KR102066513B1 - Track vehicle system - Google Patents

Abstract

The present invention relates to a tracked vehicle system. The purpose of the present invention is to provide a tracked vehicle system that enables stable driving of a tracked vehicle along a rail part even in slop and corner sections as well as a straight section by a drive car part for twist and two-stage swing operations and a driven car part for twist, rolling and two-stage swing operations. According to the present invention, a tracked vehicle is run along a rail part by a drive car part and a driven car part. The drive car part is configured to be able to perform a twist (yawing) around a center pivot, a two-stage swing around a swing pin and a side swing pin, and an up/down slide by a leaf spring. The driven car part is configured to able to perform the twist (yawing) around the center pivot, the two-stage swing around the swing pin and the side swing pin, rolling around a rolling pin, and the up/down slide by the leaf spring. Therefore, the drive car part and the driven car part can stably run along the rail part.

Description

Track vehicle system

The present invention relates to a track vehicle system, and the stable operation of the tracked vehicle, especially unmanned tracked vehicle along the rail by the twisted and two-stage swing operation of the drive bogie, and the twisted, rolling and two-stage swing operation of the driven bogie, The present invention relates to a track vehicle system capable of uniformly distributing loads on a rail part during stopping and driving of a track vehicle.

In general, the monorail system refers to a transportation system that runs on a monorail, and it is common to drive a vehicle by connecting beams between high shores in a downtown area. However, the monorail system has a simpler structure and a tourist attraction or amusement park. It is installed in the area to transport passengers, or is installed in orchards, mountains, etc. is widely used as a means of transporting orchards, materials and workers.

The monorail system mainly consists of a single rail, but in recent years, a monorail system has been used in which a travel of a carriage is performed along a rail of a two-wire structure in consideration of driving stability and driving performance.

The two-wire structure rail part of the conventional monorail system is arranged to be spaced apart by two auxiliary rails, and the rack gear to which the driving force of the trolley is transmitted is fixed to the lower side of the auxiliary rail at one side. There is a phenomenon in which load is concentrated on an auxiliary rail on which a rack gear is installed.

In particular, when driving in an inclined section or a corner section, the load of the transport trolley is concentrated on one side of the auxiliary rail, causing damage to the rail or the trolley, which increases maintenance costs and threatens passenger stability. There was this.

In addition, the monorail system must be installed so that the rail portion is maintained in a horizontal state to ensure stable running of the carriage, but the rail portion is not installed in close contact with the ground, but is provided to have a predetermined height from the ground, Accordingly, it is difficult to match the horizontal and the inclination angle of the rail portion, and this causes various problems such as deterioration of the running and stability of the transport cart.

Registered Patent Publication No. 10-0600642 (3006.07.06) Registered Patent Publication No. 10-1561836 (2015.10.14) ` Registered Patent Publication No. 10-1421212 (2014.07.14) Publication No. 10-2014-0077448 (2014.06.24)

It is an object of the present invention to ensure stable running of a track vehicle along a rail section even in a straight section, inclined section and corner section by a drive bogie unit in which a twist and a two-stage swing operation are performed and a driven bogie in which a twist, rolling and two-step swing operation is performed. It is to provide a track vehicle system that can be made.

An object of the present invention is to increase the dispersion efficiency of the load on the track vehicle by the inverted triangle arrangement of the running rail and the first and second side rails, and to improve the resistance to external forces applied to the track vehicle To provide.

According to the present invention, a track vehicle is driven along a rail by a drive cart and a driven cart, and the drive cart has a twist (yaw) centering on a center pivot, a two-stage centering on a swing pin and a side swing pin. The swing and up / down sliding by the leaf spring are made, and the driven cart is twisted around the center pivot, two-stage swing centered on the swing pin and the side swing pin, and the rolling pin. The rolling and the upper and lower sliding by the leaf spring is configured to perform a stable running of the drive cart and the driven cart along the rail.

According to the present invention, the driving portion and the driven portion of the driven portion are connected to the main chassis portion and the side chassis portion by the leaf springs, and the driving portion and the main chassis portion are in surface contact with the thrust plate (bearing) and are connected to be moved. Even when the up / down / left / right vibration occurs, the center of the tracked vehicle and the driving unit are coincident with each other. As a result, not only the load of the tracked vehicle is uniformly distributed to the rail unit but also the load of the tracked vehicle and the elastic force of the leaf spring. The first roller portion of the chassis and the second roller portion of the side chassis are stably contacted with the first and second side rails, thereby improving the running performance of the tracked vehicle.

According to the present invention, at least four or more rollers among the rollers provided on the first and second roller parts on the upper and lower surfaces of the first and second side rails are uniformly contacted by the elastic force of the leaf spring according to the load of the tracked vehicle. Therefore, the swing of the main chassis portion centering on the swing pin, the side chassis of the side swing pin swing is smoothly made.

According to the present invention, the wheel shaft of the driving wheel is splined to the output shaft of the power transmission unit or the power synchronous unit, so that when the wheel is worn or damaged, the wheel shaft may be removed without disassembly of the high load power transmission unit or the power synchronous unit. There is an effect that the replacement of the running wheels is made easy.

According to the present invention, a combination of a driving trolley and a driven trolley having a brake unit can stably run a running rail and an auxiliary rail of a tracked vehicle, in particular an unmanned tracked vehicle, in a section requiring a high torque at a low speed such as an uphill road. In addition, in the downhill section, the deceleration and braking are appropriately accompanied by the braking device, so that the driving and the speed can be improved safely.

The present invention has an inverted triangular structure so that the first and second side rails are symmetrical with respect to the running rail and positioned above the running rail, thereby improving the resistance to the lateral external force of the tracked vehicle. have.

According to the present invention, the driving bogie and the driven bogie are moved in contact with the upper and lower surfaces of the running rail and the upper and lower surfaces and one side of the first and second side rails, and the driving bogie and the driven bogie along the rail. The negative stable running performance is achieved.

According to the present invention, the front end of the vehicle body portion is provided with a bumper portion and an impact buffer portion. When an impact occurs, the shock is primarily buffered by the bumper portion, and the impact is secondaryly cushioned by the impact buffer portion. There are many effects, such as to improve the stability of.

1 is an exemplary view showing the overall configuration according to the present invention
2 is an exemplary view showing a configuration of a rail unit according to the present invention
Figure 3 is another exemplary view showing the configuration of the rail unit according to the present invention
4 is an exemplary view showing the configuration of a tracked vehicle according to the present invention.
5 is an exemplary view showing a frame structure of a tracked vehicle according to the present invention.
6 is an exemplary view showing a configuration of a bumper unit according to the present invention.
7 is an exemplary view showing an operation state of the bumper unit and the buffer frame unit according to the present invention;
8 is an exemplary view showing the configuration of the drive bogie according to the invention
Figure 9 is another exemplary view showing the configuration of the drive bogie according to the invention
10 is an exemplary view showing a separated configuration of the drive cart according to the invention
11 is an exemplary view showing the configuration of the driven balance according to the present invention
Figure 12 is another exemplary view showing the configuration of the driven balance according to the present invention
Figure 13 is an exemplary view showing a separated configuration of the driven balance according to the present invention
14 is an exemplary view showing a configuration of a main chassis unit according to the present invention
Figure 15 is another exemplary view showing the configuration of the main chassis according to the present invention
Figure 16 is an exemplary view showing the configuration of the side chassis portion according to the present invention
17 is an exemplary view showing a configuration of a driving unit according to the present invention
18 is another exemplary view illustrating a configuration of a driving unit according to the present invention.
19 is an exemplary view showing a configuration of a power transmission unit according to the present invention.
20 is an exemplary view showing a gear arrangement of the power transmission unit according to the present invention.
21 is an exemplary view showing a configuration of a power synchronization unit according to the present invention.
Figure 22 is an exemplary view showing a gear arrangement of the power synchronization unit according to the present invention

1 is an exemplary view showing an overall configuration according to the present invention, Figure 2 is an exemplary view showing a configuration of the rail according to the invention, Figure 3 is another exemplary view showing a configuration of the rail according to the present invention 4 is an exemplary view showing a configuration of a tracked vehicle according to the present invention, FIG. 5 is an exemplary view showing a frame structure of a tracked vehicle according to the present invention, and FIG. 6 is an exemplary view showing a configuration of a bumper unit according to the present invention. 7 is an exemplary view showing an operation state of the bumper unit and the buffer frame unit according to the present invention, FIG. 8 is an exemplary view showing a configuration of the drive cart according to the present invention, and FIG. 9 is a drive cart according to the present invention. Another exemplary view showing the configuration, Figure 10 is an exemplary view showing a separate configuration of the drive cart according to the invention, Figure 11 is an illustration showing a configuration of the driven cart according to the present invention, Figure 12 is the present invention Another example showing the configuration of driven loan according to Figure 13 is an exemplary view showing a separated configuration of the driven balance according to the present invention, Figure 14 is an illustration showing a configuration of the main chassis according to the present invention, Figure 15 is a configuration of the main chassis according to the present invention 16 is an exemplary view showing a configuration of a side chassis according to the present invention, FIG. 17 is an exemplary view showing a configuration of a driving unit according to the present invention, and FIG. 18 is a driving unit according to the present invention. Another exemplary view showing the configuration, Figure 19 is an exemplary view showing the configuration of the power transmission unit according to the present invention, Figure 20 is an exemplary view showing a gear arrangement configuration of the power transmission unit according to the present invention, Figure 21 is the present invention Exemplary diagram showing the configuration of the power synchronization unit according to Figure 22 is an illustration showing a configuration of the gear arrangement of the power synchronization unit according to the present invention,

In the present invention, the track vehicle is driven along the rail by the drive cart and the driven cart,

The drive bogie part is a twist (yawing) centering around the center pivot, two-stage swing centering on the swing pin and the side swing pin, the upper and lower sliding by the leaf spring is made,

The driven cart is twisted about the center pivot, two-stage swing around the swing pin and the side swing pin, rolling around the rolling pin, and sliding up and down by the leaf spring. Consist of,

A stable running of the drive cart and the driven cart is made along the rail.

