WO2018145418A1 - 一种带转向保护的无支撑防缠绕履带轮 - Google Patents

一种带转向保护的无支撑防缠绕履带轮 Download PDF

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Publication number
WO2018145418A1
WO2018145418A1 PCT/CN2017/095008 CN2017095008W WO2018145418A1 WO 2018145418 A1 WO2018145418 A1 WO 2018145418A1 CN 2017095008 W CN2017095008 W CN 2017095008W WO 2018145418 A1 WO2018145418 A1 WO 2018145418A1
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WIPO (PCT)
Prior art keywords
support
chain
rod
piece
swing
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Application number
PCT/CN2017/095008
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English (en)
French (fr)
Inventor
郑东振
Original Assignee
郑东振
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Application filed by 郑东振 filed Critical 郑东振
Publication of WO2018145418A1 publication Critical patent/WO2018145418A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
    • B62D55/0847—Track blocking devices mounted on the frame; Track guides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/20—Tracks of articulated type, e.g. chains

Definitions

  • the invention belongs to the technical field of track drive, and particularly relates to an unsupported anti-winding track wheel with steering protection.
  • the crawler drive is used in all aspects of the engineering vehicle; the durability of the track of the engineering vehicle, the passability of any terrain and the destructiveness of the terrain are the main indicators for evaluating the quality of a crawler truck; in particular, it is driven by various plants.
  • the present invention contemplates an unsupported anti-wrap track wheel with steering protection to solve the above problems.
  • the present invention discloses an unsupported anti-wound crawler wheel with steering protection, which is realized by the following technical solutions.
  • An unsupported anti-winding track wheel with steering protection characterized in that it comprises a driving wheel, a tensioning mechanism, a supporting mechanism, a beam, a body support plate, a body bending plate, a longitudinal beam, an auxiliary supporting mechanism, a crawler belt, a second Chain wheel, rotating shaft sleeve, rotating shaft, power system, transmission shaft, first chain wheel, wherein two longitudinal beams are connected by two beams, one end of each longitudinal beam is installed with a rotating sleeve, and the other end is pulled
  • the tightening mechanism is provided with a rotating sleeve; a rotating shaft is respectively installed in each of the four rotating sleeves; a driving wheel is mounted on one end of each rotating shaft, and one of the four driving wheels is mounted on the same driving wheel
  • Two identical power systems are mounted side by side on the beam.
  • Both power systems are mounted with a first chain wheel through the drive shaft, and two second chain wheels are respectively mounted on two mutually symmetrical shafts at one end of the longitudinal beam, two The first chain wheels are respectively connected with the two second chain wheels through the chain; a body support plate is mounted on both sides of the body bending plate, and the two sides of the lower side of each body support plate pass through two auxiliary branches Means mounted on the side member; an intermediate position of each side of the vehicle body by two support plates also mounted on the track support mechanism.
  • the crawler belt includes a first chain piece, a chain hole, a middle ear, a cylindrical pin, a side support ear, a second chain piece, an elastic piece, a limiting piece, a support bar, a second leaf spring, a baffle, a first triangular guide block, First leaf spring support, pendulum shell, third leaf spring, swing rod, tie rod groove, second triangular guide block, second leaf spring support, tie rod, swing shaft, swing Ladder block, swing rod guide groove, swing rod groove, pendulum shell guide rail, swing rod guide bar, and tie rod shaft, wherein the crawler belt is composed of a first link piece and a second link piece, and the installation manner between adjacent links
  • a ladder-shaped chain hole is opened in the middle of the first chain piece and the second chain piece, and a middle ear is installed at one end of the first chain piece, and one side ear is installed at one end of the second chain piece.
  • the lug is mounted between the two side ears by a cylindrical pin, and the first chain piece and the second chain piece are installed at an obtuse angle; the middle ear and the side ear mounting position are respectively located at the hinge of the first chain piece and the second chain piece
  • the one side of the first chain piece and the second chain piece are mounted on the non-obtuse side of the second chain piece, and the elastic piece is mounted on the lower side of the limiting piece, and the two elastic pieces are adjacent to one end of the bending part, two The adjacent end of the limiting piece cooperates, and the chain hole cooperates with the sharp corner of the chain on the driving wheel;
  • the first chain piece is identical to the structure installed on the back side of the second chain piece, and is symmetrical to each other, for the first chain piece, in the chain hole
  • a similar structure is installed on both sides, for one side, the support bar is installed at the One end of the chain, the rib is mounted on one side of the support bar by two second leaf springs at both ends, and the dam has
  • the lower side of the second leaf spring support is in frictional contact with the first chain piece, and the second triangular guide block has a pull rod groove at a sharp corner thereof, the pull rod shaft is installed in the pull rod groove, and the two sides of the other end of the swing rod are symmetrically mounted with two pendulums
  • the rod guide bar and the swing rod are nested in the swinging shell through the cooperation of the swing rod guide bar and the swing rod guide groove; the plane formed by the shaft axis of the pull rod and the axis of the swing shaft is parallel to the side of the swing shell; the third leaf spring is installed at the first end.
  • the other end is mounted on the second leaf spring support.
  • the first triangular guide block, the first leaf spring support, the pendulum shell, the third leaf spring, and the pendulum are disposed symmetrically with the one side symmetrically Rod, pull rod groove, second triangular guide block, second leaf spring support, swing shaft, swing ladder block, swing rod guide groove, swing rod groove, pendulum shell guide rail, swing rod guide rod, tie rod shaft;
  • a tie rod is installed between the two tie rod shafts corresponding to each other on the side.
  • the support mechanism comprises a support plate, a first leaf spring, a sliding shaft, an adjusting plate, an upper sliding column, a sliding column, an upper fixing plate, a connecting plate, a lower fixing plate, an adjusting shaft, a mounting ear, a sliding column rotating hole, wherein the supporting body
  • the plate is mounted on the lower side of the body support plate, and the lower side of the support plate is mounted with two adjustment plates through the nesting of the adjustment shaft and the mounting ears, and the mounting ears of the two adjustment plates are staggered on the adjustment shaft;
  • the relevant installation structure is completely the same.
  • an upper fixing plate is installed at both ends of the lower side of the adjusting plate, and a lower fixing plate, an upper fixing plate and a lower fixing plate are installed on the lower side of each upper fixing plate through the connecting plate.
  • the through hole is in the corresponding two sets of sliding column rotating holes on the two upper fixing plates at both ends of the adjusting plate, and each set of sliding column rotating holes is installed with an upper sliding column through the same sliding column rotating shaft;
  • two lower fixed plates Among the two sets of sliding column rotating holes, each set of sliding column rotating holes is installed with a sliding column through the same sliding column rotating shaft, the upper sliding column is in contact with the upper side of the crawler, and the sliding column is in contact with the lower side of the crawler; the supporting plate and the supporting plate
  • a first leaf spring is mounted between the adjustment plates on both sides.
  • the auxiliary support mechanism includes a support spring, a support inner rod, a support guide groove, and a support rod sleeve, wherein the support rod sleeve is mounted on the longitudinal beam, and the support rod sleeve is symmetrically opened with two support guide grooves
  • a support guide block is symmetrically mounted on one end of the support inner rod, and the support inner rod is nested on the support rod sleeve through the matching of the support guide block and the support guide groove, and the support rod is mounted on the upper end of the support inner rod, and the support spring is nested
  • the inner rod and the outer side of the support rod sleeve are supported, and one end of the support spring is mounted on the longitudinal beam, and the other end is mounted on the lower side of the body support plate.
  • the tensioning mechanism includes a first spring support, a tensioning inner rod tensioning guide block, a tensioning rod sleeve, a tensioning guide groove, a tension spring, and a second spring support, wherein the tension sleeve is tightened
  • the second spring support is mounted on one end of the longitudinal beam, and two tensioning guide grooves are symmetrically opened in the tensioning rod sleeve, and the tensioning guide block is symmetrically mounted on one end of the tensioning inner rod, and the inner rod is tightened through the tensioning guide.
  • the block and the tensioning guide groove are nested and installed on the tensioning rod sleeve, and one end of the tensioning inner rod is mounted on the rotating shaft sleeve through the first spring support, and the tensioning spring is nested on the outer side of the tensioning inner rod and the tensioning rod sleeve And one end of the tension spring is mounted on the first spring support, and the other end is mounted on the second spring support.
  • the tension spring and the support spring are both compression springs.
  • one end of the tensioning rod sleeve is provided with a tension limiting ring
  • one end of the supporting rod sleeve is provided with a supporting limiting ring
  • the crawler belt of the present invention is connected by a plurality of links, and the crawler is wound around the driving wheel, and the body is directly mounted on the upper side of the crawler by the supporting mechanism, and there is no between the lower side and the upper side of the crawler.
  • the support that is, the lower track that is in contact with the ground, is not connected to any rotating parts except that the two sides are connected to the drive wheels. This design is to ensure that the present invention is not as easily entangled as a conventional track with a support wheel. walk.
  • the drive wheel is rotated by the power system through the transmission of the first chain wheel and the second chain wheel.
  • the weight of the vehicle body of the invention is completely transmitted to the lower crawler belt by the crawler belt; the specific way is: the first chain piece and the second chain piece of the adjacent chain pieces in the track are connected by the cylindrical pin, and the hinge point is biased toward the two chain pieces.
  • On one side there is an elastic piece between the two links, and the two elastic pieces contact each other to generate an elastic force, so that the angle between the two links is an obtuse angle; the link with the obtuse angle can provide a bearing force for the track.
  • the side of the deflection and the hinge point has a limiting piece; after the two pieces are pressed in the direction of the obtuse angle, the pressure compresses the elastic piece, so that the angle between the pieces increases, and reaches a coplanar surface, even reaching More than 180 degrees, this is the track lost weight bearing. Therefore, the limiting piece is designed, and the limiting piece ensures that the two chain pieces are subjected to a force of nearly 180 degrees, and then the adjacent limiting piece produces a rigid contact to maintain an angle between the two links, and the two pieces are obtuse.
  • the direction can be changed at will, and can be as small as an acute angle, which allows the track to be in good contact with the drive wheel for driving by the drive wheel.
  • the angle design of the chain allows the track to bend to one side at will, while the other side needs to overcome the elastic force and bend to a certain obtuse angle, so that it can not be bent.
  • This design can make the end-to-end connected track exert force on the upper side.
  • the crawler maintains its distribution close to the ellipse under the elastic force of the elastic piece between the links, and the larger the force applied, the flatter the ellipse and the greater the elastic force of the crawler feedback.
  • the track installation needs to ensure that the obtuse angle of the chain is toward the inner side of the track ring.
  • the body is supported by the track by the elliptical maintenance of the track itself, and the overall compression resistance of the upper and lower sides of the track plays a buffering and damping effect on the body.
  • the body body is matched with the moving crawler by a supporting mechanism having a rotatable strut, and the rotatable strut can offset the horizontal movement of the supporting point crawler when the vehicle body presses the crawler belt.
  • the rigidity of the body and the chassis is poor, so that the auxiliary support mechanism is connected to the longitudinal beam on both sides of the vehicle body, so as to strengthen the vehicle when it encounters large protrusions and pits.
  • the overall rigidity of the body and the chassis prevents the body from coming off the chassis because of insufficient strength of the track.
  • the auxiliary support mechanism is a retractable and elastic mechanism, wherein the limit ring serves to prevent the support inner rod from sliding out of the support rod sleeve.
  • the tensioning mechanism can ensure that the track is always in tension and ensure the smooth running of the drive.
  • the tensioning mechanism is designed to have a telescopic function nesting structure and has pressure resistance. The purpose of the tension limiting ring design is to prevent the tensioning inner rod from sliding out of the tensioning rod sleeve.
  • the invention improves the crawler belt, so that the crawler belt can bear the pressure of the vehicle body, and the design of the plurality of support wheels in the crawler belt is eliminated, and the general weed or the wrapable object is prevented from being wound on the support wheel, thereby causing the failure of the crawler wheel; The passability of the wheel.
  • the two power systems designed in the present invention respectively operate independently of each other by the crawler belts on both sides of the chain to achieve the purpose of controlling steering.
  • the lower side of the track in contact with the ground during the steering process will be subjected to the lateral force of the ground.
  • the crawler belt of the present invention has a weak lateral load capacity because of the absence of the supporting structure, and the lateral force generated by the ground easily affects the crawler belt.
  • a special design structure is installed on the ground contact side of the first chain and the second chain, and the pendulum can be placed on the pendulum Telescopic in the shell, subjected to the third leaf spring during the telescopic process Elasticity, always in the longest state of the pendulum and pendulum without external force.
  • the pendulum shell can slide on the swinging trapezoidal block, and can swing around the swing axis as a whole with the pendulum rod; during the swinging process, one side of the pendulum shell and the swing bar will press the bar to promote the block.
  • the strip is forced to oscillate as it swings, and at the same time compresses the second leaf spring on one side, and the strip is elastically biased by the second leaf spring to limit the swing of the swing shell and the swing rod.
  • a parallelogram is formed between the drawbar and the two swing bars, and the design of the drawbar ensures that the two swing bars on both sides of the chain hole are synchronously oscillated.
  • the swinging lever in the swinging direction is subjected to lateral force and moves toward the inside of the pendulum casing, and simultaneously oscillates in the direction of the lateral force, and finally the pendulum rod is retracted into the pendulum shell while the pendulum shell is The swinging rod swings to the same direction as the lateral force.
  • the crawler belt is in the direction of lateral movement, and the pendulum swinging rod that is in contact with the ground is deflected to the extent that the contact area with the ground in the steering direction is the smallest, compared with the first
  • the complete contact of the chain with the ground greatly reduces the contact surface, which minimizes the lateral force experienced in the track steering, thereby protecting the track and ensuring smooth steering.
  • the pendulum shell moves toward the side of the swinging rod, and the pendulum shell moves completely to the side of the swinging shaft swinging rod and rotates to the same direction as the lateral force.
  • the pendulum swing pen When the vehicle is walking straight in a straight line, the pendulum swing pen is guaranteed to be perpendicular to the walking direction under the action of the second leaf spring to achieve the maximum frictional force with the ground to obtain the maximum walking ability.
  • the first leaf spring support and the second leaf spring support are in contact with the first chain piece.
  • the purpose of the design is that the swing rod and the pendulum shell are the force-receiving parts between the vehicle and the ground, and in order to increase the strength of the swing rod and the pendulum shell, the swing rod is A first leaf spring support and a second leaf spring support are designed as an auxiliary support between the pendulum shell and the vehicle.
  • the first triangular guide block and the second triangular guide block are designed to produce a relative sliding between the ground and the pendulum swing pendulum during the chain swinging process, and the triangular design can reduce the sliding resistance and reduce the lateral direction of the crawler belt. force. Because the damper acts to limit the angle of the swinging of the pendulum and the swinging bar, in order to ensure the minimum resistance, the angle of the steering angle of the vehicle is required to be smaller than the limiting angle of the damper to the pendulum shell.
  • Figure 1 is a schematic view of the overall component distribution.
  • Figure 2 is a perspective view of the overall component distribution.
  • Figure 3 is a schematic view of the structure of the body panel.
  • Figure 4 is a schematic view of the structure of the chassis.
  • Figure 5 is a schematic view showing the structure of the support mechanism.
  • Figure 6 is a side view of the structure of the support mechanism.
  • Figure 7 is a schematic view of the mounting of the fixing plate.
  • Figure 8 is a schematic view showing the structure of the auxiliary support mechanism and the tensioning mechanism.
  • Figure 9 is a schematic view of the link connection.
  • Figure 10 is a schematic view showing the structure of the second chain.
  • Figure 11 is a schematic view showing the structure of the first link.
  • Figure 12 is a schematic view showing the installation of the track steering protection structure.
  • Figure 13 is a cross-sectional view showing the track steering protection structure.
  • Figure 14 is a schematic view of the structure of the pendulum shell.
  • Figure 15 is a schematic view of the structure of the swing bar.
  • Figure 16 is a schematic view showing the structure of a wobbled block.
  • Figure 17 is a cross-sectional view showing the mounting of the swing lever and the swing case.
  • Figure 18 is a schematic view of the mounting position of the tie rod.
  • Figure 19 is a schematic view of the operation of the steering protection mechanism.
  • FIG. 1 and 2 it includes a driving wheel, a tensioning mechanism, a supporting mechanism, a beam, a body support plate, a body bending plate, a longitudinal beam, an auxiliary supporting mechanism, a crawler belt, a second chain wheel, a rotating shaft sleeve, a rotating shaft, and a power.
  • each of the four rotating sleeves is respectively mounted with a rotating shaft; one end of each rotating shaft is equipped with a driving wheel, and among the four driving wheels, one of the two driving wheels on the same side is mounted with a crawler;
  • the same power system is installed side by side on the beam. Both power systems are equipped with a first chain wheel through the drive shaft.
  • the two second chain wheels are respectively mounted on two mutually symmetrical shafts at one end of the longitudinal beam, two first The chain wheels are respectively connected with the two second chain wheels through the chain; as shown in FIG. 3, a body support plate is installed on both sides of the curved plate of the vehicle body, as shown in FIG. 2, the two ends of the lower side of each body support plate pass through Two auxiliary supports Mounted on the side frame configuration; an intermediate position of each side of the vehicle body by two support plates also mounted on the track support mechanism.
  • the crawler belt includes a first chain piece, a chain hole, a middle ear, a cylindrical pin, a side lug, a second chain piece, an elastic piece, a limiting piece, a support bar, a second leaf spring, a dam, First triangular guide block, first leaf spring support, pendulum shell, third leaf spring, swing rod, draw rod groove, second triangular guide block, second leaf spring support, tie rod, swing shaft, swing ladder block, swing rod Guide groove, swing rod groove, pendulum shell guide rail, swing rod guide bar, and tie rod shaft, wherein as shown in FIG. 9, the crawler belt is composed of a first link piece and a second link piece, and the installation manner between adjacent links is adopted.
  • a ladder-shaped chain hole is opened between the first link and the second link.
  • the middle end of the first link is installed with an intermediate ear at one end, as shown in FIG. Both sides are mounted with a side lug, and the middle lug is mounted between the two side lugs by a cylindrical pin, and as shown in FIG. 9, the first link and the second link are mounted at an obtuse angle; the middle ear is The mounting positions of the side ears are located on the obtuse side of the hinge of the first chain and the second chain; the hinge of the first chain and the second chain are not blunt A finite piece is mounted on one side of the corner, and an elastic piece is mounted on the lower side of the limiting piece.
  • the first chain piece and the second chain piece are mounted on the back surface in exactly the same structure and are symmetrical to each other.
  • a similar structure is mounted on both sides of the chain hole, for one side,
  • the support bar is installed at one end of the first chain piece, and the baffle is mounted on one side of the support bar by two second leaf springs at both ends, and the baffle has a certain gap with the first link piece; as shown in FIG. 12 and FIG.
  • the trapezoidal block is mounted on the first chain piece by the swinging shaft; as shown in FIG.
  • one end of the pendulum shell is supported by the first leaf spring support to be mounted with the first triangular guide block, and the first leaf spring supports the lower side to contact the first link piece for friction.
  • the other end of the pendulum shell has a swing rod groove, and two swing rod guide grooves are symmetrically opened in the swing rod groove, and the swing rod groove has a lower side
  • one end of the swing rod is supported by the second leaf spring support to be mounted with the second triangular guide block, the second board
  • the lower side of the spring support is in frictional contact with the first chain piece
  • the second triangular guide block has a pull rod groove at a sharp corner thereof
  • the pull rod shaft is installed in the pull rod groove
  • two swing rod guide bars are symmetrically mounted on both sides of the other end of the swing rod
  • the swing rod is nested in the swing shell through the cooperation of the swing rod guide bar and the swing rod guide groove; as shown in FIG. 18, the plane of the pull rod shaft and the axis of the swing shaft and the side of the swing shell are arranged. Parallel; as shown in FIG.
  • one end of the third leaf spring is mounted on the first leaf spring support, and the other end is mounted on the second leaf spring support and has a gap with the first chain piece; on the other side of the chain hole,
  • the first triangular guide block, the first leaf spring support, the pendulum shell, the third leaf spring, the swing rod, the rod groove, the second triangular guide block, and the second leaf spring support are symmetrically distributed with the one side of the above-mentioned one side.
  • the support mechanism includes a support plate, a first leaf spring, a sliding shaft, an adjusting plate, an upper sliding column, a sliding column, an upper fixing plate, a connecting plate, a lower fixing plate, an adjusting shaft,
  • the ear and the sliding column rotating hole are installed, wherein the supporting plate is installed on the lower side of the body supporting plate, and the lower side of the supporting plate is installed with two adjusting plates by the nesting of the adjusting shaft and the mounting ear, as shown in FIG. 7 , and two adjustments
  • the mounting ears of the plates are staggered on the adjusting shaft; the relevant mounting structures of the two adjusting plates are identical.
  • an upper fixing plate is installed at both ends of the lower side of the adjusting plate, and the lower side of each upper fixing plate passes through
  • the connecting plate is mounted with a lower fixing plate, and the upper fixing plate and the lower fixing plate are respectively provided with two sliding column rotating holes, and the corresponding two sets of sliding column rotating holes on the two upper fixing plates at both ends of the adjusting plate, each Each group of sliding column rotating holes is mounted with an upper sliding column through the same sliding column rotating shaft; among the two sets of corresponding sliding column rotating holes on the two lower fixed plates, each set of sliding column rotating holes is installed through the same sliding column rotating shaft
  • the glide column, the upper strut is in contact with the upper side of the crawler, and the glide column It is in contact with the lower side of the crawler; a first leaf spring is mounted between the support plate and the adjustment plates on both sides.
  • the auxiliary support mechanism includes a support spring, a support inner rod, a support guide groove, and a support rod sleeve, wherein the support rod sleeve is mounted on the longitudinal beam, and the support rod sleeve is symmetrically opened with two support guide grooves.
  • a support guide block is symmetrically mounted on one end of the support inner rod.
  • the support inner rod is nested on the support rod sleeve through the matching of the support guide block and the support guide groove, and the support rod is mounted on the upper end of the support inner rod, and the support spring is nested in the support rod
  • the inner rod and the outer side of the support rod sleeve are supported, and one end of the support spring is mounted on the longitudinal beam, and the other end is mounted on the lower side of the body support plate.
  • the tensioning mechanism includes a first spring support, a tensioning inner rod tensioning guide block, a tensioning rod sleeve, a tensioning guide groove, a tension spring, and a second spring support, wherein the tensioning rod sleeve passes through Second spring support installation
  • two tensioning guide grooves are symmetrically opened in the tensioning rod sleeve
  • tensioning guide blocks are symmetrically mounted on one end of the tensioning inner rod
  • the inner rod is tensioned by tensioning the guiding block and tightening the guiding groove
  • the fitting is nested on the tensioning rod sleeve, and one end of the tensioning inner rod is mounted on the rotating shaft sleeve through the first spring support, and the tensioning spring is nested outside the tensioning inner rod and the tensioning rod sleeve, and the spring end is tightened. It is mounted on the first spring support and the other end is mounted on the second spring support.
  • the tension spring and the support spring are both compression springs.
  • one end of the tension rod sleeve is provided with a tension limiting ring
  • one end of the support rod sleeve is provided with a support limiting ring.
  • the crawler belt is connected by a plurality of links, and the crawler belt is wound around the driving wheel, and the vehicle body is directly mounted on the upper side of the crawler belt by the supporting mechanism, and there is no support between the lower side and the upper side of the crawler belt, that is, The lower track that is in contact with the ground is not connected to any rotating parts except that the sides are connected to the drive wheels.
  • This design is to ensure that the present invention does not become entangled and cannot walk like a conventional track having a support wheel.
  • the drive wheel is rotated by the power system through the transmission of the first chain wheel and the second chain wheel.
  • the weight of the vehicle body of the invention is completely transmitted to the lower crawler belt by the crawler belt; the specific way is: the first chain piece and the second chain piece of the adjacent chain pieces in the track are connected by the cylindrical pin, and the hinge point is biased toward the two chain pieces.
  • On one side there is an elastic piece between the two links, and the two elastic pieces contact each other to generate an elastic force, so that the angle between the two links is an obtuse angle; the link with the obtuse angle can provide a bearing force for the track.
  • the limiting piece is designed, and the limiting piece ensures that the two chain pieces are subjected to a force of nearly 180 degrees, and then the adjacent limiting piece produces a rigid contact to maintain an angle between the two links, and the two pieces are obtuse.
  • the direction can be changed at will, as shown in Figure 9, which can be as small as an acute angle, which allows the track to be in good contact with the drive wheel for driving by the drive wheel.
  • the angle design of the chain allows the track to bend to one side at will, while the other side needs to overcome the elastic force and bend to a certain obtuse angle, so that it can not be bent.
  • This design can make the end-to-end connected track exert force on the upper side.
  • the crawler maintains its distribution close to the ellipse under the elastic force of the elastic piece between the links, and the larger the force applied, the flatter the ellipse and the greater the elastic force of the crawler feedback.
  • the track installation needs to ensure that the obtuse angle of the chain is toward the inner side of the track ring.
  • the body is supported by the track by the elliptical maintenance of the track itself, and the overall compression resistance of the upper and lower sides of the track plays a buffering and damping effect on the body.
  • the crawler is driven by the driven wheel, and the body passes through the support mechanism with the rotatable spool The moving track is kept in place, and the rotatable spool can offset the horizontal movement of the support point track when the body is pressed against the track.
  • the rigidity of the body and the chassis is poor, so that the auxiliary support mechanism is connected to the longitudinal beam on both sides of the vehicle body, so as to strengthen the vehicle when it encounters large protrusions and pits.
  • the overall rigidity of the body and the chassis prevents the body from coming off the chassis because of insufficient strength of the track.
  • the auxiliary support mechanism is a retractable and elastic mechanism, wherein the limit ring serves to prevent the support inner rod from sliding out of the support rod sleeve.
  • the tensioning mechanism is designed to have a telescopic function nesting structure and has pressure resistance.
  • the purpose of the tension limiting ring design is to prevent the tensioning inner rod from sliding out of the tensioning rod sleeve.
  • the invention improves the crawler belt, so that the crawler belt can bear the pressure of the vehicle body, and the design of the plurality of support wheels in the crawler belt is eliminated, and the general weed or the wrapable object is prevented from being wound on the support wheel, thereby causing the failure of the crawler wheel; The passability of the wheel.
  • the two power systems designed in the present invention respectively operate independently of each other by the crawler belts on both sides of the chain to achieve the purpose of controlling steering.
  • the lower side of the track in contact with the ground during the steering process will be subjected to the lateral force of the ground.
  • the crawler belt of the present invention has a weak lateral load capacity because of the absence of the supporting structure, and the lateral force generated by the ground easily affects the crawler belt.
  • a special design structure is installed on the ground contact side of the first chain and the second chain, and the pendulum can be placed on the pendulum
  • the shell is telescopic, and the elastic force of the third leaf spring is applied during the telescopic process, and is always in the longest state of the swing rod and the pendulum shell without external force.
  • the pendulum shell can slide on the swinging trapezoidal block, and can swing around the swing axis as a whole with the pendulum rod; during the swinging process, one side of the pendulum shell and the swing bar will press the bar to promote the block.
  • the strip is forced to oscillate as it swings, and at the same time compresses the second leaf spring on one side, and the strip is elastically biased by the second leaf spring to limit the swing of the swing shell and the swing rod.
  • a parallelogram is formed between the drawbar and the two swing bars, and the design of the drawbar ensures that the two swing bars on both sides of the chain hole are synchronously oscillated.
  • the swinging lever in the swinging direction is subjected to lateral force to move toward the inside of the pendulum casing, and simultaneously oscillates in the direction of the lateral force, and finally the pendulum rod is retracted into the pendulum case.
  • the swinging shell and the swinging rod are swung in the same direction as the lateral force.
  • the crawler belt is in the lateral moving direction, and the pendulum swinging rod which is in contact with the ground is deflected to the extent that the contact area with the ground in the steering direction is the smallest. Compared with the first chain, it completely reduces contact with the ground.
  • the surface minimizes the lateral force experienced in the track steering, thereby protecting the track and ensuring smooth steering.
  • the pendulum shell moves toward the side of the swinging rod, and the pendulum shell moves completely to the side of the swinging shaft swinging rod and rotates to the same direction as the lateral force.
  • the mechanism After the lateral movement and the swing are stopped, or after the link between the track and the ground is separated from the ground during the movement, the mechanism returns to the original position under the action of the second leaf spring and the third leaf spring.
  • the pendulum swing pen is guaranteed to be perpendicular to the walking direction under the action of the second leaf spring to achieve the maximum frictional force with the ground to obtain the maximum walking ability.
  • the first leaf spring support and the second leaf spring support are in contact with the first chain piece.
  • the purpose of the design is that the swing rod and the pendulum shell are the force-receiving parts between the vehicle and the ground, and in order to increase the strength of the swing rod and the pendulum shell, the swing rod is A first leaf spring support and a second leaf spring support are designed as an auxiliary support between the pendulum shell and the vehicle.
  • the first triangular guide block and the second triangular guide block are designed to produce a relative sliding between the ground and the pendulum swing pendulum during the chain swinging process, and the triangular design can reduce the sliding resistance and reduce the lateral direction of the crawler belt. force.
  • the damper acts as a limit angle for the swinging of the pendulum shell and the swinging bar, in order to ensure the minimum resistance, the angle of the steering angle of the vehicle is required to be smaller than the limiting angle of the damper to the pendulum shell when the track is turned;
  • the telescopic design of the pendulum rod ensures that the pendulum shell and the pendulum rod can be fully retracted to one side of the swinging shaft, so that the swing pendulum pendulum shell can be rotated into the same direction as the lateral force under the action of the lateral force, such as the direction wheel. The turn.

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Abstract

一种带转向保护的无支撑防缠绕履带轮，包括驱动轮（1）、支撑机构（3）、履带（9）、转轴（12）、动力系统（13）、传动轴（14），其中履带（9）通过多个链片连接，履带（9）中两个链片之间具有弹性片（48），两个弹性片（48）接触互相产生弹力，使得两个链片之间的夹角为钝角；钝角连接的链片使得履带具有承受力。该履带（9）缠绕在驱动轮（1）上，车身可通过支撑机构（3）直接安装在履带的上侧，而履带的下侧和上侧之间可以没有任何支撑，即与地面接触的下侧履带上除了两侧与驱动轮连接外，没有与任何旋转部件连接。履带可以承受车身的压力，不需要在履带中涉及多支撑轮，防止杂草或者可缠绕物缠绕在支撑轮上而引起履带轮的失效，提高了履带轮的可通过性。

Description

一种带转向保护的无支撑防缠绕履带轮 所属技术领域
本发明属于履带驱动技术领域，尤其涉及一种带转向保护的无支撑防缠绕履带轮。
背景技术
目前履带驱动使用在工程车的各个方面；工程车履带的耐用性、任何地形的可通过性和防破坏性等都是评价一辆履带工程车质量的主要指标；特别是行驶在具有各种植物、可缠绕车轮的秸秆或者具有被抛弃的具有一定长度的钢丝的地面，履带驱动轮尖角均会较容易的被缠绕，轻者导致驱动受阻，重者破坏履带结构，造成较大的损失，影响工作任务。所以设计一种防缠绕的履带驱动轮是很有必要的。
本发明设计一种带转向保护的无支撑防缠绕履带轮解决如上问题。
发明内容
为解决现有技术中的上述缺陷，本发明公开一种带转向保护的无支撑防缠绕履带轮，它是采用以下技术方案来实现的。
一种带转向保护的无支撑防缠绕履带轮，其特征在于：它包括驱动轮、拉紧机构、支撑机构、横梁、车身支板、车身弯板、纵梁、辅助支撑机构、履带、第二链条轮、转轴套、转轴、动力系统、传动轴、第一链条轮，其中两根纵梁通过两根横梁连接在一起，每根纵梁的一端均安装有一个转轴套，另一端均通过拉紧机构安装有一个转轴套；四个转轴套中均分别安装有一根转轴；每根转轴一端均安装有驱动轮，在四个驱动轮中，同侧的两个驱动轮上共同安装有一个履带；两个相同的动力系统并排安装在横梁上，两个动力系统均通过传动轴安装有第一链条轮，两个第二链条轮分别安装在纵梁一端的相互对称的两个转轴上，两个第一链条轮分别与两个第二链条轮通过链条连接；车身弯板两侧均安装有一个车身支板，每个车身支板下侧的两端通过两个辅助支撑机构安装在纵梁上；每个车身支板下侧的中间位置还通过两个支撑机构安装在履带上。
上述履带包括第一链片、链条孔、中间耳、圆柱销、侧支耳、第二链片、弹性片、限位片、支撑条、第二板簧、挡条、第一三角导块、第一板簧支撑、摆壳、第三板簧、摆杆、拉杆槽、第二三角导块、第二板簧支撑、拉杆、摆动轴、摆动 梯型块、摆杆导槽、摆杆槽、摆壳导轨、摆杆导条、拉杆轴，其中履带由第一链片与第二链片交叉连接组成，相邻链片之间的安装方式如下，第一链片与第二链片中间均开有梯型的链条孔，第一链片一端中间位置安装有中间耳，第二链片一端的两侧均安装有一个侧支耳，中间支耳通过圆柱销安装在两个侧支耳之间，且第一链片与第二链片安装成钝角；中间耳与侧支耳安装位置均位于第一链片与第二链片铰接处偏向钝角一面；第一链片与第二链片铰接处非钝角一面均安装有限位片，且限位片下侧均安装有弹性片，两个弹性片相邻的弯部一端配合，两个限位片相邻一端配合，链条孔与驱动轮上的链条尖角配合；第一链片与第二链片背面上安装的结构完全相同，且相互对称，对于第一链片，在链条孔两侧安装有相似结构，对于其中一侧，支撑条安装在第一链片一端，挡条通过两端的两个第二板簧安装在支撑条一侧，且挡条与第一链片具有一定的间隙；摆动梯形块通过摆动轴安装在第一链片上；摆壳一端通过第一板簧支撑安装有第一三角导块，第一板簧支撑下侧与第一链片接触摩擦，摆壳另一端具有摆杆槽，摆杆槽内对称地开有两个摆杆导槽，摆杆槽下侧具有摆壳导轨，摆壳通过摆壳导轨与摆动梯形块的配合安装在第一链片上；摆杆一端通过第二板簧支撑安装有第二三角导块，第二板簧支撑下侧与第一链片接触摩擦，第二三角导块尖角处开有拉杆槽，拉杆轴安装在拉杆槽中，摆杆另一端的两侧对称地安装有两个摆杆导条，摆杆通过摆杆导条与摆杆导槽的配合嵌套于摆壳中；拉杆轴轴线与摆动轴轴线组成的平面与摆壳侧面平行；第三板簧一端安装在第一板簧支撑上，另一端安装在第二板簧支撑上，且与第一链片具有间隙；在链条孔的另一侧，与上述一侧对称地分布有相互安装位置相同的第一三角导块、第一板簧支撑、摆壳、第三板簧、摆杆、拉杆槽、第二三角导块、第二板簧支撑、摆动轴、摆动梯型块、摆杆导槽、摆杆槽、摆壳导轨、摆杆导条、拉杆轴；在链条孔两侧相互对应的两个拉杆轴之间安装有拉杆。
上述支撑机构包括支撑板、第一板簧、滑柱转轴、调节板、上滑柱、下滑柱、上固定板、连接板、下固定板、调节轴、安装耳、滑柱转孔，其中支撑板安装在车身支板下侧，支撑板下侧通过调节轴与安装耳的嵌套配合安装有两个调节板，且两个调节板的安装耳在调节轴上交错安装；两个调节板的相关安装结构完全相同，对于其中任意一个，调节板下侧两端均安装有一个上固定板，每个上固定板下侧均通过连接板安装有一个下固定板，上固定板与下固定板上均开有两个滑柱 转孔，在调节板两端两个上固定板上相对应的两组滑柱转孔中，每组滑柱转孔均通过同一根滑柱转轴安装有一根上滑柱；两个下固定板上相对应的两组滑柱转孔中，每组滑柱转孔均通过同一根滑柱转轴安装有一根下滑柱，上滑柱与履带上侧接触，下滑柱与履带下侧接触；支撑板与两侧的调节板之间均安装有第一板簧。
作为本技术的进一步改进，上述辅助支撑机构包括支撑弹簧、支撑内杆、支撑导槽、支撑杆套，其中支撑杆套安装在纵梁上，支撑杆套内对称地开有两个支撑导槽，支撑内杆一端两侧对称安装有支撑导块，支撑内杆通过支撑导块与支撑导槽的配合嵌套安装在支撑杆套上，支撑内杆上端安装有车身支板，支撑弹簧嵌套在支撑内杆与支撑杆套外侧，且支撑弹簧一端安装在纵梁上，另一端安装在车身支板下侧。
作为本技术的进一步改进，上述拉紧机构包括第一弹簧支撑、拉紧内杆拉紧导块、拉紧杆套、拉紧导槽、拉紧弹簧、第二弹簧支撑，其中拉紧杆套通过第二弹簧支撑安装在纵梁一端，拉紧杆套内对称地开有两个拉紧导槽，拉紧内杆一端两侧对称安装有拉紧导块，拉紧内杆通过拉紧导块与拉紧导槽的配合嵌套安装在拉紧杆套上，拉紧内杆一端通过第一弹簧支撑安装在转轴套上，拉紧弹簧嵌套在拉紧内杆与拉紧杆套外侧，且拉紧弹簧一端安装在第一弹簧支撑上，另一端安装在第二弹簧支撑上。
作为本技术的进一步改进，上述拉紧弹簧和支撑弹簧均为压缩弹簧。
作为本技术的进一步改进，上述拉紧杆套一端安装有拉紧限位环，上述支撑杆套一端安装有支撑限位环。
相对于传统的履带驱动技术，本发明中履带通过多个链片连接，履带缠绕在驱动轮上，车身通过支撑机构直接安装在履带的上侧，而履带的下侧和上侧之间没有任何支撑，即与地面接触的下侧履带上除了两侧与驱动轮连接外，没有与任何旋转部件连接，这样的设计是为了确保本发明不会像传统具有支撑轮的履带那样容易被缠绕而无法行走。驱动轮通过动力系统经过第一链条轮与第二链条轮的传动带动旋转。本发明车身重量全靠履带自身传导到下侧履带中；具体方式为：履带中相邻链片之间第一链片与第二链片通过圆柱销连接，铰接点偏向于两个链片的一面，两个链片之间具有弹性片，两个弹性片接触互相产生弹力，使得两个链片之间的夹角为钝角；钝角连接的链片能够为履带提供承受力。另外在弹性片 偏向与铰接点的一侧具有限位片；两个链片在钝角方向的面受到压力后，压力会压缩弹性片，使得链片之间的夹角会增大，并达到共面，甚至达到大于180度，这就是履带失去了承重作用。所以设计限位片，限位片保证了两个链片受力达到接近180度后相邻限位片产生刚性接触以维持两个链片之间夹角为钝角，而两个链片向钝角方向可以随意改变角度，可以小到变成锐角，这样可以使得履带与驱动轮完好的接触，以便于被驱动轮驱动。链片的角度设计使得履带可以随便弯向一侧，而另一侧弯折需要克服弹力并且弯到一定的钝角后就不可弯折，这样的设计可以使得首尾连接的履带在上侧施力时，履带在链片之间弹性片弹力作用下自身维持接近椭圆的分布，而施力越大椭圆越扁，履带反馈的弹力越大。实际安装中，履带安装需要保证链片钝角方面朝向履带圈内侧，车身依靠履带自身的椭圆维持作用而被履带支撑，并且履带的上下侧的整体抗压变形能力对车身起到了缓冲减震目的，履带在被驱动轮带动行走中，车身通过具有可旋转滑柱的支撑机构与移动的履带保持配合，在车身对履带施压情况下可旋转滑柱可以抵消支撑点履带的水平运动。但这种安装方式，其车身与底盘的刚度较差，所以在车身两侧还通过辅助支撑机构与纵梁连接，这样的目的在于当车辆遇到较大的凸起和凹坑时起到加强车身与底盘整体刚性的作用，防止因为履带强度不够而使得车身脱离底盘的情况发生。辅助支撑机构为可伸缩的具有弹性的机构，其中限位环起到了防止支撑内杆滑出支撑杆套的作用。当路面不好时，履带被车身压扁，此时履带会变的松弛，所以设计拉紧机构可保证履带始终处于张紧状态，保证传动顺利进行。拉紧机构设计为具有伸缩功能嵌套结构，并且具有抗压性，拉紧限位环设计的目的在于防止拉紧内杆滑出拉紧杆套。本发明通过对履带改进，使履带自身可以承受车身的压力，免除了履带中众多支撑轮的设计，防止一般的杂草或者可缠绕物缠绕在支撑轮上而引起履带轮的失效；提高了履带轮的可通过性。
另外本发明中设计的两个动力系统分别通过链条控制两侧的履带相互独立地运行，达到控制转向的目的。但转向过程中履带与地面接触的下侧会受到的地面横向力的作用，而本发明中的履带因为没有支撑结构而横向承载能力较弱，地面产生的横向力极易对履带产生影响行走的破坏作用，所以为了增强无支撑履带在转向横移过程中的抗横向力的能力，在第一链片与第二链片的与地面接触的一面安装有特殊设计的结构，摆杆可以在摆壳中伸缩，伸缩过程中受到第三板簧的 弹性作用，始终在没有外力情况下处于摆杆与摆壳的最长状态。摆壳可以滑动在摆动梯形块上，并且与摆杆作为整体可以围绕摆动轴摆动一定的角度；摆动过程中，摆壳与摆杆两侧的某一侧将会对挡条施压，促使挡条随着摆动而发生被迫摆动，同时对某一侧的第二板簧进行压缩，挡条受到第二板簧弹性作用将会对摆壳与摆杆的摆动起到限角度的作用。拉杆与两个摆杆之间形成了平行四边形，拉杆的设计保证了链条孔两侧的两个摆杆同步摆动。当车辆转向时，两侧的履带的运行速度不同，速度差使得车辆得以转向。而速度差会导致履带与地面产生摩擦旋转，履带会受到横向力的作用。当履带发生一个方向的横向摆动时，在摆动方向上的摆杆受到横向力而向摆壳内部运动，同时沿着横向力的方向整体摆动，最终摆杆缩入摆壳中，同时摆壳与摆杆摆动到与横向力相同方向的方向，此时履带在横向运动方向上，与地面接触的摆壳摆杆经过转向达到了在转向方向上与地面接触面积最小的程度，相比于第一链片完全与地面接触大大减小了接触面，使得履带转向中受到的横向力最小，进而保护了履带，保证了转向的顺利进行。如果摆动方向与上述方向相反，则摆壳向摆杆一侧运动，摆壳完全运动到摆动轴摆杆一侧，并旋转到与横向力同方向处。当横向运动及摆动停止后，在第二板簧、第三板簧作用下机构恢复到原始位置。车辆正常直线行走时，摆壳摆杆在第二板簧的作用下保证与行走方向垂直，达到与地面产生最大摩擦力的目的，以获得最大的行走能力。第一板簧支撑与第二板簧支撑与第一链片接触的设计目的在于，摆杆与摆壳为车辆与地面之间的受力部件，为了增加摆杆与摆壳强度，在摆杆摆壳与车辆之间设计了第一板簧支撑与第二板簧支撑作为辅助支撑。第一三角导块与第二三角导块的设计目的在于，在链片摆动过程中，地面与摆壳摆杆之间产生相对滑动，三角的设计能够减小滑动阻力，减小履带受到的横向力。因为挡条对摆壳与摆杆的摆动起到限角度的作用，所以履带转向时为了保证受到的阻力最小就要求车辆转向角度的补角要小于挡条对摆壳的限位角度。
附图说明
图1是整体部件分布示意图。
图2是整体部件分布透视图。
图3是车身板结构示意图。
图4是底盘结构示意图。
图5是支撑机构结构示意图。
图6是支撑机构结构侧视图。
图7是固定板安装示意图。
图8是辅助支撑机构及拉紧机构结构示意图。
图9是链片连接示意图。
图10是第二链片结构示意图。
图11是第一链片结构示意图。
图12是履带转向保护结构安装示意图。
图13是履带转向保护结构剖视图。
图14是摆壳结构示意图。
图15是摆杆结构示意图。
图16是摆动梯形块结构示意图。
图17是摆杆与摆壳安装剖视图。
图18是拉杆安装定位示意图。
图19是转向保护机构运行示意图。
图中标号名称：1、驱动轮，2、拉紧机构，3、支撑机构，4、横梁，5、车身支板，6、车身弯板，7、纵梁，8、辅助支撑机构，9、履带，10、第二链条轮，11、转轴套，12、转轴，13、动力系统，14、传动轴，15、第一链条轮，16、支撑板，17、第一板簧，18、滑柱转轴，19、调节板，20、上滑柱，21、下滑柱，22、上固定板，23、连接板，24、下固定板，25、调节轴，26、安装耳，27、滑柱转孔，28、第一弹簧支撑，29、拉紧内杆，30、拉紧限位环，31、拉紧导块，32、拉紧杆套，33、拉紧导槽，34、拉紧弹簧，35、第二弹簧支撑，36、支撑弹簧，37、支撑限位环，38、支撑内杆，39、支撑导槽，40、支撑杆套，41、第一链片，42、链条孔，43、中间耳，44、圆柱销，45、侧支耳，47、第二链片，48、弹性片，49、限位片，51、支撑条，52、第二板簧，53、挡条，54、第一三角导块，55、第一板簧支撑，56、摆壳，57、第三板簧，58、摆杆，60、拉杆槽，61、第二三角导块，62、第二板簧支撑，63、拉杆，64、摆动轴，65、摆动梯型块，66、摆杆导槽，67、摆杆槽，68、摆壳导轨，69、摆杆导条，70、拉杆轴。
具体实施方式
如图1、2所示，它包括驱动轮、拉紧机构、支撑机构、横梁、车身支板、车身弯板、纵梁、辅助支撑机构、履带、第二链条轮、转轴套、转轴、动力系统、传动轴、第一链条轮，其中如图4所示，两根纵梁通过两根横梁连接在一起，每根纵梁的一端均安装有一个转轴套，另一端均通过拉紧机构安装有一个转轴套；四个转轴套中均分别安装有一根转轴；每根转轴一端均安装有驱动轮，在四个驱动轮中，同侧的两个驱动轮上共同安装有一个履带；两个相同的动力系统并排安装在横梁上，两个动力系统均通过传动轴安装有第一链条轮，两个第二链条轮分别安装在纵梁一端的相互对称的两个转轴上，两个第一链条轮分别与两个第二链条轮通过链条连接；如图3所示，车身弯板两侧均安装有一个车身支板，如图2所示，每个车身支板下侧的两端通过两个辅助支撑机构安装在纵梁上；每个车身支板下侧的中间位置还通过两个支撑机构安装在履带上。
如图9所示，上述履带包括第一链片、链条孔、中间耳、圆柱销、侧支耳、第二链片、弹性片、限位片、支撑条、第二板簧、挡条、第一三角导块、第一板簧支撑、摆壳、第三板簧、摆杆、拉杆槽、第二三角导块、第二板簧支撑、拉杆、摆动轴、摆动梯型块、摆杆导槽、摆杆槽、摆壳导轨、摆杆导条、拉杆轴，其中如图9所示，履带由第一链片与第二链片交叉连接组成，相邻链片之间的安装方式如下，第一链片与第二链片中间均开有梯型的链条孔，如图11所示，第一链片一端中间位置安装有中间耳，如图10所示，第二链片一端的两侧均安装有一个侧支耳，中间支耳通过圆柱销安装在两个侧支耳之间，且如图9所示，第一链片与第二链片安装成钝角；中间耳与侧支耳安装位置均位于第一链片与第二链片铰接处偏向钝角一面；第一链片与第二链片铰接处非钝角一面均安装有限位片，且限位片下侧均安装有弹性片，两个弹性片相邻的弯部一端配合，两个限位片相邻一端配合，链条孔与驱动轮上的链条尖角配合。如图12、13所示，第一链片与第二链片背面上安装的结构完全相同，且相互对称，对于第一链片，在链条孔两侧安装有相似结构，对于其中一侧，支撑条安装在第一链片一端，挡条通过两端的两个第二板簧安装在支撑条一侧，且挡条与第一链片具有一定的间隙；如图12、16所示，摆动梯形块通过摆动轴安装在第一链片上；如图14所示，摆壳一端通过第一板簧支撑安装有第一三角导块，第一板簧支撑下侧与第一链片接触摩擦，摆壳另一端具有摆杆槽，摆杆槽内对称地开有两个摆杆导槽，摆杆槽下侧具 有摆壳导轨，摆壳通过摆壳导轨与摆动梯形块的配合安装在第一链片上；如图15所示，摆杆一端通过第二板簧支撑安装有第二三角导块，第二板簧支撑下侧与第一链片接触摩擦，第二三角导块尖角处开有拉杆槽，拉杆轴安装在拉杆槽中，摆杆另一端的两侧对称地安装有两个摆杆导条，如图13、17所示，摆杆通过摆杆导条与摆杆导槽的配合嵌套于摆壳中；如图18所示，拉杆轴轴线与摆动轴轴线组成的平面与摆壳侧面平行；如图13所示，第三板簧一端安装在第一板簧支撑上，另一端安装在第二板簧支撑上，且与第一链片具有间隙；在链条孔的另一侧，与上述一侧对称地分布有相互安装位置相同的第一三角导块、第一板簧支撑、摆壳、第三板簧、摆杆、拉杆槽、第二三角导块、第二板簧支撑、摆动轴、摆动梯型块、摆杆导槽、摆杆槽、摆壳导轨、摆杆导条、拉杆轴；在链条孔两侧相互对应的两个拉杆轴之间安装有拉杆。
如图5、6、7所示，上述支撑机构包括支撑板、第一板簧、滑柱转轴、调节板、上滑柱、下滑柱、上固定板、连接板、下固定板、调节轴、安装耳、滑柱转孔，其中支撑板安装在车身支板下侧，支撑板下侧通过调节轴与安装耳的嵌套配合安装有两个调节板，如图7所示，且两个调节板的安装耳在调节轴上交错安装；两个调节板的相关安装结构完全相同，对于其中任意一个，调节板下侧两端均安装有一个上固定板，每个上固定板下侧均通过连接板安装有一个下固定板，上固定板与下固定板上均开有两个滑柱转孔，在调节板两端两个上固定板上相对应的两组滑柱转孔中，每组滑柱转孔均通过同一根滑柱转轴安装有一根上滑柱；两个下固定板上相对应的两组滑柱转孔中，每组滑柱转孔均通过同一根滑柱转轴安装有一根下滑柱，上滑柱与履带上侧接触，下滑柱与履带下侧接触；支撑板与两侧的调节板之间均安装有第一板簧。
如图8所示，上述辅助支撑机构包括支撑弹簧、支撑内杆、支撑导槽、支撑杆套，其中支撑杆套安装在纵梁上，支撑杆套内对称地开有两个支撑导槽，支撑内杆一端两侧对称安装有支撑导块，支撑内杆通过支撑导块与支撑导槽的配合嵌套安装在支撑杆套上，支撑内杆上端安装有车身支板，支撑弹簧嵌套在支撑内杆与支撑杆套外侧，且支撑弹簧一端安装在纵梁上，另一端安装在车身支板下侧。
如图8所示，上述拉紧机构包括第一弹簧支撑、拉紧内杆拉紧导块、拉紧杆套、拉紧导槽、拉紧弹簧、第二弹簧支撑，其中拉紧杆套通过第二弹簧支撑安装 在纵梁一端，拉紧杆套内对称地开有两个拉紧导槽，拉紧内杆一端两侧对称安装有拉紧导块，拉紧内杆通过拉紧导块与拉紧导槽的配合嵌套安装在拉紧杆套上，拉紧内杆一端通过第一弹簧支撑安装在转轴套上，拉紧弹簧嵌套在拉紧内杆与拉紧杆套外侧，且拉紧弹簧一端安装在第一弹簧支撑上，另一端安装在第二弹簧支撑上。
上述拉紧弹簧和支撑弹簧均为压缩弹簧。
如图8所示，上述拉紧杆套一端安装有拉紧限位环，上述支撑杆套一端安装有支撑限位环。
综上所述，本发明中履带通过多个链片连接，履带缠绕在驱动轮上，车身通过支撑机构直接安装在履带的上侧，而履带的下侧和上侧之间没有任何支撑，即与地面接触的下侧履带上除了两侧与驱动轮连接外，没有与任何旋转部件连接，这样的设计是为了确保本发明不会像传统具有支撑轮的履带那样容易被缠绕而无法行走。驱动轮通过动力系统经过第一链条轮与第二链条轮的传动带动旋转。本发明车身重量全靠履带自身传导到下侧履带中；具体方式为：履带中相邻链片之间第一链片与第二链片通过圆柱销连接，铰接点偏向于两个链片的一面，两个链片之间具有弹性片，两个弹性片接触互相产生弹力，使得两个链片之间的夹角为钝角；钝角连接的链片能够为履带提供承受力。另外在弹性片偏向与铰接点的一侧具有限位片；两个链片在钝角方向的面受到压力后，压力会压缩弹性片，使得链片之间的夹角会增大，并达到共面，甚至达到大于180度，这就是履带失去了承重作用。所以设计限位片，限位片保证了两个链片受力达到接近180度后相邻限位片产生刚性接触以维持两个链片之间夹角为钝角，而两个链片向钝角方向可以随意改变角度，如图9所示，可以小到变成锐角，这样可以使得履带与驱动轮完好的接触，以便于被驱动轮驱动。链片的角度设计使得履带可以随便弯向一侧，而另一侧弯折需要克服弹力并且弯到一定的钝角后就不可弯折，这样的设计可以使得首尾连接的履带在上侧施力时，履带在链片之间弹性片弹力作用下自身维持接近椭圆的分布，而施力越大椭圆越扁，履带反馈的弹力越大。实际安装中，履带安装需要保证链片钝角方面朝向履带圈内侧，车身依靠履带自身的椭圆维持作用而被履带支撑，并且履带的上下侧的整体抗压变形能力对车身起到了缓冲减震目的，履带在被驱动轮带动行走中，车身通过具有可旋转滑柱的支撑机构与移 动的履带保持配合，在车身对履带施压情况下可旋转滑柱可以抵消支撑点履带的水平运动。但这种安装方式，其车身与底盘的刚度较差，所以在车身两侧还通过辅助支撑机构与纵梁连接，这样的目的在于当车辆遇到较大的凸起和凹坑时起到加强车身与底盘整体刚性的作用，防止因为履带强度不够而使得车身脱离底盘的情况发生。辅助支撑机构为可伸缩的具有弹性的机构，其中限位环起到了防止支撑内杆滑出支撑杆套的作用。当路面不好时，履带被车身压扁，此时履带会变的松弛，所以设计拉紧机构可保证履带始终处于张紧状态，保证传动顺利进行。拉紧机构设计为具有伸缩功能嵌套结构，并且具有抗压性，拉紧限位环设计的目的在于防止拉紧内杆滑出拉紧杆套。本发明通过对履带改进，使履带自身可以承受车身的压力，免除了履带中众多支撑轮的设计，防止一般的杂草或者可缠绕物缠绕在支撑轮上而引起履带轮的失效；提高了履带轮的可通过性。
另外本发明中设计的两个动力系统分别通过链条控制两侧的履带相互独立地运行，达到控制转向的目的。但转向过程中履带与地面接触的下侧会受到的地面横向力的作用，而本发明中的履带因为没有支撑结构而横向承载能力较弱，地面产生的横向力极易对履带产生影响行走的破坏作用，所以为了增强无支撑履带在转向横移过程中的抗横向力的能力，在第一链片与第二链片的与地面接触的一面安装有特殊设计的结构，摆杆可以在摆壳中伸缩，伸缩过程中受到第三板簧的弹性作用，始终在没有外力情况下处于摆杆与摆壳的最长状态。摆壳可以滑动在摆动梯形块上，并且与摆杆作为整体可以围绕摆动轴摆动一定的角度；摆动过程中，摆壳与摆杆两侧的某一侧将会对挡条施压，促使挡条随着摆动而发生被迫摆动，同时对某一侧的第二板簧进行压缩，挡条受到第二板簧弹性作用将会对摆壳与摆杆的摆动起到限角度的作用。拉杆与两个摆杆之间形成了平行四边形，拉杆的设计保证了链条孔两侧的两个摆杆同步摆动。当车辆转向时，两侧的履带的运行速度不同，速度差使得车辆得以转向。而速度差会导致履带与地面产生摩擦旋转，履带会受到横向力的作用。当履带发生横向摆动时，如图19所示的方向，在摆动方向上的摆杆受到横向力而向摆壳内部运动，同时沿着横向力的方向整体摆动，最终摆杆缩入摆壳中，同时摆壳与摆杆摆动到与横向力相同方向的方向，此时履带在横向运动方向上，与地面接触的摆壳摆杆经过转向达到了在转向方向上与地面接触面积最小的程度，相比于第一链片完全与地面接触大大减小了接触 面，使得履带转向中受到的横向力最小，进而保护了履带，保证了转向的顺利进行。如果摆动方向与图19中的相反，则摆壳向摆杆一侧运动，摆壳完全运动到摆动轴摆杆一侧，并旋转到与横向力同方向处。当横向运动及摆动停止后，或者在履带与地面接触处的链片在运动中脱离地面后，在第二板簧、第三板簧作用下机构恢复到原始位置。车辆正常直线行走时，摆壳摆杆在第二板簧的作用下保证与行走方向垂直，达到与地面产生最大摩擦力的目的，以获得最大的行走能力。第一板簧支撑与第二板簧支撑与第一链片接触的设计目的在于，摆杆与摆壳为车辆与地面之间的受力部件，为了增加摆杆与摆壳强度，在摆杆摆壳与车辆之间设计了第一板簧支撑与第二板簧支撑作为辅助支撑。第一三角导块与第二三角导块的设计目的在于，在链片摆动过程中，地面与摆壳摆杆之间产生相对滑动，三角的设计能够减小滑动阻力，减小履带受到的横向力。因为挡条对摆壳与摆杆的摆动起到限角度的作用，所以履带转向时为了保证受到的阻力最小就要求车辆转向角度的补角要小于挡条对摆壳的限位角度；摆壳与摆杆的伸缩设计为了保证摆壳与摆杆能够完全缩到摆动轴的一侧，这样才能使摆杆摆壳在横向力的作用下转动成与横向力同方向的位置，原理如方向轮的转向。

Claims (5)

  1. 一种带转向保护的无支撑防缠绕履带轮，其特征在于：它包括驱动轮、拉紧机构、支撑机构、横梁、车身支板、车身弯板、纵梁、辅助支撑机构、履带、第二链条轮、转轴套、转轴、动力系统、传动轴、第一链条轮，其中两根纵梁通过两根横梁连接在一起，每根纵梁的一端均安装有一个转轴套，另一端均通过拉紧机构安装有一个转轴套；四个转轴套中均分别安装有一根转轴；每根转轴一端均安装有驱动轮，在四个驱动轮中，同侧的两个驱动轮上共同安装有一个履带；两个相同的动力系统并排安装在横梁上，两个动力系统均通过传动轴安装有第一链条轮，两个第二链条轮分别安装在纵梁一端的相互对称的两个转轴上，两个第一链条轮分别与两个第二链条轮通过链条连接；车身弯板两侧均安装有一个车身支板，每个车身支板下侧的两端通过两个辅助支撑机构安装在纵梁上；每个车身支板下侧的中间位置还通过两个支撑机构安装在履带上；
    上述履带包括第一链片、链条孔、中间耳、圆柱销、侧支耳、第二链片、弹性片、限位片、支撑条、第二板簧、挡条、第一三角导块、第一板簧支撑、摆壳、第三板簧、摆杆、拉杆槽、第二三角导块、第二板簧支撑、拉杆、摆动轴、摆动梯型块、摆杆导槽、摆杆槽、摆壳导轨、摆杆导条、拉杆轴，其中履带由第一链片与第二链片交叉连接组成，相邻链片之间的安装方式如下，第一链片与第二链片中间均开有梯型的链条孔，第一链片一端中间位置安装有中间耳，第二链片一端的两侧均安装有一个侧支耳，中间支耳通过圆柱销安装在两个侧支耳之间，且第一链片与第二链片安装成钝角；中间耳与侧支耳安装位置均位于第一链片与第二链片铰接处偏向钝角一面；第一链片与第二链片铰接处非钝角一面均安装有限位片，且限位片下侧均安装有弹性片，两个弹性片相邻的弯部一端配合，两个限位片相邻一端配合，链条孔与驱动轮上的链条尖角配合；第一链片与第二链片背面上安装的结构完全相同，且相互对称，对于第一链片，在链条孔两侧安装有相似结构，对于其中一侧，支撑条安装在第一链片一端，挡条通过两端的两个第二板簧安装在支撑条一侧，且挡条与第一链片具有一定的间隙；摆动梯形块通过摆动轴安装在第一链片上；摆壳一端通过第一板簧支撑安装有第一三角导块，第一板簧支撑下侧与第一链片接触摩擦，摆壳另一端具有摆杆槽，摆杆槽内对称地开有两个摆杆导槽，摆杆槽下侧具有摆壳导轨，摆壳通过摆壳导轨与摆动梯形块的配合安装在第一链片上；摆杆一端通过第二板簧支撑安装有第二三角导块，第二 板簧支撑下侧与第一链片接触摩擦，第二三角导块尖角处开有拉杆槽，拉杆轴安装在拉杆槽中，摆杆另一端的两侧对称地安装有两个摆杆导条，摆杆通过摆杆导条与摆杆导槽的配合嵌套于摆壳中；拉杆轴轴线与摆动轴轴线组成的平面与摆壳侧面平行；第三板簧一端安装在第一板簧支撑上，另一端安装在第二板簧支撑上，且与第一链片具有间隙；在链条孔的另一侧，与上述一侧对称地分布有相互安装位置相同的第一三角导块、第一板簧支撑、摆壳、第三板簧、摆杆、拉杆槽、第二三角导块、第二板簧支撑、摆动轴、摆动梯型块、摆杆导槽、摆杆槽、摆壳导轨、摆杆导条、拉杆轴；在链条孔两侧相互对应的两个拉杆轴之间安装有拉杆；
    上述支撑机构包括支撑板、第一板簧、滑柱转轴、调节板、上滑柱、下滑柱、上固定板、连接板、下固定板、调节轴、安装耳、滑柱转孔，其中支撑板安装在车身支板下侧，支撑板下侧通过调节轴与安装耳的嵌套配合安装有两个调节板，且两个调节板的安装耳在调节轴上交错安装；两个调节板的相关安装结构完全相同，对于其中任意一个，调节板下侧两端均安装有一个上固定板，每个上固定板下侧均通过连接板安装有一个下固定板，上固定板与下固定板上均开有两个滑柱转孔，在调节板两端两个上固定板上相对应的两组滑柱转孔中，每组滑柱转孔均通过同一根滑柱转轴安装有一根上滑柱；两个下固定板上相对应的两组滑柱转孔中，每组滑柱转孔均通过同一根滑柱转轴安装有一根下滑柱，上滑柱与履带上侧接触，下滑柱与履带下侧接触；支撑板与两侧的调节板之间均安装有第一板簧。
  2. 根据权利要求1所述的一种带转向保护的无支撑防缠绕履带轮，其特征在于：上述辅助支撑机构包括支撑弹簧、支撑内杆、支撑导槽、支撑杆套，其中支撑杆套安装在纵梁上，支撑杆套内对称地开有两个支撑导槽，支撑内杆一端两侧对称安装有支撑导块，支撑内杆通过支撑导块与支撑导槽的配合嵌套安装在支撑杆套上，支撑内杆上端安装有车身支板，支撑弹簧嵌套在支撑内杆与支撑杆套外侧，且支撑弹簧一端安装在纵梁上，另一端安装在车身支板下侧。
  3. 根据权利要求1所述的一种带转向保护的无支撑防缠绕履带轮，其特征在于：上述拉紧机构包括第一弹簧支撑、拉紧内杆拉紧导块、拉紧杆套、拉紧导槽、拉紧弹簧、第二弹簧支撑，其中拉紧杆套通过第二弹簧支撑安装在纵梁一端，拉紧杆套内对称地开有两个拉紧导槽，拉紧内杆一端两侧对称安装有拉紧导块，拉紧内杆通过拉紧导块与拉紧导槽的配合嵌套安装在拉紧杆套上，拉紧内杆一端 通过第一弹簧支撑安装在转轴套上，拉紧弹簧嵌套在拉紧内杆与拉紧杆套外侧，且拉紧弹簧一端安装在第一弹簧支撑上，另一端安装在第二弹簧支撑上。
  4. 根据权利要求2或3所述的一种带转向保护的无支撑防缠绕履带轮，其特征在于：上述拉紧弹簧和支撑弹簧均为压缩弹簧。
  5. 根据权利要求2或3所述的一种带转向保护的无支撑防缠绕履带轮，其特征在于：上述拉紧杆套一端安装有拉紧限位环，上述支撑杆套一端安装有支撑限位环。
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CN106741252A (zh) * 2017-02-08 2017-05-31 泉州齐美电子科技有限公司 一种带转向保护的无支撑防缠绕履带轮

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