CN214729193U - Obstacle-crossing damping wheel capable of crossing ground obstacle - Google Patents
Obstacle-crossing damping wheel capable of crossing ground obstacle Download PDFInfo
- Publication number
- CN214729193U CN214729193U CN202120884447.5U CN202120884447U CN214729193U CN 214729193 U CN214729193 U CN 214729193U CN 202120884447 U CN202120884447 U CN 202120884447U CN 214729193 U CN214729193 U CN 214729193U
- Authority
- CN
- China
- Prior art keywords
- wheel
- pneumatic element
- obstacle
- fixed
- wheel set
- 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.)
- Active
Links
- 238000013016 damping Methods 0.000 title claims description 18
- 239000000725 suspension Substances 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000035939 shock Effects 0.000 claims description 13
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 11
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The utility model relates to an obstacle-crossing shock-absorbing wheel which can cross over ground obstacles, comprising an annular closed track; a first pneumatic element is arranged in the crawler belt; the cylinder body of the first pneumatic element is fixed between the upper suspension and the lower suspension; the upper suspension frame is attached to the inner wall of the crawler; the output end of the first pneumatic element is connected with the second travelling wheel set; the lower suspension supports the first running wheel set; at least one third travelling wheel group is arranged on the lower suspension; the third travelling wheel group is attached to the inner wall of the crawler; the first traveling wheel set, the upper suspension, the second traveling wheel set and the third traveling wheel set tension the crawler belt. The utility model discloses can cross the ground barrier, can greatly improve the work efficiency of operation car.
Description
Technical Field
The utility model belongs to the technical field of obstacle and shock attenuation technique and specifically relates to indicate a can stride across obstacle shock attenuation wheel more of ground barrier.
Background
When the automatic driving technology is gradually completed, unmanned driving is also gradually applied to the construction site operation vehicle, and various construction site transportation and mining devices are promoted.
And the topography kind on construction site is more, and the geology is comparatively complicated, and current autopilot auto wheel is difficult effectively to cross the barrier like stone, soil block and cement piece etc. thereby cause equipment to shut down because of can't crossing the barrier, seriously influence its trafficability characteristic and stability, and then cause safety problems such as sideslip or even tumble, greatly reduce the utilization ratio of building site operation car.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a can stride across obstacle shock attenuation wheel more of ground obstacle to prior art not enough.
The utility model discloses the technical scheme who adopts as follows:
an obstacle-surmounting shock-absorbing wheel capable of crossing over a ground obstacle comprises an annular closed crawler belt; a first pneumatic element is arranged in the crawler belt; the cylinder of the first pneumatic element is fixed between the upper suspension and the lower suspension; the upper suspension is attached to the inner wall of the crawler; the output end of the first pneumatic element is connected with the second travelling wheel set; the lower suspension supporting a first running wheel set; at least one third travelling wheel group is arranged on the lower suspension; the third travelling wheel group is attached to the inner wall of the crawler; the first traveling wheel set, the upper suspension, the second traveling wheel set and the third traveling wheel set tension the crawler.
The method is further technically characterized in that: the first pneumatic element is a single-acting cylinder.
The method is further technically characterized in that: the first running wheel set comprises a first connecting rod; two ends of the first connecting rod are respectively provided with a first wheel; the first wheel comprises a first hub; a plurality of spokes extending outwardly from the center of the first hub in the same plane; one end of the spoke is abutted against the first rim; a plurality of racks are arranged along the circumferential direction of the first rim; the rack and the track are engaged with each other.
The method is further technically characterized in that: the second walking wheel set comprises a second connecting rod; two ends of the second connecting rod are respectively provided with a second wheel; the second wheel includes a second hub; a plurality of spokes extending outwards from the center of the second hub on the same plane; the outer edge of the spoke plate is abutted against the second rim; a synchronous belt is sleeved on the second rim; the synchronous belt and the crawler belt are meshed with each other.
The method is further technically characterized in that: a plurality of groups of connecting pieces are sleeved on the cylinder body of the first pneumatic element; the two groups of connecting pieces are connected through a connecting rod; the upper suspension and the connecting piece are fixedly connected through a fixing support.
The method is further technically characterized in that: the fixed bracket comprises a group of clamping sheets; the clamping piece clamps the connecting piece and is fastened through a first fastening piece.
The method is further technically characterized in that: the third travelling wheel group comprises a travelling frame, a third wheel and a damping lifting mechanism; the fixed end of the shock absorption lifting mechanism is fixed on the lower suspension; the movable end of the shock absorption lifting mechanism is connected with the walking frame; and a third wheel is arranged at the bottom of the walking frame.
