines, its characterized in that includes: the self-adaptive walking mechanism comprises a frame (100), a driving mechanism (200), a crawler body (300), a self-adaptive frame (400) and a hydraulic adjusting mechanism communicated with the self-adaptive frame (400), wherein supporting connecting rods (110) are fixedly mounted on two sides of the frame (100), an independent walking frame (120) is fixedly connected with the other end of each supporting connecting rod (110), the driving mechanism (200) is fixedly mounted on the surface of the independent walking frame (120), an auxiliary fixed wheel (121) is arranged on one side of the independent walking frame (120), and the crawler body (300) is movably sleeved on the outer sides of the self-adaptive frame (400) and the auxiliary fixed wheel (121);
the self-adaptive frame (400) comprises a first adaptive frame (410), a second adaptive frame (420), a variable damping rod (430) and a balance connecting rod (440), the two ends of the balance connecting rod (440) are fixedly connected with the surface of the independent walking frame (120), the surfaces of the first adaptive frame (410) and the second adaptive frame (420) are provided with rotating pin holes and rotating pins, the rotating pins are movably sleeved on the surfaces of the first adaptive frame (410), the second adaptive frame (420) and the balance connecting rod (440), the top surfaces of the first adaptive frame (410) and the second adaptive frame (420) are respectively provided with a supporting lug (412), the two ends of the variable damping rod (430) are respectively movably connected with the supporting lugs (412) of the first adaptive frame (410) and the second adaptive frame (420), the bottom ends of the first adaptive frame (410) and the second adaptive frame (420) are respectively and movably provided with a tension guide block (411), one end of the first adaptive frame (410) and one end of the second adaptive frame (420) are respectively provided with a supporting plate (460) and a driving plate (450);
the hydraulic adjusting mechanism comprises a hydraulic pump and a compression cylinder structure, an inner cavity of the compression cylinder is communicated with an inner cavity of the variable damping rod (430), and an input end of the hydraulic pump is electrically connected with a power control module for adjusting hydraulic pressure.
2. The whole-vehicle hydraulic anti-tilt control mechanism of the unmanned crawler according to claim 1, wherein the driving mechanisms (200), the crawler main bodies (300) and the adaptive frames (400) are arranged in two groups, the two groups of driving mechanisms (200), the crawler main bodies (300) and the adaptive frames (400) are symmetrically arranged on two sides of the frame (100), and the input ends of the driving mechanisms (200) are electrically connected with a differential control module.
3. The whole vehicle hydraulic pressure of unmanned crawler vehicle prevents control mechanism that inclines of claim 1, characterized in that actuating mechanism (200) includes drive machine case (210), transmission wheelset (220) and action wheel (230), action wheel (230) rotate to be installed in the surface of drive plate (450) and cup joint in the inboard of track main part (300), transmission wheelset (220) rotate to be installed in the surface of independent walking frame (120), the output of drive machine case (210), transmission wheelset (220) and action wheel (230) are connected through belt drive, the surface of action wheel (230) is equipped with a plurality of transmission rodents (231), the inboard of track main part (300) is equipped with a plurality of drive tooth piece (310) that are in transmission rodent (231) intermeshing.
4. The whole vehicle hydraulic pressure anti-tilt control mechanism of unmanned crawler according to claim 1, characterized in that, first adaptation frame (410) and second adaptation frame (420) are the same in structure and are opposite direction and arrange, the surface transmission of backup pad (460) and tension guide block (411) installs a plurality of supporting wheels that mutually support with crawler body (300) inboard, the connecting shaft of tension guide block (411) and first adaptation frame (410) and second adaptation frame (420) is located the middle part of tension guide block (411), the supporting wheels are located the both ends of tension guide block (411) respectively.
5. The whole-vehicle hydraulic anti-tilt control mechanism of the unmanned crawler according to claim 1, wherein the first adaptive frame (410) and the second adaptive frame (420) are arc-shaped strip structures, the tension guide block (411) and the support lug (412) are symmetrical about a surface pivot point origin of the first adaptive frame (410), and the auxiliary fixed wheel (121), the first adaptive frame (410) and the second adaptive frame (420) are located on the same vertical plane.
6. The whole vehicle hydraulic anti-tilt control mechanism of the unmanned crawler according to claim 1, wherein the variable damping rod (430) comprises a piston loop bar (431) and a piston rod (432), one end of the piston rod (432) is fixedly provided with a piston plate which is slidably sleeved on the inner side of the piston loop bar (431), the inner side of the piston loop bar (431) is filled with hydraulic oil (433), and a hydraulic interface (434) communicated with the hydraulic adjusting mechanism is arranged on the surface of the piston loop bar (431).
7. The whole vehicle hydraulic anti-tilt control mechanism of the unmanned crawler according to claim 6, wherein a return spring abutting against the surfaces of the piston rod (432) and the piston rod (431) is movably sleeved on the outer sides of the piston rod (432) and the piston rod (431) through damping arranged on the inner side of the hydraulic interface (434).
