CN210263207U - Crawler-type traveling unit - Google Patents
Crawler-type traveling unit Download PDFInfo
- Publication number
- CN210263207U CN210263207U CN201921026051.6U CN201921026051U CN210263207U CN 210263207 U CN210263207 U CN 210263207U CN 201921026051 U CN201921026051 U CN 201921026051U CN 210263207 U CN210263207 U CN 210263207U
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- crawler
- climbing
- driven wheel
- walking
- transmission
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Abstract
The utility model discloses a crawler-type walking unit, which comprises a chassis unit, wherein two horizontal walking crawlers are symmetrically arranged on two sides of the chassis unit, the front ends of the inner sides of the walking crawlers are synchronously meshed with crawler driven wheels, and the rear ends of the inner sides of the walking crawlers are synchronously meshed with crawler driving wheels; the chassis unit also comprises a walking crawler driving motor and a first transmission; the output end of the walking track driving motor is in transmission connection with the input end of the first transmission through a first coupler; the output end of the first transmission is in transmission connection with the crawler driving wheel through a second coupler; the climbing crawler with the adjustable inclination angle is adopted to realize a stable barrier jumping effect, and when the climbing crawler runs on the flat ground, the climbing crawler is in a suspended state, so that no load exists, and the energy loss is effectively reduced.
Description
Technical Field
The utility model belongs to dig the machine field.
Background
The conventional excavator is difficult to realize the obstacle jumping process of a steep slope, so that the environmental adaptability of the excavator is reduced.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the utility model provides a crawler-type walking unit which can cross a steep slope.
The technical scheme is as follows: in order to achieve the purpose, the crawler type traveling unit comprises a chassis unit, wherein two horizontal traveling crawler belts are symmetrically arranged on two sides of the chassis unit, the front ends of the inner sides of the traveling crawler belts are synchronously meshed and connected with a crawler driven wheel, and the rear ends of the inner sides of the traveling crawler belts are synchronously meshed and connected with a crawler driving wheel;
the chassis unit also comprises a walking crawler driving motor and a first transmission; the output end of the walking track driving motor is in transmission connection with the input end of the first transmission through a first coupler; the output end of the first transmission is in transmission connection with the crawler driving wheel through a second coupler;
a climbing crawler driving wheel is coaxially arranged on the outer side of the crawler driven wheel, the climbing crawler driving wheel is synchronously connected with the crawler driven wheel, and the climbing crawler driving wheel synchronously rotates along with the crawler driven wheel;
the slope climbing crawler belt driving wheel and the track driven wheel are coaxially and rotatably connected with each other through two bearings;
the chassis unit also comprises a climbing driven wheel support driving steering engine and a second transmission, wherein the output end of the climbing driven wheel support driving steering engine is in transmission connection with the input end of the second transmission through a third coupler; the output end of the second speed changer is coaxially connected with the inclination angle adjusting shaft of the climbing driven wheel bracket through a fourth coupler in a transmission way, and the inclination angle adjusting shaft of the climbing driven wheel bracket synchronously rotates along with the fourth coupler;
the climbing driven wheel bracket is also included; the length direction of the climbing driven wheel support is perpendicular to the inclination angle adjusting shaft of the climbing driven wheel support, one end of the climbing driven wheel support is fixedly connected with one end, away from the fourth coupler, of the inclination angle adjusting shaft of the climbing driven wheel support, and the rotation of the inclination angle adjusting shaft of the climbing driven wheel support can drive the climbing driven wheel support to change the inclination angle with the ground; the other end of the climbing driven wheel bracket is rotatably connected with a climbing crawler driven wheel through a bearing; the crawler belt device is characterized by further comprising a climbing crawler belt, wherein the inner sides of the two ends of the climbing crawler belt are respectively and synchronously meshed with a driving wheel of the climbing crawler belt and a driving wheel of the climbing crawler belt.
Further, vertical electronic revolving stage is installed at the top of chassis unit, fixed mounting has lift linear electric motor in electronic revolving stage's the pivot, lift linear electric motor's the fixed camera installation department that is provided with in lift push rod top, install the camera on the camera installation department.
Has the advantages that: the utility model has simple structure, when the climbing crawler climbs upwards to the upper end of the steep slope type barrier, the front end of the walking crawler also reaches the upper end of the steep slope type barrier, and the subsequent process only needs to normally drive the crawler to move forwards to complete the climbing process; the climbing crawler with the adjustable inclination angle is adopted to realize a stable barrier jumping effect, and when the climbing crawler runs on the flat ground, the climbing crawler is in a suspended state, so that no load exists, and the energy loss is effectively reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus;
FIG. 2 is a schematic diagram of the transmission within the chassis unit;
FIG. 3 is a schematic representation of the apparatus in climbing a slope;
FIG. 4 is a schematic view of a climbing crawler;
FIG. 5 is a schematic view of a walking crawler belt structure.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The crawler-type traveling unit as shown in fig. 1 to 5 comprises a chassis unit 15, wherein two horizontal traveling crawlers 33 are symmetrically arranged on two sides of the chassis unit 15, the front ends of the inner sides of the traveling crawlers 33 are synchronously meshed and connected with crawler driven wheels 56, and the rear ends of the inner sides of the traveling crawlers 33 are synchronously meshed and connected with crawler driving wheels 42;
the chassis unit 15 also comprises a walking crawler belt driving motor 41 and a first transmission 36; the output end of the walking track driving motor 41 is in transmission connection with the input end of the first transmission 36 through a first coupling 37; the output end of the first transmission 36 is in transmission connection with the crawler drive wheel 42 through a second coupling 35 and the crawler drive wheel 42;
a climbing crawler driving wheel 55 is coaxially arranged on the outer side of the crawler driven wheel 56, the climbing crawler driving wheel 55 is synchronously connected with the crawler driven wheel 56, and the climbing crawler driving wheel 55 synchronously rotates along with the crawler driven wheel 56;
the device also comprises a slope driven wheel support inclination angle adjusting shaft 54, wherein the slope driven wheel support inclination angle adjusting shaft 54 is coaxially and rotatably connected with the slope crawler driving wheel 55 and the crawler driven wheel 56 through two bearings respectively;
the chassis unit 15 further comprises a climbing driven wheel support driving steering engine 40 and a second transmission 38, and the output end of the climbing driven wheel support driving steering engine 40 is in transmission connection with the input end of the second transmission 38 through a third coupling 39; the output end of the second speed changer 38 is coaxially connected with the slope driven wheel support inclination angle adjusting shaft 54 through a fourth coupling 34 in a transmission manner, and the slope driven wheel support inclination angle adjusting shaft 54 synchronously rotates along with the fourth coupling 34;
also comprises a bracket 53 connected with the climbing driven wheel; the length direction of the climbing driven wheel bracket 53 is perpendicular to the inclination angle adjusting shaft 54 of the climbing driven wheel bracket, one end of the climbing driven wheel bracket 53 is fixedly connected with one end of the inclination angle adjusting shaft 54 of the climbing driven wheel bracket, which is far away from the fourth coupler 34, and the rotation of the inclination angle adjusting shaft 54 of the climbing driven wheel bracket can drive the climbing driven wheel bracket 53 to change the inclination angle with the ground; the other end of the climbing driven wheel bracket 53 is rotatably connected with a climbing crawler driven wheel 51 through a bearing; the crawler belt type climbing robot further comprises a climbing crawler belt 52, and the inner sides of the two ends of the climbing crawler belt 52 are respectively and synchronously meshed with the climbing crawler belt driven wheel 51 and the climbing crawler belt driving wheel 55.
Vertical electronic revolving stage 22 is installed at the top of chassis unit 15, fixed mounting has lift linear electric motor 27 on electronic revolving stage 22's the pivot 23, lift linear electric motor 27's lift push rod 24 top is fixed and is provided with camera installation department 25, install camera 26 on the camera installation department.
An obstacle jumping method and an obstacle crossing process of a crawler type walking unit are disclosed:
when the chassis unit 15 travels on the flat ground, the climbing driven wheel bracket 53 forms a certain rising included angle with the ground, so that the climbing crawler 52 is separated from the ground, and only the traveling crawler 33 contacts with the ground; at this time, the walking crawler driving motor 41 is controlled, so that the crawler driving wheel 42 drives the walking crawler 33, so that the flat ground walking of the chassis unit 15 is realized, meanwhile, the walking crawler 33 synchronously drives the crawler driven wheel 56 to rotate, at this time, the crawler driven wheel 56 drives the climbing crawler driving wheel 55 to synchronously rotate, and then the climbing crawler driving wheel 55 drives the climbing crawler 52 to run, and since the climbing crawler 52 does not contact with the ground when walking on the flat ground, the climbing crawler 52 is in an unloaded idle running state at this time;
when the front surface encounters a steep slope type obstacle 57, the walking crawler 33 is controlled to slowly walk forwards until the walking crawler is close to the steep slope type obstacle 57, meanwhile, the steering engine 40 is driven by the climbing driven wheel bracket, so that the inclination angle adjusting shaft 54 of the climbing driven wheel bracket is controlled to rotate, the inclination angle of the climbing driven wheel bracket 53 is driven by the inclination angle adjusting shaft 54 of the climbing driven wheel bracket to rotate until the inclination angle of the climbing driven wheel bracket 53 is consistent with the steep slope inclination angle of the steep slope type obstacle 57, and further the inclination angle of the lower side crawler surface of the climbing crawler 52 is consistent with the steep slope inclination angle of the steep slope type obstacle 57; as the chassis unit 15 continues to approach the steep-slope barrier 57 until the lower side track surface of the climbing track 52 starts to be attached to and contacted with the steep slope surface of the steep-slope barrier 57, at this time, the steering engine 40 is driven by controlling the climbing driven wheel bracket, so that the inclination angle adjusting shaft 54 of the climbing driven wheel bracket rotates anticlockwise, and further the climbing driven wheel bracket 53 is driven to rotate anticlockwise along the inclination angle adjusting shaft 54 of the climbing driven wheel bracket, and further the lower side track surface of the climbing track 52 is closely attached to the steep slope surface of the steep-slope barrier 57, and then the walking track 33 is controlled to walk forwards slowly on the basis, at this time, the walking track 33 can synchronously drive the track driven wheel 56 to rotate, the track driven wheel 56 drives the climbing track driving wheel 55 to synchronously rotate, and further the climbing track driving wheel 55 drives the climbing track 52 to operate, so that the climbing action of the climbing track 52 is realized; when the climbing crawler 52 climbs upwards to the upper end of the steep-slope type barrier 57, the front end of the walking crawler 33 also reaches the upper end of the steep-slope type barrier 57, and the climbing process can be completed only by normally driving the crawler 33 to move forwards in the subsequent process.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (2)
1. A crawler-type traveling unit is characterized in that: the novel walking device comprises a chassis unit (15), wherein two horizontal walking crawlers (33) are symmetrically arranged on two sides of the chassis unit (15), the front ends of the inner sides of the walking crawlers (33) are synchronously meshed and connected with crawler driven wheels (56), and the rear ends of the inner sides of the walking crawlers (33) are synchronously meshed and connected with crawler driving wheels (42);
the chassis unit (15) also comprises a walking crawler belt driving motor (41) and a first transmission (36); the output end of the walking crawler belt driving motor (41) is in transmission connection with the input end of the first transmission (36) through a first coupling (37); the output end of the first transmission (36) is in transmission connection with the crawler driving wheel (42) through a second coupling (35) and the crawler driving wheel (42);
a climbing crawler driving wheel (55) is coaxially arranged on the outer side of the crawler driven wheel (56), the climbing crawler driving wheel (55) is synchronously connected with the crawler driven wheel (56), and the climbing crawler driving wheel (55) synchronously rotates along with the crawler driven wheel (56);
the slope climbing driven wheel support inclination angle adjusting shaft (54) is respectively connected with the slope climbing crawler driving wheel (55) and the crawler driven wheel (56) in a coaxial rotating mode through two bearings;
the chassis unit (15) is internally provided with a climbing driven wheel support driving steering engine (40) and a second transmission (38), and the output end of the climbing driven wheel support driving steering engine (40) is in transmission connection with the input end of the second transmission (38) through a third coupling (39); the output end of the second speed changer (38) is coaxially connected with the slope driven wheel support inclination angle adjusting shaft (54) in a transmission way through a fourth coupler (34), and the slope driven wheel support inclination angle adjusting shaft (54) synchronously rotates along with the fourth coupler (34);
the climbing device also comprises a climbing driven wheel bracket (53); the length direction of the climbing driven wheel support (53) is perpendicular to the inclination angle adjusting shaft (54) of the climbing driven wheel support, one end of the climbing driven wheel support (53) is fixedly connected with one end, far away from the fourth coupler (34), of the inclination angle adjusting shaft (54) of the climbing driven wheel support, and the rotation of the inclination angle adjusting shaft (54) of the climbing driven wheel support can drive the climbing driven wheel support (53) to change the inclination angle with the ground; the other end of the climbing driven wheel bracket (53) is rotatably connected with a climbing crawler driven wheel (51) through a bearing; the crawler belt type climbing robot is characterized by further comprising a climbing crawler belt (52), wherein the inner sides of two ends of the climbing crawler belt (52) are respectively and synchronously meshed with a climbing crawler belt driven wheel (51) and a climbing crawler belt driving wheel (55).
2. A crawler-type traveling unit according to claim 1, wherein: vertical electronic revolving stage (22) are installed at the top of chassis unit (15), fixed mounting has lift linear electric motor (27) on pivot (23) of electronic revolving stage (22), lift push rod (24) top of lift linear electric motor (27) is fixed and is provided with camera installation department (25), install camera (26) on the camera installation department.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921026051.6U CN210263207U (en) | 2019-07-03 | 2019-07-03 | Crawler-type traveling unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921026051.6U CN210263207U (en) | 2019-07-03 | 2019-07-03 | Crawler-type traveling unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210263207U true CN210263207U (en) | 2020-04-07 |
Family
ID=70046779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921026051.6U Expired - Fee Related CN210263207U (en) | 2019-07-03 | 2019-07-03 | Crawler-type traveling unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210263207U (en) |
-
2019
- 2019-07-03 CN CN201921026051.6U patent/CN210263207U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200407 Termination date: 20210703 |