CN201158415Y - Caterpillar band and wheel combined arm swing type rhombic walking device - Google Patents
Caterpillar band and wheel combined arm swing type rhombic walking device Download PDFInfo
- Publication number
- CN201158415Y CN201158415Y CNU2008200520519U CN200820052051U CN201158415Y CN 201158415 Y CN201158415 Y CN 201158415Y CN U2008200520519 U CNU2008200520519 U CN U2008200520519U CN 200820052051 U CN200820052051 U CN 200820052051U CN 201158415 Y CN201158415 Y CN 201158415Y
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- CN
- China
- Prior art keywords
- crawler belt
- wheel
- running gear
- pilot bar
- unlocking device
- 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.)
- Expired - Lifetime
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Abstract
The utility model discloses a pedrail-and-wheel combined arm rhombic traveling gear. The running gear includes a rhombic chassis, as well as front wheels, rear wheels and two pedrail running gears which are installed on the chassis; the front and the rear wheels are respectively arranged on the front and the rear sides of the chassis through suspensions; the two pedrail running gears are respectively arranged on the left and the right sides of chassis through pedrail running gear suspensions; and steering systems are arranged in the front and the back wheels. The pedrail-and-wheel combined arm rhombic traveling gear has the advantages of simple and compact structure, low cost, adaptability to various severe environments, wide application rage and good stability.
Description
Technical field
The utility model is mainly concerned with the design field of running gear, refers in particular to a kind of crawler belt and the wheeled swing arm type rhombus running gear that combines, and gathers the field applicable to unmanned probing under the harsh environment and ore.
Background technology
At present, carry out unmanned probing and ore when gathering under harsh environment, generally adopt automatic travelling device, lunar surface is surveyed and the moon craft of ore collection such as being used to finish.For existing domestic moon craft, its running gear substantially all is to adopt wheeled construction.For the lunar surface environment, because its surface condition is complicated unknown, and how based on ooze sand, this running gear to detector has special requirement: 1, moonscape mostly is soft soft soil, and the lunar rover vehicle must have very strong crossing over blockage, cross over ditch and hag driveability.The existing lunar rover vehicle is the employing wheeled construction, because less with ground-surface area of contact, has inadequate natural endowment at hag aspect travelling, and this will influence the action radius of the lunar rover vehicle greatly and increase energy resource consumption.2, in the lunar surface landform very under the complicated situation, detector must have very strong alerting ability and maneuvering performance, and this running gear to the lunar rover vehicle has very high requirement.The modes that are arranged in parallel that adopt are arranged on the chassis of the present lunar rover vehicle more, and Turning radius is bigger, and alerting ability is not strong, travels under the lunar surface environment and also has many deficiencies.The present lunar rover vehicle is done all perfectly not enough aspect above two, and especially travelling and cross at hag has bigger shortcoming aspect the ditch ability, and the detection vehicle of other field has above defective too.
The utility model content
Problem to be solved in the utility model just is: at the technical matters that prior art exists, the utility model provides a kind of simple and compact for structure, with low cost, the crawler belt and wheeled swing arm type rhombus running gear that combines that can be fit to operation under the various harsies environment, applied widely, good stability.
For solving the problems of the technologies described above, the solution that the utility model proposes is: a kind of crawler belt and the wheeled swing arm type rhombus running gear that combines, it is characterized in that: it comprises the vehicle frame of class rhombus and is installed on front-wheel, trailing wheel and two crawler belt running gears on the vehicle frame, front-wheel and trailing wheel are installed in the front side and the rear side of vehicle frame respectively by suspension, two crawler belt running gears are installed in the left side and the right side of vehicle frame respectively by crawler belt running gear suspension, all be equiped with steering swivel system in described front-wheel and the trailing wheel.
Described steering swivel system comprises connecting panel, support bridge, turns to reductor, steer motor, center shaft and rotate stub, the wheel hub of wheel is fixed on the center shaft by connecting panel, turn to reductor and support bridge affixed, center shaft is affixed with the rotation stub, and steer motor links to each other with the rotation stub by turning to reductor.
Described crawler belt running gear comprises crawler belt running gear suspension, driving wheel, attaching parts, track adjusting wheel, bearing wheed, crawler belt ring and is installed on independent driving system in the driving wheel, described crawler belt is around being located on driving wheel, track adjusting wheel and the bearing wheed, track adjusting wheel and bearing wheed are positioned at the same side, track adjusting wheel is positioned at the top of bearing wheed, and the driving wheel of chatting, track adjusting wheel link to each other by attaching parts with bearing wheed.
