CN216761949U

CN216761949U - Loading vibration reduction mechanism of crawler-type walking device and crawler-type walking device

Info

Publication number: CN216761949U
Application number: CN202123238977.1U
Authority: CN
Inventors: 龙海生
Original assignee: Hebei Yiwalker Robot Technology Co ltd
Current assignee: Hebei Yiwalker Robot Technology Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-06-17
Anticipated expiration: 2031-12-21

Abstract

The utility model provides a load vibration reduction mechanism of a crawler type walking device and the crawler type walking device, belonging to the technical field of walking equipment and comprising a load assembly, a swing arm and an elastic rod; the load bearing assembly is placed on the crawler belt and can roll on the crawler belt; the swing arm is obliquely arranged relative to the height direction of the vehicle body; the lower end of the swing arm is hinged with the load bearing assembly, and the upper end of the swing arm is hinged with a first fixed shaft; the first fixed shaft is fixed on the vehicle body; the lower end of the elastic rod is hinged with the middle part of the swing arm, the upper end of the elastic rod is hinged with a second fixed shaft, and the second fixed shaft is fixed on the vehicle body. The vibration absorption device can enable the crawler belt to be always in a state of being in contact with the road surface, prevent the crawler belt from partially emptying to influence the travelling, absorb vibration energy, prevent the crawler belt from outputting vibration to the vehicle body and improve the overall vibration absorption performance of the vehicle body.

Description

Loading vibration reduction mechanism of crawler-type walking device and crawler-type walking device

Technical Field

The utility model belongs to the technical field of walking equipment, and particularly relates to a load damping mechanism of a crawler type walking device and the crawler type walking device.

Background

The crawler belt is a flexible chain ring which is driven by the driving wheel and surrounds the driving wheel, the bogie wheel, the inducer and the riding wheel. The crawler belt is adopted to walk on the road, so that various complex road conditions can be smoothly, quickly and safely passed.

For the crawler-type traveling device, the loading wheels are placed on the crawler and provide downward pressure for the crawler, so that the crawler is always kept in a tensioning state in contact with the road surface, and the crawler is prevented from partially emptying; in the prior art, because the bogie wheels are assembled on the vehicle body of the traveling device, when the track passes through an unsmooth road section, the track can drive the bogie wheels to vibrate up and down, so that the vehicle body jolts and vibrates, and the service performance of the vehicle body is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a load damping mechanism of a crawler type walking device and the crawler type walking device, and aims to solve the technical problem that a vehicle body vibrates when a crawler passes through an unsmooth road section in the prior art.

In order to achieve the above object, a first aspect of the present invention provides a load damping mechanism for a crawler type traveling apparatus, including:

the weight bearing assembly is used for being placed on the track and can roll on the track;

a swing arm that is provided to be inclined with respect to the height direction of the vehicle body; the lower end of the swing arm is hinged with the load bearing assembly, and the upper end of the swing arm is hinged with a first fixed shaft; the first fixed shaft is fixed on the vehicle body;

the lower end of the elastic rod is hinged with the middle of the swing arm, the upper end of the elastic rod is hinged with a second fixing shaft, and the second fixing shaft is fixed on the vehicle body.

In one possible implementation, the weight assembly includes:

the roller groups are distributed on the crawler belt at intervals along the walking direction of the crawler belt; and

and the supporting shell is connected with the roller groups and is hinged with the lower end of the swing arm.

In some embodiments, the roller group comprises two rollers arranged at intervals along the left-right direction of the crawler and a rotating shaft connecting the two rollers; the two rollers are respectively arranged on the left side edge and the right side edge of the crawler;

the supporting shell is located between the two rollers, and the rotating shaft penetrates through the supporting shell and can rotate relative to the supporting shell.

In some embodiments, the support housing is provided with a first lightening hole; the top surface middle part of support housing is provided with articulated piece, articulated piece with the lower extreme of swing arm is articulated.

In a possible implementation manner, a second lightening hole is formed in the swing arm; the lower end of the swing arm is provided with a first connecting lug which is hinged with the load bearing component; the top surface middle part of swing arm is provided with the second engaging lug, the second engaging lug with the lower extreme of elastic rod is articulated.

In one possible implementation, the elastic rod is disposed obliquely with respect to a height direction of the vehicle body, and an inclination direction is opposite to an inclination direction of the swing arm.

In some embodiments, the elastic rod is further sleeved with a damping piece.

