CN206634087U - A kind of full landform chassis of electric endless track type - Google Patents

Abstract

The utility model discloses a kind of full landform chassis of electric endless track type, including pitching reducing motor, driving gear, driving gear back-up ring, bottom plate, electric caterpillar band wheel, arrangement of clutch, arrangement of clutch axle, driven gear and controller, pitching reducing motor is fixed on bottom plate, driving gear is connected on the output shaft of pitching reducing motor, driving gear back-up ring is connected on the output shaft of pitching reducing motor and is pressed on driving gear, two electric caterpillar band wheels are arranged symmetrically in bottom plate both sides, and fix an arrangement of clutch on each electric caterpillar band wheel, arrangement of clutch axle both ends are fixedly connected with the arrangement of clutch of respective side respectively, driven gear is fixed on arrangement of clutch axle and engaged with driving gear；Electric caterpillar band wheel includes double leval jib framework, crawler belt, drive assembly and the elevating mechanism of envelope double leval jib framework.Base slab stability can be kept not jolted with landform, the road clearance of bottom plate be adjusted with landform, under the rugged environment of landform, electric caterpillar band wheel adds adhesion property.

Description

A kind of full landform chassis of electric endless track type

Technical field

It the utility model is related to a kind of field walking chassis, and in particular to a kind of full landform chassis of electric endless track type.

Background technology

Wheeled vehicle attachment coefficient is smaller especially smaller in the Special Road attachment coefficient such as desert, sleet, miriness.Therefore take turns Skidding, which easily occurs, in formula vehicle, reduces it passes through property and grade climbing performance.In addition wheeled vehicle contact area is small, grounding pressure Greatly, it is relatively low by property on soft surface, while bearing capacity is relatively low.Triangle caterpillar wheel has attachment compared with conventional tyre Performance is good, and tractive force is big, stability it is good and with grounding pressure it is small, the advantages that taking into account by property and flexibility, can desert, Used in the case of field etc. is off-highway.Compared with conventional track formula vehicle, triangle caterpillar has that weight is low, lightweight flexible Well, the advantages of noise is low, is more suitable for soft earth's surface, and the destructiveness of road pavement is smaller.In addition traditional triangle caterpillar wheel collection Relatively low into spending, power source and transmission arrangements add the complexity on chassis on chassis, take the space on chassis, limit Its application has been made, has been unfavorable for the maintenance and mass production of equipment.And traditional triangle endless-track vehicle outer shroud out of office Ride comfort, stability and comfortableness are poor under border, and in Uneven road, chassis can be unfavorable for mobile unit survey with road bump Paint data.

Domestic application publication number is a kind of A of CN 103863423 entitled " triangle crawler-type mobile mechanism " patent. Its four triangle track rail assembly for including chassis casing and being arranged symmetrically in its both sides, its disclosed triangle track rail assembly have Shock-absorbing function, each parts and electricity piece in the casing of chassis are protected, improve the reliability of travel mechanism and passing through property.But Power source and transmission device are arranged in the casing of chassis by it, add the complexity on chassis, take a large amount of chassis spaces, this The outer integrated level for reducing triangle track rail assembly.In addition the stabilization on chassis can not be ensured under uneven road surface or wild environment, And chassis road clearance can not adjust with landform.And in the field environment, triangle track rail assembly can not profiling everywhere.

Domestic application publication number is a kind of A of CN 106240661 entitled " triangle crawler belt wheel robot " patent.Its Including main body and four triangle Athey wheels being arranged in main body, and four motors and four drive mechanisms.It passes through four Motor drives a triangle Athey wheel respectively, easy to control, turns to flexible, powerful, and climbing capacity obtains with obstacle performance is crossed To significantly improving.But its power source and transmission device are more complicated and be placed on the complexity that chassis is increased on chassis, Its application is limited, and is unfavorable for standardized production, the stabilization on chassis can not be ensured under uneven road surface or wild environment, And chassis road clearance can not adjust with landform.In addition track rail assembly can not profiling everywhere.

The content of the invention

In view of the shortcomings of the prior art, the purpose of this utility model is to provide a kind of full landform chassis of electric endless track type, its Power source and transmission mechanism are integrated with by a kind of electric caterpillar band wheel, can profiling everywhere, and can with landform adjust lead To wheel assembly and the inclination angle on ground, adhesive force, the ability by property and across obstacle are increased, the electric endless track type is entirely Shape chassis, base slab stability can be kept not jolted with landform, be furthermore possible to the road clearance with landform adjustment bottom plate, there is obstacle Under thing and the rugged You Lujiwu roads environment of landform, electric caterpillar band wheel can be pivoted with landform and add adhesion property, Add the stability of traveling and passing through property.

The technical solution of the utility model is as follows, with reference to accompanying drawing：

A kind of full landform chassis of electric endless track type, including pitching reducing motor 1, driving gear 3, driving gear back-up ring 4, bottom Plate 5, electric caterpillar band wheel 6, arrangement of clutch 7, arrangement of clutch axle 9, driven gear 10 and controller；Pitching reducing motor 1 is fixed On bottom plate 5, driving gear 3 is connected on the output shaft of pitching reducing motor 2, and driving gear back-up ring 4 is connected in pitching deceleration On the output shaft of motor 2 and it is pressed on driving gear 3, two electric caterpillar band wheels 6 are arranged symmetrically in the both sides of bottom plate 5, and each An arrangement of clutch 7 is fixed on electric caterpillar band wheel 6, the both ends of arrangement of clutch axle 9 are fixed with the arrangement of clutch 7 of respective side respectively to be connected Connect, driven gear 10 is fixed on arrangement of clutch axle 9 and engaged with driving gear 3.

Further, the both sides of bottom plate 5 have been arranged symmetrically two arrangement of clutch supports 8, and two arrangement of clutch 7 are distinguished It is fixed on the arrangement of clutch support 8 of respective side, the both ends of arrangement of clutch axle 9 rotate with the arrangement of clutch support 8 of respective side respectively Connect and be fixedly connected with the arrangement of clutch 7 of respective side.

Further, the arrangement of clutch 7 passes through arrangement of clutch including yoke 7-1, Moving plate 7-2, armature 7-3, yoke 7-1 Support 8 is fixed on the bottom plate 5, Moving plate 7-2 and yoke 7-1 be rotatablely connected and with the key connection of arrangement of clutch axle 9, armature 7-3 is fixedly connected with the electric caterpillar band wheel 6.

Further, the electric caterpillar band wheel 6 includes electric caterpillar band wheel mechanical main body and electric caterpillar band wheel controller, electricity Dynamic Athey wheel mechanical body includes double leval jib framework, crawler belt 6-8, drive assembly and the elevating mechanism of envelope double leval jib framework； Double leval jib framework includes the double leval jib being made up of the 6-6 of bar III, guiding wheel assembly 6-7, supporting beam 6-15, the 6-16 of bar I, the 6-17 of bar II Two before and after mechanism and the assembly 6-9 of thrust wheel II being arranged on supporting beam 6-15, thrust wheel I assembly 6-14, supporting beam 6-15 End is respectively provided with an assembly 6-9 of thrust wheel II, and the assembly 6-14 of thrust wheel I is arranged on supporting beam 6-15, is oriented to wheel assembly 6- 7 are rotatablely connected with the assembly 6-9 of thrust wheel II of supporting beam 6-15 front ends, and the 6-6 lower ends of bar III connect with being oriented to wheel assembly 6-7 and rotating Connect, the 6-6 upper ends of bar III and the 6-17 upper ends of bar II are rotatablely connected, the 6-17 lower ends of bar II be bolted with the 6-16 upper ends of bar I and Guide groove, the 6-16 lower ends of bar I and the assembly of thrust wheel II rotation connection for being arranged in supporting beam 6-15 rear ends are provided with junction；Drive Dynamic assembly includes the driving reducing motor assembly 6-5 being arranged on the 6-6 of bar III and the assembly with driving reducing motor assembly 6-5 The Athey wheel 6-1 of output shaft 6-5-15 connections, Athey wheel 6-1 are meshed with crawler belt 6-8；Elevating mechanism is fixed on supporting beam 6-15 Above and with the arrangement of clutch 7 it is fixedly connected.

Further, the driving reducing motor assembly 6-5 also includes motor 6-5-1, worm screw 6-5-7, worm gear 6- 5-11, worm screw 6-5-7 are fixedly connected with motor 6-5-1 output shaft, and worm gear 6-5-11 passes through the 6-5-16 connections of worm gear key On the assembly output shaft 6-5-15.

Further, the guiding wheel assembly 6-7 includes directive wheel 6-7-1, guide wheel shaft 6-7-2, directive wheel connecting rod 6- 7-6, directive wheel 6-7-1 and guide wheel shaft 6-7-2 are rotatablely connected, and directive wheel connecting rod 6-7-6 is pressed by guide wheel shaft axle sleeve 6-7-5 Tightly on guide wheel shaft 6-7-2, directive wheel connecting rod 6-7-6 and the assembly 6-9 of thrust wheel II of the supporting beam 6-15 front ends are rotated Connection.

Further, the elevating mechanism include lifting motor 6-10, arrangement of clutch connecting plate 6-13, screw mandrel frame 6-19, Screw rodb base 6-20, screw mandrel 6-21, feed screw nut 6-22, the 6-3 of bar IV；Lifting motor 6-10 is fixed on supporting beam 6-15, screw mandrel 6-21 one end is rotatablely connected with lifting motor 6-10 output axis connections, the screw mandrel 6-21 other ends with screw rodb base 6-20, screw rodb base 6- 20 are fixedly connected by screw mandrel frame 6-19 with supporting beam 6-15, and feed screw nut 6-22 is threadedly coupled with screw mandrel 6-21, arrangement of clutch Connecting plate 6-13 is connected with feed screw nut 6-22, and the 6-3 upper ends of bar IV and the 6-6 upper ends of bar III are rotatablely connected, the 6-3 lower ends of bar IV with Feed screw nut 6-22 is rotatablely connected；The 6-3 of bar IV, feed screw nut 6-22, arrangement of clutch connecting plate 6-13, screw mandrel 6-21 are formed and shaken Bar slide block mechanism, arrangement of clutch connecting plate 6-13 are fixedly connected with the arrangement of clutch 7.

Further, the electric caterpillar band wheel controller includes movement instruction input module, control panel, left driving motor drive Dynamic circuit, left driving motor, left driving motor encoder, right driving motor drive circuit, right driving motor, right driving motor are compiled Code device, memory, communication interface；After movement instruction input module instructs to control panel input motion, control panel refers to motion Order is handled, and is sent motor control order to left driving motor drive circuit, right driving motor drive circuit respectively, then passed through After left driving motor drive circuit, the processing of right driving motor drive circuit, control command is reached into left driving motor and right drive Dynamic motor and then the corner of controlled motor, speed, torque, left driving motor encoder and right driving motor encoder are surveyed respectively Measure the rotating speed of left driving motor and right driving motor and then carry out feedback control.

Further, the controller includes chassis Inertial Measurement Unit, left driving wheel Inertial Measurement Unit, right driving wheel Inertial Measurement Unit, signal processing module, control panel, pitching drive circuit for reducing motor, pitching reducing motor, pitching deceleration electricity Machine encoder, lifting motor drive circuit, lifting motor, lifting motor encoder, electromagnetic relay, arrangement of clutch, memory, Communication interface；Chassis Inertial Measurement Unit, left driving wheel Inertial Measurement Unit, right driving wheel Inertial Measurement Unit measure bottom respectively The posture information of plate, left and right electric caterpillar band wheel, and signal processing module is driven to, signal processing module is carried out to the information of acquisition Filtering, except the posture information for making an uproar, merging and then obtaining the full landform chassis of electric endless track type, and by the full landform chassis of electric endless track type Posture information be sent to control panel, control panel reaches pitching drive circuit for reducing motor after calculating control command, risen respectively Motor-drive circuit, electromagnetic relay drop, and control command is sent to pitching reducing motor, lifting motor, clutch dress after processing Put and then stability control is carried out to the full landform chassis of electric endless track type, adjust bottom plate heights and be oriented to inclining for wheel assembly and ground Oblique angle, ensure that chassis needs on different road surfaces and without the walking under the environment of road.

The advantages of the utility model and beneficial effect are：

The full landform chassis of electric endless track type of the present utility model can be protected under Uneven road and running environment without road Demonstrate,prove the chassis angle of pitch and angle of heel is constant, realize the stabilization of bottom plate without being jolted with landform, one is provided surely for mobile unit Fixed platform.

