CN114524025A - Integrated modular action system - Google Patents
Integrated modular action system Download PDFInfo
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- CN114524025A CN114524025A CN202210247105.1A CN202210247105A CN114524025A CN 114524025 A CN114524025 A CN 114524025A CN 202210247105 A CN202210247105 A CN 202210247105A CN 114524025 A CN114524025 A CN 114524025A
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- inducer
- wheel
- shaft
- locking
- track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motor Power Transmission Devices (AREA)
Abstract
The invention belongs to the technical field of vehicle actions and discloses an integrated modular action system which comprises an inducer, a track tensioning mechanism, an action bracket assembly, a belt supporting wheel set, a damping mechanism, a driving wheel assembly, an auxiliary tensioning wheel, a balance elbow load bearing wheel set, an action bracket mounting seat and a track. The modularized action system can realize the adjustment of the installation position along the front and back of the vehicle body, indirectly adjust the gravity center of the whole vehicle and level the attitude of the vehicle, realize the offline assembly test of the action system and get rid of the attachment relation with the vehicle body; the tensioning mechanism of the track is simple in structure and large in adjustment amount.
Description
Technical Field
The invention belongs to the technical field of vehicle actions, and particularly relates to an integrated modular action system.
Background
The traditional tracked vehicle moving system comprises moving parts such as a balance elbow loading wheel, a tensioning wheel assembly, a driving wheel assembly, a supporting wheel assembly, a shock absorber assembly and the like, wherein the moving parts are designed and processed on a vehicle body and are provided with fixed auxiliary seats, all the parts are independently arranged on the vehicle body, the parts are not coupled, and subsequent test verification work needs to be carried out by attaching to the vehicle body. The traditional action system has the defects that parts are scattered, installation errors are large, required tools are multiple, mutual coupling influences cannot be tested in advance, the performance verification period is long, and the like, reliability, maintainability and the like of the action system are difficult to guarantee, and the modularized action system realizes the coupling integrated design of the action parts, is convenient for the action system to carry out design research on the whole, realizes the performance improvement of the action system and realizes modularized hoisting.
The current heavy-duty vehicle action system does not adopt a modularized integrated design, and the design and assembly of action components are required to be attached to a vehicle body; the light and small tracked vehicle action system is arranged by adopting a modularized integrated design, but the existing modularized action system does not have the function of flexibly adjusting the front position and the rear position after being installed on a vehicle body, the structure of the track tensioning adjusting device is complex, the adjusting amount is small, and the structure of a driving wheel assembly driven by a motor overhung shaft is complex and the reliability is insufficient.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: the prior action system is not provided with the function of flexibly adjusting the front and back positions after being arranged on a vehicle body, and the track tensioning adjusting device has the problems of complex structure and small adjusting amount.
(II) technical scheme
In order to solve the above technical problems, the present invention provides an integrated modular mobile system, which includes an inducer, a track tensioning mechanism, a mobile bracket assembly, a belt supporting wheel set, a damping mechanism, a driving wheel assembly, an auxiliary tensioning wheel, a balance elbow-loaded wheel set, a mobile bracket mounting seat and a track;
the movable support assembly comprises two strip-shaped side plates arranged in parallel and a reinforcing rib fixed between the two side plates; the front end of the side plate is provided with a groove-shaped inducer and a mounting opening of a track adjusting mechanism, the top end of the side plate is provided with a plurality of supporting belt wheel shafts, the middle part of the side plate is provided with a plurality of sleeve holes, and the bottom end of the side plate is provided with a plurality of evenly distributed balance elbow loading wheel mounting seats; a left-right through moving support mounting seat sleeve is arranged in the sleeve hole; a plurality of shock absorber mounting seats are arranged beside the sleeve hole;
the inducer and track tensioning mechanism comprises an inducer, an inducer shaft and a locking mechanism, the inducer shaft is sleeved on the inducer shaft, and the locking mechanism is used for fixing the inducer shaft in a track tensioning adjusting opening;
the belt supporting wheel set comprises a plurality of belt supporting wheels, and the belt supporting wheels are sleeved on corresponding belt supporting wheel shafts;
the balance elbow load wheel group comprises a plurality of balance elbow load wheels, and the balance elbow load wheels are fixedly connected with corresponding balance elbow load wheel mounting seats;
the damping mechanism comprises a plurality of spring dampers, one ends of the spring dampers are connected with corresponding damper mounting seats, and the other ends of the spring dampers are connected with corresponding balance elbow loading wheels;
the auxiliary tensioning wheel is arranged below the inducer and the track tensioning mechanism and is connected with the side plate;
the crawler belt is supported and tensioned through an inducer, a crawler belt tensioning mechanism, a belt supporting wheel set, a driving wheel assembly, an auxiliary tensioning wheel and a balance elbow bearing wheel set;
the driving wheel assembly is arranged behind the moving support assembly and can be meshed with the crawler.
