CN214776222U - Modular crawler-type mobile platform and steering system thereof - Google Patents

Modular crawler-type mobile platform and steering system thereof Download PDF

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Publication number
CN214776222U
CN214776222U CN202120953317.2U CN202120953317U CN214776222U CN 214776222 U CN214776222 U CN 214776222U CN 202120953317 U CN202120953317 U CN 202120953317U CN 214776222 U CN214776222 U CN 214776222U
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CN
China
Prior art keywords
crawler chassis
platform
crawler
chassis module
moving platform
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Active
Application number
CN202120953317.2U
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Chinese (zh)
Inventor
梁培根
张奇
张喆
孙业钧
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanxi saitan Defense Technology Co.,Ltd.
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Shanxi Saitan Technology Co ltd
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Priority to CN202120953317.2U priority Critical patent/CN214776222U/en
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Abstract

The utility model belongs to the technical field of remove transportation equipment, concretely relates to modularization crawler-type moving platform and a steering system thereof. The technical problem that a traditional crawler chassis cannot be applied to a large-length-width ratio or a large-size moving platform due to high steering difficulty is solved. The technical scheme is as follows: it includes moving platform, platform control system, a plurality of crawler chassis module and a plurality of turns to the device, the structure of crawler chassis module is the same with the structure of traditional tracked vehicle, crawler chassis module is subaerial to be arranged, turn to the device setting on the top surface frame of crawler chassis module, moving platform sets up at the device top that turns to, platform control system sets up in moving platform's bottom surface middle part, platform control system respectively with the control unit of crawler chassis module with turn to device electric connection. The utility model discloses moving platform not only has crawler chassis's advantage, has also solved traditional crawler chassis simultaneously and has turned to the big problem of the degree of difficulty, has expanded crawler chassis as moving platform's application.