Described independent driving system comprises drive motor, inner gear, miniature gears and stay bearing plate, and the output shaft that is fixed in the drive motor on the stay bearing plate links to each other with miniature gears, miniature gears and inner gear engagement, and inner gear and driving wheel wheel hub are affixed.
Described crawler belt running gear suspension comprises pilot bar, damping spring and unlocking device, and pilot bar links to each other with attaching parts, and damping spring is sheathed on the pilot bar, and the bottom of pilot bar is provided with unlocking device.
Described unlocking device adopts electromagnetic induction principle, and is the same with the hold torque principle of stepping motor, and the relative unlocking device of its output shaft is fixed when energising, can not freely rotate; Release during outage, its output shaft can freely rotate.
Described unlocking device is connected by bolt and pilot bar bottom, and the attaching parts of crawler belt running gear is followed the unlocking device output shaft fixed connection by connecting pin.
Compared with prior art, advantage of the present utility model just is:
1, the chassis structure of the utility model employing is rocker-arm class rhombus chassis, under same steering angle, can significantly reduce the Turning radius of the lunar rover vehicle, improves the steering flexibility of the lunar rover vehicle.Simultaneously Turning radius is little, can reduce with the interference probability of surrounding environment, thereby improve the comformability of the lunar rover vehicle;
2, the breast wheel on the utility model chassis is replaced by the crawler type running gear, can improve the trench crossing ability and the obstacle climbing ability of continuously tracked vehicle, strengthens the maneuvering performance of the lunar rover vehicle; In addition, because crawler belt running gear and ground-surface area of contact are bigger, be more suitable on the soft soil of lunar surface, travelling;
3, the crawler belt running gear is done as a whole in the utility model, be positioned on pinning-unlocking device, pinning-unlocking device is fixed on the suspension that shock mitigation system is housed, in the time of walking at ordinary times, pinning-unlocking device is release, can guarantee that four wheels contacts with ground always this moment, guarantees its ground connection performance, improves the riding comfort of vehicle body.Simultaneously, because crawler belt is a Fu, ground-surface rises and falls less to the attitude variable effect of vehicle body, thereby can improve the stability that the lunar rover vehicle travels;
4, forward and backward two-wheeled of the present utility model all adopts the rocking arm type suspension system to link to each other with vehicle body, can strengthen the ability of the throwing over barrier of the lunar rover vehicle greatly;
5, the relatively long crawler belt running gear of the utility model, the trench performance obviously is superior to other lunar rover vehicle more.
Description of drawings
Fig. 1 is a perspective view of the present utility model;
Fig. 2 is the structural representation of crawler belt running gear in the utility model;
Fig. 3 is the structural representation of front-wheel or trailing wheel in the utility model;
Fig. 4 is the perspective view of driving wheel in the utility model crawler belt running gear;
Fig. 5 is the main TV structure scheme drawing of driving wheel in the utility model crawler belt running gear;
Fig. 6 is the structural representation that turns to system in the utility model front-wheel or the trailing wheel;
Fig. 7 is the utility model obstacle detouring application example scheme drawing one;
Fig. 8 is the utility model obstacle detouring application example scheme drawing two;
Fig. 9-1,9-2,9-3,9-4,9-5,9-6 are the utility model obstacle detouring application example scheme drawings three;
Figure 10-1,10-2,10-3,10-4,10-5,10-6 are that the utility model is got over trench application example scheme drawing.
Marginal data
1, front-wheel 2, crawler belt running gear
3, trailing wheel 4, crawler belt running gear suspension
5, driving wheel 6, attaching parts
7, pin unlocking device 8, pilot bar
9, damping spring 10, track adjusting wheel
11, bearing wheed 12, drive motor
13, stay bearing plate 14, bearing
15, connecting panel 16, support bridge
17, turn to reductor 18, steer motor
19, bearing 20, center shaft
21, rotate stub 22, vehicle frame
23, suspension 24, crawler belt ring
25, wheel hub 26, inner gear
27, miniature gears 28, driving wheel wheel hub
The specific embodiment
Below with reference to the drawings and specific embodiments the utility model is described in further details.