The modularized action system further comprises an action support mounting seat, wherein the action support mounting seat comprises a slide rail seat, a slide block and a connecting pin shaft, the right side of the slide rail seat is fixedly connected with the vehicle body, the left side of the slide rail seat is provided with a groove in the front-back direction, and the right side of the slide block is provided with a protruding part in sliding connection with the groove; the right end of the connecting pin shaft is fixed on the sliding block, and the left end of the connecting pin shaft is hinged with the sleeve of the movable support mounting seat.
The driving wheel assembly comprises a driving wheel fluted disc, an outer transmission shaft, a spline sleeve, an inner transmission shaft, a transition support, a vehicle body, a motor output shaft, a bearing and a retainer ring; the inner transmission shaft is coaxially and fixedly connected with the output shaft of the motor; the outer surface of the inner transmission shaft is matched with the inner surface of the spline housing; the transition support is sleeved between the inner transmission shaft and the spline sleeve, a gap is reserved between the transition support and the inner transmission shaft, and a bearing is arranged between the transition support and the spline sleeve; one end of the transition support is fixedly connected with the vehicle body; the outer transmission shaft is coaxially and fixedly connected with the inner transmission shaft; and the driving wheel fluted disc is fixedly connected with the spline sleeve and the outer transmission shaft.
Furthermore, the driving wheel assembly further comprises a fluted disc gland, and the fluted disc gland is fixed on the end face of the outer transmission shaft and fixedly connected with a fluted disc of the driving wheel.
And a retainer ring is arranged between the side surface of the bearing and the transition support.
The locking mechanism comprises an elastic adjusting bolt, a locking nut, a locking fixing bolt, an elastic adjusting bolt seat plate and a locking fixing bolt seat plate; a locking plane and an adjusting plane are arranged on the side face of the induced wheel shaft, the locking fixing bolt seat plate is fixed above the tensioning adjusting opening of the crawler belt, a plurality of adjusting holes are formed in the locking fixing bolt seat plate, and the locking fixing bolt penetrates through the adjusting holes and is attached to the locking plane; the tightness adjusting bolt seat plate is arranged behind the track tensioning adjusting opening, the tightness adjusting bolt penetrates through the tightness adjusting bolt seat plate to be attached to the adjusting plane, and the tightness adjusting bolt is fixed on the tightness adjusting bolt seat plate through the locking nut.
(III) advantageous effects
Compared with the prior art, the invention has the following beneficial effects: the integrated modular action system can realize the adjustment of the mounting position along the front and back of the vehicle body, indirectly adjust the gravity center of the whole vehicle and level the attitude of the vehicle, realize the offline assembly test of the action system, get rid of the attachment relation with the vehicle body, can be used as a universal action module of manned and unmanned platforms, and improve the high maneuverability and high trafficability of the cross country of the platform; the tensioning mechanism of the track has a simple structure and large adjustment amount.
Drawings
FIG. 1 is a left side schematic view of an integrated modular mobile system according to the present invention;
FIG. 2 is a right schematic view of the integrated modular mobility system of the present invention;
FIG. 3 is a plan view of an inducer and track tensioning mechanism;
FIG. 4 is a perspective view of an inducer and track tensioning mechanism;
FIG. 5 is a schematic view of an inducer shaft;
FIG. 6 is a schematic view of a mobile carriage assembly;
FIG. 7 is a schematic view of a spring damper;
FIG. 8 is a schematic view of a drive wheel assembly;
FIG. 9 is a perspective view of a mobile bracket mount assembly;
FIG. 10 is a plan view of a mobile bracket mount assembly;
FIG. 11 is a schematic view of the track in a relaxed state;
FIG. 12 is a schematic view of a track tensioning condition.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
As shown in fig. 1-2, the integrated modular mobile system of the present embodiment comprises an inducer and track tensioning mechanism 1, a mobile frame assembly 2, a belt supporting wheel set 3, a damping mechanism 4, a driving wheel assembly 5, an auxiliary tensioning wheel 6, a balance elbow-bearing wheel set 7, a mobile frame mounting base 8, a track 9, and the like.
As shown in fig. 6, the movable bracket assembly 2 includes two elongated side plates 201 arranged in parallel, and a first reinforcing rib 204 and a second reinforcing rib 205 fixed between the two side plates 201; the front end of the side plate 201 is provided with a groove-shaped inducer and a track adjusting mechanism mounting opening 209, the top end is provided with a plurality of carrier roller shafts 202, the middle part is provided with a plurality of sleeve holes, and the bottom end is provided with a plurality of evenly distributed balance elbow loading wheel mounting seats 206; a left-right through moving support mounting seat sleeve 203 is arranged in the sleeve hole; and a plurality of shock absorber mounting seats 207 are arranged beside the sleeve hole. All parts of the movable support assembly 2 are welded together.
As shown in fig. 3 to 4, the inducer and track-tightening mechanism 1 is composed of an inducer 101, an inducer shaft 102, a slack adjuster bolt 103, a lock nut 104, a locking fixing bolt 105, a slack adjuster bolt seat plate 106, a locking fixing bolt seat plate 107, and the like. As shown in fig. 5, an adjustment surface 1021 and a locking surface 1022 are provided on a side surface of the inducer shaft 102.
The inducer 101 is sleeved on the inducer shaft 102, the locking fixing bolt base plate 107 is fixed above the track tensioning adjusting opening 208, a plurality of adjusting holes are formed in the locking fixing bolt base plate 107, and the locking fixing bolts 105 penetrate through the adjusting holes to be attached to the locking plane 1022; the tightness adjusting bolt seat plate 106 is arranged behind the track tensioning adjusting opening 208, the tightness adjusting bolt 103 penetrates through the tightness adjusting bolt seat plate 106 to be attached to the adjusting plane 1021, and the tightness adjusting bolt 103 is fixed on the tightness adjusting bolt seat plate 106 through the lock nut 104.
The track tension and release adjustment is operatively accomplished through the track tension adjustment ports 208:
as shown in fig. 12, the tensioning of the track is adjusted: the locking nut 104 on the tightness adjusting bolt 103 is loosened by a tool, the adjusting bolt 103 is screwed clockwise by the tool, and the end face of the adjusting bolt 103 is attached to the adjusting surface 1021 on the inducer shaft 102, so that the tightness adjusting bolt 103 pushes the inducer shaft 102 to move forward, the inducer 101 is synchronously pushed to move forward, and the inducer 101 directly tensions the crawler 9. After the crawler belt 9 is tensioned to a proper position, the nut on the tightness adjusting bolt 103 is locked; meanwhile, the locking fixing bolt 105 is adjusted, the end face of the locking fixing bolt 105 is attached to the locking surface 1022, the locking nut 104 is screwed, and the tensioning adjustment of the crawler is completed;
as shown in fig. 11, the loosening adjustment of the track: loosening a locking nut 104 on the tightness adjusting bolt 103 by using a tool, screwing the adjusting bolt 103 anticlockwise by using the tool, pushing the inducer 101 and the inducer shaft 102 to move backwards in a loosening way by the tension force of the crawler 9, and locking the nut on the tightness adjusting bolt 103 after the crawler 9 is loosened to a proper position; and simultaneously, the locking fixing bolt 105 is adjusted to enable the end surface of the locking fixing bolt 105 to be attached to the locking surface 1022, and the locking nut 104 is screwed down. And the track loosening adjustment is completed.