Description

Modular crawler-type mobile platform and steering system thereof
Technical Field
The utility model belongs to the technical field of remove transportation equipment, concretely relates to modularization crawler-type moving platform and a steering system thereof.
Background
The crawler chassis is widely applied to the fields of engineering and the like due to the characteristics of small pressure on the ground, good trafficability and strong off-road capability, but according to the steering analysis of the crawler vehicle, the longer the contact length between the crawler and the ground is, the more unfavorable the steering of the crawler chassis is, and the crawler chassis with the ratio of the grounding length of the crawler to the track gauge larger than 1.95 does not have the basic condition of steering, so that the ratio of the length to the track gauge of the traditional crawler chassis is generally 1.2-1.35, and the crawler chassis is not suitable for a mobile platform with a large length-width ratio.
Moreover, the steering resistance moment of the crawler chassis is not only in direct proportion to the self weight of the crawler chassis and the transverse sliding friction coefficient of the crawler, but also in direct proportion to the grounding length of the crawler, so that the power of an engine of the crawler chassis is often dependent on the steering capacity of the engine, and the crawler chassis is not suitable for large-scale but light-load mobile platforms.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving traditional track chassis and being big because of turning to the degree of difficulty, can't be applied to the great or large-scale moving platform's of length-width ratio technical problem, provide a modularization crawler-type moving platform and a steering system thereof.
In order to solve the technical problem, the utility model discloses a technical scheme is:
the utility model provides a modularization crawler-type moving platform and a steering system thereof, turns to the device including moving platform, platform control system, a plurality of crawler chassis module and a plurality of, the structure of crawler chassis module is the same with the structure of traditional tracked vehicle, a plurality of crawler chassis module is subaerial to be arranged, a plurality of turns to the device setting on the top surface frame of a plurality of crawler chassis module, moving platform sets up at a plurality of and turns to the device top, platform control system sets up at moving platform's bottom surface middle part, platform control system turns to device electric connection with the control unit and a plurality of crawler chassis module respectively.
Furthermore, the mobile platform adopts an integral platform or any one of platforms formed by combining a plurality of platforms.
Further, the plurality of crawler chassis modules are arranged on the ground in any one mode of a 2 x 1 mode, a 2 x 2 mode or a 3-wheel mode.
Furthermore, turn to the device and include connecting axle, two bearings, angle sensor and locking mechanism, the bearing setting is in the bearing frame of moving platform bottom surface at the both ends of connecting axle and the bearing setting of upper end, and the bearing setting of lower extreme is in the bearing frame of crawler chassis module top surface frame, angle sensor sets up on the connecting axle, locking mechanism sets up on the bearing.
Further, the locking mechanism is any one of a brake or a pin.
Further, an angle sensor is also provided in the steering unit of the crawler chassis module.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses the mobile platform is formed by the combination of modularized track chassis modules, has the characteristics of general use and combinability, and can meet various mobile transportation requirements by combining the track chassis modules into various mobile platforms;
2. the utility model discloses moving platform not only has crawler chassis's advantage, has also solved traditional crawler chassis simultaneously and has turned to the big problem of the degree of difficulty, has expanded crawler chassis as moving platform's application.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a crawler chassis module according to the present invention;
FIG. 3 is a schematic top view of a crawler chassis module according to the present invention;
FIG. 4 is a schematic structural diagram of a 3-wheel crawler chassis module according to the present invention;
FIG. 5 is a schematic structural view of a 2 × 1 crawler chassis module of the present invention;
fig. 6 is a schematic structural view of a 2 × 2 crawler chassis module of the present invention;
fig. 7 is a schematic front wheel steering view of the 2 × 2 crawler chassis module moving platform of the present invention;
fig. 8 is a schematic view of the all-wheel steering of the 2 × 2 crawler chassis module mobile platform of the present invention;
fig. 9 is a crab steering schematic diagram of the 2 × 2 crawler chassis module moving platform of the present invention;
fig. 10 is a schematic view of the turning process of the present invention;
in the figure: 1-a mobile platform, 2-a platform control system, 3-a crawler chassis module and 4-a steering device;
Detailed Description
The detailed structure of the present invention will be described below with reference to the embodiments and the drawings thereof, but the present invention is not limited to the following embodiments, and various combinations or single implementations are within the scope of the design idea of the present invention.
Example 1:
the utility model provides a modularization crawler-type moving platform and a steering system thereof, includes moving platform 1, platform control system 3, 4 crawler chassis modules 2 and 4 and turns to device 4, crawler chassis modules 2's structure is the same with the structure of traditional tracked vehicle, 4 crawler chassis modules 2 adopt 2 x 1 formula mode to arrange subaerial, 4 turn to device 4 and set up on 4 crawler chassis modules 2's top surface frame, moving platform 1 adopts a whole platform, sets up at 4 top that turn to the device, platform control system 3 sets up in moving platform 1's bottom surface middle part, platform control system 3 respectively with 4 crawler chassis modules 2's the control unit and 4 turn to 4 electric connection of device.
The steering device 4 comprises a connecting shaft, two bearings, an angle sensor and a locking mechanism, the bearings are arranged at two ends of the connecting shaft, the bearings at the upper end of the connecting shaft are arranged in bearing seats at the bottom surface of the moving platform 1, the bearings at the lower end of the connecting shaft are arranged in bearing seats of a frame on the top surface of the crawler chassis module 2, the angle sensor is arranged on the connecting shaft, and the locking mechanism adopts a brake and is arranged on the bearings.
Example 2:
in this embodiment, 3 crawler chassis modules 2 are arranged in a 3-wheel manner, 3 steering devices are arranged on a top frame of the 3 crawler chassis modules 2, 3 moving platforms 1 are arranged on tops of the 3 steering devices 4 to form a large moving platform 1, the locking mechanism is arranged on a bearing by using a pin shaft, and other structures are the same as those of embodiment 1.
Example 3:
in this embodiment, 2 crawler chassis modules 2 are arranged in a 2 × 1 manner, 2 steering devices are disposed on top surface frames of the 2 crawler chassis modules 2, 2 mobile platforms 1 are disposed on top of the 2 steering devices 4 and form a large mobile platform 1, the locking mechanism is a brake and is disposed on a bearing, and other structures are the same as those of embodiment 1.
The utility model discloses the theory of operation as follows:
as shown in fig. 10, the platform control system 3 receives a steering mode command from an operator, including a steering mode of the mobile platform and a rotation angle of a single crawler chassis module 2 in the platform, calculates a target rotation angle required to be steered of each crawler chassis module 2 through the platform control system 3, and sends the target rotation angle to the control unit of each crawler chassis module 2, each crawler chassis module 2 monitors an actual rotation angle through an angle sensor, the control unit analyzes and compares a difference value between the target rotation angle and the actual rotation angle, controls a rotation direction and a rotation speed of the steering unit in each crawler chassis module 2 to realize in-situ steering until the difference value between the target rotation angle and the actual rotation angle reaches an acceptable range, and then performs brake locking through an electromagnetic brake of each crawler chassis module 2, when the rotation angles of all crawler chassis modules 2 conform to the target rotation angle, the platform control system 3 starts to control the driving motor of the crawler chassis module 2 to drive.
During the running process, the control system monitors the corners of the crawler chassis modules, and when a certain crawler chassis module 2 does not conform to the corner relationship, the platform control system 3 controls the driving motors on the two sides of the crawler belt of the crawler chassis module 2 to correct the angle, so that the corner relationship of each crawler chassis module 2 conforms to the platform state.