The tracked vehicle 300 is a tracked vehicle for traveling along a rail, such as a monorail tracked vehicle, a railroad car, a maglev train, etc., and includes a manned or unmanned tracked vehicle.

In addition, the track vehicle 300 according to the present invention may be configured such that one or two vehicles are connected by the vehicle connection unit 370, as shown in FIGS. 1 and 4.

As shown in FIGS. 2 and 3, the rail unit 100 is positioned at the center of the rail holder 120 and the rail holder 120 fixed to the upper surface 111 of the rail support 110. First and second side rails installed at both ends of the rail holder 120 to be symmetric about the traveling rail 130 and the traveling rail 130 to be installed, and to be positioned above the traveling rail 130. 140 and 150, and a scaffold support 160 having one side integrally connected to the rail holder 120, and a scaffold 170 installed on the scaffold support 160.

The rail support 110 supports the running rail 130 and the first and second side rails 140 and 150 at a predetermined height from the ground, and may be formed of a concrete block or steel structure.

The rail holder 120 includes a rail assembly 121 installed to be parallel to the upper surface 111 of the rail support, and a plurality of holder supports 122 integrally connected to the rail assembly 121 to be spaced a predetermined distance apart. Include.

The rail assembly 121 is for fixing the holder support 122 and is integrally fixed to the upper surface 111 of the rail support 110. The rail assembly 121 has a rectangular pipe structure as an example, and may be fixed to the upper surface 111 of the rail support by bolting or the like.

The holder support 122 is formed to protrude upwardly at both ends of the lower support 123 and the lower support 123 integrally installed on the rail assembly 121, and the first and second side rails 140 and 150. It includes both end support 124 is fixed integrally. That is, the holder support 122 is composed of a 'C' type by the lower support 123 and both end support 124.

The driving rail 130 is a driving wheel of the driving cart and the driving wheel of the driven cart are driven in contact with the rolling, integrally with the plurality of holder support 122 to have a predetermined height from the upper surface 111 of the rail support. It is connected. That is, the traveling rail 130 is integrally fixed to the holder support 122 so that the rolling contact of the roller is made on the upper surface and both sides.

For example, the running rail 130 may be inserted and seated in the rail seating hole 125 formed in the holder support 122, and the inserted lower side may be integrally fixed to the holder support by welding or the like.

In this case, a seating plate 126 is further installed in the rail seating hole 125, and the seating plate 126 is formed to protrude in the front-rear direction of the holder support 122, and into the rail seating hole 125. It has a function to improve the bearing capacity and stability of the running rail 130 by the contact with the inserted running rail.

The first and second side rails 140 and 150 are moved in contact with each other by rolling contact with the first and second roller parts of the driving cart and the first and second roller parts of the driven bogie, such that they are symmetrical with respect to the running rail 130. In addition, it is integrally fixed to both ends of the support 124 of the holder support so as to be located above the running rail 130. That is, the first and second side rails 140 and 150 are integrally fixed to the holder support such that the rollers are in rolling contact with the upper and lower surfaces and one side surface facing each other.

The traveling rail 130 and the first and second side rails 140 and 150 configured as described above have an arrangement of an inverted triangular structure and are fixed to the holder support 122, thereby improving bearing and dispersing force according to the load of the tracked vehicle. It is supposed to be. In addition, the traveling rail 130 and the first and second side rails 140 and 150 are integrally fixed to the holder support 122 by coupling means such as bolt nuts and welding.

The scaffold support 160 is fixed to one side end is integrally installed on the holder support 122 to be located on one side of the first side rail 140 or the second side rail 150, the safety rail 180 on the other end ) Is installed.

The scaffold 170 is used as a worker moving space for checking a track vehicle or a rail, an emergency evacuation space for a track vehicle passenger, and a plurality of scaffold supports 160 so as not to interfere with the track vehicle being moved along the running rail. ) Is installed.

As shown in FIG. 1, the vehicle body 310 has a driving cart 400 and a driven cart 500 connected to the lower side, and an automatic opening / closing door 311 for access of passengers on one or both sides. This is installed, a plurality of chairs (not shown) for the convenience of the passengers are arranged inside.

In addition, the vehicle body frame 330 of the vehicle body portion, as shown in Figure 5, the upper frame 350, the driving cart 400 and the driven cart 500 is installed, the battery 340 is installed The lower frame 360 has a trust (truss) structure, that is, a double structure in which the upper support and the lower support are arranged to be parallel to each other and are connected by a plurality of intermediate supports, so that the overall rigidity of the vehicle body portion is enhanced.

In addition, as shown in FIGS. 1 and 4 to 7, the vehicle body 310 is further provided with a bumper part 380 so as to be positioned at the tip end with respect to the driving direction.

As illustrated in FIG. 6, the bumper part 380 is a bumper 381 that is connected to a vehicle body frame of a track vehicle through a shock absorbing means such as a spring or a shobar, and a bumper installed on the body frame 330. It may be configured to include a sensor 382, such as a limit switch for detecting the movement of the.

In the bumper unit 380 as described above, the bumper compresses the spring by the collision with an obstacle or the like and moves to the inside of the track vehicle as shown in FIG. 7 to cushion the impact and at the same time, the bumper The movement of the rod is sensed by the sensor, which makes the driving cart emergency stop.

In addition, the body portion 310 is such that the bumper portion 380 is connected to the body frame 330 by the buffer frame portion 390, so that the bumper 381 is the outer plate 301 of the vehicle body portion by external force (impact). In the state moved to be in contact with the), when the external force is continuously applied, as shown in Figure 7, the shock absorber frame 390 is crushed while the bumper is continuously moved in the direction of the vehicle frame 330, the impact This is to be buffered.

As shown in FIGS. 5 to 7, the buffer frame part 390 is connected to the bumper frame 391 and the vehicle body frame 330, and guide pipes 393 through which the bumper rods 381a of the bumper are inserted. And, one side is integrally formed in the lower portion of the bumper frame 391 and the outer support 394 and the outer support 394 to support the outer plate 301 together with the bumper frame 391, the body frame 330 It includes a connection pipe 396 connected to the other side to the inner support (395) fixed to.

In addition, the buffer frame part 390 has a central portion of the bumper frame 391 is connected to the lower frame 360 of the vehicle body frame 330 by the porous plate 392, the sagging phenomenon of the bumper frame 391 It is intended to be prevented.

In the buffer frame 390 configured as described above, when an external force is applied to the bumper frame 391 by the bumper 381, the porous plate 392, the guide tube 393, and the connecting pipe 396 are damaged. Along with the outer plate 301, the bumper frame 391 and the outer support 394 are moved in the direction of the vehicle body frame 330 to cushion the impact applied to the outer plate 301.

That is, the vehicle body 310 of the present invention has a double shock absorbing structure by the bumper portion 380 and the buffer frame portion 390.

As shown in FIGS. 8 to 10, the driving cart 400 includes a pivot upper frame 410 and a pivot upper frame 410 and a center pivot 481 to which the vehicle body 330 is connected. The main base portion 430 connected by the pivot base 420, the pivot base 420 and the swing pin 482, and the side swing pins 483 on one side of the main chassis portion 430. It is connected to the side chassis 440, the main chassis 430 and the leaf spring 484 connected to the driving unit 450 and the rolling operation along the running rail 130, and installed on one side of the driving unit It includes a power transmission unit 460 for transmitting the driving force of the driving motor 470 to the driving unit.

The pivot upper frame 410 is connected to the vehicle body 310 is installed, a plurality of rubber mounts 411 is installed on the top. In addition, the upper end of the rubber mount 411 is provided with a predetermined area to be widely mounted on the vehicle body frame. The pivot upperframe 410 is shown in phantom in FIG. 8.

The pivot base 420 is connected so that the pivot upper frame 410 is located at the top by the center pivot 481, both sides are connected to the main chassis 430 by the swing pin 482, the center A plurality of rotating rollers 421 which are in contact with the pivot upper frame 410 are installed to rotate (twist) the pivot 481.

As shown in FIGS. 8 to 10, 14, and 15, the main chassis 430 includes a first frame 431 connected to one side of the pivot base 420 by a swing pin 482; Spaced apart from and parallel to the first frame 431, the second frame 432 connected to the other side of the pivot base 420 by another swing pin 482, and the first and second frames 431 and 432. The travel part 450 is formed to be opened up and down by the front / rear frames 433 and 434 and the first and second frames 431 and 432 and the front / rear frames 433 and 434 which are installed to connect and install both ends integrally. And a first roller part 436 connected to the front / rear ends of the first frame 431 so as to be connected to the front / rear frames 433 and 434 to be inserted and installed.

The first and second frames 431 and 432 are spaced apart from each other by a predetermined distance, and are arranged in parallel with each other. Pin holders 431a and 432a are formed at upper centers to connect the swing pins 482. The pin holders 431a and 432a are formed. ) Is also accommodated, the connection grooves 431b and 432b into which one side of the pivot base is inserted are formed, and the through-swing holes through which the connection grooves 431b and 432b communicate with the central installation hole 435. 431c and 432c are formed on one side.

The connecting grooves 431b and 432b and the through swing holes 431c and 432c are for connecting the pivot base 420 and rotating (swing) about the swing pin 482. Both sides of the) is inserted into the connecting grooves (431b, 432b) of the first and second frames are connected by the swing pin 482, the pivot base 420 is predetermined from the bottom surface (431d, 432d) of the connecting groove In order to have a height, it is installed so as not to be in contact with the through swing holes (431c, 432c) (installed so as to be spaced apart a predetermined interval), so that the swing operation of the main chassis 430 around the swing pin 482 is made to be made. do. That is, the swing operation of the main chassis 430 centering on the swing pin 482 is performed within a range until one side of the through switch holes 431c and 432c contacts the pivot base 420.

The first frame 431 is a roller bracket 437 is formed integrally formed / installed on the line / rear end side connected to the first roller unit 436, the power transmission unit (2) between the two roller brackets (437) A power installation space 438 into which the 460 and the driving motor 470 are inserted is formed.

The second frame 432 is integrally provided with a side block 432e to which the side chassis 440 is connected at the center of the side, and is side symmetrical on both sides with respect to the side block 432e. 440 is provided with a lead roller portion 432b to be in contact with the cloud.

The front / rear frames 433 and 434 are integrally connected to the first and second frames 431 and 432, and the leaf springs 484 of the driving part are connected to the inner surfaces 433a and 434a, that is, one side toward the center installation hole. A leaf spring holder 439 to be provided is integrally provided.

In addition, the front / rear frames 433 and 434 have sliding support holes 433c and 434c so as to communicate with the central installation hole 435, and the central installation hole 435 and the sliding support holes 433c and 434c. The driving unit 450 is inserted into the installation.

The center installation hole 435 is a space formed by the first and second frames 431 and 432 and the front / rear frames 433 and 434. The driving part to which the leaf spring 484 and the leaf spring 484 are connected ( One side of 450 is formed to be inserted.

One or more thrust plates (thrust bearings, 433d, and 434d) are installed in the sliding support holes 433c and 434c so that one side (front and rear end) of the driving part 450 is in surface contact with the sliding support hole. have.

The first roller part 436 is installed to be in contact with the upper surface 141 of the rail side of the first upper roller 436a and the lower surface 142 of the first side rail. And a first under roller 436b which is in contact with the side surface 143 of the first side rail and rolls a first side roller 436c.

The first upper roller 436a has a function of supporting the loads of the passengers and the tracked vehicle and improving the running stability of the tracked vehicle by preventing the left and right shaking of the tracked vehicle.

The first under roller 436b supports a lateral load generated when the track vehicle is traveling, in particular, a lateral load caused by a centrifugal force at the time of turning, and a lateral load caused by a strong wind, thereby preventing overturning of the track vehicle. Equipped.

The first upper roller 436a and the first under roller 436b are in rolling contact with the upper surface 141 or the lower surface 142 of the first side rail by the load of the tracked vehicle and the elastic force of the leaf spring 484. To support the load of the vehicle.

The first side roller 436c is in rolling contact with the side surface 143 of the first side rail to prevent left and right rolling of the tracked vehicle, and to prevent the left and right rolling of the upper roller relative to the running rail, and the side wind load and centrifugal force of the tracked vehicle. It is provided with a function to ensure a stable running of the tracked vehicle by preventing a rollover according to.

The first side rollers 436c are installed so as to be located at the front / rear ends of the main chassis, but the side rollers 436c located at the front / rear ends have different sizes. That is, the first side roller 436c is in contact with only one side of the first side roller to the side surface of the first side rail when the linear driving or corner driving of the tracked vehicle, the other first side roller of the first side rail It is provided to be spaced apart from the side by a predetermined distance to have a spacing function.

The first side roller 436c is configured to smoothly run in the corner section and the inclined section, and when an abnormality occurs in one side side roller due to abrasion or breakage, another first side roller is installed. One side rail is in contact with the side 143 to ensure smooth running.

The first roller portion 436 configured as described above, that is, the first upper roller, the first under roller, and the first side roller are rotatably installed on one roller bracket 437 connected to the first frame 431. Or, it may be rotatably installed in each roller bracket 437 is connected to the first frame 431. In addition, the first roller portion 436 may be connected to the first frame 431 to be directly rotatable.

The lead roller part 432b is formed by the side chassis 440 or the main chassis 430 of the side chassis 440 or the main chassis 430. It is equipped with a function to facilitate stable swing operation. The lead roller part 432b is rotatably installed on the lead roller bracket 432c and the lead roller bracket 432c connected to the second frame 432 and is brought into contact with the side chassis 440 by rolling. A plurality of lead rollers 432d are included.

As shown in FIGS. 8 to 10 and 16, the side chassis 440 is connected to a main upper end of the main chassis 430 by side swing pins 483, and the lead module unit 444. Side frames 441 connected at both ends to the main chassis 430 by the side frame, side safety rollers 443 installed at the side frame 441 to be positioned below the side swing pins 483, and side swing pins. The second roller part 442 is installed at both ends of the side frame 441 so as to be mutually symmetrical about the 483 and the side safety rollers 443, and is in rolling contact with the second side rails 150.

The side frame 441 is connected to the second frame 432 of the main chassis by side swing pins 483, and both ends (front / rear ends) of the side swing pins 483 operate on the seesaw. do.

The second roller part 442 may be rotatably installed at both ends (line / rear end) of the side frame 441 and the second upper roller 442a which is in rolling contact with the upper surface 151 of the second side rail, A second under roller 442b and a second upper roller 440 rotatably installed on the side frame 441 so as to be positioned at a lower end of the second upper roller 442 a and contacting the lower surface 152 of the second side rail by rolling contact. And a second side roller 442c rotatably connected to the side frame 441 so as to be positioned between the 442a and the second under roller 442b to be brought into contact with the side surface 153 of the second side rail. do.

In this case, the second upper roller 442a corresponds to the first upper roller 436a of the main chassis, and the second under roller 442b corresponds to the first under roller 436b of the main chassis. The two side rollers 442c are provided so as to correspond to the first side rollers 436c of the main chassis portion, respectively.

The second upper roller 442a has a function of supporting the loads of the passengers and the tracked vehicle and improving the running stability of the tracked vehicle by preventing the left and right shaking of the tracked vehicle.

The second under roller 442b supports a lateral load generated when the track vehicle is traveling, in particular, a lateral load caused by a centrifugal force at the time of turning, and a lateral load caused by a strong wind, thereby preventing overturning of the track vehicle. Equipped.

The second upper roller 442a and the second under roller 442b are in rolling contact with the upper surface 151 or the lower surface 152 of the second side rail by the load of the track vehicle and the elastic force of the leaf spring 484. To support the load of the vehicle.

The second side roller 442c is in rolling contact with the side surface 153 of the second side rail to prevent left and right rolling of the tracked vehicle, and to prevent the left and right rolling of the upper roller relative to the running rail, and the side wind load and centrifugal force of the tracked vehicle. It is provided with a function to ensure a stable running of the tracked vehicle by preventing a rollover according to.

In addition, like the first side roller 436c of the first roller part, the second side roller 442c is provided with different sizes at the line / rear of the side frame 441.

That is, the second side roller 442c also has a second side roller 442c which is in contact with the second side roller in contact with the side of the second side rail 153, and another second side roller is in cloud contact. It is installed to have a spare function to prepare for abrasion or breakage).

When the side safety roller 443 has an abnormality in the driving wheel or the second upper roller of the second roller part and the vehicle body of the tracked vehicle is inclined to one side, the side safety roller 444 contacts the upper surface of the second side rail and runs for a predetermined time. It is to maintain the stability, it is installed to be rotatable so as to be located in the center of the side frame 441, that is, the lower side of the side swing pin 483, when the rolling contact with the upper surface 151 of the second side rail, the track vehicle Load is transmitted and distributed to the second side rail 150 through the side safety roller 443.

In addition, one side of the side safety roller 443 is further provided with a rotation sensor 443a for detecting the rotation of the side safety roller 443, by the rotation sensor 443a of the side safety roller 443 Operation status is detected and transmitted to the main control center (not shown), and alarms and alarms are generated to respond promptly to abnormalities.

The lead module unit 444 stably lifts the side chassis unit (or main chassis unit) without shaking when the side chassis unit (or main chassis unit) rotates (swings) of the side swing pin 483. It is adjusted so that the seesaw operation is carried out, the link ball joint 444a connected to the side frame 441, the rod end bearing 444b connected to the front / rear frame of the main chassis, and the rod end bearing ( 444b and a connecting rod 444c for connecting the link ball joint 444a.

The side chassis 440 configured as described above is connected to the second upper frame 432 of the center of the main side of the side frame 441 by the side swing pin 483 installed in parallel with the swing pin 482, Both ends of the frame 441 are connected to the front / rear frames 433 and 434 of the main chassis by the lead module 444 so that the lead rollers 432d of the lead rollers are in rolling contact with the inner surface 441a of the side frame. When the swing (seesaw) of the side chassis (or main chassis) centering on the side swing pin 483, the side chassis (or main chassis) is stable without rolling by the rolling of the lead roller. The swing (seesaw) is activated.

The driving unit 450 is moved along the driving rail 130, and as shown in FIG. 10, the driving unit 450 is connected to the main chassis unit 430 by a leaf spring 484, and the central installation of the main chassis unit is performed. One side is inserted into the hole 435 and the sliding support holes 433c and 434c.

The leaf spring 484 connects the driving unit 450 to the main chassis 430 to cushion the up and down vibration generated during the running of the tracked vehicle, and the load of the tracked vehicle is the first and second rollers. It has a function to be uniformly delivered to the first and second side rails by the part.