In some embodiments, two fixing discs are arranged on the elastic rod at intervals along the axial direction of the elastic rod, and two ends of the vibration damping piece are respectively abutted to the two fixing discs.

The load vibration reduction mechanism of the crawler type walking device has the advantages that: compared with the prior art, the load-bearing vibration reduction mechanism of the crawler type walking device is assembled between the crawler and the vehicle body, and the load-bearing assembly can provide downward pressure for the crawler, so that the crawler is always in a state of being in contact with the road surface, and the influence on the running caused by the emptying of the crawler is avoided; in addition, the loading assembly is placed on the crawler, when the crawler passes through an unsmooth road section, the up-and-down fluctuation of the crawler can be transmitted to the loading assembly to enable the loading assembly to swing, the loading assembly drives the swing arm to swing around the upper end of the swing arm, and the swing arm drives the elastic rod to stretch or compress and absorb vibration energy, so that the crawler is prevented from outputting vibration to the vehicle body, and the overall vibration damping performance of the vehicle body is improved.

In a second aspect, an embodiment of the present invention further provides a crawler type walking device, including a vehicle body, and crawlers located on two sides of the vehicle body; and a load damping mechanism of the crawler type walking device is arranged between the vehicle body and the crawler.

According to the crawler-type traveling device provided by the utility model, the load vibration reduction mechanism is additionally arranged on the crawler, so that the normal traveling of the crawler can be ensured, the vibration of a vehicle body caused by the fact that the crawler passes through an unsmooth road section is reduced, and the vibration reduction performance of the traveling device is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural view of a load damping mechanism of a crawler track unit according to an embodiment of the present invention;

FIG. 2 is a schematic view of the assembly position of the weight damping mechanism with the track and the vehicle body of the crawler type traveling device according to the embodiment of the present invention;

FIG. 3 is a schematic structural view of a load assembly of the load damping mechanism of the crawler track unit according to the embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a swing arm of a load damping mechanism of a crawler track unit according to an embodiment of the present invention;

fig. 5 is a schematic structural view of an elastic rod of a load damping mechanism of a crawler type traveling device according to an embodiment of the present invention.

In the figure: 1. a weight assembly; 11. a roller set; 111. a roller; 112. a rotating shaft; 12. a support housing; 121. a first lightening hole; 122. a hinged block; 2. swinging arms; 21. a second lightening hole; 22. a first connecting lug; 23. a second engaging lug; 3. an elastic rod; 31. fixing the disc; 4. a vibration damping member; 5. a first fixed shaft; 6. a second fixed shaft; 7. a crawler belt; 8. a vehicle body.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

Referring to fig. 1 and 2, the load damping mechanism of the crawler type traveling apparatus according to the present invention will be described. The load damping mechanism of the crawler type walking device is used for being assembled between a crawler belt 7 and a vehicle body 8 and comprises a load assembly 1, a swing arm 2 and an elastic rod 3. The load assembly 1 is used for being placed on the crawler belt 7 and can roll on the crawler belt 7; the swing arm 2 is arranged obliquely relative to the height direction of the vehicle body 8; the lower end of the swing arm 2 is hinged with the load bearing component 1, and the upper end of the swing arm 2 is hinged with a first fixed shaft 5; the first fixed shaft 5 is fixed on the vehicle body 8; the lower end of the elastic rod 3 is hinged with the middle part of the swing arm 2, the upper end is hinged with a second fixed shaft 6, and the second fixed shaft 6 is also fixed on the vehicle body 8.

Specifically, the first fixed shaft 5 and the second fixed shaft 6 are arranged along the left and right direction of the vehicle body 8, and the upper end of the swing arm 2 is sleeved on the first fixed shaft 5 and can swing relative to the first fixed shaft 5; the upper end of the elastic rod 3 is sleeved on the second fixed shaft 6 and can slightly swing relative to the second fixed shaft 6. The elastic rod 3 is made of metal material with certain deformability. Of course, a rubber vibration damping member may be added inside the elastic rod 3, or a metal vibration damping member may be sleeved outside the elastic rod 3 to further absorb the vibration energy.

When the crawler 7 runs, the load assembly 1 rolls on the crawler 7, and the load assembly 1 presses the crawler 7 to provide downward pressure for the crawler 7, so that the crawler 7 is always in a state of being in contact with the road surface, and the influence of the normal running or climbing caused by the partial emptying of the crawler 7 is avoided; in addition, the load bearing component 1 is placed on the crawler belt 7, when the crawler belt 7 passes through an uneven road section, the up-and-down fluctuation of the crawler belt 7 is transmitted to the load bearing component 1 to enable the load bearing component 1 to swing, the load bearing component 1 drives the swing arm 2 to swing around the upper end of the swing arm, and the swing arm 2 drives the elastic rod 3 to stretch or compress so as to absorb vibration energy.

Compared with the prior art, the load vibration reduction mechanism of the crawler type walking device has the advantages that the elastic rod 3 and the swing arm 2 are connected with the load assembly 1, so that the elastic rod 3 can absorb vibration energy, the crawler 7 is prevented from outputting vibration to the vehicle body 8, and the overall vibration reduction performance of the vehicle body 8 is improved.

It should be noted that the running gear defined by the embodiment of the present invention may be a tracked vehicle, a tracked robot, or the like. The present embodiment does not limit the specific structure of the running gear.

In some embodiments, the weight assembly 1 may be configured as shown in FIG. 3. Referring to fig. 3, the weight assembly 1 includes a plurality of roller sets 11 and a support housing 12. A plurality of roller groups 11 are distributed on the crawler 7 at intervals along the walking direction of the crawler 7; the support housing 12 is connected with a plurality of roller groups 11 and is hinged with the lower end of the swing arm 2.

The arrangement of the plurality of roller groups 11 can increase the pressing area of the load bearing assembly 1 to keep the tensioning state of the caterpillar 7, and can also increase the swing range of the load bearing assembly 1 to improve the stability of the load bearing vibration reduction mechanism.

Optionally, the roller group 11 includes two rollers 111 disposed at intervals in the left-right direction of the crawler 7 and a rotating shaft 112 connecting the two rollers 111; the two rollers 111 are respectively arranged at the left side edge and the right side edge of the crawler 7; the support housing 12 is located between the two rollers 111, and the rotating shaft 112 is disposed through the support housing 12 and can rotate relative to the support housing 12.

The left-right direction of the crawler 7 is the same as the left-right direction of the vehicle body 8, and both directions are perpendicular to the height direction of the vehicle body 8 and the traveling direction of the vehicle body 8.

In the prior art, the left side edge and the right side edge of the inner surface of a crawler 7 are respectively provided with a limiting tooth structure, and two ends of a driving wheel are respectively abutted against tooth side walls of the limiting tooth structures; the limiting tooth structure is used for limiting the position of the driving wheel. In this embodiment, the outer end surfaces of the two rollers 111 in the group of roller sets 11, which are away from each other, are also abutted to the tooth side walls of the limit tooth structures, and the limit tooth structures are used to limit the roller sets 11, so as to prevent the load bearing assembly 1 from slightly swinging along the left and right directions of the track 7.

The rotating shaft 112 is connected to the two rollers 111, the rotating shaft 112 penetrates through the supporting housing 12, specifically, the supporting housing 12 is provided with a plurality of mounting holes corresponding to the roller sets 11 one by one, bearings can be arranged in the mounting holes, and the bearings are sleeved on the rotating shaft 112, so as to rotate the rotating shaft 112 relative to the supporting housing 12.

Optionally, the support housing 12 is provided with a first lightening hole 121, and the first lightening hole 121 penetrates through the crawler belt 7 in the left-right direction. Specifically, the first lightening holes 121 are provided in plurality, and the plurality of first lightening holes 121 are alternately arranged with the plurality of mounting holes, as shown in fig. 3. The first lightening holes 121 are formed, so that the weight of the support shell 12 can be reduced, the support shell 12 is easy to manufacture and mold, and deformation space can be provided.

Optionally, a hinge block 122 is provided in the middle of the top surface of the support housing 12, the hinge block 122 being hinged to the lower end of the swing arm 2, as shown in fig. 3. Correspondingly, the lower end of the swing arm 2 is provided with two first connecting lugs 22, as shown in fig. 4, the hinge block 122 is located between the two first connecting lugs 22, and the hinge shaft is penetrated between the hinge block 122 and the two first connecting lugs 22.

Optionally, two second engaging lugs 23 are disposed in the middle of the top surface of the swing arm 2, as shown in fig. 4, the lower end of the elastic rod 3 is located between the two second engaging lugs 23, and a hinge shaft is also inserted between the elastic rod 3 and the two second engaging lugs 23.