8. The whole-vehicle hydraulic anti-tilt control mechanism of the unmanned crawler according to claim 1, wherein a level sensor is embedded in the surface of the balance connecting rod (440), the output end of the level sensor is electrically connected with a controller, and the output end of the controller is electrically connected with the input end of the hydraulic adjusting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210034806.7A CN114313041A (en) | 2022-01-13 | 2022-01-13 | Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210034806.7A CN114313041A (en) | 2022-01-13 | 2022-01-13 | Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114313041A true CN114313041A (en) | 2022-04-12 |
Family
ID=81027008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210034806.7A Pending CN114313041A (en) | 2022-01-13 | 2022-01-13 | Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114313041A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116495070A (en) * | 2023-05-30 | 2023-07-28 | 临沂万和精工机械有限公司 | Crawler belt walking driving device for harvesting machinery |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0920270A (en) * | 1995-07-07 | 1997-01-21 | Iseki & Co Ltd | Truck elevating device for endless crawler type running vehicle |
| CN107416058A (en) * | 2017-09-01 | 2017-12-01 | 东莞市盛奇智能设备科技有限公司 | A kind of walking mechanism of fire-fighting robot |
| CN110481657A (en) * | 2019-07-31 | 2019-11-22 | 青岛农业大学 | A kind of specialized robot having complicated landform adaptation function and its motion work method |
| CN111791963A (en) * | 2020-07-14 | 2020-10-20 | 国人机器人（天津）有限公司 | Track structure of rescue robot |
| CN212125325U (en) * | 2020-05-26 | 2020-12-11 | 国网河南省电力公司南阳供电公司 | Track-type scooter for line operation and maintenance all-terrain individual soldier operation |
-
2022
- 2022-01-13 CN CN202210034806.7A patent/CN114313041A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0920270A (en) * | 1995-07-07 | 1997-01-21 | Iseki & Co Ltd | Truck elevating device for endless crawler type running vehicle |
| CN107416058A (en) * | 2017-09-01 | 2017-12-01 | 东莞市盛奇智能设备科技有限公司 | A kind of walking mechanism of fire-fighting robot |
| CN110481657A (en) * | 2019-07-31 | 2019-11-22 | 青岛农业大学 | A kind of specialized robot having complicated landform adaptation function and its motion work method |
| CN212125325U (en) * | 2020-05-26 | 2020-12-11 | 国网河南省电力公司南阳供电公司 | Track-type scooter for line operation and maintenance all-terrain individual soldier operation |
| CN111791963A (en) * | 2020-07-14 | 2020-10-20 | 国人机器人（天津）有限公司 | Track structure of rescue robot |
Non-Patent Citations (1)
| Title |
|---|
| 赵金祥, 北京航空航天大学出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116495070A (en) * | 2023-05-30 | 2023-07-28 | 临沂万和精工机械有限公司 | Crawler belt walking driving device for harvesting machinery |
| CN116495070B (en) * | 2023-05-30 | 2024-01-23 | 临沂万和精工机械有限公司 | Crawler belt walking driving device for harvesting machinery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4166511A (en) | Four-track low ground pressure crawler vehicle | |
| RU2302969C2 (en) | Crawler vehicle suspension system | |
| US12065204B2 (en) | Tracked vehicle comprising a tiltable suspended track assembly | |
| US4135597A (en) | Chassis oscillation control on an articulated vehicle | |
| RU2742061C2 (en) | Caterpillar vehicle comprising a bogie attached with possibility of rotation | |
| CN105882341A (en) | Wheel suspension for travelling crane, and crane | |
| CN114313041A (en) | Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler | |
| US11383568B2 (en) | Load-carrying vehicle part and a wheeled vehicle equipped with such vehicle part | |
| CA3081697C (en) | Loader suspension | |
| CN101722845A (en) | Swinging and steering four-wheel driving mechanism with single-bolt hinge | |
| EP1153772B1 (en) | Load carrying machine | |
| US4146109A (en) | Chassis suspension system for an articulated vehicle | |
| CA3100402C (en) | Tandem walking beam suspension system for a track-mounted vehicle | |
| CN203739984U (en) | Front frame jointly used with steering linkage device of hinged type mobile machine | |
| US10793205B2 (en) | Assembly and method for enabling rotational motion in a vehicle or mobile working machine | |
| CN110936781A (en) | Multi-degree-of-freedom suspension suitable for tractor | |
| RU2786267C2 (en) | Load-bearing part of vehicle and wheeled vehicle equipped with such a vehicle part | |
| RU2786425C2 (en) | Tracked vehicle | |
| JP2003252258A (en) | Travel device of crawler type vehicle and lower rolling wheel | |
| CA1281053C (en) | Tractor | |
| JPH0151361B2 (en) | ||
| CN103233926A (en) | Active gait obstacle crossing slewing steering chassis device | |
| JP2011068266A (en) | Vehicle suspension device |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220412 |