The inducer and track tensioning mechanism 1 is mounted at an inducer and track adjusting mechanism mounting port 209, and the belt supporting wheel set 3 is composed of a plurality of belt supporting wheels which are mounted on corresponding belt supporting wheel shafts 202. The balance elbow load wheel group 7 comprises a plurality of balance elbow load wheels, and the balance elbow load wheels are fixedly connected with the corresponding balance elbow load wheel mounting seats 206;
the damping mechanism 4 comprises a plurality of spring dampers, one ends of the spring dampers are connected with corresponding damper mounting seats 207, and the other ends of the spring dampers are connected with corresponding balance elbow loading wheels;
the crawler 9 is also arranged on the movable support assembly 2, and the crawler 9 is supported and tensioned by the inducer, the crawler tensioning mechanism 1, the belt supporting wheel set 3, the driving wheel assembly 5, the auxiliary tensioning wheel 6 and the balance elbow load bearing wheel set 7;
after the above components are assembled, an independent modular action system is formed, and then the assembled modular action system is fixedly connected to the action bracket mounting seat 8 through bolts, so that the assembly of the integrated modular action system is completed.
As shown in fig. 7, the spring damper is composed of a damper 401 and a spring 402, and is used for realizing the functions of bearing, buffering and damping.
As shown in fig. 8, the driving wheel assembly 5 is composed of a driving wheel fluted disc 501, a driving wheel fluted disc fixing bolt 502, an outer transmission shaft screw 503, an outer transmission shaft 504, a fixing bolt 505, a fluted disc gland bolt 506, a fluted disc gland 507, a spline housing 508, an inner transmission shaft screw 509, an inner transmission shaft 510, a transition bracket screw 511, a transition bracket 512, a vehicle body 513, a motor shaft 514, a bearing 515, a retaining ring 516 and the like.
The transition bracket 512 is fixedly connected with a vehicle body 513 through a transition bracket screw 511; the inner transmission shaft 510 is matched with the motor shaft 514 through an inner flat key or a spline and is fixedly connected with the motor shaft 514 through an inner transmission shaft screw 509, so that the axial positioning of the inner transmission shaft 510 and the motor shaft 514 is realized; the inner transmission shaft 510 is installed in a matched mode with the spline sleeve 508 through a spline, the driving wheel fluted disc 501 is fixedly connected with the spline sleeve 508 through a driving wheel fluted disc fixing bolt 502, the outer transmission shaft 504 is fixedly connected with the inner transmission shaft 510 through an outer transmission shaft bolt 503, the fluted disc gland 507 is fixedly connected with the driving wheel fluted disc 501 through a fluted disc gland bolt 506, the fluted disc gland 507 is fixedly connected onto the outer transmission shaft 504 through a fixing bolt 505, a bearing 515 and a retainer ring 516 are installed between the spline sleeve 508 and the transition support 512, and the installation and connection of the whole driving wheel assembly are achieved. The fluted disc gland 507 and the outer transmission shaft 504 mainly play a role in axial positioning to prevent the driving wheel assembly from axially moving.
The transmission process of the driving wheel output driving force is as follows: the output shaft of the motor shaft 514 drives the inner transmission shaft 510 in turn, the inner transmission shaft 510 drives the spline housing 508 through the matching spline, the spline housing 508 drives the driving fluted disc 501, and the driving fluted disc 501 is meshed with the crawler 9 to realize crawler driving running.
Further, the crawler 9 is a rubber crawler.
As shown in fig. 9-10, the mobile rack mount 8 mainly includes a slide rail seat 801, a slide block 802, an interface cover 803, and a connection pin 804, wherein the interface cover 803 is designed with a fixing threaded hole 8031, and the connection pin 804 is designed with a connection threaded hole 8041.
