CN210502930U - Shock-absorbing walking mechanism of fire-fighting robot - Google Patents
Shock-absorbing walking mechanism of fire-fighting robot Download PDFInfo
- Publication number
- CN210502930U CN210502930U CN201920942692.XU CN201920942692U CN210502930U CN 210502930 U CN210502930 U CN 210502930U CN 201920942692 U CN201920942692 U CN 201920942692U CN 210502930 U CN210502930 U CN 210502930U
- Authority
- CN
- China
- Prior art keywords
- spring
- wheel
- vehicle body
- fighting robot
- fire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 238000013016 damping Methods 0.000 claims abstract description 18
- 230000035939 shock Effects 0.000 claims abstract 4
- 230000000903 blocking effect Effects 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Images
Landscapes
- Handcart (AREA)
Abstract
The application belongs to machinery, discloses a fire-fighting robot's shock attenuation running gear, includes: the driving wheel, the load-bearing wheel set and the guide wheel set are sequentially arranged in the track, the driving wheel is mounted on the vehicle body, the load-bearing wheel set comprises a load-bearing wheel, a first spring and a second spring, one end of the first spring is connected to the vehicle body, and the other end of the first spring is connected with the load-bearing wheel; one end of the second spring is connected to the vehicle body, and the other end of the second spring is connected with the bogie wheel through a connecting piece; the connecting piece is L-shaped, and the connecting piece is rotatably connected to the vehicle body at the intersection point of the two sides. The walking mechanism realizes a damping function aiming at the operation environment of the fire-fighting robot, can be suitable for various complex environments, and ensures stable operation of components and audio-video transmission in the vehicle body.
Description
Technical Field
The application relates to the field of machinery, in particular to a damping walking mechanism of a fire-fighting robot.
Background
The existing fire-fighting robot has the defects that the working condition is complex, the robot runs on an uneven road surface, jolts and vibrates greatly, and the work of surveying, fire extinguishing and the like is influenced, so that the existing damping travelling mechanism for the fire-fighting robot needs to be designed to solve the problem.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a damping walking mechanism of a fire-fighting robot, and aims to solve the problem that the walking of the fire-fighting robot is jolted greatly. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
The embodiment of the disclosure provides a damping walking mechanism of a fire-fighting robot.
In some embodiments, the shock-absorbing traveling mechanism of the fire fighting robot includes: the driving wheel, the load-bearing wheel set and the guide wheel set are sequentially arranged in the track, the driving wheel is mounted on the vehicle body, the load-bearing wheel set comprises a load-bearing wheel, a first spring and a second spring, one end of the first spring is mounted on a fixed bottom plate of the vehicle body through a damping support, the other end of the first spring is connected with the load-bearing wheel through a connecting piece, and the first spring is connected to the connecting piece in a sliding manner; one end of the second spring is mounted on a fixed bottom plate of the vehicle body through a damping support, and the other end of the second spring is connected with the bogie wheel through a connecting piece; the connecting piece is L-shaped, two ends of the connecting piece are respectively connected with the first spring and the second spring, the connecting piece is rotatably connected to the vehicle body, and the connecting piece is provided with a self-aligning roller bearing at the rotating joint.
Optionally, the leading wheel group includes leading wheel, supporting wheel and third spring, the leading wheel is installed on the automobile body, the leading wheel passes through support piece with the supporting wheel and links to each other, the supporting wheel offsets with the track, support piece is the L type, and support piece rotates in the nodical department on both sides and connects on the automobile body, third spring one end links to each other with the leading wheel, and the other end is connected on the automobile body.
Optionally, the height of the connection point of the second spring and the vehicle body is higher than that of the connection point of the first spring and the vehicle body, and the height of the connection point of the first spring and the vehicle body is higher than that of the connection point of the connecting piece and the vehicle body.
Optionally, the track further comprises at least one tensioning wheel, the tensioning wheel is mounted on the vehicle body, and the top of the tensioning wheel abuts against the inner side wall of the track.
Optionally, the highest point of the tensioning wheel is higher than the highest point of the driving wheel and the highest point of the guide wheel set.
Optionally, the tensioning wheel comprises a base, a baffle, an adjusting device for adjusting the height of the baffle, a spring, a guide shaft, an end cover, a wheel shaft and a wheel body, the base is mounted on the vehicle body, the adjusting device is mounted on the base in a penetrating manner, the baffle is located on the adjusting device and abuts against the adjusting device, the guide shaft is mounted in the base and the baffle in a penetrating manner, the spring is mounted on the guide shaft in a sleeving manner, the top end of the guide shaft extends in the horizontal direction to form a blocking part, two ends of the spring respectively abut against the lower surface of the blocking part and the upper surface of the baffle, the end cover is detachably connected with the blocking part of the guide shaft, the wheel shaft is mounted at the joint of the end cover and the guide shaft in a penetrating manner, and the axis of the wheel; the wheel body quantity is two at least, and locates the shaft both ends separately.
Optionally, the adjusting device comprises adjusting bolts and nuts, the number of the adjusting bolts is at least two, and the adjusting bolts are symmetrically distributed and penetrate through the base; the top end of the adjusting bolt is a screwing end, and the top end of the adjusting bolt is abutted against the lower surface of the baffle plate; the nut is in threaded connection with the adjusting bolt and is located on the upper surface of the base.
Optionally, the guide shaft at least comprises an arc-shaped surface and a plane along the axis direction, the baffle is provided with a through hole matched with the guide shaft, and the base is provided with a through hole matched with the guide shaft.
Optionally, the lower surface of the baffle is provided with a groove for embedding the adjusting bolt.
Optionally, the support wheel and the bogie wheel are located on the same plane.
Optionally, the axis of the second spring is perpendicular to the axis of the first spring.
The technical scheme provided by the embodiment of the application can have the following beneficial effects: the walking mechanism realizes a damping function aiming at the operation environment of the fire-fighting robot, can be suitable for various complex environments, and ensures stable operation of components and audio-video transmission in the vehicle body.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural view of a shock-absorbing traveling mechanism of a fire fighting robot according to an exemplary embodiment;
FIG. 2 is a schematic structural view of the load-bearing wheel set shown in accordance with an exemplary embodiment;
FIG. 3 is a schematic view of the assembly of the damping mount with a fixed base plate shown in accordance with an exemplary embodiment;
FIG. 4 is a schematic structural view of the tensioner shown in accordance with an exemplary embodiment;
FIG. 5 is a schematic cross-sectional view of the tensioner shown in accordance with an exemplary embodiment;
FIG. 6 is a schematic side view of the tensioner shown in accordance with an exemplary embodiment;
FIG. 7 is a schematic view of the assembly of the slide block, slide bushing and pre-tightening nut shown in accordance with an exemplary embodiment.
Reference numerals:
1. a drive wheel; 2. a guide wheel; 3. a crawler belt; 4. a loading wheel; 5. a tension wheel; 51. a base; 52. a baffle plate; 53. adjusting the bolt; 54. a nut; 55. a guide shaft; 55-1, a barrier; 56. a spring; 57. a wheel body; 58. a wheel axle; 59. an end cap; 6. a first spring; 6-1, a sliding block; 6-2, sliding bush; 6-3, pre-tightening the screw; 7. a second spring; 8. a connecting member; 9. a support wheel; 10. a third spring; 11. a support member; 12. a vehicle body.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments herein to enable those skilled in the art to practice them. Portions and features of some embodiments may be included in or substituted for those of others. The scope of the embodiments herein includes the full ambit of the claims, as well as all available equivalents of the claims. The terms "first," "second," and the like, herein are used solely to distinguish one element from another without requiring or implying any actual such relationship or order between such elements. In practice, a first element can also be referred to as a second element, and vice versa. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such structure, apparatus, or device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a structure, device or apparatus that comprises the element. The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like herein, as used herein, are defined as orientations or positional relationships based on the orientation or positional relationship shown in the drawings, and are used for convenience in describing and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application. In the description herein, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, and indirect connections via intermediary media, where the specific meaning of the terms is understood by those skilled in the art as appropriate.
Herein, the term "plurality" means two or more, unless otherwise specified.
As shown in fig. 1, the embodiment of the present disclosure provides a shock-absorbing traveling mechanism of a fire-fighting robot, including: the device comprises a driving wheel 1, a guide wheel set, a crawler 3 and at least one group of load-bearing wheel set, wherein the driving wheel, the load-bearing wheel set and the guide wheel set are sequentially arranged in the crawler, the driving wheel is arranged on a vehicle body 12, the load-bearing wheel set comprises a load-bearing wheel 4, a first spring 6 and a second spring 7, one end of the first spring is arranged on a fixed bottom plate 13 of the vehicle body through a damping support 14, the other end of the first spring is connected with the load-bearing wheel through a connecting piece, and the first spring is connected to the; one end of the second spring is mounted on a fixed bottom plate 13 of the vehicle body through a damping support 14, and the other end of the second spring is connected with the bogie wheel through a connecting piece 8; the connecting piece is L-shaped, two ends of the connecting piece are respectively connected with the first spring and the second spring, the connecting piece is rotatably connected to the vehicle body, and the connecting piece is provided with a self-aligning roller bearing at the rotating joint.
The bottom of the first spring is connected to a sliding rail of the connecting piece in a sliding mode through a sliding block 6-1, a sliding bush 6-2 and a pre-tightening screw 6-3 are arranged in the sliding block, the pre-tightening screw is connected to the side wall of the sliding block in a penetrating mode and in threaded connection, the tip end of the pre-tightening screw is abutted to the side wall of the sliding bush, the pre-tightening force of the sliding bush and the sliding rail is adjusted by screwing in or screwing out the pre-tightening screw, friction force of the sliding block, the sliding bush and the sliding rail is weakened or enhanced, rotation resistance is further increased, and.
The end of the damping support 14 is provided with a concave-convex clamping groove, the damping support 14 is fixed in the fixed bottom plate 13, radial force borne by the bolt can be effectively reduced, and meanwhile, positioning accuracy can be improved.
When the traveling mechanism is subjected to large impact force, the first spring is compressed, the connecting piece is sleeved on the shaft between the two loading wheels, the first spring compresses and provides an acting force for the sliding rail connected to the connecting piece in a sliding mode, the first spring slides reversely, the rotating angle is changed, the rotating resistance is increased, and the impact force applied to the connecting piece is buffered.
By adopting the embodiment, through the damping mode of matching the first spring and the second spring, when the vehicle receives impact force, the force is transmitted to the first spring and the second spring according to the stress, the impact load of a single spring is reduced, and the impact force on the damping support and the vehicle body can be relieved by matching with the sliding unloading force at the bottom of the first spring.
With the above embodiments, three sets of load-bearing wheel sets are shown in fig. 1, which are arranged side by side between the drive wheels and the guide wheel sets. The driving wheel is driven by a driving device in the fire-fighting robot body. The drive wheel is responsible for providing power, the bogie wheel passes through track contact ground, prop up the weight of whole automobile body, the direction wheelset is responsible for the track direction, walking in-process bogie wheel contact ground, when walking the operation on uneven ground, the first spring and the second spring of connecting the bogie wheel can receive the pressure that comes from the bogie wheel, first spring and second spring can compress, the relative position of automobile body still can with the relative position unchangeable when walking on the flat ground this moment.
Optionally, the guide wheel group includes leading wheel 2, supporting wheel 9 and third spring 10, the leading wheel is installed on the automobile body, the leading wheel passes through support piece 11 with the supporting wheel and links to each other, the supporting wheel is inconsistent with the track, support piece is the L type, and support piece is in the nodical department rotation on both sides and is connected on the automobile body, third spring one end links to each other with the leading wheel, and the other end is connected on the automobile body.
Optionally, the height of the connection point of the second spring and the vehicle body is higher than that of the connection point of the first spring and the vehicle body, and the height of the connection point of the first spring and the vehicle body is higher than that of the connection point of the connecting piece and the vehicle body.
Optionally, the crawler belt device further comprises at least one tensioning wheel 5, the tensioning wheel is mounted on the vehicle body, and the top of the tensioning wheel abuts against the inner side wall of the crawler belt.
Adopt above-mentioned embodiment, because first spring and second spring pressurized, the elasticity degree of track this moment can change, adjust the take-up pulley this moment because the elasticity degree of track reduces, and the spring in the take-up pulley can make the take-up pulley shift up to tensioning track once more, get back to flat subaerial when running gear, because the pretightning force of first spring and second spring is bigger than the pretightning force of take-up pulley, the spring of take-up pulley this moment can be compressed, so circulate, guarantee the smooth operation of robot on the road surface.
Optionally, the highest point of the tensioning wheel is higher than the highest point of the driving wheel and the highest point of the guide wheel set.
Optionally, the tensioning wheel 5 includes a base 51, a baffle 52, an adjusting device for adjusting the height of the baffle, a spring 56, a guide shaft 55, an end cover 59, a wheel shaft 58 and a wheel body 57, the base is mounted on the vehicle body, the adjusting device is mounted on the base in a penetrating manner, the baffle is located on the adjusting device and is abutted against the adjusting device, the guide shaft is mounted in the base and the baffle in a penetrating manner, the spring is mounted on the guide shaft in a sleeving manner, the top end of the guide shaft extends in the horizontal direction to form a blocking portion 55-1, two ends of the spring are respectively abutted against the lower surface of the blocking portion and the upper surface of the baffle, the end cover is detachably connected with the blocking portion of the guide shaft, the wheel shaft is mounted at the connection position of the end cover and the guide shaft in a penetrating manner, and the axis; the wheel body quantity is two at least, and locates the shaft both ends separately.
The spring has the functions of adjustment and buffering, the parts and the crawler belt are protected, the service life is prolonged, and the service performance is improved. The axes of the springs are positioned on the same straight line with the axis of the guide shaft.
Optionally, the adjusting device comprises at least two adjusting bolts 53 and nuts 54, and the adjusting bolts are symmetrically distributed and penetrate through the base; the top end of the adjusting bolt is a screwing end, and the top end of the adjusting bolt is abutted against the lower surface of the baffle plate; the nut is in threaded connection with the adjusting bolt and is located on the upper surface of the base.
By adopting the embodiment, the adjusting bolt is rotated to enable the baffle to move upwards or downwards, the height of the baffle and the upper surface of the base is adjusted, the spring is extruded when the baffle moves upwards, and under the condition that the spring cannot be extruded again, the spring transmits force to the blocking part, so that the blocking part and the part fixedly connected with the blocking part are driven to move upwards together, the length and the side length of the aged crawler can be effectively avoided, the crawler is in a relatively stable tensioning state through the adjusting device, and the problem that the crawler falls off is avoided.
Optionally, the guide shaft at least comprises an arc-shaped surface and a plane along the axis direction, the baffle is provided with a through hole matched with the guide shaft, and the base is provided with a through hole matched with the guide shaft. The guide shafts are all arranged in the through holes of the baffle and the through holes of the base in a penetrating mode.
Adopt above-mentioned embodiment, through carrying out the design of non-circular form to the guiding axle, make it play the guide effect on the one hand, on the other hand effectively prevents the guiding axle and rotates, and then guarantees the guide effect of wheel body to the track.
Optionally, the lower surface of the baffle is provided with a groove for embedding the adjusting bolt.
By adopting the embodiment, the screwing-in end of the adjusting bolt is embedded in the groove, so that the baffle plate is prevented from rotating randomly.
The problem that the track is increased relative to wheels due to the fact that a spring is pressed and the track is lengthened in the spring damping type travelling mechanism process and the problem that the track falls off after the track is aged are solved through the tensioning wheel, and meanwhile the tensioning degree of the wheels and the track can be adjusted in the assembling process; the problems of locking and tensioning delay frequently occurring in a screw tensioning mode are solved by the mode of adjusting the height of the baffle relative to the base by rotating the adjusting bolt and the mutual matching of the guide shaft and the spring; while avoiding the use of hydraulic tensioning.
Optionally, the support wheel and the bogie wheel are located on the same plane, and the support wheel and the bogie wheel are opposite.
Adopt above-mentioned embodiment, through supporting wheel and bogie wheel reverse for when the robot had the barrier in the front, the supporting wheel contacted the barrier earlier, realized better crossing the barrier.
Optionally, the axis of the second spring is perpendicular to the axis of the first spring.
The present application is not limited to the structures that have been described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. The utility model provides a fire-fighting robot's shock attenuation running gear which characterized in that includes:
the driving wheel, the load-bearing wheel set and the guide wheel set are sequentially arranged in the track, the driving wheel is mounted on the vehicle body, the load-bearing wheel set comprises a load-bearing wheel, a first spring and a second spring, one end of the first spring is mounted on a fixed bottom plate of the vehicle body through a damping support, the other end of the first spring is connected with the load-bearing wheel through a connecting piece, and the first spring is connected to the connecting piece in a sliding manner; one end of the second spring is mounted on a fixed bottom plate of the vehicle body through a damping support, and the other end of the second spring is connected with the bogie wheel through a connecting piece; the connecting piece is L-shaped, two ends of the connecting piece are respectively connected with the first spring and the second spring, the connecting piece is rotatably connected to the vehicle body, and the connecting piece is provided with a self-aligning roller bearing at the rotating joint.
2. The shock-absorbing traveling mechanism of a fire-fighting robot as claimed in claim 1, wherein the guide wheel set includes a guide wheel, a support wheel and a third spring, the guide wheel is mounted on the vehicle body, the guide wheel and the support wheel are connected by a support member, the support wheel is in contact with the track, the support member is L-shaped, the support member is rotatably connected to the vehicle body at the intersection point of the two sides, one end of the third spring is connected to the guide wheel, and the other end of the third spring is connected to the vehicle body.
3. The shock-absorbing traveling mechanism of a fire fighting robot as recited in claim 1, wherein the height of the connection point of the second spring to the vehicle body is higher than the height of the connection point of the first spring to the vehicle body, and the height of the connection point of the first spring to the vehicle body is higher than the height of the connection point of the link to the vehicle body.
4. The shock absorbing traveling mechanism of a fire fighting robot according to claim 1, further comprising at least one tension pulley, wherein the tension pulley is mounted on the vehicle body, and a top of the tension pulley abuts against an inner side wall of the track.
5. The shock absorbing traveling mechanism of a fire fighting robot according to claim 4, wherein a highest point of said tension pulley is higher than a highest point of said driving wheel and a highest point of said guide wheel group.
6. The shock-absorbing traveling mechanism of a fire-fighting robot according to claim 4, wherein the tension pulley comprises a base, a baffle, an adjusting device for adjusting the height of the baffle, a spring, a guide shaft, an end cover, a wheel shaft and a wheel body, the base is mounted on the vehicle body, the adjusting device is mounted on the base in a penetrating manner, the baffle is located on the adjusting device and abuts against the adjusting device, the guide shaft is mounted in the base and the baffle in a penetrating manner, the spring is mounted on the guide shaft in a sleeving manner, the top end of the guide shaft extends in the horizontal direction to form a blocking part, two ends of the spring respectively abut against the lower surface of the blocking part and the upper surface of the baffle, the end cover is detachably connected with the blocking part of the guide shaft, the wheel shaft is mounted at the joint of the end cover and the guide shaft in a penetrating manner, and the axis of the wheel shaft is; the wheel body quantity is two at least, and locates the shaft both ends separately.
7. The shock-absorbing traveling mechanism of a fire-fighting robot according to claim 6, wherein the adjusting device of the tension wheel comprises adjusting bolts and nuts, the number of the adjusting bolts is at least two, and the adjusting bolts are symmetrically distributed and penetrated in the base; the top end of the adjusting bolt is a screwing end, and the top end of the adjusting bolt is abutted against the lower surface of the baffle plate; the nut is in threaded connection with the adjusting bolt and is located on the upper surface of the base.
8. The fire-fighting robot shock-absorbing traveling mechanism according to claim 6, wherein the guide shaft includes at least an arc surface and a plane surface along an axial direction, the baffle is provided with a through hole adapted to the guide shaft, and the base is provided with a through hole adapted to the guide shaft.
9. The shock-absorbing traveling mechanism of a fire fighting robot according to claim 6, wherein the lower surface of the shield is provided with a groove for embedding the adjusting bolt.
10. The shock-absorbing traveling mechanism of a fire fighting robot as recited in claim 2, wherein said support wheels and said bogie wheels are located on the same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920942692.XU CN210502930U (en) | 2019-06-21 | 2019-06-21 | Shock-absorbing walking mechanism of fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920942692.XU CN210502930U (en) | 2019-06-21 | 2019-06-21 | Shock-absorbing walking mechanism of fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210502930U true CN210502930U (en) | 2020-05-12 |
Family
ID=70579500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920942692.XU Expired - Fee Related CN210502930U (en) | 2019-06-21 | 2019-06-21 | Shock-absorbing walking mechanism of fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210502930U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316268A (en) * | 2019-06-21 | 2019-10-11 | 青岛澳西智能科技有限公司 | A kind of damping walking mechanism of fire-fighting robot |
-
2019
- 2019-06-21 CN CN201920942692.XU patent/CN210502930U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316268A (en) * | 2019-06-21 | 2019-10-11 | 青岛澳西智能科技有限公司 | A kind of damping walking mechanism of fire-fighting robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9434426B2 (en) | Track suspension | |
| US5997109A (en) | Undercarriage assembly for a belted work machine | |
| CN112238872B (en) | Rail vehicle system provided with three-wire rail part | |
| US20020046677A1 (en) | Seismic isolation system for a crane | |
| CN100999235A (en) | Light crawler motor platform vibration suspension device | |
| CN104191967B (en) | Transfer case suspension device | |
| CN210502930U (en) | Shock-absorbing walking mechanism of fire-fighting robot | |
| CN112356655A (en) | Independent suspension and vibration reduction integrated differential driving wheel device and control method thereof | |
| US6604796B2 (en) | Track tensioning biasing system for a tracked vehicle | |
| US6641235B2 (en) | Pivoting track tensioning system for a tracked vehicle | |
| CN111572658B (en) | Crawler vehicle chassis for high-speed traveling | |
| CN110194226B (en) | Vehicle crawler device and vehicle | |
| CN210175013U (en) | Vehicle track device and vehicle | |
| CN109533054B (en) | Magnetic adsorption walking device and magnetic adsorption wall-climbing robot | |
| CN210502944U (en) | Tensioning wheel for walking mechanism of fire-fighting robot | |
| CN112937705B (en) | Rubber track chassis system and engineering machinery | |
| CN110126932B (en) | Shock absorber and shock absorbing system for tractor | |
| US7021885B2 (en) | Fork lift truck with elastic bearing | |
| CN210553997U (en) | Control arm assembly | |
| CN104108430B (en) | A kind of cabin front suspension puts system | |
| CN113002256B (en) | Multi-wire multi-shaft flexible suspension axle system | |
| CN115489245B (en) | Running gear and inspection robot | |
| CN216034752U (en) | Built-in pressure adjustable elastic tensioning mechanism of crawler chassis | |
| KR200333090Y1 (en) | The self-driving skateboard | |
| CN110027638B (en) | Chassis frame and chassis assembly of crawler tractor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200512 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |