Crawler walking mechanism of four-point statically determinate structure

Abstract

A crawler walking mechanism of four-point statically indeterminate structure belongs to the technical field of major equipment for open-pit mine. The mechanism comprises a base, a crawler frame, a balance beam, a main frame shaft assembly, a balance beam shaft assembly and a side frame shaft assembly. The base is connected with the left and right crawler frames through two main frame shaft assemblies, the base is connected with the balance beam through the balance beam shaft assembly, and the balance beam is connected with the crawler frames through two side frame shaft assemblies. The mechanism is suitable for complex and harsh road conditions of open-pit mine. Through the design of four-point statically indeterminate structure, the problems of large wheel pressure distribution difference, excessive maximum wheel pressure and poor stability of the whole machine in the traditional structure are solved, so that the major equipment can stably and long-lastly run in the harsh environment of open-pit mine.

Description

Technical Field

[0001] This invention belongs to the technical field of major equipment for open-pit mining, and specifically relates to a tracked walking mechanism with a four-point statically determinate structure. Background Technology

[0002] The locomotives of most large mobile equipment used in open-pit mines require tracked systems to adapt to the complex terrain. However, the tracked structures are primarily statically indeterminate, which presents the following problems during operation: First, the statically indeterminate structural form results in high maximum wheel pressure and large wheel pressure variations during changes in the center of gravity of the superstructure. This not only affects the service life of the track mechanism but also damages the ground. Especially during turning operations, the applicability of this track structure decreases sharply when the overall weight exceeds 1000 tons. Second, the traditional structure has a small stability circle diameter. During the pitching process of the superstructure, the stability decreases with the offset of the center of gravity. This not only requires a heavy counterweight mechanism but also limits the pitch range of the superstructure, hindering the rational design and selection of the overall machine's technical parameters.

[0003] Currently, the lack of a suitable tracked walking structure to solve the above problems results in the large design weight and high wheel pressure of existing extra-large open-pit mining heavy equipment, which causes serious damage to the ground and severely affects the design and use of heavy equipment in open-pit mining. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a tracked walking mechanism with a four-point statically determinate structure, thereby achieving a statically determinate structural design for tracked walking mechanisms of heavy equipment weighing over 1,000 tons, rationalizing the overall design of heavy equipment used in open-pit mines, improving the service life of tracked walking mechanisms, and reducing the damage to open-pit mine roads caused by heavy equipment.

[0005] The technical solution adopted in the invention is: a tracked walking mechanism with a four-point statically determinate structure. Its key technical points are: a base, a track frame, a balance beam, a main frame shaft system assembly, a balance beam shaft system assembly, and a side frame shaft system assembly. The base and the left and right track frames are connected by axle hinges through two main frame shaft systems. The base and the balance beam are connected by axle hinges through the balance beam shaft system. The two sides of the balance beam are connected to the track frame by ball joints through two side frame shaft systems.

[0006] In the above scheme, the main frame shaft assembly structure is as follows: the end of the main frame shaft is axially positioned by the stop on both sides of the base and fixed by the clamping plate; the end of the main frame shaft is circumferentially positioned by the anti-rotation structure; the shaft end of the main frame shaft is sleeved in the track frame with two sets of copper sleeves embedded in it; the two copper sleeves are arranged on the main frame shaft in sequence, with a first gap between the two copper sleeves; the track frame rotates along the main frame shaft by cooperating with the copper sleeves.

[0007] In the above scheme, the balance beam shaft assembly structure is as follows: one end of the balance beam shaft is axially positioned by the front stop of the base and fixed by a clamping plate, and the other end of the balance beam shaft is circumferentially positioned by an anti-rotation structure; the other end of the balance beam shaft is assembled in the assembly through hole on the balance beam with two embedded flanged copper sleeves, the flanged side of the flanged copper sleeves is engaged with the opening of the assembly through hole to position the flanged copper sleeves, and a second gap is left between the two flanged copper sleeves; the balance beam shaft and the balance beam are fitted together by the flanged copper sleeves, so that the balance beam can rotate along the balance beam shaft.

[0008] In the above scheme, the other end of the balance beam shaft is bolted to a fixed shaft end baffle, and there is a gap between the balance beam shaft and the shaft end baffle to prevent the flange of the flanged copper sleeve from contacting the shaft end baffle when the balance beam shaft rotates in the assembly through hole.

[0009] In the above scheme, the side frame shaft system assembly structure is a balance beam that uses the stops machined at both ends to axially position the tail ends of the two side frame shafts respectively, and fixes them axially by clamping plates. The tail ends of the side frame shafts are circumferentially fixed by an anti-rotation structure. A wear-resistant copper sleeve is set on the outer diameter of the side shaft end, and the wear-resistant copper sleeve is fixed to the nut locking structure by the shaft end baffle. The nut locking structure fixes the inner ring of the self-lubricating spherical bearing to the nut locking structure body. The outer ring of the self-lubricating spherical bearing fits with the bearing seat, so that the track frame can rotate in three directions along the side frame shaft, and the side frame shaft can slide axially with the copper sleeve. At the same time, the axial direction of the outer ring of the self-lubricating spherical bearing is fixed by the positioning sleeve and the stop of the bearing seat. The axial direction of the bearing seat is fixed by the stop and positioning sleeve on the track frame. The beneficial effects of this invention are as follows: This four-point statically determinate tracked walking mechanism includes a base, track frame, balance beam, main frame shaft system assembly, balance beam shaft system assembly, and side frame shaft system assembly. The base and the left and right track frames are hinged together via two main frame shaft systems. The base and the balance beam are hinged together via the balance beam shaft system. The two sides of the balance beam are ball-jointed to the track frame via two side frame shaft systems. This mechanism is suitable for the complex and harsh conditions of open-pit mines. Through its four-point statically determinate structure design, it solves the problems of large wheel pressure distribution differences, excessively high maximum wheel pressure, and poor overall stability in traditional structures, ensuring stable and long-term operation of heavy equipment in the harsh environment of open-pit mines. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is a front view of an embodiment of the present invention; Figure 2 This is a side view of an embodiment of the present invention; Figure 3 This is a top view of an embodiment of the present invention; Figure 4 This is an assembly view of the main frame shaft system according to an embodiment of the present invention; Figure 5 This is an assembly view of the balance beam shaft system according to an embodiment of the present invention; Figure 6 This is an assembly view of the side frame shaft system according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the main frame shaft installation according to an embodiment of the present invention; Figure 8 yes Figure 7 Schematic diagram of the BB-oriented structure; Figure 9 yes Figure 7 A schematic diagram of the AA-direction structure; Figure 10 This is a schematic diagram of the stable circular boundary line in the implementation of the present invention; The numbers in the diagram are explained as follows: Track frame 1, Main wheel frame assembly 2, Track roller assembly 3, Carrier roller assembly 4, Tensioning system 5, First drive unit 6, Base 7, Second drive unit 8, Drive wheel assembly 9, Main frame shaft system assembly 10, Guide wheel assembly 11, Balance beam shaft system assembly 12, Balance beam 13, Side frame shaft system assembly 14, Track plate 15, Copper sleeve 19, Main frame shaft 20, Side washer 21, Shaft end baffle 22, Flanged copper sleeve 23, Balance beam shaft 24, Shaft end baffle 25, Self-lubricating spherical bearing 26, Positioning sleeve 27, Bearing seat 28, Nut locking structure 29, Shaft end baffle 30, Side frame shaft 31, Wear-resistant copper sleeve 32, Snap ring 34, Key 35, Fastener 37, Stop block 38, Adjusting shim group 39, Steel ring 40, Assembly through hole 41. Implementation

[0012] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the following description is provided in conjunction with the accompanying drawings. Figure 1-10 The present invention will be further described in detail below with reference to specific embodiments.

[0013] The tracked walking mechanism with a four-point statically determinate structure used in this embodiment includes: a base 7, a track frame 1, a main wheel frame assembly 2, a support roller assembly 3, a carrier roller assembly 4, a tensioning system 5, a drive wheel assembly 9, a guide wheel assembly 11, a balance beam 13, a main frame beam shaft system assembly 10, a balance beam shaft system assembly 12, and a side frame shaft system assembly 14. The main wheel frame assembly 2 includes two-wheel, four-wheel, and six-wheel frames, and is connected to the track frame 1 via a hinge shaft through the six-wheel frame. The support roller assembly 3 is connected to the two-wheel frame via a hinge shaft. The two-wheel frame is connected to the four-wheel frame, and the four-wheel frame is connected to the six-wheel frame via hinge shafts. The carrier roller assembly 4, the guide wheel assembly 11, and the drive wheel assembly 9 are respectively mounted on the track frame 1. The first drive device 6 and the second drive device 8 are respectively bolted to the drive wheel assembly 9 on the same side to drive the track plates 15. The tensioning system 5 is located on one side of the track frame 1 and is used to adjust the position of the guide wheel assembly 11 to ensure the proper sag of the track.

[0014] The base 7 and the left and right track frames 1 are connected by two main frame shaft systems 10 to achieve a shaft hinge connection. The base 7 and the balance beam 13 are connected by a shaft hinge connection through the balance beam shaft system 12. The balance beam 13 and the track frames 1 are connected by two side frame shaft systems 14 to achieve a ball joint connection.

[0015] The main frame shaft assembly structure of this embodiment is as follows: The base 7 uses the stops on both sides of the base to axially position the end of the main frame shaft 20 and locks it axially with a retaining ring 34. Simultaneously, an anti-rotation structure consisting of a retaining ring 34 and a key 35 is used to circumferentially fix the end of the main frame shaft 20. The retaining ring 34 is fitted into the annular groove of the main frame shaft 20, and the retaining ring 34 and the main frame shaft 20 are fixed together in circumferential freedom by the key 35 installed on the main frame shaft 20. The circumferential freedom of the retaining ring 34 is constrained by the stop block 38 welded to the base 7, thereby indirectly fixing the circumferential movement of the main frame shaft 20. For ease of installation, the retaining ring 34 adopts a split structure. After installation, the split structure is locked into a whole with fasteners 37. An adjusting shim group 39 is also provided between the base 7 and the retaining ring 34. The distance between them is adjusted by changing the thickness of the shim group by adjusting the number of shims. The shaft end of the main frame shaft 20 is fitted into the track frame 1, which has two sets of copper bushings 19 embedded in it. The two copper bushings are arranged vertically and sequentially fitted onto the outside of the main frame shaft 20, with a first gap between the two bushings. The track frame 1 rotates along the main frame shaft 20 through the cooperation with the copper bushings 19. The shaft end of the main frame shaft 20 locks the two copper bushings between the track frame 1 and the main frame shaft 20 through a shaft end baffle 22, and the shaft end baffle 22 is fixed with bolts. A lateral washer 21 is provided between the shaft end baffle 22 and the copper bushings 19. In this embodiment, an oil injection hole is provided at the shaft end of the main frame shaft 20. This oil injection hole communicates with the first gap through a side wall oil injection channel, and the grease passing through the first gap enters the copper bushings 19 and the lateral washer 21 to lubricate them.

[0016] The assembly structure of the balance beam shaft system in this embodiment is as follows: In this embodiment, the balance beam 13 is connected to the base 7 at one end via a balance beam shaft 24 mounted on the balance beam 13. A stop machined at the front end of the base 7 axially positions one end of the balance beam shaft 24 and locks it in place using a retaining ring 34. Simultaneously, an anti-rotation structure consisting of a retaining ring and a key is used to circumferentially fix the balance beam shaft 24. The other end of the balance beam shaft 24 is fitted into an assembly through hole 41 on the balance beam 13, which has two embedded flanged copper sleeves 23. The flanged side of one flanged copper sleeve 23 engages with one side of the assembly through hole 41, and the flanged side of the other flanged copper sleeve 23 engages with the other side of the assembly through hole 41 to position the flanged copper sleeve 23. A second gap is left between the two flanged copper sleeves 23. The balance beam shaft 24, through the flanged copper sleeves 23, forms a fit with the balance beam 13, allowing the balance beam 13 to rotate along the balance beam shaft 24. In this embodiment, the other end of the balance beam shaft 24 is bolted and fixed to the shaft end baffle 25. In this embodiment, a gap of 20-30mm is provided between the balance beam shaft 24 and the shaft end baffle 25 to prevent the flange of the flanged copper sleeve 23 from contacting the shaft end baffle 25 when the balance beam shaft 24 rotates within the assembly through hole. An oil injection channel is provided at the center of the end of the balance beam shaft 24. The oil injection channel is arranged along the axial direction of the balance beam shaft 24 and extends through an oil passage perpendicular to it, communicating with the second gap. The lubricating oil passing through the second gap supplies oil lubrication to the flanged copper sleeve 23.

[0017] In this embodiment, a steel ring 40 is also provided outside the assembly through hole. The steel ring 40 is also fixed on the balance beam 13. Its two ends are not sealed. This structure can play a role in dust prevention on the one hand, and in preventing smashing on the other hand, thus protecting the balance beam shaft 24 and the flanged copper sleeve 23.

[0018] The side frame shaft system assembly structure in this embodiment is as follows: In this embodiment, the balance beam 13 is connected to the left and right track frames 1 via side frame shafts 31 located at both ends. The balance beam 13 uses stopes machined at both ends to axially position the tail ends of the two side frame shafts 31, and fixes them axially with retaining rings 34. At the same time, an anti-rotation structure composed of retaining rings and keys is used to circumferentially fix the tail ends of the side frame shafts 31. This embodiment uses one side frame shaft 31 as an example to describe the side frame shaft system assembly structure.

[0019] A wear-resistant copper sleeve 32 is installed on the outer diameter of the side shaft end of the side frame shaft 31. The wear-resistant copper sleeve 32 is fixed to the nut locking structure 29 by the shaft end baffle 30. The nut locking structure 29 fixes the inner ring of the self-lubricating spherical bearing 26 to the body of the nut locking structure 29. The outer ring of the self-lubricating spherical bearing 26 fits with the bearing housing 28, allowing the track frame 1 to rotate in three directions along the side frame shaft 31, and the side frame shaft 31 to slide axially with the wear-resistant copper sleeve 32. At the same time, the axial direction of the outer ring of the self-lubricating spherical bearing 26 is fixed by the positioning sleeve 27 and the stop of the bearing housing 28. The axial direction of the bearing housing 28 is fixed by the stop on the track frame 1 and the positioning sleeve 27.

[0020] The track frame 1 is connected to the six-wheel frame via an axle system, forming an axle hinge. The six-wheel frame, four-wheel frame, and two-wheel frame are connected to each other via axles, forming an axle hinge between the two-wheel frame and the track roller assembly 3. The track roller assembly 3, together with the two-wheel frame, four-wheel frame, six-wheel frame, and the axles between them, constitute a multi-stage track frame structure.

[0021] When the tracked travel system traverses a longitudinally inclined road surface, the longitudinally arranged multi-stage wheel frame structure quickly adapts to the undulations of the ground, accommodating a maximum longitudinal gradient of 1:10. This reduces the frequency and magnitude of changes in the track frame's center of gravity, thus lowering the overall machine's center of gravity fluctuations. For roads with simultaneous longitudinal and lateral inclinations, the laterally arranged hinge structure under the balance beam, combined with ball joint bearings on both sides, allows each track frame to rotate independently around the main frame axis, adapting to different road inclination conditions. In other words, it can adapt to conditions with two different longitudinal road inclinations and conditions with inclinations in both longitudinal and lateral directions. Combined with the multi-stage wheel frame, this ensures minimal changes in the overall machine's center of gravity in both longitudinal and lateral directions, extending the service life of the tracked travel mechanism and guaranteeing stable and safe movement of the entire machine.

[0022] For the base, since it is supported by three shafts, it is a statically determinate structure with clearly defined support reactions. Furthermore, the balance beam shaft system is hinged to the balance beam, therefore the vertical force transmitted through the balance beam to the side frame shafts of the track frame is always the same. The main frame shaft and side frame shafts supported on the track frame are connected at four points, but this is also a statically determinate structure with clearly defined support forces. It has been proven that the stability circle of this structure is rhomboid, and the characteristic points are shown below. Figure 10 Its stabilizing circle diameter is nearly 80% larger than that of traditional structures. This significantly increases the range of the superstructure's center of gravity offset and greatly improves the overall aircraft's anti-tipping performance.

[0023] The track frame's wheel carriers employ a multi-stage distribution structure, with two, four, and six wheel carriers articulated. The number of support rollers is arranged according to torque balance, ensuring that the wheel pressure on the support rollers in any six-wheel carrier assembly is identical. This maximizes the uniformity of wheel pressure distribution, reduces the stress amplitude on the track frame and related wheel carriers, significantly improves the fatigue life of the structure and axle components, and minimizes the damage to the ground caused by the tracked running gear.

[0024] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A tracked walking mechanism with a four-point statically determinate structure, characterized in that, It includes a base, track frame, balance beam, main frame shaft system assembly, balance beam shaft system assembly and side frame shaft system assembly. The base and the left and right track frames are connected by axle hinges through two main frame shaft systems. The base and the balance beam are connected by axle hinges through the balance beam shaft system. The two sides of the balance beam are connected to the track frame by ball joints through two side frame shaft systems. The end of the main frame shaft is axially positioned by the stops on both sides of the base and fixed by the clamping plate. The end of the main frame shaft is circumferentially positioned by the anti-rotation structure. The shaft end of the main frame shaft is sleeved in the track frame with two sets of copper sleeves embedded in it. The two copper sleeves are arranged on the main frame shaft in sequence, with a first gap between the two copper sleeves. The track frame can rotate along the main frame shaft by cooperating with the copper sleeves. The beam shaft assembly structure consists of a balance beam shaft with one end axially positioned by the front stop of the base and fixed by a clamping plate, and an anti-rotation structure for circumferential positioning of the balance beam shaft. The other end of the balance beam shaft is assembled in the mounting through hole on the balance beam with two embedded flanged copper sleeves. The flanged sides of the flanged copper sleeves are engaged with the opening of the mounting through hole to position the flanged copper sleeves, and a second gap is left between the two flanged copper sleeves. The balance beam shaft and the balance beam are fitted together through the flanged copper sleeves, allowing the balance beam to rotate along the balance beam shaft. The side frame shaft assembly structure uses a balance beam to axially position the tail ends of the two side frame shafts using locating seams machined at both ends, and fixes them axially with clamping plates. An anti-rotation structure circumferentially fixes the tail ends of the side frame shafts. Wear-resistant copper sleeves are installed on the outer diameter of the side frame shaft ends, and the wear-resistant copper sleeves are fixed to the nut locking structure using shaft end baffles. The nut locking structure fixes the inner ring of the self-lubricating spherical bearing to the nut locking structure body, and the outer ring of the self-lubricating spherical bearing fits with the bearing housing, allowing the track frame to rotate in three directions along the side frame shaft, and the side frame shaft to slide axially with the wear-resistant copper sleeve. At the same time, the axial direction of the outer ring of the self-lubricating spherical bearing is fixed by the positioning sleeve and the locating seam of the bearing housing; the axial direction of the bearing housing is fixed by the locating seam and positioning sleeve on the track frame.

2. The tracked walking mechanism with a four-point statically determinate structure as described in claim 1, characterized in that, The other end of the balance beam shaft is bolted to a fixed shaft end baffle. There is a gap between the balance beam shaft and the shaft end baffle to prevent the flange of the flanged copper sleeve from contacting the shaft end baffle when the balance beam shaft rotates in the assembly through hole.

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