CN206107385U - Crawler -type removes chassis shock attenuation running gear - Google Patents
Crawler -type removes chassis shock attenuation running gear Download PDFInfo
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- CN206107385U CN206107385U CN201621095354.XU CN201621095354U CN206107385U CN 206107385 U CN206107385 U CN 206107385U CN 201621095354 U CN201621095354 U CN 201621095354U CN 206107385 U CN206107385 U CN 206107385U
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Abstract
The utility model relates to a crawler -type removes chassis shock attenuation running gear, including main dynamic wheel group, from dynamic wheel group, the direction wheelset, the bearing wheelset, fixed gallows, the track, the tight pulley that rises group, main dynamic wheel group passes through the drive sprocket axle and is connected with the main part motor, from dynamic wheel group through driven hanging beam axle and fixed hanger connected, every group direction wheelset is through direction hanging beam axle and fixed hanger connected, fixed gallows is fixed in the frame main part through driven hanging beam axle and direction hanging beam axle, the bottom of fixed gallows is through shock attenuation swing arm board and bearing wheel group link, be connected with elastomeric element between fixed gallows and the shock attenuation swing arm board, every the inboard bearing wheelset of track has n group, wherein n is more than or equal to 1's natural number. The utility model discloses running gear power take off is direct, and mobility is strong, simple structure, and easy maintenance, the reliability is high, and the trafficability characteristic is strong, and application scope is wide, and the life of impact fracture, extension equipment is avoided to homoenergetic guarantor bottom protection dish and upper portion equipment under all kinds of different environment.
Description
Technical field
This utility model belongs to crawler belt mobile device technical field, and in particular to a kind of damping of crawler-type mobile chassis is walked
Mechanism.
Background technology
Crawler-type mobile chassis, has the advantages that flexible movements and contact area of ground are big, it is strong to pass through barrier ability,
But when pavement behavior is not good or needs to pass through barrier, for example, when road surface of the caterpillar chassis by attachment protrusion, carry out
Band can be subject to foreign impacts, so that chassis vibrations, directly affect even running and the reliably working that equipment is installed on chassis,
Sometimes even understand damage equipment electric elements inside, cause equipment malfunction, or even cause the accidents such as equipment blast on fire.Therefore carry out
Belt mobile chassis as associated mechanical walking mechanism, its developing direction all the time around security reliability, it is applied widely,
The low aspect development of ease-to-operate, environmental protection and energy saving and cost.
Since 20 successful Applications of the beginning of the century crawler body mechanism on tank, with the development of science and technology, crawler-type mobile
Chassis occurs in that a large amount of amelioration products, can be used to patrol and examine exploration, rescues the specialized robots such as explosive, extraordinary shooting, carriage of special cargo
Exploitation is domestic fire-fighting domain, police fields, patrol and examine field etc. brings new study hotspot.
In the prior art, common crawler-type mobile chassis only has single suspension or shock-damping structure, its damping effect
It is really limited, it is difficult to preferably protection is played to crawler-type mobile chassis and its optional equipment；And the preferable damping system of damping effect
System structure is again complex, it is very high that not only machining and packaging technology required, and due to addition of all kinds of antivibrators and
Sensor etc., it is higher to control requirement, safeguard inconvenient, high cost, practicality is not strong.
The content of the invention
The purpose of this utility model is to provide a kind of crawler-type mobile chassis damping walking mechanism, makes whole chassis structure
All can preferably support body to allow it normally to work in different regions, adapt to changeable environment.
This utility model solves the technical scheme that its technical problem adopted：A kind of damping walking of crawler-type mobile chassis
Mechanism, including active wheels, driven wheels, directive wheel group, BOGEY WHEEL group, fixed suspension bracket, crawler belt, it is the active wheels, driven
Wheel group, directive wheel group, BOGEY WHEEL group are respectively positioned on crawler belt inner side and are connected with crawler belt engagement, and crawler belt inner side is additionally provided with engages with crawler belt
Expansion tightening wheel group, active wheels are hung by driven hanging beam axle by drive sprocket axle and main body motor connection, driven wheels with fixing
Frame connects, and directive wheel group has multigroup, and every group of directive wheel group is connected by being oriented to hanging beam axle with fixed suspension bracket, fix suspension bracket by from
Dynamic hanging beam axle and guiding hanging beam axle are fixed in chassis body, and the bottom of fixed suspension bracket is connected by damping swing arm plate with BOGEY WHEEL group
Connect, between fixed suspension bracket and damping swing arm plate elastomeric element is connected with, elastomeric element one end is articulated with fixation by axis pin of the spring a
Suspension bracket, the other end is articulated with damping swing arm plate by axis pin of the spring b, and the BOGEY WHEEL group on the inside of every crawler belt has n groups, wherein n
It is the natural number more than or equal to 1.
Specifically, every group of BOGEY WHEEL group includes two BOGEY WHEELs, is connected by load-bearing wheel shaft between two BOGEY WHEELs,
For the BOGEY WHEEL group in left side, the BOGEY WHEEL in per group of left side with the left side of left track along contacting, right side BOGEY WHEEL and left side
Along contact in the right side of crawler belt；For the BOGEY WHEEL group on right side, the BOGEY WHEEL in per group of left side connects with edge in the left side of right side track
Touch, right side BOGEY WHEEL is contacted with edge in the right side of right side track.
Specifically, the damping swing arm plate of every group of BOGEY WHEEL group connection has two, every group of BOGEY WHEEL group and damping swing arm
Plate constitutes both arms Double-wheel structure.
Specifically, the damping swing arm plate is hinged by damping fulcrum with fixed suspension bracket, and BOGEY WHEEL group is with damping fulcrum
Fulcrum, with damping swing arm plate as lever, with elastomeric element leverage is formed.
This utility model has the advantages that：Damping walking mechanism power in crawler-type mobile chassis of the present utility model
Output is direct, and mobility strong, simple structure is easy to maintenance, and reliability is high, strong by property, applied widely, realizes the machine
Extensive application under all kinds of varying environments, so as to the destruction that the installation equipment for protecting chassis and its top is caused from impact,
The service life of extension device.Simultaneously as the structure is good by property, the equipment is more suitably applied to mountain region, desert very
To the occasion that the obstacles such as stairs climbing are more, road conditions are complicated.
Description of the drawings
Fig. 1 is the structural representation of this utility model damping walking mechanism.
Fig. 2 is the dimensional structure diagram of this utility model damping walking mechanism.
In figure, 1, active wheels, 2, driven wheels, 3, directive wheel group, 4, fixed suspension bracket, 5, elastomeric element, 6, damping
Axle, 7, damping swing arm plate, 8, drive sprocket axle, 9, BOGEY WHEEL group, 10, crawler belt, 11, expansion tightening wheel group, 12, driven hanging beam axle, 13, lead
To hanging beam axle, 14, axis pin of the spring a, 15, axis pin of the spring b, 16, load-bearing wheel shaft.
Specific embodiment
This utility model is described in further detail presently in connection with accompanying drawing.
As shown in Figure 1, 2, a kind of crawler-type mobile chassis damping walking mechanism, including active wheels 1, driven wheels 2, lead
To wheel group 3, BOGEY WHEEL group 9, fixed suspension bracket 4, crawler belt 10, active wheels 1, driven wheels 2, directive wheel group 3, BOGEY WHEEL group 9 are equal
It is connected positioned at the inner side of crawler belt 10 and with the engagement of crawler belt 10, the inner side of crawler belt 10 is additionally provided with the expansion tightening wheel group 11 engaged with crawler belt 10, main
Driving wheel group 1 provides the power walked forward to crawler belt 10 by drive sprocket axle 8 and main body motor connection, straight by primary transmission
Realization is connect, power output substantially, substantially increases the transmission efficiency of motor, lifts the overall mobility of mobile chassis, it is to avoid
Between secondary transmission produce power attenuation, noise and abrasion etc.；Simultaneously as using primary transmission mode, drivewheel subtracts with motor
Fast gear-box it is direct-connected so that frame for movement is succinct, and not only processing technique is simple, and safeguards and overhaul convenient, greatly drop
The maintenance difficulty and production cost of low a whole set of mobile chassis.
Driven wheels 2 are connected by driven hanging beam axle 12 with fixed suspension bracket 4, and directive wheel group 3 has multigroup, every group of directive wheel group
3 are connected by guiding hanging beam axle 13 with fixed suspension bracket 4, and fixed suspension bracket 4 is fixed by driven hanging beam axle 12 and guiding hanging beam axle 13
In chassis body, every driven hanging beam axle 12 in side and three guiding hanging beam axles 13 are this simple as the carrying axle for fixing suspension bracket 4
Mounting structure, the overall package for being easy to every side damping walking mechanism is dismantled, easy to maintenance.Importantly, the side of carrying axle
To consistent, present and mobile chassis direction of advance angle is the arrangement of obtuse angle direction, when mobile chassis run into raised barrier,
Most front side carrying axle can stress first, by elasticity of compression part and antivibrator, realize forward deformation and the stress of carrying axle；If
Raised barrier is larger, and now successively stress is deformed upon second even the 3rd carrying axle, realizes the forward position of carrying axle
Change is moved, so as to keep the invariance of the vertical direction displacement of chassis body, it is ensured that the overall stationarity of mobile chassis, reduced very
To the vibrations for eliminating the external world, it is ensured that the safety of chassis upper instrument or equipment.
The bottom of fixed suspension bracket 4 is connected by damping swing arm plate 7 with BOGEY WHEEL group 9, fixes suspension bracket 4 and damping swing arm plate 7
Between be connected with elastomeric element 5, the one end of elastomeric element 5 is articulated with fixed suspension bracket 4 by axis pin of the spring a14, and the other end passes through bullet
Spring bearing pin b15 is articulated with damping swing arm plate 7, and the BOGEY WHEEL group 9 of every inner side of crawler belt 10 has n groups, and wherein n is more than or equal to 1
Natural number.The damping swing arm plate 7 of every group of connection of BOGEY WHEEL group 9 has two, and every group of BOGEY WHEEL group 9 is constituted with damping swing arm plate 7
Both arms Double-wheel structure.Load bearing system is hung using the both arms two-wheel of simple structure, by driven wheels, directive wheel group, expansion tightening wheel
Group and BOGEY WHEEL group constitute arm structure, support the both sides of crawler belt, not only improve contact area of the crawler belt with ground and friction
Power, improve chassis by property and stability.Simultaneously as arm structure of the chassis per side, makes both arms two-wheel with crawler belt
Narrow contact area so that crawler belt contact with the concavo-convex thing in ground has elasticity, not only the good safety that ensure that arm structure
Property, also ensure that fitting completely for crawler belt and the concavo-convex barrier in ground.
Every group of BOGEY WHEEL group 9 includes two BOGEY WHEELs, is connected by load-bearing wheel shaft 16 between two BOGEY WHEELs, for left side
BOGEY WHEEL group 9, the BOGEY WHEEL in per group of left side with the left side of left track 10 along contact, right side BOGEY WHEEL and left track 10
Right side in along contact；For the BOGEY WHEEL group 9 on right side, the BOGEY WHEEL in per group of left side connects with edge in the left side of right side track 10
Touch, right side BOGEY WHEEL is contacted with edge in the right side of right side track 10.
Damping swing arm plate 7 by damping fulcrum 6 with fixation suspension bracket 4 be hinged, BOGEY WHEEL group 9 with damping fulcrum 6 as fulcrum, with
Damping swing arm plate 7 is lever, and with elastomeric element 5 leverage is formed.When impact endurance test shock is run into, BOGEY WHEEL group 9 can be around damping
Axle 6 rotates, and elasticity of compression part 5, so as to absorb the impact and vibrations that produce due to barrier.
It should be noted that：Although pertaining only to unilateral three groups of BOGEY WHEEL groups (left and right sides crawler belt in this utility model accompanying drawing
Six groups of BOGEY WHEEL groups altogether), but key technology corresponding with this structure is not limited only to three groups (or six groups of both sides) holds
Roller group, as needed and user use environment, may only need to one group of (or two groups of both sides) BOGEY WHEEL group, two groups (or two
Four groups of side) BOGEY WHEEL group, three groups of (or six groups of both sides) BOGEY WHEEL groups ... also or N groups (or both sides 2N groups) BOGEY WHEEL group etc..
This utility model is not limited to above-mentioned embodiment, and anyone should learn what is made under enlightenment of the present utility model
Structure change, it is every that there is same or like technical scheme with this utility model, each fall within protection domain of the present utility model
Within.
Technology that this utility model is not described in detail, shape, construction part are known technology.
Claims (4)
1. a kind of crawler-type mobile chassis damping walking mechanism, it is characterised in that including active wheels, driven wheels, directive wheel
Group, BOGEY WHEEL group, fixed suspension bracket, crawler belt, the active wheels, driven wheels, directive wheel group, BOGEY WHEEL group are respectively positioned in crawler belt
Side and be connected with crawler belt engagement, crawler belt inner side is additionally provided with expansion tightening wheel group engage with crawler belt, active wheels pass through drive sprocket axle and
Main body motor connection, driven wheels are connected by driven hanging beam axle with fixed suspension bracket, and directive wheel group has multigroup, every group of directive wheel group
It is connected with fixed suspension bracket by being oriented to hanging beam axle, fixed suspension bracket is fixed on chassis body by driven hanging beam axle and guiding hanging beam axle
On, the bottom of fixed suspension bracket is connected by damping swing arm plate with BOGEY WHEEL group, is connected between fixed suspension bracket and damping swing arm plate
Elastomeric element, elastomeric element one end is articulated with fixed suspension bracket by axis pin of the spring a, and the other end is articulated with by axis pin of the spring b and is subtracted
On shake swing arm plate, the BOGEY WHEEL group on the inside of every crawler belt has n groups, and wherein n is the natural number more than or equal to 1.
2. damping walking mechanism in crawler-type mobile chassis as claimed in claim 1, it is characterised in that every group of BOGEY WHEEL group
Including two BOGEY WHEELs, connected by load-bearing wheel shaft between two BOGEY WHEELs, for the BOGEY WHEEL group in left side, per group of left side is held
Roller is with, along contacting, right side BOGEY WHEEL is contacted with edge in the right side of left track in the left side of left track；For holding for right side
Roller group, the BOGEY WHEEL in per group of left side is contacted with edge in the left side of right side track, in the right side of right side BOGEY WHEEL and right side track
Along contact.
3. damping walking mechanism in crawler-type mobile chassis as claimed in claim 1 or 2, it is characterised in that every group of load-bearing
The damping swing arm plate of wheel group connection has two, and every group of BOGEY WHEEL group constitutes both arms Double-wheel structure with damping swing arm plate.
4. damping walking mechanism in crawler-type mobile chassis as claimed in claim 1, it is characterised in that the damping swing arm plate leads to
Cross damping fulcrum to be hinged with fixed suspension bracket, BOGEY WHEEL group with damping fulcrum as fulcrum, with damping swing arm plate as lever, with elastic
Part forms leverage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621095354.XU CN206107385U (en) | 2016-09-30 | 2016-09-30 | Crawler -type removes chassis shock attenuation running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621095354.XU CN206107385U (en) | 2016-09-30 | 2016-09-30 | Crawler -type removes chassis shock attenuation running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206107385U true CN206107385U (en) | 2017-04-19 |
Family
ID=58522368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621095354.XU Active CN206107385U (en) | 2016-09-30 | 2016-09-30 | Crawler -type removes chassis shock attenuation running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206107385U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN107875549A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof fire inspection firefighting robot and method of work |
| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN109398516A (en) * | 2018-12-14 | 2019-03-01 | 宁波史河机器人科技有限公司 | A kind of crawler attachment |
| CN110356484A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of Athey wheel set mechanism of efficient damping |
| CN112706847A (en) * | 2020-12-31 | 2021-04-27 | 中国人民解放军陆军装甲兵学院 | Multi-swing-arm multi-suspension type crawler travel mechanism |
| CN113415348A (en) * | 2021-06-23 | 2021-09-21 | 北京城创新智科技有限公司 | Crawler-type mobile device |
| CN113502904A (en) * | 2021-07-25 | 2021-10-15 | 河海大学 | Mechanical structure of pipeline dredging robot |
| CN114524025A (en) * | 2022-03-14 | 2022-05-24 | 中国北方车辆研究所 | Integrated modular action system |
| CN115303730A (en) * | 2022-08-04 | 2022-11-08 | 科捷智能科技股份有限公司 | Crawler-type conveyor |
-
2016
- 2016-09-30 CN CN201621095354.XU patent/CN206107385U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN107875549A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof fire inspection firefighting robot and method of work |
| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN109398516A (en) * | 2018-12-14 | 2019-03-01 | 宁波史河机器人科技有限公司 | A kind of crawler attachment |
| CN110356484A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of Athey wheel set mechanism of efficient damping |
| CN110356484B (en) * | 2019-07-19 | 2023-09-05 | 无锡华盛力通电驱动系统有限公司 | High-efficient shock attenuation athey wheel wheelset mechanism |
| CN112706847A (en) * | 2020-12-31 | 2021-04-27 | 中国人民解放军陆军装甲兵学院 | Multi-swing-arm multi-suspension type crawler travel mechanism |
| CN112706847B (en) * | 2020-12-31 | 2022-06-07 | 中国人民解放军陆军装甲兵学院 | Multi-swing-arm multi-suspension type crawler travel mechanism |
| CN113415348A (en) * | 2021-06-23 | 2021-09-21 | 北京城创新智科技有限公司 | Crawler-type mobile device |
| CN113502904A (en) * | 2021-07-25 | 2021-10-15 | 河海大学 | Mechanical structure of pipeline dredging robot |
| CN114524025A (en) * | 2022-03-14 | 2022-05-24 | 中国北方车辆研究所 | Integrated modular action system |
| CN115303730A (en) * | 2022-08-04 | 2022-11-08 | 科捷智能科技股份有限公司 | Crawler-type conveyor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Bao Mingsong Inventor after: Guo Tingting Inventor after: Liu Wentao Inventor after: Li Xibin Inventor after: Yu Zihan Inventor after: Wang Zeyu Inventor before: Bao Mingsong Inventor before: Guo Tingting Inventor before: Sun Hongqing Inventor before: Wang Zeyu Inventor before: Liu Wentao |
|
| CB03 | Change of inventor or designer information | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 264006 Yantai economic and Technological Development Zone, Shandong, No. 18 Hongkong Road Patentee after: Shandong Guoxing Intelligent Technology Co., Ltd. Address before: 264006 Yantai economic and Technological Development Zone, Shandong, No. 18 Hongkong Road Patentee before: SHANDONG GUOXING SMARTECH CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |