A crawler travel device with separable track shoes and adjustable track shoe height

Abstract

The present invention provides a crawler walking device with separable and height-adjustable crawler teeth, belonging to the field of crawler walking equipment. It solves the problem that traditional crawler teeth cannot be adjusted to balance the defects brought by the grip and the crawler teeth. It includes a crawler carrier assembly, a driving wheel, a load-bearing wheel assembly, a first guide wheel assembly, a crawler plate, a driving chain, a motor, and a movable crawler tooth assembly. Both ends of the driving wheel are rotatably connected to the upper positions on the left and right sides of the crawler carrier assembly. A plurality of load-bearing wheel assemblies arranged at equal intervals are provided on the lower side of the crawler carrier assembly. Each load-bearing wheel assembly includes two load-bearing wheels arranged symmetrically left and right with respect to the crawler carrier assembly. The stator and rotor of the motor are respectively rotatably connected to the left and right sides of the crawler carrier assembly, and the rotor is connected to the driving wheel. Each crawler plate is provided with a slot, and the movable crawler tooth assembly is used to adjust the protruding length of each crawler tooth in the corresponding slot. It is mainly used for the walking drive of heavy machinery.

Description

Technical Field

[0001] The present invention belongs to the field of crawler walking equipment, and particularly relates to a crawler walking device with separable tooth plates and adjustable tooth heights for the crawler teeth. Background Art

[0002] Human application of crawlers can be traced back to the 19th century, providing a way to help people move heavy objects on uneven terrains. The earliest crawlers were applied to agricultural machinery and steam tractors to improve their traction on the soil. With the development of the industrial revolution, crawler technology has been further improved and applied. During the First World War, crawlers were used on tanks, enabling them to move quickly on the battlefield and cross obstacles on the battlefield. Since then, crawler technology has also been widely applied in fields such as construction, mining, and forestry. Today, crawlers have become a standard configuration for various heavy machinery and equipment, such as excavators, bulldozers, and loaders, enabling these machines to drive and operate stably on uneven or soft ground.

[0003] Most existing crawlers adopt fixed crawler teeth and have the following disadvantages:

[0004] Ground damage: Fixed crawler teeth will exert greater pressure and cutting effects on the ground, easily damaging ground vegetation and soil structure, thus having an adverse impact on the ecological environment.

[0005] High energy consumption: Fixed crawler teeth need to overcome greater frictional resistance during driving, resulting in higher mechanical energy consumption and reducing mechanical efficiency.

[0006] Large vibrations: Since the contact area between the fixed crawler teeth and the ground is small, large vibrations and noises will be generated during driving, which not only affect the comfort of the operator but may also damage mechanical components.

[0007] Difficult maintenance: The installation and replacement of fixed crawler teeth are relatively difficult and require the use of specialized tools and equipment for operation, increasing the difficulty and cost of maintenance and repair.

[0008] However, crawler teeth can help the crawler generate better grip, and it is generally not feasible to directly remove the crawler teeth in most cases. Summary of the Invention

[0009] In view of this, the present invention aims to propose a crawler walking device with separable tooth plates and adjustable tooth heights for the crawler teeth to solve the problem that traditional crawler teeth are non-adjustable and cannot balance the defects brought by the grip of the crawler teeth.

[0010] To achieve the above object, the present invention adopts the following technical solutions: A crawler traveling device with adjustable height of separable crawler teeth and tread plates, comprising a crawler carrier assembly, a driving wheel, a load wheel assembly, a first guide wheel assembly, a tread plate, a driving chain, a motor and a movable crawler tooth assembly. The two ends of the driving wheel are rotatably connected to the upper positions on the left and right sides of the crawler carrier assembly. The two first guide wheel assemblies are symmetrically and rotatably connected to the front and rear sides of the crawler carrier assembly. Each first guide wheel assembly includes two first guide wheels arranged symmetrically left and right with respect to the crawler carrier assembly. A plurality of load wheel assemblies arranged at equal intervals are provided on the lower side of the crawler carrier assembly. Each load wheel assembly includes two load wheels arranged symmetrically left and right with respect to the crawler carrier assembly. Two driving chains are provided, and each driving chain is connected to the corresponding driving wheel, first guide wheel and a plurality of load wheels. A plurality of tread plates are provided and are evenly arranged along the length direction of the driving chain. The two ends of each tread plate are respectively connected to the driving chain on the corresponding side. The stator and rotor of the motor are respectively rotatably connected to the left and right sides of the crawler carrier assembly, and the rotor is connected to the driving wheel. The movable crawler tooth assembly is movably connected within the crawler carrier assembly. The movable crawler tooth assembly includes a plurality of crawler teeth. Each tread plate is provided with a slot, and the movable crawler tooth assembly is used to adjust the extending length of each crawler tooth in the slot at the corresponding position.

[0011] Furthermore, the crawler carrier assembly includes two crawler carriers, which are arranged symmetrically left and right and fixedly connected by a plurality of connecting rods. Each crawler carrier is provided with a tensioning device, and the tensioning device is used to tension the driving chain at the corresponding position.

[0012] Furthermore, a sealing rubber sheet is arranged in the slot on each tread plate, and the sealing rubber sheet is provided with openings adapted to the crawler teeth.

[0013] Furthermore, the stator of the motor is rotatably connected to the corresponding crawler carrier through a motor base.

[0014] Furthermore, the rotor of the motor is connected to the driving wheel through a motor shaft, and the motor shaft is rotatably connected to the corresponding crawler carrier.

[0015] Furthermore, a connecting piece is arranged at one end of the motor base extending outward from the crawler carrier.

[0016] Furthermore, the movable track tooth assembly further includes a driving assembly, a track tooth bracket, a passive chain, a second guide wheel, and track teeth. There are two driving assemblies, and the two driving assemblies are symmetrically arranged on the left and right sides of the track tooth bracket. The track tooth bracket is slidably connected vertically in the crawler carrier assembly. The fixed end of each driving assembly is hinged to the corresponding side of the crawler carrier, and the movable end of each driving assembly is hinged to the corresponding side wall surface of the track tooth bracket. A plurality of second guide wheels are rotatably connected to the track tooth bracket. The passive chain is an endless chain and is connected to each second guide wheel. The plurality of track teeth are evenly arranged on the outer side of the passive chain.

[0017] Furthermore, the driving assembly is an electric push rod.

[0018] Furthermore, the movable track tooth assembly further includes two guiding elements. The two guiding elements are symmetrically arranged on the left and right of the track tooth bracket. Each crawler carrier is provided with a slide rail adapted to the guiding element, and each guiding element is slidably connected in the slide rail at the corresponding position.

[0019] Furthermore, the profile of the track tooth is an involute.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. By setting the movable track tooth assembly, the present walking device can adjust the extending length of the track teeth on the track plate, and can be adjusted according to the use state. When fast walking is required, the track teeth can be completely retracted, thereby reducing the friction of the crawler and reducing the damage to the track plate. When a large soil traction force is required, the extending length of the track teeth on the track plate is increased, achieving a good balance between the action efficiency and the grip.

[0022] 2. The present walking device separates the track plate and the track teeth and installs them on two groups of chains respectively. With this design, finished chains can be used, with higher precision and lower cost. Compared with the implementation method of installing track teeth on each track plate through elastic elements, since the number of track teeth installed on the track plate is reduced in this design, the moment of inertia is smaller, the thickness of the track plate is thinner, and space is saved.

[0023] 3. Since the present walking device reduces the number of track teeth and elastic elements, the overall mass is lighter. Using two mature chain drives, compared with installing individual retractable track teeth on each track plate, the reliability is higher and the cost is lower.

[0024] 4. The present walking device does not need to use a pressing plate to control the telescopic movement of the track teeth in the form of sliding friction, which can reduce the resistance during rotation. Description of the Drawings

[0025] The accompanying drawings, which form a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 is a first - perspective three - dimensional structural schematic diagram of a crawler traveling device with separable tooth plates and adjustable tooth height according to the present invention;

[0027] Figure 2 is a second - perspective three - dimensional structural schematic diagram of a crawler traveling device with separable tooth plates and adjustable tooth height according to the present invention;

[0028] Figure 3 is a cross - sectional view of a crawler traveling device with separable tooth plates and adjustable tooth height according to the present invention;

[0029] Figure 4 is a structural schematic diagram of the movable tooth assembly according to the present invention;

[0030] Figure 5 is a structural schematic diagram of the tooth plate according to the present invention;

[0031] Figure 6 is a schematic diagram of the state where the teeth are retracted according to the present invention;

[0032] Figure 7 is a schematic diagram of the state where the teeth are extended according to the present invention;

[0033] Figure 8 is a simplified diagram of the state where the teeth are retracted according to the present invention;

[0034] Figure 9 is a simplified diagram of the state where the teeth are extended according to the present invention;

[0035] Figure 10 is a partial structural schematic diagram of the state where the teeth are retracted according to the present invention;

[0036] Figure 11 is a partial structural schematic diagram of the state where the teeth are extended according to the present invention.

[0037] Track retainer 11; Driving sprocket 12; Load - bearing wheel 13; First idler wheel 14; Tensioning device 15; Tooth plate 21; Sealing rubber sheet 22; Driving chain 23; Motor 31; Motor base 32; Connecting piece 33; Motor shaft 34; Electric push rod 41; Guide element 42; Tooth support 43; Driven chain 44; Second idler wheel 45; Tooth 46. Detailed implementation manners

[0038] The following will clearly and completely elaborate on the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0039] Referring to the accompanying drawings to illustrate this embodiment, a crawler walking device with adjustable height of separable crawler teeth on the crawler plate includes a crawler retainer assembly, a driving wheel 12, a load wheel assembly, a first guide wheel assembly, a crawler plate 21, a driving chain 23, a motor 31, and a movable crawler tooth assembly. The two ends of the driving wheel 12 are rotatably connected to the upper positions on the left and right sides of the crawler retainer assembly. The two first guide wheel assemblies are symmetrically rotatably connected to the front and rear sides of the crawler retainer assembly. Each first guide wheel assembly includes two first guide wheels 14 arranged symmetrically left and right with respect to the crawler retainer assembly. A plurality of load wheel assemblies arranged at equal intervals are provided on the lower side of the crawler retainer assembly. Each load wheel assembly includes two load wheels 13 arranged symmetrically left and right with respect to the crawler retainer assembly. Two driving chains 23 are provided, and each driving chain 23 is connected to the corresponding driving wheel 12, first guide wheel 14, and a plurality of load wheels 13. A plurality of crawler plates 21 are provided and are evenly arranged along the length direction of the driving chain 23. The two ends of each crawler plate 21 are respectively connected to the corresponding driving chain 23. The stator and rotor of the motor 31 are respectively rotatably connected to the left and right sides of the crawler retainer assembly, and the rotor is connected to the driving wheel 12. The movable crawler tooth assembly is movably connected within the crawler retainer assembly. The movable crawler tooth assembly includes a plurality of crawler teeth 46. Each crawler plate 21 is provided with a slot, and the movable crawler tooth assembly is used to adjust the protruding length of each crawler tooth 46 in the corresponding slot.

[0040] In this embodiment, the crawler retainer assembly includes two crawler retainers 11. The two crawler retainers 11 are arranged symmetrically left and right and are fixedly connected by a plurality of connecting rods. Each crawler retainer 11 is provided with a tensioning device 15. The tensioning device 15 is used to tension the driving chain 23 at the corresponding position. The tensioning device 15 adopts the prior art and will not be elaborated here. Through the connection method of the connecting rods, reliable support can be provided for the crawler retainer 11 and good maintenance economy can be provided.