The method is further technically characterized in that: the shock absorption lifting mechanism comprises a second pneumatic element; a damping spring is sleeved outside the second pneumatic element; the fixed end of the second pneumatic element is fixed on the lower suspension; the movable end of the second pneumatic element is connected with the walking frame.
The method is further technically characterized in that: one end of the damping spring is connected with the fixed end of the second pneumatic element in an abutting mode, and the other end of the damping spring is connected with the movable end of the second pneumatic element in an abutting mode.
The method is further technically characterized in that: the walking frame comprises a group of sleeves; one end of the sleeve is fixed on the lower suspension through a second fastener, and the other end of the sleeve is welded with the transmission shaft; and third wheels are fixed on two sides of the transmission shaft.
Compared with the prior art, the technical scheme of the utility model have following advantage:
1. the utility model discloses obstacle, effective shock attenuation are crossed in real time, automobile body work efficiency can greatly be improved, the normal function of better guarantee automobile body.
2. The utility model discloses neglect the influence that the automobile body barycenter skew produced when surmounting the obstacle, effectively improve climbing performance, slope stability of traveling.
3. The utility model discloses guarantee that both sides track motion state keeps unanimous, contact step edge simultaneously promptly, both sides track atress is the same.
Drawings
In order to make the content of the present invention more clearly understood, the present invention will be described in further detail with reference to the following embodiments of the present invention, in conjunction with the accompanying drawings.
Fig. 1 is a schematic structural diagram of a first viewing angle of the present invention.
Fig. 2 is a schematic structural diagram of a second viewing angle of the present invention.
Fig. 3 is a front view of the present invention.
The specification reference numbers indicate: 1. a crawler belt; 2. a first running wheel set; 3. fixing a bracket; 4. a first pneumatic element; 5. a compression spring; 6. an upper suspension; 7. a second running wheel set; 8. a third running wheel set; 9. a walking frame; 10. a lower suspension; 11. a second fastener; 12. shock attenuation lifting mechanism.
Detailed Description
The present invention is further described with reference to the following drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.
The foregoing and other features, aspects and utilities of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings. Directional terms as referred to in the following examples, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Therefore, the directional terminology used is for the purpose of description and is not intended to be limiting, and moreover, like reference numerals will be used to refer to like elements throughout.
Fig. 1 is a schematic structural view at a first viewing angle of the present invention, fig. 2 is a schematic structural view at a second viewing angle of the present invention, and fig. 3 is a front view of the present invention. With reference to fig. 1 to 3, the obstacle-crossing shock-absorbing wheel capable of crossing over a ground obstacle comprises an annular closed crawler belt 1, wherein the crawler belt 1 is positioned at the periphery of the obstacle-crossing shock-absorbing wheel, surrounds the obstacle-crossing shock-absorbing wheel and is used for enabling the whole wheel body to generate friction with the ground so as to move forwards.
A first pneumatic element 4 is mounted in the track 1. Preferably, the first pneumatic element 4 is a single-acting cylinder, and a piston rod of the single-acting cylinder can be retracted back and forth, so that the obstacle-crossing damping wheel can conveniently damp and cross when colliding with an obstacle. The cylinder of the first pneumatic element 4 is fixed between the upper suspension 6 and the lower suspension 10. The upper suspension 6 is attached to the inner wall of the crawler 1. The output of the first pneumatic element 4 is connected to the second running wheel set 7. The lower suspension 10 supports the first running wheel set 2. At least one third running wheel set 8 is mounted on the lower suspension 10. In this embodiment, five sets of third traveling wheel sets 8 are installed on the lower suspension 10, the distance between two adjacent sets of third traveling wheel sets 8 is the same, and the third traveling wheel sets 8 are used for crossing over a ground obstacle and reducing the height difference of up-down fluctuation of the wheel body, so that the overall stability of the obstacle-crossing shock-absorbing wheel can be improved. The third traveling wheel group 8 is attached to the inner wall of the crawler 1. The first traveling wheel set 2, the upper suspension 6, the second traveling wheel set 7 and the third traveling wheel set 8 tension the crawler 1.
The cylinder body of the first pneumatic element 4 is sleeved with a plurality of groups of connecting pieces. In this embodiment, four sets of connectors are sleeved on the cylinder body of the first pneumatic element 4. The two groups of connecting pieces are connected through a connecting rod. One or two connecting rods are sleeved with a compression spring 5, and the compression spring 5 is used for buffering the first pneumatic element 4 when a piston rod of the first pneumatic element 4 contracts.
The upper suspension 6 and the connecting piece are fixedly connected through a fixing bracket 3. The fixing support 3 comprises a set of clamping pieces. The clamping piece clamps the connecting piece and is fastened through the first fastening piece. Preferably, the first fastening member is a locking bolt which passes through the clamping piece and the connecting piece in turn to fixedly connect the first pneumatic element 4 and the upper suspension 6.