As Fig. 1-shown in Figure 6, the utility model crawler belt and the wheeled swing arm type rhombus running gear that combines, the vehicle frame 22 of its class rhombus and be installed on front-wheel 1, trailing wheel 3 and two crawler belt running gears 2 on the vehicle frame 22, front-wheel 1 and trailing wheel 3 are installed in the front side and the rear side of vehicle frame 22 respectively by suspension 23, two crawler belt running gears 2 are installed in the left side and the right side of vehicle frame 22 respectively by crawler belt running gear suspension 4, all be equiped with steering swivel system in front-wheel 1 and the trailing wheel 3.In the present embodiment, referring to Fig. 3 and shown in Figure 6, steering swivel system comprises connecting panel 15, support bridge 16, turns to reductor 17, steer motor 18, center shaft 20 and rotate stub 21, the wheel hub 25 of wheel is fixed on the center shaft 20 by connecting panel 15, turn to reductor 17 and support bridge 16 affixed, center shaft 20 is affixed with rotation stub 21, and steer motor 18 links to each other with rotation stub 21 by turning to reductor 17.Referring to shown in Figure 2, crawler belt running gear 2 comprises crawler belt running gear suspension 4, driving wheel 5, attaching parts 6, track adjusting wheel 10, bearing wheed 11, crawler belt ring 24 and is installed on independent driving system in the driving wheel 5 in the present embodiment, crawler belt ring 24 is set around on driving wheel 5, track adjusting wheel 10 and the bearing wheed 11, track adjusting wheel 10 and bearing wheed 11 are positioned at the same side, track adjusting wheel 10 is positioned at the top of bearing wheed 11, and crawler belt running gear suspension 4 links to each other with driving wheel 5, track adjusting wheel 10 and bearing wheed 11 by attaching parts 6.Crawler belt running gear suspension 4 comprises pilot bar 8, damping spring 9 and unlocking device 7, and pilot bar 8 links to each other with attaching parts 6, and damping spring 9 is sheathed on the pilot bar 8, and the bottom of pilot bar 8 is provided with unlocking device 7.Referring to Fig. 4 and shown in Figure 5, in the present embodiment, independent driving system comprises drive motor 12, inner gear 26, miniature gears 27 and stay bearing plate 13, the output shaft that is fixed in the drive motor 4 on the stay bearing plate 13 links to each other with miniature gears 27, miniature gears 27 and inner gear 26 engagements, inner gear 26 is affixed with driving wheel wheel hub 28.Wherein, unlocking device adopts electromagnetic induction principle, and is the same with the hold torque principle of stepping motor, and the relative unlocking device of its output shaft is fixed when energising, can not freely rotate; Release during outage, its output shaft can freely rotate.Unlocking device is connected by bolt and pilot bar bottom.The attaching parts of crawler belt running gear is followed the unlocking device output shaft fixed connection by connecting pin.
When generally travelling, propulsive effort is provided by the 5 internally-powered devices of the driving wheel in the crawler attachment, power is outputed on the miniature gears 27 by drive motor 12, miniature gears 27 and inner gear 26 engagements, inner gear 26 is connected with driving wheel 5, so inner gear 26 is delivered to propulsive effort on the driving wheel 5, driving wheel 5 is delivered on the crawler belt ring 24 by tooth, promptly drive crawler belt ring 24 and produce relative motion, realize travelling action with ground.In general driving process, the attaching parts 6 of crawler belt running gear is releases with pinning unlocking device 7, and promptly the crawler belt running gear can freely rotate around the center of location that pins unlocking device 7 and crawler belt running gear attaching parts 6.So no matter road conditions how, and always some crawler belt ring 2 is kept in touch with the road surface, thereby improve the riding comfort of vehicle body.
In throwing over barrier, if the height of obstacle is lower than front-wheel 1,, then need not action as Fig. 7, directly promptly can realize obstacle detouring by good earth-catching property of wheel and powerful propulsive effort., the height of obstacle is lower than track adjusting wheel 10 centers if being higher than front-wheel 1 diameter to ground-surface height,
As Fig. 8, at first will pin unlocking device 7 and be arranged on locking-in state, can avoid when front-wheel 1 lifts, occurring the vehicle body situation of toppling forward like this, takeoff output by worm-gear speed reducer 17 makes front-wheel 2 turn to the rotation of reductor 17 output shaft centers around worm and gear then, thereby upwards put, then front-wheel 1 is placed on the obstacle, direct drive crawler belt running gear 2 then, because the superior off-road capability of crawler belt running gear 2, for being lower than the obstacle of track adjusting wheel 10 centers to floor level, crawler belt running gear 2 can easily be crossed.