In addition, a plurality of second lightening holes 21 are arranged on the swing arm 2 at intervals, and the second lightening holes 21 penetrate through the crawler belt 7 in the left-right direction. The second lightening hole 21 is arranged, so that the weight of the swing arm 2 can be reduced, the swing arm 2 is easy to manufacture and form, and a deformation space can be provided.

In some embodiments, the elastic rod 3 may be configured as shown in fig. 2 and 5, and referring to fig. 2 and 5, the elastic rod 3 is disposed to be inclined with respect to the height direction of the vehicle body 8, and the inclination direction is opposite to the inclination direction of the swing arm 2. When the crawler belt 7 passes through uneven road surfaces, the swing arm 2 can swing up and down around the upper end of the crawler belt, and the swing arm 2 drives the elastic rod 3 to stretch or compress. And make the slope setting of elastic rod 3, on the one hand, the swing arm 2 of being convenient for is to the application of force of elastic rod 3, and on the other hand, also makes things convenient for the assembly of elastic rod 3.

Preferably, the elastic rod 3 is further sleeved with a vibration absorber 4, and the vibration absorber 4 is used for further absorbing vibration energy and improving the vibration resistance of the elastic rod 3 to avoid transmitting vibration to the second fixed shaft 6. In addition, the vibration damper 4 also has the function of pressing the elastic rod 3 downwards, so that the elastic rod 3 and the swing arm 2 exert downward force on the load assembly 1, and the load assembly 1 is ensured not to be bounced.

In particular, the damping member 4 in the present embodiment may be a spring or a rubber damping sleeve. In order to ensure the assembly stability of the damping member 4, two fixing discs 31 are arranged on the elastic rod 3 at intervals along the axial direction thereof, and two ends of the damping member 4 are respectively abutted against the two fixing discs 31.

Based on the same inventive concept, the embodiment of the application also provides a crawler type walking device, which comprises a vehicle body 8 and crawler belts 7 positioned on two sides of the vehicle body 8; the load damping mechanism described above is provided between the vehicle body 8 and the crawler belt 7.

According to the crawler-type traveling device provided by the utility model, as the load vibration reduction mechanism is additionally arranged on the crawler 7, the normal traveling of the crawler 7 can be ensured, the vibration of the vehicle body 8 caused by the fact that the crawler 7 passes through an uneven road section is reduced, and the vibration reduction performance of the traveling device is improved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A weight-bearing vibration damping mechanism for a crawler-type traveling device for being assembled between a crawler belt and a vehicle body, comprising:

a swing arm that is disposed to be inclined with respect to a height direction of the vehicle body; the lower end of the swing arm is hinged with the load bearing assembly, and the upper end of the swing arm is hinged with a first fixed shaft; the first fixed shaft is fixed on the vehicle body;

2. The track-type running gear weight reduction mechanism according to claim 1, wherein said weight assembly comprises:

3. The weight damper mechanism for a crawler type traveling apparatus according to claim 2, wherein said roller group includes two rollers provided at an interval in a left-right direction of said crawler belt and a rotating shaft connecting said two rollers; the two rollers are respectively arranged on the left side edge and the right side edge of the crawler;

4. The weight reduction mechanism for a crawler-type traveling apparatus according to claim 3, wherein said support housing is formed with a first lightening hole; the middle part of the top surface of the supporting shell is provided with a hinged block, and the hinged block is hinged with the lower end of the swing arm.

5. The weight-bearing vibration damping mechanism of a crawler-type traveling device according to claim 1, wherein said swing arm is provided with a second lightening hole; the lower end of the swing arm is provided with a first connecting lug which is hinged with the load bearing component; the top surface middle part of swing arm is provided with the second engaging lug, the second engaging lug with the lower extreme of elastic rod is articulated.

6. The weight damper mechanism for a crawler type traveling apparatus according to claim 1, wherein said elastic rod is disposed obliquely with respect to a height direction of said vehicle body and is inclined in a direction opposite to an inclination direction of said swing arm.

7. The weight reduction mechanism for a crawler-type traveling apparatus according to claim 6, wherein said elastic rod is further provided with a damping member.

8. The weight reduction mechanism for a crawler type traveling apparatus according to claim 7, wherein two fixing plates are provided on said elastic rod at intervals in an axial direction thereof, and both ends of said vibration reducing member abut against said two fixing plates, respectively.

9. A crawler-type walking device is characterized by comprising a vehicle body and crawler belts positioned on two sides of the vehicle body; a weight damper mechanism of a crawler type running gear according to any one of claims 1 to 8 is provided between the vehicle body and the crawler belt.