When the integrated modular action system is mounted and dismounted, the four action support mounting seat sleeves 203 on the assembled integrated modular action system are aligned and mounted with the connecting pin shaft 804 on the action support mounting seat 8, and then the connecting bolt is mounted at the connecting threaded hole 8041 to complete mounting and fixing of the action system;
when the modular traveling system is mounted on the vehicle body, the load distribution of the vehicle is uneven or the attitude of the vehicle is uneven, and the position of the traveling carriage mounting seat 8 can be adjusted forward and backward. The specific adjusting step is as follows: and loosening and taking down the connecting bolt at the position of the fixing threaded hole 8031, then moving the sliding block 802 back and forth to finish the back and forth movement of the modular action system, and after the position is adjusted to a proper position, screwing down the connecting bolt at the position of the fixing threaded hole 8031 to finish the adjustment. When the assembled integrated modular mobile system is detached from the vehicle body, the modular mobile system can be separated from the vehicle body only by loosening and taking down the connecting bolt at the 8041 connecting threaded hole.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (6)
1. An integrated modular action system is characterized by comprising an inducer and track tensioning mechanism (1), an action bracket assembly (2), a belt supporting wheel set (3), a damping mechanism (4), a driving wheel assembly (5), an auxiliary tensioning wheel (6), a balance elbow load bearing wheel set (7), an action bracket mounting seat (8) and a track (9);
the movable support assembly (2) comprises two strip-shaped side plates (201) which are arranged in parallel and a reinforcing rib fixed between the two side plates (201); the front end of the side plate (201) is provided with a groove-shaped inducer and a track adjusting mechanism mounting opening (209), the top end of the side plate is provided with a plurality of carrier roller shafts (202), the middle part of the side plate is provided with a plurality of sleeve holes, and the bottom end of the side plate is provided with a plurality of evenly distributed balance elbow bogie wheel mounting seats (206); a moving support mounting seat sleeve (203) which is communicated left and right is arranged in the sleeve hole; a plurality of shock absorber mounting seats (207) are arranged beside the sleeve hole;
the inducer and track tensioning mechanism (1) comprises an inducer (101), an inducer shaft (102) and a locking mechanism, wherein the inducer (101) is sleeved on the inducer shaft (102), and the locking mechanism is used for fixing the inducer shaft (102) in a track tensioning adjusting opening (208);
the belt supporting wheel set (3) comprises a plurality of belt supporting wheels, and the belt supporting wheels are sleeved on corresponding belt supporting wheel shafts (202);
the balance elbow load wheel group (7) comprises a plurality of balance elbow load wheels, and the balance elbow load wheels are fixedly connected with corresponding balance elbow load wheel mounting seats (206);
the damping mechanism (4) comprises a plurality of spring dampers, one ends of the spring dampers are connected with corresponding damper mounting seats (207), and the other ends of the spring dampers are connected with corresponding balance elbow loading wheels;
the auxiliary tensioning wheel (6) is arranged below the inducer and track tensioning mechanism (1) and is fixedly connected with the corresponding balance elbow bogie wheel mounting seat (206);
the crawler (9) is supported and tensioned by an inducer, a crawler tensioning mechanism (1), a belt supporting wheel set (3), a driving wheel assembly (5), an auxiliary tensioning wheel (6) and a balance elbow load bearing wheel set (7);
the driving wheel assembly (5) is arranged behind the movable support assembly (2) and can be meshed with the crawler.
2. The integrated modular mobile system according to claim 1, further comprising a mobile support mounting base (8), wherein the mobile support mounting base (8) comprises a slide rail base (801), a slide block (802) and a connecting pin shaft (804), the right side of the slide rail base (801) is fixedly connected with the vehicle body, the left side of the slide rail base is provided with a groove in the front-back direction, and the right side of the slide block (802) is provided with a protruding portion in sliding connection with the groove; the right end of the connecting pin shaft (804) is fixed on the sliding block (802), and the left end of the connecting pin shaft is hinged with the sleeve (203) of the mounting seat of the traveling support.
3. The integrated modular mobility system of claim 1, wherein the drive wheel assembly (5) comprises a drive wheel toothed disc (501), an outer drive shaft (504), a splined hub (508), an inner drive shaft (510), a transition support (512), a vehicle body (513), a motor output shaft (514) and bearings (515), a retaining ring (516); the inner transmission shaft (510) is coaxially and fixedly connected with a motor output shaft (514); the outer surface of the inner transmission shaft (510) is matched with the inner surface of the spline sleeve (508); the transition bracket (512) is sleeved between the inner transmission shaft (510) and the spline housing (508), a gap is reserved between the transition bracket (512) and the inner transmission shaft (510), and a bearing (515) is arranged between the transition bracket (512) and the spline housing (508); one end of the transition support (512) is fixedly connected with a vehicle body (513); the outer transmission shaft (504) is coaxially and fixedly connected with the inner transmission shaft (510); the driving wheel fluted disc (501) is fixedly connected with the spline sleeve (508) and the outer transmission shaft (504).
4. The integrated modular mobility system of claim 3, wherein the drive wheel assembly (5) further comprises a toothed disc gland (507), the toothed disc gland (507) being fixed to an end surface of the outer drive shaft (504) and being fixedly connected to the drive wheel toothed disc (501).
5. Integrated modular walking system according to claim 4, characterized in that a collar (516) is arranged between the side of the bearing (515) and the transition bracket (512).
6. The integrated modular mobility system of claim 1, wherein the locking mechanism comprises a slack adjuster bolt (103), a lock nut (104), a locking anchor bolt (105), a slack adjuster bolt seat plate (106), a locking anchor bolt seat plate (107); a locking plane (1022) and an adjusting plane (1021) are arranged on the side face of the induced wheel shaft (102), the locking fixing bolt seat plate (107) is fixed above the track tensioning adjusting opening (208), a plurality of adjusting holes are formed in the locking fixing bolt seat plate (107), and the locking fixing bolt (105) passes through the adjusting holes to be attached to the locking plane (1022); the tightness adjusting bolt seat plate (106) is arranged behind the track tensioning adjusting opening (208), the tightness adjusting bolt (103) penetrates through the tightness adjusting bolt seat plate (106) to be attached to the adjusting plane (1021), and the tightness adjusting bolt (103) is fixed on the tightness adjusting bolt seat plate (106) through the locking nut (104).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210247105.1A CN114524025B (en) | 2022-03-14 | 2022-03-14 | Integrated modularized action system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210247105.1A CN114524025B (en) | 2022-03-14 | 2022-03-14 | Integrated modularized action system |
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| Publication Number | Publication Date |
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| CN114524025A true CN114524025A (en) | 2022-05-24 |
| CN114524025B CN114524025B (en) | 2023-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210247105.1A Active CN114524025B (en) | 2022-03-14 | 2022-03-14 | Integrated modularized action system |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1016839A (en) * | 1996-06-28 | 1998-01-20 | Kubota Corp | Crawler traveling device |
| CN102607793A (en) * | 2012-04-13 | 2012-07-25 | 湖南大学 | Adjustable-type trolley for impact test |
| CN205327214U (en) * | 2015-12-17 | 2016-06-22 | 安徽中科自动化股份有限公司 | Novel track tension device |
| CN206107385U (en) * | 2016-09-30 | 2017-04-19 | 山东国兴智能科技有限公司 | Crawler -type removes chassis shock attenuation running gear |
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN111365562A (en) * | 2020-04-29 | 2020-07-03 | 天津航天机电设备研究所 | Pipeline inspection robot suitable for multiple pipe diameters |
| WO2021162582A1 (en) * | 2020-02-10 | 2021-08-19 | Сергей Александрович СЕЛЕЗНЕВ | Tracked amphibious vehicle |
-
2022
- 2022-03-14 CN CN202210247105.1A patent/CN114524025B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1016839A (en) * | 1996-06-28 | 1998-01-20 | Kubota Corp | Crawler traveling device |
| CN102607793A (en) * | 2012-04-13 | 2012-07-25 | 湖南大学 | Adjustable-type trolley for impact test |
| CN205327214U (en) * | 2015-12-17 | 2016-06-22 | 安徽中科自动化股份有限公司 | Novel track tension device |
| CN206107385U (en) * | 2016-09-30 | 2017-04-19 | 山东国兴智能科技有限公司 | Crawler -type removes chassis shock attenuation running gear |
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| WO2021162582A1 (en) * | 2020-02-10 | 2021-08-19 | Сергей Александрович СЕЛЕЗНЕВ | Tracked amphibious vehicle |
| CN111365562A (en) * | 2020-04-29 | 2020-07-03 | 天津航天机电设备研究所 | Pipeline inspection robot suitable for multiple pipe diameters |
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| Publication number | Publication date |
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| CN114524025B (en) | 2023-04-28 |
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