[0041] In this embodiment, a sealing rubber sheet 22 is arranged in the slot on each crawler plate 21, and the sealing rubber sheet 22 is provided with openings adapted to the crawler teeth 46. The crawler teeth 46 protrude or retract through the openings on the sealing rubber sheet 22, which can reduce the occurrence of rigid collision phenomena and extend the service life of the crawler plate 21 and the crawler teeth 46.

[0042] In this embodiment, the stator of the motor 31 is rotatably connected to the crawler carrier 11 on the corresponding side through the motor base 32. By providing support through the motor base 32, the structure can be made more compact, and the motor 31 can also be installed in other ways.

[0043] In this embodiment, the rotor of the motor 31 is connected to the driving wheel 12 through the motor shaft 34, and the motor shaft 34 is rotatably connected to the crawler carrier 11 on the corresponding side. In this connection mode, when the ground has a slope, the crawler can automatically change the angle with the equipment main body to adapt to the ground and generate better grip.

[0044] In this embodiment, a connecting piece 33 is arranged at the outer end of the motor base 32 towards the crawler carrier 11. Through the connecting piece 33, the device can be connected to the equipment using this device, providing a flexible connection method and facilitating disassembly and maintenance.

[0045] In this embodiment, the movable track tooth assembly further includes electric push rods 41, track tooth brackets 43, a passive chain 44, second guide wheels 45, and track teeth 46. There are two electric push rods 41, and the two electric push rods 41 are symmetrically arranged on the left and right sides of the track tooth bracket 43. The track tooth bracket 43 is slidably connected vertically within the crawler carrier assembly. The fixed end of each electric push rod 41 is hinged to the crawler carrier 11 on the corresponding side, and the movable end of each electric push rod 41 is hinged to the corresponding side wall surface of the track tooth bracket 43. A plurality of second guide wheels 45 are rotatably connected to the track tooth bracket 43. The passive chain 44 is an endless chain and is connected to each second guide wheel 45. A plurality of track teeth 46 are evenly arranged on the outer side of the passive chain 44.

[0046] In this embodiment, the movable track tooth assembly further includes two guiding elements 42. The two guiding elements 42 are arranged symmetrically on the left and right of the track tooth bracket 43. A slide rail adapted to the guiding element 42 is provided on each crawler carrier 11, and each guiding element 42 is slidably connected within the slide rail at the corresponding position. By slidably arranging the guiding element 42 within the slide groove at the corresponding position, good sliding stability can be provided for the movable track tooth assembly.

[0047] Preferably, the profile of the track tooth 46 is an involute, and other forms of profiles are also within the protection scope of this application.

[0048] Tooth height adjustment: The electric push rod 41 is the prime mover. When it is necessary to increase the height of the tooth 46, the movable end of the electric push rod 41 extends downward. The tooth support 43 hinged to the movable end of the electric push rod 41 will move downward as a whole, thereby driving the tooth 46 to move downward. The lower end of the tooth 46 is inserted into the hollow part of the tread plate 21. The sealing rubber sheet 22 adhered to the tread plate will be bent and deformed under the action of the tooth 46, and the tooth 46 passes through the opening in the center of the sealing rubber sheet 22. The electric push rod 41 can stop and lock at any position according to needs, so that the tooth 46 can be used at any height. When the movable end of the electric push rod 41 is fully extended, the tooth 46 contacts the tread plate 21, and the tooth 46 completely extends to the lower part of the tread plate 21. This is the maximum extension height of the tooth 46. When it is necessary to reduce the height of the tooth 46, the movable end of the electric push rod 41 retracts, and the tooth support 43 moves upward translationally. When the movable end of the electric push rod 41 is fully retracted, the lower surface of the tooth 46 will be completely received above the tread plate 21, and the sealing rubber sheet 22 will return to its original shape under its own elasticity and fill the slot in the center of the tread plate 21, making the surface of the tread plate 21 approximately flat to reduce resistance.

[0049] Track walking: The motor 31 is the prime mover. When the motor 31 operates, the driving wheel 12 is driven to rotate through the motor shaft 34. Due to the interaction between the ground and the track, the track retainer 11 will not rotate, so the driving wheel 12 will rotate relative to the track retainer 11. The driving chain 23 meshed with the driving wheel 12 and the tread plate 21 fixedly connected thereto rotate around the entire circumference along the trajectory of the chain under the action of the driving wheel 12. When the tooth 46 is in the extended state, since the tooth 46 is in contact with the tread plate 21, when the bottom tread plate 21 moves, it will drive the bottom tooth 46 to move synchronously therewith. The movement of the bottom tooth 46 will drive the driven chain 44 to rotate around the entire circumference along the trajectory of the chain. Since the electric push rod 41 is in the locked state at this time, the relative positions of the tooth support 43 and the track retainer 11 remain unchanged. The tooth support 43 will maintain its position in the vertical direction, so that the extension height of the tooth 46 remains unchanged all the time. Under the action of the self-weight of the equipment, the tooth 46 will be pressed into the ground and interact with the ground to provide greater driving force. During the traveling process, due to the movement of the driven chain 44, the tooth 46 will continuously move and then insert into the new tread plate 21, thus forming the synchronous movement of the tread plate 21 and the tooth 46. When the tooth is in the retracted state, since the tread plate 21 and the tooth 46 are not in contact, at this time, since the tooth 46 does not interact with the ground, the non-rotation of the tooth 46 will not affect the function of the track.

[0050] Track tooth height adjustment logic: Generally, the higher the track tooth height, the better the grip and driving performance, but the greater the resistance. Therefore, the strategy for adjusting the track tooth height is to minimize the protruding height of the track teeth as much as possible without affecting the driving performance. When using the track to provide driving force, the real-time speed of the motor is calculated by the encoder built into the motor 31 and converted into the linear speed of the track. The actual speed of the device is detected by sensors installed on the device itself, such as displacement sensors or GPS positioning modules, and compared with the linear speed of the track. If the actual speed is equal to or slightly less than the linear speed of the track, it means that the track is not slipping or the slipping degree is acceptable. At this time, the track tooth height can be slowly reduced. If the actual speed is much less than the linear speed of the track, it means that the track is slipping. At this time, the height of the track tooth 46 should be increased. The height of the track tooth 46 should be in a dynamic adjustment process. When the device is at the critical point of slipping and not slipping, it means that the height of the track tooth 46 is the optimal solution. At this time, the track driving function can be realized and the generated resistance can be minimized. Specifically, when the working environment of the track is a road surface with a high degree of smoothness such as snow, when encountering a downhill section, or other working conditions where track driving is not required, the track tooth 46 can be fully retracted and the motor 31 can stop rotating. At this time, the entire track can be regarded as a ski board, allowing the entire device to be in a sliding state with the ground. This method can save more energy consumption under specific working conditions.

[0051] The controllers, sensors, programs, etc. that may be used in the above process are prior arts and will not be elaborated here.

[0052] The embodiments of the present invention disclosed above are only used to help explain the present invention. The embodiments do not describe all the details in detail, nor limit the invention to the specific embodiments described. According to the content of this specification, many modifications and changes can be made. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the art can well understand and utilize the present invention.

Claims

1. A crawler travel device with separable track shoes and adjustable track shoe height, characterized in that: It includes a crawler carrier assembly, a driving sprocket (12), a road wheel assembly, a first idler wheel assembly, crawler shoes (21), a driving chain (23), a motor (31) and a movable crawler tooth assembly. The two ends of the driving sprocket (12) are rotatably connected to the upper positions on the left and right sides of the crawler carrier assembly. The two first idler wheel assemblies are symmetrically and rotatably connected to the front and rear sides of the crawler carrier assembly. Each first idler wheel assembly includes two first idler wheels (14) arranged symmetrically left and right with respect to the crawler carrier assembly. A plurality of road wheel assemblies arranged at equal intervals are provided on the lower side of the crawler carrier assembly. Each road wheel assembly includes two road wheels (13) arranged symmetrically left and right with respect to the crawler carrier assembly. Two driving chains (23) are provided. Each driving chain (23) is connected to the corresponding driving sprocket (12), first idler wheel (14) and a plurality of road wheels (13). A plurality of crawler shoes (21) are provided and arranged uniformly along the length direction of the driving chain (23). The two ends of each crawler shoe (21) are respectively connected to the corresponding driving chain (23). The stator and rotor of the motor (31) are respectively rotatably connected to the left and right sides of the crawler carrier assembly, and the rotor is connected to the driving sprocket (12). The movable crawler tooth assembly is movably connected within the crawler carrier assembly. The movable crawler tooth assembly includes a plurality of crawler teeth (46). Each crawler shoe (21) is provided with a slot, and the movable crawler tooth assembly is used to adjust the protruding length of each crawler tooth (46) in the slot at the corresponding position.

2. The crawler travel device with separable crawler shoes and adjustable crawler shoe height according to claim 1, characterized in that: The crawler carrier assembly includes two crawler carriers (11). The two crawler carriers (11) are arranged symmetrically left and right and are fixedly connected by a plurality of connecting rods. Each crawler carrier (11) is provided with a tensioning device (15), and the tensioning device (15) is used to tension the driving chain (23) at the corresponding position.

3. A crawler travel device with separable tooth shoes and adjustable tooth shoe height according to claim 1 or 2, characterized in that: A sealing rubber sheet (22) is arranged in the slot on each crawler shoe (21), and the sealing rubber sheet (22) is provided with openings adapted to the crawler teeth (46).

4. A crawler travel device with separable and height-adjustable tread teeth according to claim 2, characterized in that: The stator of the motor (31) is rotatably connected to the corresponding crawler carrier (11) through a motor base (32).

5. A crawler travel device with separable tread teeth and adjustable tread tooth height according to claim 2, characterized in that: The rotor of the motor (31) is connected to the driving sprocket (12) through a motor shaft (34), and the motor shaft (34) is rotatably connected to the corresponding crawler carrier (11).

6. The crawler travel device with separable and height-adjustable crawler teeth according to claim 4, characterized in that: A connecting member (33) is arranged at the outer end of the motor base (32) facing the crawler carrier (11).

7. A crawler travel device with separable tooth shoes and adjustable tooth shoe height according to claim 2, 4, 5 or 6, characterized in that: The movable tooth engaging assembly further includes a driving assembly, a tooth engaging bracket (43), a passive chain (44), a second guide wheel (45), and tooth engaging members (46). There are two driving assemblies, and the two driving assemblies are symmetrically arranged on the left and right sides of the tooth engaging bracket (43). The tooth engaging bracket (43) is slidably connected vertically within the crawler carrier assembly. The fixed end of each driving assembly is hinged to the corresponding side crawler carrier (11), and the movable end of each driving assembly is hinged to the corresponding side wall surface of the tooth engaging bracket (43). A plurality of second guide wheels (45) are rotatably connected to the tooth engaging bracket (43). The passive chain (44) is an endless chain and is connected to each second guide wheel (45). A plurality of the tooth engaging members (46) are evenly arranged outside the passive chain (44).

8. A crawler travel device with separable shoe teeth and adjustable shoe tooth height according to claim 7, characterized in that: The driving assembly is an electric push rod (41).

9. The crawler travel device with separable crawler shoes and adjustable crawler shoe height according to claim 7, wherein: The movable tooth engaging assembly further includes two guiding elements (42). The two guiding elements (42) are symmetrically arranged on the left and right of the tooth engaging bracket (43). Each crawler carrier (11) is provided with a slide rail adapted to the guiding element (42), and each guiding element (42) is slidably connected within the slide rail at the corresponding position.

10. A crawler travel device with separable tooth and tread plate and adjustable tooth height according to claim 7, characterized in that: The profile of the tooth engaging member (46) is an involute.

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