The first running wheel set 2 comprises a first link. The two ends of the first connecting rod are respectively provided with a first wheel. The first wheel includes a first hub. A plurality of spokes extend outwardly from the center of the first hub in the same plane. One end of the spoke abuts the first rim. A plurality of racks are arranged along the circumferential direction of the first rim. The rack and the track 1 are engaged with each other.
The second running wheel set 7 comprises a second link. And two ends of the second connecting rod are respectively provided with a second wheel. The second wheel includes a second hub. A plurality of spokes extend outwardly from the center of the second hub in the same plane. The outer edge of the web abuts the second rim. The second rim is sleeved with a synchronous belt. The synchronous belt and the crawler belt 1 are meshed with each other.
The third running wheel set 8 comprises a running frame 9, a third wheel and a shock-absorbing lifting mechanism 12. The fixed end of the shock-absorbing lifting mechanism 12 is fixed to the lower suspension 10. The movable end of the damping and lifting mechanism 12 is connected with the walking frame 9. The bottom of the walking frame 9 is provided with a third wheel.
The shock absorbing lifting mechanism 12 comprises a second pneumatic element which is a single acting cylinder. The second pneumatic element is sleeved with a damping spring. Damping spring's one end butt second pneumatic element's stiff end, damping spring's the other end butt second pneumatic element's expansion end, damping spring adds the spring force between second pneumatic element's stiff end and expansion end, adds restraint and drive. The fixed end of the second pneumatic element is fixed to the lower suspension 10. The movable end of the second pneumatic element is connected with the walking frame 9.
The walking frame 9 comprises a set of bushings. One end of the sleeve is fixed above the lower suspension 10 by a second fastener 11, and the other end of the sleeve is welded with the transmission shaft. And third wheels are fixed on two sides of the transmission shaft. Preferably, the second fastening member 11 is a fastening bolt which passes through one end of the bushing and the lower suspension 10 in turn to hinge one side of the traveling frame 9 and the lower suspension 10.
The working principle of the utility model is as follows:
the first walking wheel set 2 is located at the front end of the inner side of the crawler 1, and the rack of the first walking wheel set 2 can be meshed with the crawler 1 and used for driving the whole obstacle crossing shock absorption wheel to rotate. A second set of travelling wheels 7 is located at the output of the first pneumatic element 4, for supporting the rear track 1 and the propulsion track 1 in rotation.
When the obstacle-crossing damping wheel meets an obstacle in the walking process, the output end of the second pneumatic element pushes or contracts to drive the walking frame 9 to lift or descend, so that the obstacle-crossing damping wheel crosses the obstacle on the ground.
In the description of the embodiments of the present invention, it should be further noted that unless explicitly stated or limited otherwise, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious changes and modifications can be made without departing from the scope of the invention.
Claims (10)
1. The utility model provides a can stride across obstacle shock attenuation wheel of ground obstacle which characterized in that: comprising an endless closed track (1); a first pneumatic element (4) is arranged in the crawler belt (1); the cylinder of the first pneumatic element (4) is fixed between an upper suspension (6) and a lower suspension (10); the upper suspension (6) is attached to the inner wall of the crawler belt (1); the output end of the first pneumatic element (4) is connected with a second travelling wheel set (7); the lower suspension (10) supporting a first running wheel set (2); at least one third travelling wheel group (8) is arranged on the lower suspension (10); the third travelling wheel group (8) is attached to the inner wall of the crawler belt (1); the first traveling wheel set (2), the upper suspension (6), the second traveling wheel set (7) and the third traveling wheel set (8) tension the crawler belt (1).
2. A road-barricade-cushioned wheel as recited in claim 1, wherein: the first pneumatic element (4) is a single-acting cylinder.
3. A road-barricade-cushioned wheel as recited in claim 1, wherein: the first running wheel set (2) comprises a first connecting rod; two ends of the first connecting rod are respectively provided with a first wheel; the first wheel comprises a first hub; a plurality of spokes extending outwardly from the center of the first hub in the same plane; one end of the spoke is abutted against the first rim; a plurality of racks are arranged along the circumferential direction of the first rim; the rack and the crawler belt (1) are meshed with each other.
4. A road-barricade-cushioned wheel as recited in claim 1, wherein: the second running wheel set (7) comprises a second connecting rod; two ends of the second connecting rod are respectively provided with a second wheel; the second wheel includes a second hub; a plurality of spokes extending outwards from the center of the second hub on the same plane; the outer edge of the spoke plate is abutted against the second rim; a synchronous belt is sleeved on the second rim; the synchronous belt and the crawler belt (1) are meshed with each other.