Claims (6)

1. The utility model provides a modularization crawler-type moving platform and a steering system thereof, its characterized in that turns to device (4) including moving platform (1), platform control system (3), a plurality of crawler chassis module (2) and a plurality of, the structure of crawler chassis module (2) is the same with the structure of traditional tracked vehicle, a plurality of crawler chassis module (2) is subaerial to be arranged, a plurality of turns to device (4) and sets up on the top surface frame of a plurality of crawler chassis module (2), moving platform (1) sets up turns to device (4) top at a plurality of, platform control system (3) set up the bottom surface middle part at moving platform (1), platform control system (3) turn to device (4) electric connection with the control unit and a plurality of crawler chassis module (2) respectively.
2. A modular tracked mobile platform and steering system according to claim 1, wherein said mobile platform (1) is any one of a single platform or a combination of several platforms.
3. A modular tracked mobile platform and its steering system according to claim 1, wherein said plurality of track undercarriage modules (2) are arranged on the ground in any one of a 2 x 1, 2 x 2 or 3 wheeled configuration.
4. The modular crawler-type mobile platform and the steering system thereof according to claim 1, wherein the steering device (4) comprises a connecting shaft, two bearings, an angle sensor and a locking mechanism, the bearings are arranged at two ends of the connecting shaft, the upper bearing is arranged in a bearing seat at the bottom surface of the mobile platform (1), the lower bearing is arranged in a bearing seat of a frame at the top surface of the crawler chassis module (2), the angle sensor is arranged on the connecting shaft, and the locking mechanism is arranged on the bearings.
5. The modular track-type mobile platform and steering system thereof according to claim 4, wherein the locking mechanism is any one of a brake or a pin.
6. A modular tracked mobile platform and its steering system according to claim 1, characterised in that an angle sensor is also provided in the steering unit of the crawler chassis module (2).
CN202120953317.2U 2021-05-07 2021-05-07 Modular crawler-type mobile platform and steering system thereof Active CN214776222U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202120953317.2U CN214776222U (en) 2021-05-07 2021-05-07 Modular crawler-type mobile platform and steering system thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202120953317.2U CN214776222U (en) 2021-05-07 2021-05-07 Modular crawler-type mobile platform and steering system thereof

Publications (1)

Publication Number Publication Date
CN214776222U true CN214776222U (en) 2021-11-19

Family

ID=78690885

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202120953317.2U Active CN214776222U (en) 2021-05-07 2021-05-07 Modular crawler-type mobile platform and steering system thereof

Country Status (1)

Country Link
CN (1) CN214776222U (en)

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Date Code Title Description
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20211222

Address after: 030000 workshop 2, phase II, small and micro enterprise park, Taiyuan Yangqu Park, Shanxi comprehensive reform demonstration zone, Taiyuan City, Shanxi Province

Patentee after: Shanxi saitan Defense Technology Co.,Ltd.

Address before: 030052 plant 2, phase II, small and micro enterprise park, Yangqu Park, Taiyuan City, Shanxi Province

Patentee before: Shanxi saitan Technology Co.,Ltd.