If obstacle height is higher than track adjusting wheel 10 centers to floor level, shown in Fig. 9-1.Make it to be arranged on locking-in state for earlier unlocking device 7 energisings, make crawler belt running gear 2 relative vehicle frames 22 not move, avoid when front-wheel 1 lifts, occurring the vehicle body situation of toppling forward.The takeoff output that turns to reductor 17 by worm and gear rotates the turn to reductor 17 output shaft centers of front-wheel 2 around worm and gear then, front-wheel 2 is put, until front-wheel 1 is lifted to more than the obstacle height, as Fig. 9-2.Be urged to front-wheel 2 then and place fully on the obstacle, as Fig. 9-3.Then with front-wheel 2 by suspension 23 around worm and gear turn to reductor 17 toward the bottoms, the car load front portion is lifted, be higher than the height of obstacle until track adjusting wheel 10 centers, as Fig. 9-4.According to the characteristics of crawler belt running gear 2, this moment is as long as direct drive can clear the jumps, when car all places on the obstacle, as Fig. 9-5.Next step just with front-wheel 1 again around worm and gear turn to the reductor 17 output shaft bottoms to kiss the earth, unlocking device 7 outage releases then are as Fig. 9-6.
When trench appears in the place ahead, shown in Figure 10-1, earlier unlocking device 7 energisings are made it to place locking-in state, make crawler belt running gear 2 as a whole with vehicle frame 22, vehicle body was unlikely to topple forward when front-wheel 1 was unsettled.Then directly to overtake, make front-wheel 1 touch the trench other end, at this moment require the center of gravity of car also not leave this end of ditch, as Figure 10-2.So just can guarantee that the lunar rover vehicle can not topple in ditch, continue then to travel, a crawler belt part is unsettled, and it doesn't matter, this invention crawler belt running gear 2 is longer relatively, part crawler belt is connected to chassis always, can guarantee that the lunar rover vehicle is stabilized walking always, get to crawler belt running gear front portion then and begin to contact the trench other end, as Figure 10-3.Continue to drive, this moment, crawler attachment 2 all contacted with the trench two ends, as Figure 10-4.The center of gravity that continues to drive until car is passed through trench, and require trailing wheel 2 also not leave this end of ditch this moment, so just can guarantee that the lunar rover vehicle can not topple backward, as Figure 10-5.After center of gravity is crossed trench, just can continue to drive and pass through trench until car load.As Figure 10-6.That is to say, get over the trench width if the trench width is lower than our maximum, we only need place locking-in state with pinning unlocking device 2 in fact, and direct drive just can easily stride across a trench then.If trench other end height is higher than the starting end height, Yi Bian we can suitably up put the other end that better arrives at ditch to front-wheel 2 after front-wheel 2 is liftoff.
Use running gear of the present utility model to be example with the lunar rover vehicle, turning to of rhombus crawler belt-wheeled mixing lunar rover vehicle can have two kinds of methods: one for passing through control front and back two-wheel rotational angle, two differentials by middle two crawler belt running gears 2.Method one utilizes steer motor to drive front-wheel 1 and trailing wheel 3 turns to, and makes itself and travel direction produce certain angle, produces under the driving of the drive motor 12 in middle crawler belt running gear 2 to turn to.Carry out steering manipulation when this method can make the lunar rover vehicle travel, thereby improve the moving velocity and the work efficiency of the lunar rover vehicle.More under the condition of severe, can adopt method two is the differential method at some.Drive motor 12 in the middle of the differential method is promptly utilized in the crawler belt running gear 2, make two crawler belt running gears produce opposite speed, steer motor 18 by front-wheel 1 and trailing wheel 3 makes front and back wheel forward suitable angle to simultaneously, under the effect of differential, can make the lunar rover vehicle certain some rotation on vehicle body, thereby reduce the turn radius of the lunar rover vehicle greatly, improve the steering flexibility of the lunar rover vehicle.Method two is that the lunar rover vehicle turns in very little space, generally needs earlier the lunar rover vehicle to be stopped, and can realize by control.
Claims (7)
1, a kind of crawler belt and the wheeled swing arm type rhombus running gear that combines, it is characterized in that: it comprises the vehicle frame (22) of class rhombus and is installed on front-wheel (1), trailing wheel (3) and two crawler belt running gears (2) on the vehicle frame (22), front-wheel (1) and trailing wheel (3) are installed in the front side and the rear side of vehicle frame (22) respectively by suspension (23), two crawler belt running gears (2) are installed in the left side and the right side of vehicle frame (22) respectively by crawler belt running gear suspension (4), all be equiped with steering swivel system in described front-wheel (1) and the trailing wheel (3).
2, crawler belt according to claim 1 and the wheeled swing arm type rhombus running gear that combines, it is characterized in that: described steering swivel system comprises connecting panel (15), support bridge (16), turns to reductor (17), steer motor (18), center shaft (20) and rotate stub (21), the wheel hub of wheel (25) is fixed on the center shaft (20) by connecting panel (15), turn to reductor (17) and support bridge (16) affixed, center shaft (20) is affixed with rotation stub (21), and steer motor (18) links to each other with rotation stub (21) by turning to reductor (17).
3, according to claim 1 or 2 described crawler belts and the wheeled swing arm type rhombus running gear that combines, it is characterized in that: described crawler belt running gear (2) comprises crawler belt running gear suspension (4), driving wheel (5), attaching parts (6), track adjusting wheel (10), bearing wheed (11), crawler belt ring (24) and be installed on independent driving system in the driving wheel (5), described crawler belt ring (24) is set around driving wheel (5), on track adjusting wheel (10) and the bearing wheed (11), track adjusting wheel (10) and bearing wheed (11) are positioned at the same side, track adjusting wheel (10) is positioned at the top of bearing wheed (11), and described crawler belt running gear suspension (4) is by attaching parts (6) and driving wheel (5), track adjusting wheel (10) links to each other with bearing wheed (11).
4, according to described crawler belt of claim 3 and the wheeled swing arm type rhombus running gear that combines, it is characterized in that: described independent driving system comprises drive motor (12), inner gear (26), miniature gears (27) and stay bearing plate (13), the output shaft that is fixed in the drive motor (12) on the stay bearing plate (13) links to each other with miniature gears (27), miniature gears (27) and inner gear (26) engagement, inner gear (26) is affixed with driving wheel wheel hub (28).
5, according to claim 1 or 2 described crawler belts and the wheeled swing arm type rhombus running gear that combines, it is characterized in that: described crawler belt running gear suspension (4) comprises pilot bar (8), damping spring (9) and unlocking device (7), pilot bar (8) links to each other with attaching parts (6), damping spring (9) is sheathed on the pilot bar (8), and the bottom of pilot bar (8) is provided with unlocking device (7).
6, according to described crawler belt of claim 3 and the wheeled swing arm type rhombus running gear that combines, it is characterized in that: described crawler belt running gear suspension (4) comprises pilot bar (8), damping spring (9) and unlocking device (7), pilot bar (8) links to each other with attaching parts (6), damping spring (9) is sheathed on the pilot bar (8), and the bottom of pilot bar (8) is provided with unlocking device (7).
7, crawler belt according to claim 4 and the wheeled swing arm type rhombus running gear that combines, it is characterized in that: described crawler belt running gear suspension (4) comprises pilot bar (8), damping spring (9) and unlocking device (7), pilot bar (8) links to each other with attaching parts (6), damping spring (9) is sheathed on the pilot bar (8), and the bottom of pilot bar (8) is provided with unlocking device (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200520519U CN201158415Y (en) | 2008-01-09 | 2008-01-09 | Caterpillar band and wheel combined arm swing type rhombic walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200520519U CN201158415Y (en) | 2008-01-09 | 2008-01-09 | Caterpillar band and wheel combined arm swing type rhombic walking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201158415Y true CN201158415Y (en) | 2008-12-03 |
Family
ID=40109007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200520519U Expired - Lifetime CN201158415Y (en) | 2008-01-09 | 2008-01-09 | Caterpillar band and wheel combined arm swing type rhombic walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201158415Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214832B (en) * | 2008-01-09 | 2010-08-04 | 湖南大学 | Track and wheeled combination swing arm type diamond-type walking device |
| CN104010928A (en) * | 2011-07-25 | 2014-08-27 | 庞巴迪动力产品公司 | Snowmobile Suspension |
| US10065708B2 (en) | 2013-05-31 | 2018-09-04 | Bombardier Recreational Products Inc. | Snowmobile suspension |
| CN111319693A (en) * | 2020-03-22 | 2020-06-23 | 西北工业大学 | Complex terrain rescue and survey robot |
-
2008
- 2008-01-09 CN CNU2008200520519U patent/CN201158415Y/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214832B (en) * | 2008-01-09 | 2010-08-04 | 湖南大学 | Track and wheeled combination swing arm type diamond-type walking device |
| CN104010928A (en) * | 2011-07-25 | 2014-08-27 | 庞巴迪动力产品公司 | Snowmobile Suspension |
| CN104010928B (en) * | 2011-07-25 | 2016-05-18 | 庞巴迪动力产品公司 | Snowmobile suspension |
| US10065708B2 (en) | 2013-05-31 | 2018-09-04 | Bombardier Recreational Products Inc. | Snowmobile suspension |
| CN111319693A (en) * | 2020-03-22 | 2020-06-23 | 西北工业大学 | Complex terrain rescue and survey robot |
| CN111319693B (en) * | 2020-03-22 | 2021-04-20 | 西北工业大学 | Complex terrain rescue and survey robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20081203 Effective date of abandoning: 20080109 |