In addition, the leaf spring 484 has the first and second upper rollers 436a and 442a of the first and second roller parts on the upper surfaces 141 and 151 of the first and second side rails due to the interaction of the load of the tracked vehicle. The first and second side rails 140 and 150 are brought into rolling contact or the first and second under rollers 436b and 442b of the first and second rollers are brought into rolling contact with the lower surfaces 142 and 152 of the first and second side rails. At least four wheels on the upper and lower surfaces are provided with a function to ensure stable running at all times by making uniform contact with the wheels at the same time.

That is, in the present invention, the first roller portion 436 of the main chassis portion includes two first upper rollers 436a and two first under rollers 436b, and the second roller portion 442 of the side chassis portion is provided. Two second upper rollers 442a and two second under rollers 442b are provided, and the first and second side rails 140 and 150 are supported by the elastic bearing force of the leaf spring 484 according to the load of the tracked vehicle. At least four rollers or four or more rollers among the four upper rollers and the under rollers are always in contact with the rolling, so that stable running is achieved.

In addition, when four or more rollers by such a leaf spring 484 is in stable contact with the cloud, the swing operation around the swing pin 482 and the side swing pin 483 is also made stable.

The leaf spring 484 has one end connected to the leaf spring holder 439 provided at the front end frame (or rear end frame) of the main chassis, and the other end provided at the rear end frame (or front end frame) by the shackle. It is connected to another leaf spring holder 439, and the center portion (center) is fixed to the center boss 485 by a U bolt or the like.

The leaf spring 484 as described above is preferably installed to be disposed on the left / right side so as to be located on both sides of the running portion 450.

As shown in FIGS. 8 to 10, 17, and 18, the driving part 450 includes an axle frame part 451 on which a leaf spring 484 is fixed by a center boss 485, and It is rotatably installed on the axle frame part 451 and includes two running wheels 452 rolling along the running rail 130.

The axle frame part 451 is inserted into the central installation hole 435 of the main chassis part or into the central installation hole 435 and the sliding support holes 433c and 434c, and the leaf spring 484 by the center boss 485. Main frame 454 is connected to the main frame 454, the side driving roller 453 is installed on the main frame 454 so as to be located on both sides of the driving wheel 452 is in contact with both sides 132 of the running rail, and the main A sliding frame 455 integrally formed at the front / rear end of the frame 454 and inserted into the sliding support holes 433c and 434c of the main chassis through a trust plate, and rotated below the sliding frame 455. And a wheel safety roller 456 which is possibly connected and installed.

The main frame 454 is formed to be open upward, the center boss installation hole 454a to which the center boss 485 to which the leaf spring 484 is connected is inserted, and the driving wheels are opened and inserted in the vertical direction. The wheel mounting hole 454b is provided, and the driving wheel mounting hole 454b is formed in the line / rear direction of the center boss installation hole 454a to be symmetrical about the center boss installation hole 454a.

The side traveling roller 453 is in contact with both sides 132 of the running rail to prevent left and right sliding of the running wheels, at least one is installed so as to be located at the bottom of both sides of the driving wheel installation hole (454b) of the main frame have.

The sliding frame 455 is for guiding the vertical movement due to the running and load of the tracked vehicle while making stable rolling contact between the driving wheel 452 and the running rail, and through the thrust plate 455a through the main chassis. It protrudes in the upper direction (body frame direction) on the line / rear of the main frame so as to be in surface contact with the negative sliding support holes 433c and 434c.

That is, the sliding frame 455 is inserted in such a way that the thrust plate 455a is in surface contact with the thrust plates 433d and 434d installed in the sliding support holes of the front / rear frame and is slid. do.

The trust plates 455a, 433d, and 434d have a function of integrating the center of the axle frame portion 451 and the main chassis portion 430 or the pivot base 420.

That is, even if the axle frame part 451 is connected to the main chassis by the leaf spring 484, the track vehicle 300 does not flow only in the up and down direction by the vibration generated during driving, but flows in various directions. Will be. However, in the present invention, the sliding frame and the main chassis portion of the axle frame portion are connected to each other via the thrust plates 455a, 433d, and 434d, and thus the axle frame portion 451 and the main chassis portion 430 or the pivot base 420 are installed. The center of the track) is matched with the tracked vehicle 300 is guided in the vertical direction to prevent the multi-directional flow of the tracked vehicle.

The wheel safety roller 456 is a rolling contact with the driving rail 130 to safely move the tracked vehicle to a maintenance position when an abnormality occurs in the driving wheel during driving of the tracked vehicle. When the tracked vehicle 300 descends in the direction of the travel rail 130 due to abrasion or damage of the travel wheel 452 and does not roll and is not operated by a predetermined distance from 131, the travel rail The upper surface 131 is rotatably installed at the lower end of the sliding frame 455 so as to be in contact with the cloud.

In addition, one side of the wheel safety roller 456 is further provided with a detection sensor 456a for detecting whether the rolling operation, the operation of the wheel safety roller is detected by the detection sensor (456a) track vehicle control center Will be sent (not shown).

In addition, the sliding frame 455 is further provided with a distance measuring sensor 457 for measuring the height distance from the upper surface of the running rail 131, the height of the sliding frame 455 and the upper surface of the running rail 131. When a change occurs in the distance, the height change is detected by the distance measuring sensor 457 and is transmitted to the main control center (not shown).

In addition, the sliding frame 455 lowers the running stability of the driving wheel due to the blocking of the inflow of foreign matter between the running rail 130 and the driving wheel 452 at the bottom and the foreign matter (snow, rain water, obstacles, etc.) on the upper surface of the running rail. Blocking bumper 458 to prevent the phenomenon is further installed.

The blocking bumper 458 may be installed to be spaced apart from the upper surface of the driving rail 131 by a predetermined distance so that no interference occurs when the wheel safety roller 456 contacts the driving rail 130, or the wheel safety roller 456. It may be made of a flexible material so that interference does not occur in the cloud contact.

The axle frame part 451 configured as described above is seated on the travel rail 130 such that the driving wheel 452 is in contact with the upper surface 131 of the running rail, and the side traveling roller 453 is in contact with the cloud at both sides. The main frame 454 is connected to the main chassis portion 430 by the leaf spring 484, and the sliding frame 455 or one side of the sliding frame 455 and the main frame 454 mediates the trust plate. In this way, it is installed to be inserted into the surface contact so as to be movable up and down into the sliding support holes (433c, 434c).

The driving wheel 452 is moved in contact with the upper surface of the driving wheel, and is rotatably installed in the driving wheel installation hole 454b of the axle frame part, and is driven by the driving motor 470 and the power transmission unit 460. It is rotated by receiving power. The driving wheel 452 is not particularly limited in kind, but rubber tires, solid tires, and the like may be used.

The power transmission unit 460 transmits (distributes) the driving force of the driving motor 470 to the two driving wheels 452 at the same time. As shown in FIGS. 9 and 10, the wheel of the driving wheel 452. It is fixed to one side of the main frame 454 of the axle frame portion to be splined to the shaft 452a.

That is, as shown in FIGS. 19 and 20, the power transmission unit 460 is connected to the drive shaft gear 461a and the drive shaft gear 461a which are connected and installed by the driving motor 470 and the drive shaft 461. The center gear 462 which is installed to be engaged, the center shaft gear 463a which is integrally connected and rotated by the center gear 462 and the center shaft 463, and the center gear 463a to be engaged with both sides. It is installed so as to be engaged with the reduction gear 464 to be installed, the reduction gear 465a and the reduction gear 465a which are integrally connected and rotated by the reduction gear 464 and the reduction gear shaft 465. An output gear 466 connected to the wheel shaft 452a of the wheel by an output shaft 467,

The drive shaft 461, the center shaft 463, the reduction gear shaft 465, and the output shaft 466 are installed so that both ends are bearing-supported in the housing 468 fixed to one side of the main frame.

The power transmission unit 460 configured as described above is transmitted power so that the two driving wheels 452 are synchronized by one driving motor 470. That is, the power transmission unit 460 is the driving force of the driving motor 470 drive shaft gear (461a) → center gear 462 → center shaft gear (463a) → reduction gear 464 → reduction gear 465a → The output gear 466 → the output shaft 467 → the wheel shaft 452a is transmitted in this order, so that the two driving wheels 452 are driven at the same time.

In addition, the power transmission unit 460 further includes a brake unit 469. That is, the brake unit 469 may be configured to include a brake gear 469a installed to be engaged with both sides of the center gear, and an electromagnetic brake 469c installed to be connected to the gear shaft 469b of the brake gear. Can be.

The brake unit 469 configured as described above stops the rotation of the center gear 462 by the operation of the electromagnetic brake 469c to block power transmission to the driving wheel 452.

In addition, one brake unit 469 may be installed, or two brake units 469 may be installed on both sides of the center gear 462 so that the brake gear 469b and the electromagnetic brake 469c are disposed, respectively. Preferably, two brake parts are provided.

In the driving cart 400 configured as described above, the driving force of the driving motor 470 is transmitted to the driving wheel 452 of the driving unit through the power transmission unit 460, so that the driving wheel 452 is on the upper surface of the driving rail. It is moved in contact with the clouds. At this time, the side running roller 453 of the driving unit is in rolling contact with both sides 132 of the running rail, the first roller portion 436 of the main chassis is in rolling contact with the first side rail 140, and The second roller part 442 is moved in contact with the second side rail 150 in contact with the cloud. In this case, the first and second upper rollers and the first and second under rollers of the first and second roller parts 436 and 442 are stably contacted with the first and second side rails 140 and 150 by the elasticity of the leaf springs 484. Will be.

As described above, the drive cart 400 according to the present invention is moved in contact with the upper and lower sides and the upper and lower surfaces and the side surfaces of the first and second side rails, respectively, so as to move in the left and right directions of the tracked vehicle. Even when external force is generated in the up and down direction, stable driving is performed along the running rail.

In addition, the driving balance unit 400 is stable through a two-stage swing centering on the twist (yaw) centering around the center pivot 481 and the swing pin 481 and the side swing pin 482 while driving. Travel is made.

That is, when the driving cart 400 travels along the rail unit 100, the pivot base 420, the main chassis 430, the pivot upper frame 410 with respect to the center pivot 481. Twist (A) operation of the side chassis unit 440, swing (B) operation of the main chassis unit 430 and the side chassis unit 440 around the swing pin 482 with respect to the pivot base 420, and the side Another swing (B`) operation of the side chassis portion (or main chassis portion) is performed around the swing pin 483.

This two-stage swing operation is such that the stable driving of the drive balance unit 400 is made against the height deviation caused by the installation and installation of the first and second side rails 140 and 150 and the state difference between the first and second side rails 140 and 150. It is to.

That is, the rail unit 100 according to the present invention is installed to be positioned at a predetermined height from most of the ground, so that the first and second side rails 140 and 150 have a problem that it is difficult to be installed so that the horizontal and equilibrium are accurately maintained. According to the present invention, in consideration of the installation conditions of the first and second side rails, stable rolling contact of the first and second side rails by the leaf spring, and a two-stage swing centering on the swing pin and the side swing pin are performed. The driving balance is made to be driven, so that even if a deviation occurs due to the assembly of the first and second side rails, stable driving is performed along the rail.

As shown in FIGS. 11 to 13, the driven cart 500 includes a pivot upper frame 510, a pivot upper frame 510, and a center pivot 581 to which the vehicle body 310 is installed. Pivot base 520 connected by the pivot block 590 connected by the pivot base 520 and the rolling pin 586 and the main block connected by the rotation block 590 and the swing pin 582. The chassis 530 and the side chassis 540 connected to one side of the main chassis 530 by the side swing pins 553, the main chassis 530, and the leaf spring 584 are connected to each other. The driving unit 550 is rolled along the high running rail 130, and a power synchronous unit 560 installed at one side of the driving unit 550.

The pivot upper frame 510 is connected to the vehicle body 310 is installed, and a plurality of rubber mounts 511 are installed at the top. In addition, the upper end on which the rubber mount 511 is installed is formed with a predetermined area to be widely mounted on the vehicle body frame. The pivot upper frame 510 is indicated by a virtual line in FIG. 11.

The pivot base 520 is connected so that the pivot upper frame 510 is positioned at the upper end by the center pivot 581, and the line / rear end is connected to the rotating block part 590 so as to be rotatable by the rolling pin 586. It is installed. In addition, the pivot base 520 is a plurality of rotating rollers 511 are in contact with the pivot upper frame 510 to be rotated (twisted) based on the center pivot 581 connected to the pivot upper frame 510 on the upper side. Is installed.

The rotating block part 590 is formed to be located in a straight line on the line / rear end of the block frame 591 made of an annular shape, coupled by the pivot base 520 and the rolling pin 586 The left / right swing support part which is formed to be linearly positioned at both ends of the front / rear rolling support parts 592 and 593 and the both ends of the block frame 591 and is coupled by the main chassis part 530 and the swing pin 582. (594,595).

That is, the rotary block 590 is integrally formed / installed in the block frame 591 so that the front / rear rolling support parts 592 and 593 and the left and right swing support parts 594 and 595 intersect each other, and the rolling pin 586 is provided. Pivot base so that the left / right swing support parts 594, 595 are rotated (swing) in the vertical direction, and the front / rear rolling support parts 592, 593 are rotated (roll) in the vertical direction around the swing pin 582. 520 and the main chassis 530 are installed.

11 to 15, the main chassis 530 is a first frame 531 and a first frame 531 connected to one side of the rotary block 590 by a swing pin 582. The second frame 532 is connected to the other side of the rotary block 590 by another swing pin 582, and both ends of the first and second frames 531 and 532 are integrally spaced apart from each other. The front / rear frames 533,534 and the first and second frames 531 and 532 and the line / rear frames 533 and 534 which are installed to be connected to each other are formed to be opened in the vertical direction so that the driving part 550 is inserted and installed. It includes a hollow installation hole 535 and the first roller portion 536 connected to the line / rear end of the first frame 531 to be connected to the line / rear frame (533, 534).

The first and second frames 531 and 532 are spaced apart from each other by a predetermined distance to be parallel to each other, and pin holders 531 a and 532 a are formed at upper centers to which swing pins 582 are connected, and the pin holders 531 a and 532 a. Block connection grooves 531b and 532b into which the rotary block part 590 is inserted are formed to be accommodated therein, and through-swing on one side so that the block connection grooves 531b and 532b communicate with the central installation hole 535. Holes 531c and 532c are formed.

The block connecting grooves 531b and 532b and the through swing holes 531c and 532c are used to connect the rotary block 590 and to rotate about the swing pin 582. Both sides of the 520 are inserted into the block connecting grooves 531b and 532b of the first and second frames, and are connected by the swing pins 582, and the rotary block part 590 has a bottom surface 531d, 532d) is provided so as not to contact the through swing holes 531c and 532c (installed so as to be spaced apart from each other) so that the swing of the main chassis portion 530 around the swing pin 582 is provided. The operation is made. That is, the swing of the main chassis 530 centering on the swing pin 582 is made within a range until one side of the through swing holes 531c and 532c contacts the rotary block 590.

The first frame 531 is formed integrally with the roller bracket 537 is connected to the first roller portion 536 is installed / installed on the front / rear end side, the power synchronization unit (2) between the two roller bracket (537) A power installation space 538 into which the 560 is inserted is formed.

The second frame 532 is integrally provided with a side block 532e to which the side chassis part 540 is connected to the center of the side, and side chassis parts symmetrically on both sides with respect to the side block 532e. The lead roller part 532b which is brought into rolling contact with the 540 is provided.

The front / rear frames 533 and 534 are integrally connected to the first and second frames 531 and 532, and the leaf springs 584 of the traveling part are provided on one side of the inner side surfaces 533a and 534a, that is, toward the central installation hole 535. The leaf spring holder 539 to which is connected is installed integrally.

In addition, the front / rear frames 533 and 534 have sliding support holes 533c and 534c formed therethrough so as to communicate with the central installation hole 535, and the central installation hole 535 and the sliding support holes 533c and 534c. The running unit 550 is inserted into the installation.

The center installation hole 535 is a space formed by the first and second frames 531 and 532 and the front / rear frames 533 and 534, and a traveling part to which the leaf spring 584 and the leaf spring 584 are connected ( One side of the 550 is formed to be inserted.

One or more thrust plates (thrust bearings, 533d, 534d) are installed in the sliding support holes 533c and 534c so that one side (front and rear ends) of the driving part 550 is in surface contact and the vertical sliding is performed. have.

The first roller part 536 is installed to be in contact with the upper surface 141 of the rail side of the first upper roller 536a and the lower surface 142 of the first side rail. And a first side roller 536c which is in contact with the side surface 143 of the first side rail.

The first upper roller 536a has a function of supporting the loads of the passengers and the tracked vehicle and improving the running stability of the tracked vehicle by preventing the left and right shaking of the tracked vehicle.

The first under roller 536b supports a lateral load generated when the track vehicle travels, in particular, a lateral load caused by a centrifugal force during turning, and a lateral load caused by a strong wind, thereby preventing overturning of the track vehicle. Equipped.

The first upper roller 536a and the first under roller 536b are in rolling contact with the upper surface 131 or the lower surface 132 of the first side rail by the load of the tracked vehicle and the elastic force of the leaf spring 584. To support the load of the vehicle.

The first side roller 536c is in rolling contact with the side surface 143 of the first side rail to prevent left and right rolling of the tracked vehicle, and to prevent the left and right rolling of the upper roller relative to the running rail, and the side wind load and centrifugal force of the tracked vehicle. It is provided with a function to ensure a stable running of the tracked vehicle by preventing a rollover according to.

The first side rollers 536c are installed so as to be positioned at the front / rear ends of the main chassis, respectively, and the side rollers 536c positioned at the front / rear ends have different sizes. That is, when the first side roller 536c runs in a straight line or a corner of the tracked vehicle, only one side side roller is brought into contact with the side of the first side rail, and the other side roller is connected to the first side rail. It is provided to be spaced apart from the side by a predetermined distance to have a spacing function.

The first side roller 536c is configured to smoothly run in the corner section and the inclined section, and when an abnormality occurs in one side side roller due to abrasion or breakage, another first side roller is installed. One side rail is in contact with the side of the rail 143 to smoothly run.

The first roller part 536 configured as described above, that is, the first upper roller, the first under roller, and the first side roller are rotatably installed on one roller bracket 537 connected to the first frame 531. Alternatively, the roller frame 537 may be rotatably installed on each roller bracket 537 connected to the first frame 531. In addition, the first roller part 536 may be connected to the first frame 531 so as to be directly rotatable.

The lead roller part 532b is a stable part of the side chassis 540 or the main chassis 530 when the side chassis 540 or the main chassis 530 swings around the swing pin 582. It is provided with a function to facilitate the swing operation. The lead roller part 532b is rotatably mounted to the lead roller bracket 532c and the lead roller bracket 532c which is connected to the second frame 532, and is in contact with the side chassis 540. A plurality of lead rollers 532d.

As shown in FIGS. 11 to 13 and 16, the side chassis 540 is connected to the main chassis 530 by the top of the center by side swing pins 583, and the lead module unit 544. Side frames 541 connected at both ends to the main chassis 530 by the side frame, side safety rollers 543 installed at the side frame 541 to be positioned under the side swing pins 583, and side swing pins. 583 and the second safety roller 543 are installed at both ends of the side frame 541 so as to be mutually symmetrical with each other, and includes a second roller portion 542 which is in rolling contact with the second side rail 150.

The side frame 541 is connected to the second frame 532 of the main chassis by side swing pins 583 so that both ends (front / rear ends) are centered around the side swing pins 583. It works.

The second roller part 542 is rotatably installed at both ends (line / rear end) of the side frame 541 and the second upper roller 542a which is in rolling contact with the upper surface 151 of the second side rail, A second under-roller 542b and a second upper roller (Roller 542b) rotatably installed on the side frame 541 so as to be positioned at a lower end of the second upper roller 542a to be in contact with the bottom surface 152 of the second side rail. Second side rollers 542c and 542d rotatably connected to the side frame 541 so as to be positioned between the 542a and the second under roller 542b so as to be in rolling contact with the side surface 153 of the second side rail. It includes.

In this case, the second upper roller 542a corresponds to the first upper roller 536a of the main chassis, and the second under roller 542b corresponds to the first under roller 536b of the main chassis. The two side rollers 542c and 542d are provided so as to correspond to the second side rollers 536c and 536d of the main chassis portion, respectively.

The second upper roller 542a has a function of supporting the loads of the passengers and the tracked vehicle and improving the running stability of the tracked vehicle by preventing the left and right shaking of the tracked vehicle.

The second under roller 542b supports a lateral load generated when the track vehicle runs, in particular, a lateral load caused by a centrifugal force at the time of turning, and a lateral load caused by a strong wind, thereby preventing overturning of the track vehicle. Equipped.

The second upper roller 542a and the second under roller 542b are in rolling contact with the upper surface 151 or the lower surface 152 of the second side rail by the load of the track vehicle and the elastic force of the leaf spring 584. To support the load of the vehicle.

The second side roller 542c is in contact with the side surface 153 of the second side rail to prevent the left and right rolling of the tracked vehicle, the left and right rolling of the upper roller against the running rail, and the side wind load of the tracked vehicle and It is provided with a function to ensure a stable running of the tracked vehicle by preventing rollover due to the centrifugal force.

The second side roller 542c is also provided with different sizes on both sides of the side frame, like the first side roller of the first roller part.

When the side safety roller 543 has an abnormality in the driving wheel or the second upper roller of the second roller part, and the vehicle body of the tracked vehicle is inclined to one side, the side safety roller 543 contacts the upper surface of the second side rail and runs for a predetermined time. It is to maintain the stability, it is installed to be rotatable so as to be located in the center of the side frame 541, that is, the lower side of the side swing pin 583, when the rolling contact with the upper surface 151 of the second side rail, the tracked vehicle Load is transmitted and distributed to the second side rail 150 through the side safety roller 543.

In addition, one side of the side safety roller 543 is further provided with a rotation sensor (543a) for detecting the rotation of the side safety roller 543, by the rotation sensor 543a of the side safety roller (543) Operation status is detected and transmitted to the main control center (not shown), and alarms and alarms are generated to respond promptly to abnormalities.

The lead module part 544 is stably lifted without shaking the side chassis part (or main chassis part) when the side chassis part (or main chassis part) rotates (swings) of the side swing pin 583. The link ball joint 544a connected to the side frame 541, the rod end bearing 544b connected to the front / rear frames 533 and 534 of the main chassis, and the rod And a connecting rod 544c connecting the end bearing 544b and the link ball joint 544a.

The side chassis 540 configured as described above is connected to the second upper frame 532 of the main chassis of the main frame by a side swing pin 583 installed in parallel with the swing pin 582. Both ends of the frame 541 are connected to the front / rear frames 533 and 534 of the main chassis by the lead module part 544 so that the lead rollers 532d of the lead roller part are in rolling contact with the inner surface 541a of the side frame. When swinging (seesawing) the side chassis (or main chassis) centering on the side swing pins 583, the side chassis (or main chassis) is stable without rolling by the rolling of the lead roller. The swing (seesaw) is activated.

The driving unit 550 is moved along the running rail 130, as shown in FIGS. 11 to 13, connected to the main chassis 530 by the leaf spring 584, and the main chassis. One side is inserted into the central installation hole 535 and the sliding support holes 533c and 534c.

The leaf spring 584 connects the driving unit 550 to the main chassis 530 to cushion the up and down vibration generated during the running of the tracked vehicle, and the load of the tracked vehicle is the first and second rollers. It has a function to be uniformly delivered to the first and second side rails by the part.

In addition, the leaf spring 584 is in contact with the upper surface (141, 151) of the first and second side rails, the first and second rollers (536a, 542a) of the first and second rollers, or the first and second side rails. The first and second rollers 536b and 542b of the first and second rollers are brought into contact with the lower surfaces 142 and 152 so that four or more wheels are always on the upper and lower surfaces of the first and second side rails 140 and 150. At the same time it has a function to be uniformly in contact with the cloud.

That is, in the present invention, the first roller portion 536 of the main chassis portion includes two first upper rollers 536a and two first under rollers 536b, and the second roller portion 542 of the side chassis portion Two second upper rollers 542a and two second under rollers 542b are provided, and the first and second side rails 140 and 150 are supported by the elastic bearing force of the leaf spring 584 according to the load of the tracked vehicle. Four or more wheels are always in contact with the cloud to ensure stable running.

In addition, by the rolling contact of the four or more wheels by the leaf spring 584, the swing operation around the swing pin 582 and the side swing pin 583 is also made stable.

The leaf spring 584 has one end connected to the leaf spring holder 539 provided at the front end frame (or rear end frame) of the main chassis, and the other end provided at the rear end frame (or front end frame) by the shackle. It is connected to another leaf spring holder 539, and the center portion (center) is fixed to the center boss 585 by a U bolt or the like.

The leaf spring 584 as described above is preferably installed to be disposed on the left / right side so as to be located on both sides of the running portion 550.

As shown in FIGS. 13, 17, and 18, the driving unit 550 includes an axle frame unit 551 on which the leaf spring 584 is fixed by the center boss 585, and an axle frame unit. It is rotatably installed on the 551 includes two running wheels 552 rolling along the running rail 130.

The axle frame part 551 is inserted into the central installation hole 535 or the central installation hole 535 and the sliding support holes 533c and 534c of the main chassis part, and the leaf spring 584 by the center boss 585. The main frame 554 connected to the main frame 554 and side driving rollers 553 which are installed on the main frame 554 so as to be located at both sides of the driving wheel 552 and are in contact with both sides 132 of the running rail, and the main A sliding frame 555 integrally formed at the line / rear end of the frame 554 and inserted into the sliding support holes 533c and 534c of the main chassis through a trust plate, and rotated below the sliding frame 555. And a wheel safety roller 556 which is possibly connected and installed.

The main frame 554 is formed to be open upward, the center boss installation hole 554a is inserted into the center boss 585 to which the leaf spring 584 is connected, and the driving wheel 552 is opened in the vertical direction. The driving wheel mounting hole 554b is installed, and the driving wheel mounting hole 554b is formed in the line / rear direction of the center boss installation hole 554a to be symmetric about the center boss installation hole 554a. have.

The side traveling roller 553 is in contact with the both sides 132 of the running rail to prevent left and right sliding of the running wheel, one or more are installed so as to be located at the bottom of both sides of the driving wheel installation hole (554b) of the main frame have.

The sliding frame 555 is for guiding the up and down movement due to the running and load of the tracked vehicle while making stable rolling contact between the driving wheel 552 and the running rail, and through the thrust plate 555a through the main chassis. It protrudes in the upper direction (body frame direction) on the line / rear of the main frame so as to be in surface contact with the negative sliding support holes 533c and 534c.

That is, the sliding frame 555 is inserted in such a way that the thrust plate 555a is brought into surface contact with the thrust plates 533d and 534d installed in the sliding support holes 533c and 534c of the front / rear frame, and the sliding is made. It is inserted into the support holes 533c and 534c.

The trust plates 555a, 533d, and 534d have a function of integrating the center of the axle frame portion 551 and the main chassis portion 530 or the pivot base 520.

That is, even if the axle frame part 551 is connected to the main chassis by the leaf spring 584, the track vehicle 300 does not flow only in the up and down direction by the vibration generated during driving, but flows in various directions. Will be. However, in the present invention, the sliding frame 555 and the main chassis portion 530 are connected to each other via the thrust plates 555a, 533d, and 534d, and thus, the axle frame portion 551 and the main chassis portion ( As the centers of the 530 and the pivot base 520 coincide with each other, the orbital vehicle 300 is guided upward and downward to prevent the multi-directional flow of the orbital vehicle.

The wheel safety roller 556 is a rolling contact with the running rail 130 to safely move the tracked vehicle to the maintenance position when an abnormality occurs in the driving wheel during the running of the tracked vehicle, usually the upper surface of the running rail When the tracked vehicle 300 descends toward the travel rails 130 due to abrasion or damage of the travel wheels 552 without being rolled up by a predetermined distance from 131, and the rolling wheels 552 do not operate. The upper surface 131 is rotatably installed at the lower end of the sliding frame 555 to be in contact with the cloud.

In addition, one side of the wheel safety roller 556 is further provided with a detection sensor (556a) for detecting whether the rolling operation, the operation of the wheel safety roller is detected by the detection sensor (556a) track vehicle control center Will be sent (not shown).

In addition, the sliding frame 555 is further provided with a distance measuring sensor 557 for measuring the height distance from the upper surface of the running rail 131, the height of the sliding frame 555 and the upper surface of the running rail 131. When a change occurs in the distance, the height change is detected by the distance measuring sensor 557 and transmitted to the main control center (not shown).

In addition, the sliding frame 555 is lowered in the running stability of the driving wheel due to the blocking of the inflow of foreign matter between the running rail 130 and the driving wheel 552 at the bottom, and foreign matter (snow, rain, obstacles, etc.) on the upper surface of the running rail. Blocking bumper 558 is further provided to prevent the phenomenon.

The blocking bumper 558 may be installed to be spaced apart from the upper surface of the driving rail 131 by a predetermined distance so as not to cause interference when the wheel safety roller 556 contacts the driving rail 130, or the wheel safety roller 556. It may be made of a flexible material so that interference does not occur in the cloud contact.

The axle frame unit 551 configured as described above travels so that the driving wheel 552 contacts the upper surface 131 of the traveling rail, and the side traveling roller 553 contacts the both sides 133 of the traveling rail. It is seated on the rail 130, the main frame 554 is connected to the main chassis portion 530 by the leaf spring 584, the sliding frame 555, or the sliding frame 555 and the main frame 554 One side is installed to be inserted into the surface contact to be moved up and down into the sliding support holes (533c, 534c) via the trust plate.

The driving wheel 552 is moved in contact with the upper surface of the driving wheel, and is rotatably installed in the driving wheel installation hole 554b of the axle frame part, and synchronized with the power synchronous part 560 to be driven. The type of the driving wheel 552 is not particularly limited, but rubber tires, solid tires, and the like may be used.

In addition, the driving wheel 552 is such that the wheel shaft 552a is connected to the power synchronous unit 560 by spline coupling, so that when the wear or breakage of the driving wheel 552 occurs, a heavy power synchronous unit 560 Without separation, the replacement operation of the wheel 552 can be easily performed only by disassembly and assembly of the wheel shaft 552a.

As shown in FIGS. 13, 21, and 22, the power synchronizer 560 is a center that is integrally connected and rotated by a center gear 562, a center gear 562, and a center shaft 563. The reduction gear 564 is integrally connected and rotated by the reduction gear 564 and the reduction gear 564 and the reduction gear shaft 565 which are provided to be engaged with both the shaft gear 563a, the center shaft gear 563a. A gear 565a and an output gear 566 which is installed to be engaged with the reduction gear 565a and is connected to the output shaft 567 of the wheel shaft 552a of the driving wheel.

The center shaft 563, the reduction gear shaft 565, and the output shaft 567 are installed to support the bearings at both ends in the housing 568 fixed to one side of the main frame.

The power synchronous unit 560 configured as described above has the wheel shaft 532a of the driving wheel splined to both output shafts 567 by the combination of the center gear 562, the reduction gear 564, and the output gear 566. In synchronization, the two driving wheels 552 are driven to rotate.

In addition, the power synchronous unit 560 further includes a brake unit 569. That is, the brake unit 569 is a brake gear 569a which is installed to be engaged with both sides of the center gear 562, and an electromagnetic brake or drum which is installed to be connected to the gear shaft 569b of the brake gear 569a. It may be configured to include a brake 569c.

In the brake unit 569 configured as described above, the rotation of the center gear 562 is stopped by the operation of the electromagnetic brake or the drum brake 569c, and the synchronized rotation driving of the driving wheel 552 is stopped.

In addition, one brake unit 569 may be provided, or two brake units may be installed on both sides of the center gear such that the brake gear and the electromagnetic brake or the drum brake are positioned. Preferably, two brake units are installed.

In the driven cart 500 configured as described above, when the driving cart 400 is driven, the driving wheel 552 of the driving unit is brought into contact with the upper surface 131 of the running rail, and the side traveling roller 553 of the driving unit is driven. Is in rolling contact with both side surfaces 132 of the running rail, the first roller portion 536 of the main chassis portion is the first side rail 140, the second roller portion 542 of the side chassis portion is the second side rail 150 ) Are respectively clouded and moved.

That is, the driven cart 500 according to the present invention is also moved in contact with the upper and lower surfaces and the upper and lower surfaces and the side surfaces of the running rails, respectively, like the driving cart 400. Therefore, even when the external force generated in the left and right and up and down directions of the tracked vehicle is stable running along the running rail.

In addition, the driven cart 500 is twisted around the center pivot 581, rolling around the rolling pin 586, and swing pins 582 and side swing pins 583 while driving. It is configured to make a two-stage swing centered on).

That is, when the driven cart 500 travels along the rail unit 100, the pivot base frame 510 and the pivot block unit 590 with respect to the pivot upper frame 510 around the center pivot 581. The main chassis portion 530 and the side chassis portion 540 are integrally twisted (yawing, A) and rotated around the rolling shaft 586 with respect to the pivot base 520. The part 530 and the side chassis part 540 are rolled (C) operated, and the main block part 530 and the side chassis part 540 with respect to the rotation block part 590, centering on the swing pin 582. Is integrally swinged (B), and the side chassis portion (or main chassis portion) is swinged B 'with respect to the side swing pin 583 with respect to the main chassis portion (or side chassis portion).

This two-stage swing operation is similar to the drive bogie 400, the drive bogie against the height deviation according to the assembly installation of the first and second side rails (140,150) and the state difference of the first and second side rails (140,150) It is to ensure a stable running of the 400.

As described above, in the present invention, the drive bogie and the driven bogie, in which the body frame is installed, are moved along the rails on which the first and second side rails are installed on both sides of the running rail, and the drive bogie is the center pivot, the swing pin, and the side swing. Rotation operation by the pin, the driven cart is to rotate the rotation of the center pivot, rolling pin, swing pin and side swing pin, the corner driving in the left and right direction, the up and down curved run up and down, inclined to the uphill or downhill driving Edo track vehicle, especially unmanned track vehicle will be made to be stable running.

In addition, in the present invention, when a collision with an obstacle occurs while driving, not only the emergency stop of the driving cart and the driven cart is made by the bumper, but also the stability of the passenger is improved by the two-stage shock buffer of the bumper and the shock absorber. .

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

100: rail portion 110: rail support
(111): Top (120): Rail Holder
(121): rail assembly (122): holder support
(123): lower support (124): both ends of the support
(125): Rail mounting hole (126): Seating plate
(130): running rail (131): upper surface
(132): both sides (140): first side rail
(141): Top (142): Bottom
(143): side 150: second side rail
(151): Top (152): Bottom
(153): side (160): scaffold support
(170): scaffolding (180): safety railing
300: tracked vehicle 310: body portion
311: Entrance door 313: Outer plate
(330): Body frame (340): Battery pack
350: upper frame 360: lower frame
370: Vehicle connection part 380: Bumper part
381: bumper 381a: bumper rod
(382): detection sensor (390): buffer frame portion
(391): bumper frame (392): perforated plate
(393): guide tube (394): outer support
(395): inner support (396): connector
400: drive bogie (410,510): pivot upper frame
(411,511): Rubber Mount (420,520): Pivot Base
(421,521): Rotating rollers (430,530): Main chassis
(431,531): first frame (431a, 432a, 531a, 532a): pin holder
(431b, 432b): Connecting groove (431c, 432c, 531c, 532c): Through swing hole
(431d, 432d, 531d, 532d): Bottom surface (432,532): Second frame
(432e, 532e): side blocks (432b, 532b): lead roller portion
(432c, 532c): Lead roller bracket (432d, 532d): Lead roller
(433,533): Front frame (434,534): Rear frame
(433a, 434a, 533a, 534a): medial side
(433c, 434c, 533c, 534c): sliding support hole
(433d, 434d, 433d, 434d): trust plate
(435,535): Center mounting hole (436,536): First roller part
(436a, 536a): first upper roller (436b, 536b): first under roller
(436c, 436d, 536c, 536d): first side roller
(437,537): Roller brackets (438,538): Power installation space
(439,539): Leaf spring holder (440,540): Side chassis
(441,541): side frames 441a and 541a: inner side
(442,542): Second roller portion (442a, 542a): Second upper roller
(442b, 542b): Second Under Roller
(442c, 442d, 542c, 542d): second side roller
(443,543): Side safety rollers (443a, 543a): Rotation sensor
(444,544): Lead module section (444a, 544a): link ball joint
(444b, 544b): rod end bearing (444c, 544c): connecting rod
(450,550): driving part (451,551): axle frame part
(452,552): Wheels (452a, 552a): Wheel shaft
(453,553): Side driving rollers (454,554): Mainframe
(454a, 554a): Center Boss Installation Holes (454b, 554b): Driving Wheel Installation Holes
(455,555): Sliding Frame (456,556): Wheel Safety Roller
(456a, 556a): Detection sensor (457,557): Distance measuring sensor
(458,558): Block bumper (460,560): Power train
461: drive shaft 461a: drive shaft gear
(462,562): Center Gear (463,563): Center Shaft
(463a, 563a): Center shaft gear (464,564): Reduction gear
(465,565): Reduction Gear Shaft (465a, 565a): Reduction Gear
(466,566): Output gear (467,567): Output shaft
(468,568): housing (469,569): brake part
(469a, 569a): Brake gears (469b, 569b): gear shaft
(469c, 569c): Electronic brakes (470): Driving motor
(481,581): Center pivot (482,582): Swing pin
(483,583): Side swing pin (484,584): Leaf spring
(485,585): Center Boss (500): Passive Loan
(531b, 532b): Block connecting groove (586): Rolling pin
(590): rotating block portion (591): block frame
592: front end rolling support 593: rear end rolling support
594: left swing support 595: right swing support

Claims (25)

The track vehicle is driven along the rail by the drive cart and the driven cart,
The drive bogie is connected to the pivot upper frame to which the vehicle body is connected, the pivot base connected by the pivot upper frame and the center pivot, and the pivot base and the swing pin to be rolled along the first side rail of the rail. The main chassis part, the side chassis part connected by one side swing pin to one side of the main chassis part and rolling along the second side rail of the rail part, and the running rail of the rail part connected by the main chassis part and the leaf spring The driving unit is rolling along the road, and the power transmission unit is installed at one side of the driving unit to transmit the driving force of the driving motor to the driving unit. The twist centering around the center pivot, the swing pin and the side swing pin Two-stage swing to the center, the upper and lower sliding by the leaf spring is made,
The driven cart portion, the pivot upper frame is connected to the vehicle body, the pivot base connected by the pivot upper frame and the center pivot, the rotary block portion connected by the pivot base and the rolling pin, the rotary block portion and the swing pin A main chassis part connected by means of rolling along the first side rail of the rail part, and a side chassis part connected by one side swing pin to one side of the main chassis part and rolling along the second side rail of the rail part; Twist and swing pins centered on the center pivot, including a driving part connected by the chassis part and the leaf spring and rolling along the running rail of the rail part, and a power synchronous part installed on one side of the running part. Two-stage swing centering on the side and side swing pins, rolling around the rolling pins, and sliding up and down by the leaf spring,
The track vehicle system, characterized in that the stable running of the drive cart and the driven cart along the rail.
delete The method according to claim 1;
The rotating block portion of the driven bogie portion includes a block frame made of an annular shape, a line / rear rolling support part which is formed in a straight line at the line / end of the block frame and is coupled by a pivot base and a rolling pin, and both sides of the block frame. The track vehicle system, comprising a left / right swing support part formed to be aligned in a straight line and coupled to the main chassis by a swing pin.
The method according to claim 1;
A track vehicle system, wherein the main chassis and the driving unit are connected to each other via a trust plate.
The method according to claim 1;
The main chassis of the drive trolley is provided with a first frame connected to one side of the pivot base by a swing pin and a second frame connected to the other side of the pivot base by being spaced apart from and parallel to the first frame. And a front / rear frame provided to connect and install the both ends of the first and second frames integrally, and formed by the first and second frames and the front / rear frame to open up and down in a vertical direction. And a first roller part connected to the center / installation hole and the line / rear end of the first frame so as to be connected to the line / rear frame,
The main chassis of the driven bogie is provided with a first frame connected to one side of the rotary block by a swing pin and spaced apart from and parallel to the first frame, and a second frame connected to the other side of the rotary block by another swing pin. And, the front / rear frame is installed so as to integrally install the both ends of the first and second frame, and the hollow is formed so as to be opened in the vertical direction by the first and second frame and the line / rear frame to be installed And an installation hole, and a first roller part connected to the line / rear end of the first frame so as to be connected to the line / rear frame.
The method according to claim 5;
The first and second frames are spaced apart from each other by a predetermined distance, and are arranged in parallel with each other, and a pin holder to which a swing pin is connected is formed at an upper center thereof, and one side of the pivot base is inserted to accommodate the pin holder. The connection groove is formed, the track vehicle system, characterized in that the through-swing hole is formed on one side so that the connection groove is in communication with the central installation hole.
The method according to claim 5 or 6;
The first frame has a roller bracket in which the first roller unit is connected to the front / rear side and integrally installed, and a power installation space in which a power transmission unit or a power synchronous unit is inserted between the two roller brackets is formed.
In the second frame, the side block to which the side chassis is connected is integrally provided at the center of the side, and the lead roller parts which are brought into contact with the side chassis in the cloud are provided so as to be symmetrical on both sides of the side block. Vehicle system.
The method according to claim 5;
The front / rear frames are integrally supported with the first and second frames, sliding support holes are formed to communicate with the central installation holes, and leaf spring holders with leaf springs connected to the inner surface are integrally installed. ,
In the sliding support hole, the track vehicle system, characterized in that at least one thrust plate is installed so that one side of the running portion is in surface contact and sliding up and down.
The method according to claim 5;
The first roller part includes a first upper roller which is rolled to contact the upper surface of the first side rail of the rail part, a first under roller which is installed to be in contact with the lower surface of the first side rail, and a side surface of the first side rail. And a first side roller which is brought into contact with and rolled.
The method of claim 7;
The lead roller unit includes a lead roller bracket connected to the second frame and a plurality of lead rollers rotatably mounted to the lead roller bracket and brought into rolling contact with the side chassis.
The method according to claim 1;
Side chassis part,
A side frame having a central upper end connected to the main chassis by a side swing pin, and both ends connected to the main chassis by a lead module;
Side safety rollers are connected to the side frame to be located under the side swing pin,
Including a second roller portion which is installed on both ends of the side frame so as to be symmetrical with respect to the side swing pin and the side safety rollers in contact with the second side rails,
Track vehicle system characterized in that both ends (line / rear) is configured to seesaw (swing) operation around the side swing pin.
The method of claim 11;
The second roller part,
A second upper roller rotatably installed at both ends (line / rear end) of the side frame and rolling contact with the upper surface of the second side rail;
A second under roller which is rotatably installed on the side frame so as to be positioned at the bottom of the second upper roller, and which is in contact with the lower surface of the second side rail;
And a second side roller rotatably connected to the side frame so as to be positioned between the second upper roller and the second under roller, the second side roller being in rolling contact with the side of the second side rail.
The method of claim 11;
The lead module unit includes a link ball joint connected to the side frame, a rod end bearing connected to the front / rear frame of the main chassis, and a connecting rod connecting the rod end bearing and the link ball joint. Tracked vehicle systems.
The method according to claim 1;
The driving part includes an axle frame part in which the leaf spring is fixed by the center boss, and two driving wheels rotatably installed along the running rail to be rotatably installed on the axle frame part.
The axle frame unit,
A main frame inserted into the central mounting hole of the main chassis or the central mounting hole and the sliding support hole, and connected to the leaf spring by the center boss;
A side traveling roller mounted on the main frame so as to be located at both sides of the driving wheel, which is in rolling contact with both sides of the traveling rail;
And a sliding frame integrally formed at the front / rear end of the main frame and inserted into the sliding support hole of the main chassis through a trust plate.
The method of claim 14;
The axle frame unit further comprises a wheel safety roller rotatably connected to the lower side of the sliding frame, and a sensing sensor installed at one side of the wheel safety roller to detect whether the rolling operation is performed.
The method according to claim 1;
Power transmission unit,
Drive shaft gear connected by driving motor and drive shaft, center gear installed to be engaged with drive shaft gear, center shaft gear that is integrally connected and rotated by center gear and center shaft, and meshed to both sides of center shaft gear Reduction gear, which is installed so as to be connected to the gearbox, reduction gear that is connected and rotated integrally by the reduction gear and reduction gear shaft, output gear that is installed to engage with the reduction gear, and integrally connected to the output gear, An output shaft splined to the wheel shaft,
The power synchronization unit,
The center gear, the center shaft gear which is integrally connected and rotated by the center gear and the center shaft, the reduction gear which is installed to be engaged with both sides of the center shaft gear, and the reduction gear and the reduction gear shaft) And a reduction gear which is rotated, an output gear installed to be engaged with the reduction gear, and an output shaft integrally connected to the output gear and splined to the wheel shaft of the driving wheel.
The method according to claim 1;
The vehicle body unit has a top frame in which a battery is installed, and a lower frame in which a driving cart and a driven cart are connected to each other, and has a thrust structure.
The method according to claim 1;
The bumper part is further installed to be positioned at the tip end with respect to the driving direction,
The bumper unit, a tracker system comprising a bumper connected to the body frame of the track vehicle via a spring, and a sensor installed on the body frame to detect the movement of the bumper.
The method according to claim 1 or 18;
The body portion further includes a buffer frame portion,
The buffer frame unit includes a bumper frame, a perforated plate supporting the bumper frame to the vehicle body frame, a guide tube connected to the bumper frame and the vehicle body frame, and through which a bumper rod of the bumper is inserted, and integrated into the lower part of the bumper frame. Formed to include an outer support for supporting the outer plate with a bumper frame, and one side is connected to the outer support and the other side is connected to the inner support fixed to the body frame,
When an external force is applied to the bumper frame by the bumper, the perforated plate, the guide tube and the connecting tube are damaged, and together with the outer plate, the bumper frame and the outer support are moved in the direction of the body frame to cushion the impact applied to the outer plate of the body part. Tracked vehicle system, characterized in that configured.
The method according to claim 1;
The rail portion includes a rail holder fixed to the upper surface of the rail support, a travel rail provided to be positioned at the center of the rail holder, and both ends of the rail holder to be symmetrical about the travel rail and positioned above the travel rail. A tracked vehicle system comprising first and second side rails installed on the rail.
The method of claim 20;
The rail holder includes a rail assembly installed to be parallel to an upper surface of the rail support, and a plurality of holder supports installed integrally with the rail assembly while maintaining a predetermined interval.
The method of claim 21;
The holder support is integrally fixed to the rail assembly and formed so as to protrude upwardly at both ends of the lower support, and the first and second side rails of the rail are integrally formed. A tracked vehicle system comprising both end supports fixedly installed.
The method of claim 20;
Rail part,
The rail vehicle system further comprises a scaffold support on which one side is integrally connected to the rail holder, and a scaffold installed on the scaffold support.
The method according to claim 1;
The tracked vehicle is a tracked vehicle system, characterized in that one or two vehicles are configured to be connected by the vehicle connection. The method according to claim 1;
The tracked vehicle is a tracked vehicle system, characterized in that the manned or unmanned tracked vehicle.

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