The electric caterpillar band wheel of its both sides of the full landform chassis of electric endless track type of the present utility model can fill with landform around clutch Axle is put independently to rotate, can it is larger in road roughness and without road in the environment of, profiling everywhere, increase electric caterpillar band wheel Contact area, adds the adhesive force on chassis, and improves the stressing conditions of electric caterpillar band wheel.

Electric caterpillar band wheel of the present utility model uses triangle caterpillar belt structure, and Athey wheel height, which is put, to be eliminated ground and be directly delivered to Vertical load on Athey wheel, improve the stressing conditions of deceleration motor assembly, improve chassis road roughness compared with Handling capacity under big and field road environment.

Electric caterpillar band wheel of the present utility model in the case of barrier is less, the assembly of thrust wheel I can with barrier around Swing frame axis rotates, and adds the envelope ability of electric caterpillar band wheel, increases the contact area of electric caterpillar band wheel, improve electronic The tack of Athey wheel, by property and there is cushioning effect.

Electric caterpillar band wheel of the present utility model can change with road roughness is oriented to inclining for wheel assembly and ground

Angle, the utility model electric caterpillar band wheel frame use quadrangular mechanism, can ensure be oriented to wheel assembly adjustment During, crawler belt overall length is basically unchanged, and in the environment of road surface evenness, guiding wheel assembly is parallel to the ground, the bottom plate road clearance It is smaller, the contact area of electric caterpillar band wheel and the adhesive force of electric caterpillar band wheel are increased, while improve electric caterpillar band wheel Stability；Road roughness it is larger and without road in the environment of, be oriented to wheel assembly and inclination, and as barrier increases And increase gradient, chassis road clearance increase, increase chassis by property and the ability to clear the jumps.

Electric caterpillar band wheel of the present utility model is integrated with power source and transmission device, increases the integrated of electric caterpillar band wheel Degree, the space of its occupancy is reduced, the complexity on chassis is simplified, makes it in the case of no external power, can be independent Motion.The application of electric caterpillar band wheel is extended simultaneously, has promoted electric caterpillar band wheel standardized production and maintenance.

Electric caterpillar band wheel of the present utility model is arranged using symmetrical expression, improves the stress of electric caterpillar band wheel and its parts Situation, eliminate inside because of deployment scenarios and caused by moment of flexure and moment of torsion, improve the stressing conditions on crawler belt and ground make by Power is uniform；It is oriented to wheel assembly, the assembly of thrust wheel II, the assembly of thrust wheel I and straddles double wedge both sides in crawler belt, prevents crawler belt from trying to shirk responsibility.

Brief description of the drawings

Fig. 1 is the full landform chassis front right perspective view of electric endless track type

Fig. 2 is stereogram behind the electric caterpillar band wheel right side

Fig. 3 is electric caterpillar band wheel back, left perspective view

Stereogram behind right side when Fig. 4 is the guiding wheel assembly inclination of electric caterpillar band wheel

Fig. 5 is the complete section top view of reducing motor assembly

Fig. 6 is that a complete section left side for reducing motor assembly attempts

Fig. 7 is the front view for being oriented to wheel assembly

Fig. 8 is the front view of the assembly of thrust wheel II

Fig. 9 is the top view of the assembly of thrust wheel I

Figure 10 is the front view of the assembly of thrust wheel I

Figure 11 is the front view of arrangement of clutch

Figure 12 is the structure principle chart of controller

Figure 13 is the structure principle chart of electric caterpillar band wheel controller

Figure 14 is the movement instruction figure of electric caterpillar band wheel controller

Wherein：1 pitching reducing motor, 2 pitching reducing motor fixed mounts, 3 driving gears, 4 driving gear back-up rings, 5 bottom plates, 6 electric caterpillar band wheels, 7 arrangement of clutch, 8 arrangement of clutch supports, 9 arrangement of clutch axles, 10 driven gears, 6-1 Athey wheels, 6-2 crawler belts Take turns back-up ring I, 6-3 bars IV, 6-4 driving reducing motor assembly fixed mounts, 6-5 driving reducing motor assemblies, 6-6 bars III, 6-7 guiding Wheel assembly, 6-8 crawler belts, the assembly of 6-9 thrust wheels II, 6-10 lifting motors, 6-11 lifting motor fixed mounts, 6-12 shaft couplings, 6- 13 arrangement of clutch connecting plates, the assembly of 6-14 thrust wheels I, 6-15 supporting beams, 6-16 bars I, 6-17 bars II, 6-18 Athey wheel back-up rings II, 6-19 screw rod bracket, 6-20 screw rodb bases, 6-21 screw mandrels, 6-22 feed screw nut, 6-5-1 motors, 6-5-2 reduction-gear housings Lid, 6-5-3 trip bolts, 6-5-4 worm screw snap rings, 6-5-5 worm bearings, 6-5-6 reduction cases II, 6-5-7 worm screws, 6- 5-8 worm bearing end caps, 6-5-9 worm screw spring bearings, 6-5-10 reduction cases, 6-5-11 worm gears, 6-5-12 axle sleeves, 6- 5-13 output shaft bearings, 6-5-14 output shaft bearing end caps, 6-5-15 assembly output shafts, 6-5-16 worm gear keys, 6-5-17 outputs Axle snap ring, 6-7-1 directive wheels, 6-7-2 guide wheel shafts, 6-7-3 directive wheel back-up rings, 6-7-4 directive wheel bearings, 6-7-5 directive wheels Axle axle sleeve, 6-7-6 directive wheel connecting rods, the back-up ring of 6-9-1 thrust wheels II, the bearing of 6-9-2 thrust wheels II, the axle of 6-9-3 thrust wheels II, 6-9-4 thrust wheels II, 6-14-1 swing frame axis axle sleeves, 6-14-2 swing spans I, 6-14-3 thrust wheels I, the axle of 6-14-4 thrust wheels I Hold, the axle of 6-14-5 thrust wheels I, the axle axle sleeve of 6-14-6 thrust wheels I, 6-14-7 swing spans II, 6-14-8 swing frame axis, 7-1 magnetic Yoke, 7-2 Moving plates, 7-3 armature

Embodiment

In order to make it easy to understand, " fixation " described below, " connected " " being fixedly connected ", " rotation connection " are consolidated including screw thread Fixed, key connection, welding, riveting and rolling bearing connection, sliding bearing connection etc..The "front", "rear", "left", "right" with Direction of advance is oriented on the basis of wheel assembly end.

Embodiment disclosed in the utility model is only preferred embodiment, and non-limiting protection of the present utility model Scope.It should be pointed out that on the premise of not departing from the utility model and creating design, various modifications and improvements can be made, this Belong to the scope of protection of the utility model.

The utility model is described in further detail below in conjunction with the accompanying drawings：

Referring to Fig. 1, a kind of full landform chassis of electric endless track type, including pitching reducing motor 1, pitching reducing motor fixed mount 2nd, driving gear 3, driving gear back-up ring 4, bottom plate 5, electric caterpillar band wheel 6, arrangement of clutch 7, arrangement of clutch support 8, arrangement of clutch Axle 9, driven gear 10 and controller；Pitching reducing motor fixed mount 2 and two clutches for being arranged symmetrically in the both sides of bottom plate 5 Appliance stand 8 is fixed on bottom plate 5, and pitching reducing motor 1 is fixed on pitching reducing motor fixed mount 2, the driving gear 3 It is connected on the output shaft of pitching reducing motor 2, driving gear back-up ring 4 is connected on the output shaft of pitching reducing motor 2 and pressed Tightly two arrangement of clutch 7 of the both sides of bottom plate 5 are arranged symmetrically on driving gear 3 to realize the axially position of driving gear 3 It is separately fixed on arrangement of clutch support 8, two arrangement of clutch 7 for being preferably arranged symmetrically on both sides use electromagnetic clutch Device, the both ends of arrangement of clutch axle 9 be rotatablely connected respectively with arrangement of clutch support 8 and be fixedly connected with the Moving plate 7-2 of arrangement of clutch 7 with Electric caterpillar band wheel 6 arrangement of clutch connecting plate 6-13 rotation connection, driven gear 10 be fixed on arrangement of clutch axle 9 and with master Moving gear 3 engages, and electric caterpillar band wheel 6 is arranged symmetrically on the both sides of bottom plate 5 and is separately fixed on the armature 7-3 of arrangement of clutch 7. Two electric caterpillar band wheels 6 for being symmetrically distributed in both sides drive chassis to realize the driving cycles such as chassis advance, retrogressing, turning.Bow Face upward reducing motor 1 and drive driving gear 3, driving gear 3 drives driven gear 10 and then driving clutch axle 9 rotates.From Under the driving for closing assembly axis 9, bottom plate 5 can turn relatively around the electric caterpillar band wheel 6 of the side of arrangement of clutch 7 under bonding state It is dynamic.

Referring to Fig. 2, Fig. 3, shown electric caterpillar band wheel 6 includes electric caterpillar band wheel mechanical main body, electric caterpillar band wheel controller. Shown electric caterpillar band wheel mechanical main body includes double leval jib framework, crawler belt 6-8, drive assembly and the liter of envelope double leval jib framework Descending mechanism.Shown double leval jib framework includes by two 6-6 of bar III, is oriented to wheel assembly 6-7, supporting beam 6-15, two 6- of bar I 16th, two 6-17 of bar II quadric chains formed and the assembly 6-9 of thrust wheel II, the thrust wheel that are arranged on supporting beam 6-15 I assembly 6-14.Shown drive assembly includes driving reducing motor assembly 6-5, the two Athey wheel 6-1 engaged with crawler belt 6-8. Shown elevating mechanism includes lifting motor 6-10, lifting motor fixed mount 6-11, shaft coupling 6-12, arrangement of clutch connecting plate 6-13, screw rod bracket 6-19, screw rodb base 6-20, screw mandrel 6-21, feed screw nut 6-22.

Respectively symmetrically arrange two assembly 6-9 of thrust wheel II in supporting beam 6-15 front-end and back-end, two thrust wheels I are total Supporting beam 6-15 both sides are symmetrically fixed on into 6-14, wheel assembly 6-7 is oriented to and passes through its directive wheel connecting rod 6-7-6 and supporting beam 6- The assembly 6-9 of two thrust wheels II rotation connections of 15 front ends, it is arranged symmetrically in two 6-6 of bar III of both sides lower end and directive wheel Assembly 6-7 is rotatablely connected, and driving reducing motor assembly 6-5 drives reducing motor assemblies by being arranged symmetrically on two of both sides Fixed mount 6-4 is fixedly connected with being arranged symmetrically in two 6-6 of bar III of both sides, and two Athey wheel 6-1 are arranged symmetrically on driving Reducing motor assembly 6-5 both sides are simultaneously fixedly connected with driving reducing motor assembly 6-5 output shaft, the 6-2 of Athey wheel back-up ring I, The 6-18 of Athey wheel back-up ring II is arranged in driving reducing motor assembly 6-5 both sides and is fixedly connected and is pressed on its output shaft To realize Athey wheel 6-1 axially position on Athey wheel 6-1, and it is rotatablely connected, is arranged symmetrically in two 6-6 of bar III upper end The 6-17 upper ends of two bars II of both sides respectively with the 6-2 of Athey wheel back-up ring I, the 6-18 of Athey wheel back-up ring II be rotatablely connected, lower end with it is right Two 6-16 of bar I upper end for claiming to be arranged in both sides is fixedly connected, be arranged symmetrically in the 6-16 lower ends of two bars I of both sides respectively with Two assemblies of thrust wheel II rotation connection of supporting beam 6-15 rear end is arranged in, crawler belt 6-8 envelopes are oriented to wheel assembly 6-7, branch The assembly 6-9 of roller II, the assembly 6-14 of thrust wheel I, Athey wheel 6-1, form approximate isosceles triangular structure in flat road surface, Road roughness is larger or without forming quadrilateral structure under the environment of road.The 6-3 one end of bar IV is rotatablely connected with the 6-2 of Athey wheel back-up ring I, Axle sleeve rotation connection between the other end and feed screw nut 6-22 and arrangement of clutch connecting plate 6-13.Lifting motor 6-10 passes through liter Drop motor fixing frame 6-11 is fixed on supporting beam 6-15, and shaft coupling 6-12 one end is fixed with lifting motor 6-10 output shafts to be connected Connect, the other end is fixedly connected with screw mandrel 6-21 one end, screw rodb base 6-20 be fixed on screw mandrel frame 6-19 and with the screw mandrel other end Rotation connection, screw mandrel frame 6-19 are fixed on supporting beam 6-15, and feed screw nut 6-22 is connected with screw mandrel 6-21 by screw thread pair, Arrangement of clutch connecting plate 6-13 is fixedly connected with the armature of arrangement of clutch 7.The 6-6 of bar III that is arranged symmetrically, it is oriented to wheel assembly 6-7, is right Claim arrangement the assembly 6-9 of front end thrust wheel II, be arranged symmetrically the assembly 6-9 of rear end thrust wheel II, be arranged symmetrically the 6-16 of bar I, The 6-17 of bar II connects to form quadrangular mechanism framework with revolute pair, and crawler belt overall length is basic during ensuring the profiling everywhere of electric caterpillar band wheel It is constant.Further, two 6-16 of bar I for being arranged symmetrically in both sides lead to being arranged symmetrically in two 6-17 of bar II of both sides respectively Bolt connection is crossed, the 6-16 of bar I, the 6-17 of bar II are provided with guide groove to adjust Athey wheel 6-1 and the assembly 6-9 of thrust wheel II in junction The distance between, in order to crawler belt 6-8 installation.The shown 6-3 of bar IV, feed screw nut 6-22, arrangement of clutch connecting plate 6-13, Screw mandrel 6-21 forms slider-rocker mechanism.Under lifting motor 6-10 driving effect, screw mandrel 6-21 rotates and then drives screw mandrel Nut 6-22, arrangement of clutch connecting plate 6-13 move up and down, and then the 6-3 of driven rod IV rotates around the 6-2 of Athey wheel back-up ring I, in bar Under IV 6-3 drive, quadrangular mechanism framework does plane quadrilateral motion.And then drive bottom plate 5 to move up and down, while adjustment is led To wheel assembly 6-7 and the gradient on ground.

Referring to Fig. 4, show electric caterpillar band wheel and be oriented to the inclined extreme positions of wheel assembly 6-7, be now oriented to wheel assembly with Ground inclination angle is maximum, about 45 °, and the road clearance of bottom plate 5 is maximum.This limiting condition is easy to electric caterpillar band wheel in the field environment Traveling.Improve the road ability on the full landform chassis of electric endless track type, and the maximum height of across obstacle.

Fig. 5, Fig. 6 are participated in, shown driving reducing motor assembly 6-5 includes motor 6-5-1, decelerator case lid 6-5- 2nd, trip bolt 6-5-3, worm screw snap ring 6-5-4, worm bearing 6-5-5, the 6-5-6 of reduction case II, worm screw 6-5-7, worm screw Bearing (ball) cover 6-5-8, worm screw spring bearing 6-5-9, reduction case 6-5-10, worm gear 6-5-11, axle sleeve 6-5-12, output shaft Bearing 6-5-13, output shaft bearing end cap 6-5-14, assembly output shaft 6-5-15, worm gear key 6-5-16, output shaft snap ring 6-5- 17。

Motor 6-5-1 is fixed on decelerator case lid 6-5-2, and worm screw 6-5-7 is by trip bolt 6-5-3 with driving Dynamic motor 6-5-1 output shaft is fixedly connected, and two worm bearing 6-5-5 are arranged on decelerator case lid 6-5-2 and worm screw 6-5- Interference fit is formed between 7, axle is realized in two worm bearing 6-5-5 outer ring by decelerator case lid 6-5-2 endoporus step To positioning, two worm bearing 6-5-5 inner ring realizes axle by worm screw 6-5-7 step and worm screw snap ring 6-5-4 respectively To positioning, the 6-5-6 of reduction case II is fixedly connected with decelerator case lid 6-5-2, reduction case 6-5-10 and reduction-gear housing The 6-5-6 of body II is fixedly connected, and worm bearing end cap 6-5-8 is fixed on reduction case 6-5-2, worm screw spring bearing 6-5-9 On worm screw 6-5-7 and move about in reduction case 6-5-10, output shaft bearing end cap 6-5-14 is fixed on decelerator On casing 6-5-10, by adding and subtracting pad between output shaft bearing end cap 6-5-14 and reduction case 6-5-10, it can adjust Two worm bearing 6-5-5 pretightning force is saved, assembly output shaft 6-5-15 passes through output shaft bearing 6-5-13 and output shaft bearing End cap 6-5-14, reduction case 6-5-10 are rotatablely connected, and two output shaft bearing 6-5-13 are respectively by axle sleeve 6-5-12, defeated Shaft bearing (ball) cover 6-5-14 endoporus step, assembly output shaft 6-5-15 step, output shaft snap ring 6-5-17 are realized axially Positioning, worm gear 6-5-11 are connected on assembly output shaft 6-5-15 by worm gear key 6-5-16, and worm gear 6-5-11 is defeated by assembly Shaft 6-5-15 step, axle sleeve 6-5-12 realizes axially position.As it appears from the above, under motor 6-5-1 driving, worm screw 6-5-7 is rotated, and then drives worm gear 6-5-11 rotations, and assembly output shaft 6-5-15 rotations are driven by worm gear key 6-5-16.

Referring to Fig. 7, shown guiding wheel assembly 6-7 includes two directive wheel 6-7-1, directive wheels for being arranged symmetrically in both sides Axle 6-7-2, two directive wheel back-up ring 6-7-3 for being arranged symmetrically in both sides, four directive wheel bearing 6- for being arranged symmetrically in both sides 7-4, two guide wheel shaft axle sleeve 6-7-5 for being arranged symmetrically in both sides, two directive wheel connecting rod 6-7- for being arranged symmetrically in both sides 6。

Two directive wheel connecting rod 6-7-6 for being arranged symmetrically in both sides are pressed on directive wheel by guide wheel shaft axle sleeve 6-7-5 On axle 6-7-2, two directive wheel 6-7-1 of both sides are arranged symmetrically in respectively by two directive wheel bearing 6-7-4 and directive wheel Axle 6-7-2 is rotatablely connected, and the guide wheel shaft bearing 6-7-4 for being arranged in guide wheel shaft both sides is arranged symmetrically in directive wheel 6-7-1 And realized axially by directive wheel 6-7-1 endoporus step and guide wheel shaft axle sleeve 6-7-5, directive wheel back-up ring 6-7-3 respectively Positioning.As it appears from the above, the directive wheel 6-7-1 for being arranged symmetrically in both sides independent can rotate around guide wheel shaft 6-7-2, and limit Directive wheel 6-7-1 swing.Being oriented to wheel assembly 6-7 can rotate around the assembly 6-9 of two thrust wheels II of supporting beam 6-15 front ends.

Fig. 8 is participated in, the shown assembly 6-9 of thrust wheel II includes the back-up ring 6-9-1 of thrust wheel II, is arranged symmetrically in thrust wheel II The interior bearing 6-9-2 of two thrust wheels II, the axle 6-9-3 of thrust wheel II, the 6-9-4 of thrust wheel II, the axle 6-9-3 of thrust wheel II pass through branch The bearing 6-9-2 of the roller II and 6-9-4 of thrust wheel II is rotatablely connected, and the described back-up ring 6-9-1 of thrust wheel II consolidates with the axle of thrust wheel II Connect and be pressed on the bearing 6-9-2 of thrust wheel II inner ring of the 6-9-4 sides of thrust wheel II calmly, described is arranged symmetrically in branch The bearing 6-9-2 of two thrust wheels II in the 6-9-4 of roller II is kept off by the axle 6-9-3 of thrust wheel II step, thrust wheel II respectively Circle 6-9-1, the 6-9-4 of thrust wheel II endoporus step realize axially position.As it appears from the above, the 6-9-4 of thrust wheel II can be around Zhi Chong II axle 6-9-3 rotations are taken turns, and limit the 6-9-4 of thrust wheel II swing.

Fig. 9, Figure 10 are participated in, the shown assembly 6-14 of thrust wheel I includes swing frame axis axle sleeve 6-14-1, the 6-14- of swing span I 2nd, two 6-14-3 of thrust wheel I of swing frame axis 6-14-8 both sides are arranged symmetrically in, are arranged symmetrically in swing frame axis 6-14-8 two The bearing 6-14-4 of four thrust wheels I of side, the axle 6-14-5 of two thrust wheels I for being arranged symmetrically in swing frame axis 6-14-8 both sides, It is arranged symmetrically in the axle axle sleeve 6-14-6 of four thrust wheels I, the 6-14-7 of swing span II, the swing frame axis of swing frame axis 6-14-8 both sides 6-14-8, the 6-14-2 of swing span I and swing frame axis 6-14-8 are rotatablely connected, and the 6-14-7 of swing span II turns with swing frame axis 6-14-8 Dynamic connection, be arranged symmetrically in swing frame axis 6-14-8 both sides the axle 6-14-5 of two thrust wheels I both ends respectively with swing span I 6-14-2 is fixedly connected with the 6-14-7 sides of swing span II, is arranged symmetrically in two thrust wheels I of swing frame axis 6-14-8 both sides 6-14-3 is rotatablely connected by the bearing 6-14-4 of the thrust wheel I and axle 6-14-5 of thrust wheel I respectively, is arranged symmetrically in swing frame axis 6- The bearing 6-14-4 of thrust wheel I of 14-8 both sides is arranged symmetrically in the 6-14-3 of thrust wheel I, the symmetrical cloth in the 6-14-3 of thrust wheel I The bearing 6-14-4 of thrust wheel I put relies on the 6-14-3 of thrust wheel I endoporus step, in the symmetrical cloth in axle 6-14-5 both ends of thrust wheel I The axle sleeve 6-14-6 of two thrust wheels I put realizes axially position.As it appears from the above, the assembly 6-14 of thrust wheel I integrally can be around its swing Frame axle 6-14-8 is swung, and the 6-14-3 of thrust wheel I of both sides can rotate around the axle 6-14-5 of thrust wheel I in addition, and avoid thrust wheel I 6-14-3 is swung.The 6-14-2 of swing span I, the 6-14-7 of swing span II are arranged symmetrically on the axle 6-14-5 both ends of thrust wheel I, enhancing The assembly 6-14 of thrust wheel I intensity, eliminates partial interior moment of flexure and moment of torsion.

Referring to Figure 11, shown arrangement of clutch 7 include yoke 7-1, Moving plate 7-2, armature 7-3, described yoke 7-1 with from Close appliance stand 8 to be fixedly connected, described Moving plate 7-2 and yoke 7-1 is rotatablely connected and with arrangement of clutch axle 9 by connecting key connected Connecing, described armature 7-3 is fixedly connected with arrangement of clutch connecting plate 6-13, described when arrangement of clutch 7 is in bonding state, Moving plate 7-2 is pressed on armature 7-3, and when arrangement of clutch 7 is in released state, Moving plate 7-2 separates with armature 7-3.

Referring to Figure 13, Figure 14, shown electric caterpillar band wheel controller includes movement instruction input module, control panel, left drive Dynamic motor-drive circuit, left driving motor, left driving motor encoder, right driving motor drive circuit, right driving motor, right drive Dynamic motor encoder, memory, communication interface.Motion command includes advance startup, advance speed governing, advances and brake, turn to, retreating Start, retreat speed governing, retreat braking.As it appears from the above, after movement instruction input module instructs to control panel input motion, control Plate is handled movement instruction, and sends motor control to left driving motor drive circuit, right driving motor drive circuit respectively System order, then after left driving motor drive circuit, the processing of right driving motor drive circuit, control command is reached into left driving electricity The corner of machine and right driving motor and then controlled motor, speed, torque, left driving motor encoder and right driving motor are compiled Code device measures the rotating speed of left driving motor and right driving motor and then carries out feedback control respectively.

Referring to Figure 12, controller includes：Chassis Inertial Measurement Unit, left driving wheel Inertial Measurement Unit, right driving wheel are used to Property measuring unit, signal processing module, control panel, pitching drive circuit for reducing motor, pitching reducing motor, pitching reducing motor It is encoder, lifting motor drive circuit, lifting motor, lifting motor encoder, electromagnetic relay, arrangement of clutch, memory, logical Communication interface.As it appears from the above, chassis Inertial Measurement Unit, left driving wheel Inertial Measurement Unit, right driving wheel Inertial Measurement Unit point Not Ce Liang the posture information such as bottom plate, the angle of pitch of left and right electric caterpillar band wheel, yaw angle, angle of heel, and drive to signal transacting mould Block, signal processing module is filtered to it, except the posture information for making an uproar, merging and then obtaining the full landform chassis of electric endless track type, And the posture information on the full landform chassis of electric endless track type is sent to control panel, control panel calculates control command and passed respectively accordingly To pitching drive circuit for reducing motor, lifting motor drive circuit, electromagnetic relay, control command is sent to pitching after processing Reducing motor, lifting motor, arrangement of clutch and then the full landform chassis of control electric endless track type are stable, adjust bottom plate heights and guiding Wheel assembly needs from the inclination angle on ground and then guarantee chassis on different road surfaces and without the walking under the environment of road.

Operation principle of the present utility model is：

Two electric caterpillar band wheels 6 for being symmetrically distributed in both sides drive chassis to realize the travelings such as chassis advance, retrogressing, turning Operating mode.Pitching reducing motor 1 drives driving gear 3, and driving gear 3 drives driven gear 10 and then driving clutch axle 9 revolves Turn.Under the driving of arrangement of clutch axle 9, bottom plate 5 can be around the electric caterpillar band wheel 6 of the side of arrangement of clutch 7 under bonding state Relatively rotate.

The 6-6 of bar III, guiding wheel assembly 6-7, the assembly 6-9 of front end thrust wheel II, the symmetrical cloth that are arranged symmetrically being arranged symmetrically The assembly 6-9 of rear end thrust wheel II put, the 6-16 of bar I, the 6-17 of bar II that are arranged symmetrically connect to form quadrangular mechanism with revolute pair Framework, crawler belt overall length is basically unchanged during ensuring the profiling everywhere of electric caterpillar band wheel.The 6-3 of bar IV, feed screw nut 6-22, arrangement of clutch Connecting plate 6-13, screw mandrel 6-21 form slider-rocker mechanism.Under lifting motor 6-10 driving effect, screw mandrel 6-21 rotations, And then drive feed screw nut 6-22, arrangement of clutch connecting plate 6-13 to move up and down, and then the 6-3 of driven rod IV is around Athey wheel back-up ring I 6-2 is rotated, and under the 6-3 of bar IV drive, quadrangular mechanism framework does plane quadrilateral motion.And then bottom plate is driven to be transported about 5 It is dynamic, while adjust the gradient for being oriented to wheel assembly 6-7 and ground.

When electric caterpillar band wheel controller control panel receives advance and starts order, electric caterpillar band wheel controller control panel pair After signal transacting, control command is sent to left driving motor drive circuit and right driving motor drive circuit, through left driving After motor-drive circuit and right driving motor drive circuit handle control command, and then left and right driving motor 6-5-1 starts work Make, left and right driving motor 6-5-1 actual speed is fed back to left drive by left driving motor encoder and right driving motor encoder Move motor-drive circuit and right driving motor drive circuit and then left and right driving motor 6-5-1 is quickly reached desired speed. During advance, under flat road surface environment, under lifting motor 6-10 driving, feed screw nut 6-22 and arrangement of clutch connect Fishplate bar 6-13 is in lower limit position, and guiding wheel assembly 6-7 is parallel to the ground, and the road clearance of bottom plate 5 is smaller, increases electronic shoe The contact area of belt wheel 6, enhance the stability and tack on the full landform chassis of electric endless track type, when run into barrier and During wild environment downward driving, under lifting motor 6-10 driving, feed screw nut 6-22 and arrangement of clutch connecting plate 6-13 are vertical Motion upwards, the inclination angle for being oriented to wheel assembly 6-7 and ground increase, the increase of the road clearance of bottom plate 5, and then increase electric caterpillar band Wheel 6 by property, and the ability to clear the jumps.When chassis Inertial Measurement Unit, left driving wheel Inertial Measurement Unit and the right side Driving wheel Inertial Measurement Unit, detect chassis exist pitching, roll direction it is unstable after, controller control panel by processing Control command is respectively sent to pitching drive circuit for reducing motor, lifting motor drive circuit, electromagnetic relay, and then controlled Pitching reducing motor, lifting motor, arrangement of clutch, while pitching reducing motor encoder, lifting motor encoder subtract pitching Speed motor, the actual speed of lifting motor feed back to pitching drive circuit for reducing motor, lifting motor drive circuit and then ensured Reach control command requirement.Pitching reducing motor as implied above, lifting motor ensure the full landform chassis pitching of electric endless track type with And the stabilization in direction is rolled, arrangement of clutch enables the profiling everywhere of electric caterpillar band wheel 6.

Claims (9)

1. a kind of full landform chassis of electric endless track type, it is characterised in that including pitching reducing motor (1), driving gear (3), master Moving gear back-up ring (4), bottom plate (5), electric caterpillar band wheel (6), arrangement of clutch (7), arrangement of clutch axle (9), driven gear (10) with And controller；Pitching reducing motor (1) is fixed on bottom plate (5), and driving gear (3) is connected in the defeated of pitching reducing motor (2) On shaft, driving gear back-up ring (4) is connected on the output shaft of pitching reducing motor (2) and is pressed on driving gear (3), two Individual electric caterpillar band wheel (6) is arranged symmetrically in bottom plate (5) both sides, and fixes an arrangement of clutch on each electric caterpillar band wheel (6) (7), arrangement of clutch axle (9) both ends are fixedly connected with the arrangement of clutch (7) of respective side respectively, and driven gear (10) is fixed on clutch Engaged on assembly axis (9) and with driving gear (3).

A kind of 2. full landform chassis of electric endless track type as claimed in claim 1, it is characterised in that bottom plate (5) both sides pair Title is disposed with two arrangement of clutch supports (8), and two arrangement of clutch (7) are separately fixed at the arrangement of clutch support (8) of respective side On, arrangement of clutch axle (9) both ends respectively with the rotation connection of the arrangement of clutch support (8) of respective side and with the arrangement of clutch of respective side (7) it is fixedly connected.

A kind of 3. full landform chassis of electric endless track type as claimed in claim 1, it is characterised in that arrangement of clutch (7) bag Yoke (7-1), Moving plate (7-2), armature (7-3) are included, yoke (7-1) is fixed on the bottom plate (5) by arrangement of clutch support (8) On, Moving plate (7-2) and yoke (7-1) be rotatablely connected and with arrangement of clutch axle (9) key connection, armature (7-3) and the electricity Dynamic Athey wheel (6) is fixedly connected.

A kind of 4. full landform chassis of electric endless track type as claimed in claim 1, it is characterised in that the electric caterpillar band wheel (6) Including electric caterpillar band wheel mechanical main body and electric caterpillar band wheel controller, electric caterpillar band wheel mechanical main body include double leval jib framework, Crawler belt (6-8), drive assembly and the elevating mechanism of envelope double leval jib framework；Double leval jib framework includes by bar III (6-6), is oriented to The quadric chain and be arranged in supporting beam that wheel assembly (6-7), supporting beam (6-15), bar I (6-16), bar II (6-17) form The assembly of thrust wheel II (6-9), the assembly of thrust wheel I (6-14) on (6-15), supporting beam (6-15) rear and front end are respectively provided with one The individual assembly of thrust wheel II (6-9), the assembly of thrust wheel I (6-14) are arranged in supporting beam (6-15), are oriented to wheel assembly (6-7) and branch The assembly of thrust wheel II (6-9) rotation connection of weight beam (6-15) front end, (6-6) lower end of bar III rotate with being oriented to wheel assembly (6-7) Connection, (6-6) upper end of bar III are rotatablely connected with bar II (6-17) upper end, and (6-17) lower end of bar II passes through with bar I (6-16) upper end Bolt connection and guide groove is provided with junction, (6-16) lower end of bar I and the thrust wheel II for being arranged in supporting beam (6-15) rear end Assembly is rotatablely connected；Drive assembly includes the driving reducing motor assembly (6-5) being arranged on bar III (6-6) and subtracted with driving The Athey wheel (6-1) of assembly output shaft (6-5-15) connection of speed motor assembly (6-5), Athey wheel (6-1) and crawler belt (6-8) phase Engagement；Elevating mechanism is fixed in supporting beam (6-15) and is fixedly connected with the arrangement of clutch (7).

5. a kind of full landform chassis of electric endless track type as claimed in claim 4, it is characterised in that the driving reducing motor is total Also include motor (6-5-1), worm screw (6-5-7), worm gear (6-5-11), worm screw (6-5-7) and motor into (6-5) The output shaft of (6-5-1) is fixedly connected, and worm gear (6-5-11) is connected to the assembly output shaft (6- by worm gear key (6-5-16) On 5-15).

A kind of 6. full landform chassis of electric endless track type as claimed in claim 4, it is characterised in that the guiding wheel assembly (6- 7) directive wheel (6-7-1), guide wheel shaft (6-7-2), directive wheel connecting rod (6-7-6), directive wheel (6-7-1) and guide wheel shaft are included (6-7-2) is rotatablely connected, and directive wheel connecting rod (6-7-6) is pressed on guide wheel shaft (6-7-2) by guide wheel shaft axle sleeve (6-7-5) On, directive wheel connecting rod (6-7-6) and the assembly of thrust wheel II (6-9) of the supporting beam (6-15) front end are rotatablely connected.

7. a kind of full landform chassis of electric endless track type as claimed in claim 4, it is characterised in that the elevating mechanism includes rising Motor (6-10), arrangement of clutch connecting plate (6-13), screw mandrel frame (6-19), screw rodb base (6-20), screw mandrel (6-21), screw mandrel spiral shell drop Female (6-22), bar IV (6-3)；Lifting motor (6-10) is fixed in supporting beam (6-15), screw mandrel (6-21) one end and lifting electricity Machine (6-10) exports axis connection, and screw mandrel (6-21) other end is rotatablely connected with screw rodb base (6-20), and screw rodb base (6-20) passes through silk Bridge (6-19) is fixedly connected with supporting beam (6-15), and feed screw nut (6-22) is threadedly coupled with screw mandrel (6-21), arrangement of clutch Connecting plate (6-13) is connected with feed screw nut (6-22), and (6-3) upper end of bar IV is rotatablely connected with bar III (6-6) upper end, (the 6- of bar IV 3) lower end is rotatablely connected with feed screw nut (6-22)；Bar IV (6-3), feed screw nut (6-22), arrangement of clutch connecting plate (6-13), Screw mandrel (6-21) forms slider-rocker mechanism, and arrangement of clutch connecting plate (6-13) is fixedly connected with the arrangement of clutch (7).

A kind of 8. full landform chassis of electric endless track type as claimed in claim 4, it is characterised in that the electric caterpillar band wheel control Device include movement instruction input module, control panel, left driving motor drive circuit, left driving motor, left driving motor encoder, Right driving motor drive circuit, right driving motor, right driving motor encoder, memory, communication interface；When movement instruction inputs After module instructs to control panel input motion, control panel is handled movement instruction, and drives electricity to left driving motor respectively Road, right driving motor drive circuit send motor control order, then drive electricity through left driving motor drive circuit, right driving motor After the processing of road, control command is reached into the corner of left driving motor and right driving motor and then controlled motor, speed, torque, Left driving motor encoder and right driving motor encoder measure left driving motor respectively and the rotating speed of right driving motor enters And carry out feedback control.

9. a kind of full landform chassis of electric endless track type as claimed in claim 1, it is characterised in that the controller includes chassis Inertial Measurement Unit, left driving wheel Inertial Measurement Unit, right driving wheel Inertial Measurement Unit, signal processing module, control panel, bow Face upward drive circuit for reducing motor, pitching reducing motor, pitching reducing motor encoder, lifting motor drive circuit, lifting motor, Lifting motor encoder, electromagnetic relay, arrangement of clutch, memory, communication interface；Chassis Inertial Measurement Unit, left driving wheel Inertial Measurement Unit, right driving wheel Inertial Measurement Unit measure bottom plate, the posture information of left and right electric caterpillar band wheel respectively, and are driven To signal processing module, signal processing module is filtered to the information of acquisition, except making an uproar, merge and then to obtain electric endless track type complete The posture information on landform chassis, and the posture information on the full landform chassis of electric endless track type is sent to control panel, control panel calculates Go out after control command to reach pitching drive circuit for reducing motor, lifting motor drive circuit, electromagnetic relay, control command respectively Pitching reducing motor, lifting motor, arrangement of clutch are sent to after processing and then the full landform chassis of electric endless track type is carried out steady Qualitative contrlol, adjust bottom plate heights and be oriented to the inclination angle on wheel assembly and ground, ensure chassis on different road surfaces and without road ring Walking under border needs.