5. A road-barricade-cushioned wheel as recited in claim 1, wherein: a plurality of groups of connecting pieces are sleeved on the cylinder body of the first pneumatic element (4); the two groups of connecting pieces are connected through a connecting rod; the upper suspension (6) and the connecting piece are fixedly connected through a fixing support (3).
6. A road-barricade shock-absorbing wheel capable of crossing over a ground obstacle according to claim 5, wherein: the fixed bracket (3) comprises a group of clamping sheets; the clamping piece clamps the connecting piece and is fastened through a first fastening piece.
7. A road-barricade-cushioned wheel as recited in claim 1, wherein: the third travelling wheel group (8) comprises a travelling frame (9), a third wheel and a damping lifting mechanism (12); the fixed end of the shock absorption lifting mechanism (12) is fixed on the lower suspension (10); the movable end of the shock absorption lifting mechanism (12) is connected with the walking frame (9); and a third wheel is arranged at the bottom of the walking frame (9).
8. An obstacle crossing damped wheel as set forth in claim 7 capable of traversing ground obstacles, wherein: the shock-absorbing lifting mechanism (12) comprises a second pneumatic element; a damping spring is sleeved outside the second pneumatic element; the fixed end of the second pneumatic element is fixed on the lower suspension (10); the movable end of the second pneumatic element is connected with the walking frame (9).
9. A road-barricade-cushioned wheel as set forth in claim 8, wherein: one end of the damping spring is connected with the fixed end of the second pneumatic element in an abutting mode, and the other end of the damping spring is connected with the movable end of the second pneumatic element in an abutting mode.
10. An obstacle crossing damped wheel as set forth in claim 7 capable of traversing ground obstacles, wherein: the walking frame (9) comprises a group of sleeves; one end of the sleeve is fixed on the lower suspension (10) through a second fastener (11), and the other end of the sleeve is welded with the transmission shaft; and third wheels are fixed on two sides of the transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120884447.5U CN214729193U (en) | 2021-04-27 | 2021-04-27 | Obstacle-crossing damping wheel capable of crossing ground obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120884447.5U CN214729193U (en) | 2021-04-27 | 2021-04-27 | Obstacle-crossing damping wheel capable of crossing ground obstacle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214729193U true CN214729193U (en) | 2021-11-16 |
Family
ID=78614114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120884447.5U Active CN214729193U (en) | 2021-04-27 | 2021-04-27 | Obstacle-crossing damping wheel capable of crossing ground obstacle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214729193U (en) |
-
2021
- 2021-04-27 CN CN202120884447.5U patent/CN214729193U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203172749U (en) | Moving base of crawler belt robot | |
| CN107521573A (en) | A kind of damping crawler-type unmanned mobile platform | |
| CN113276976B (en) | Planet wheel type obstacle crossing robot | |
| CN101181911A (en) | Composite obstacle walking system | |
| CN107128375B (en) | Mobile chassis for wheel-track switching | |
| CN210258605U (en) | High-performance self-adaptive crawler chassis device | |
| CN213920691U (en) | Wheel tread adjustable all-wheel steering robot chassis | |
| CN110949498A (en) | Electric automobile and wheel hub structure of integrated steering and suspension | |
| CN214729193U (en) | Obstacle-crossing damping wheel capable of crossing ground obstacle | |
| CN110282042B (en) | High-performance self-adaptive crawler chassis device and working method | |
| CN111572656B (en) | Suspension system with damping and buffering characteristics and crawler-type mobile platform | |
| CN210258604U (en) | All-terrain self-adaptive intelligent mobile platform | |
| CN111016562A (en) | Independent suspension device of manned trolley | |
| CN110901778A (en) | All-terrain chassis capable of freely switching tracks and Mecanum wheels | |
| CN213138964U (en) | Crawler chassis floating thrust wheel structure and sugarcane harvester | |
| CN214138810U (en) | Vehicle rear support with variable wheel track and vehicle | |
| CN212579553U (en) | AGV damping device | |
| CN214985620U (en) | Front wheel steering mechanism with damping function for unmanned sweeper and unmanned sweeper | |
| CN212073590U (en) | Shock-absorbing driving device for non-manned trolley | |
| CN211567574U (en) | Front-mounted trolley independent suspension steering device | |
| CN205255923U (en) | Independent rear suspension for vehicle wheels | |
| CN216185575U (en) | Crawler-type running gear | |
| CN219706593U (en) | Buffer damping suspension for motor home | |
| CN221067663U (en) | Wheel-track composite deformation wheel and liftable wheel-track composite active suspension chassis | |
| CN109050655A (en) | A kind of hydraulic wheel hub drive of the independent suspension for underground coal mine vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |