Crawler-type vehicle running in suspension mode

Abstract

The invention discloses a crawler-type vehicle capable of traveling in a suspended mode, and relates to the technical field of traveling. Comprising a frame, and the frame is provided with a first moving device which is hung on a T-shaped suspension rail and moves in the first direction and a second moving device which moves in the second direction; the first moving device comprises a first motor and a first moving unit, the first moving unit comprises two wheel plates, circumferential rails are arranged on the wheel plates, two chain wheels are arranged between the two wheel plates, the chain wheels are sleeved with a chain, a plurality of pairs of hanging pieces are arranged on the chain at intervals, each hanging piece comprises a connecting part and a hanging part, each connecting part comprises two side walls, and each hanging part comprises two side walls. The two side walls are located on the two sides of the chain respectively and hinged to the chain, each pair of hanging pieces is located over or under the chain and arranged oppositely, pulleys matched with the circumferential rails are arranged on the hanging pieces, and idler wheels are arranged on the hanging parts. The suspension rail traction device can have a small transverse size, can make a quick response to an uneven suspension rail, and is high in traction control and position precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of travelling crane, in particular to a caterpillar vehicle for suspended travelling. BACKGROUND

[0002] A travelling crane is a device for lifting and moving objects along a track on the roof. It can move longitudinally and laterally in a two-dimensional plane.

[0003] The invention patent with the application number 202380031959.9 and the invention name "Caterpillar vehicle configured to travel along a structure, method for a hitched / suspended vehicle for caterpillar travelling motion along a structure, and use of at least one caterpillar drive unit for active travelling motion" discloses a caterpillar vehicle. However, there are still some problems to be improved: first, in the pair of hangers in the moving unit, one hanger is located on the first side of the chain, and the other hanger is located on the second side of the chain, which results in a larger transverse (extension direction of T-shaped suspension rail) size, thereby limiting its application in narrow environment. Second, the omnidirectional wheel group, the driving motor and the transmission mechanism are rigidly or semi-rigidly installed on the rebound mechanism, which results in a larger sprung mass of the rebound mechanism. This impairs the ability of the rebound mechanism to respond quickly and accurately to small structural irregularities, thereby affecting the traction control and position accuracy of the caterpillar vehicle. SUMMARY

[0004] The purpose of the present application is to provide a caterpillar vehicle for suspended travelling, which can have a smaller transverse size; be able to respond quickly to irregular suspension rails, and have higher traction control and position accuracy.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions: A kind of suspended track vehicle, including frame, first moving device for being hung on T-shaped suspension rail and moving along first direction and second moving device for moving along second direction are provided on the frame;Wherein, the first direction is the transverse direction of the T-shaped suspension rail, and the second direction is the longitudinal direction of the T-shaped suspension rail;The first moving device includes first motor and at least one first moving unit, the first moving unit includes two oppositely arranged wheel plates, one of two the wheel plates is provided with first circumferential track, and the other is provided with second circumferential track, at least two sprockets are provided between two the wheel plates and spaced along the length direction of the wheel plate, the sprocket is drivingly connected with the first motor, chain is sleeved on the sprocket, and a plurality of pairs of hangers are spaced in the circumferential direction of the chain, each pair of the hanger includes first hanger and second hanger, the first hanger includes first connecting portion and first hanger portion, the second hanger includes second connecting portion and second hanger portion, the first connecting portion and the second connecting portion both include two side walls, the two side walls are respectively located on the two sides of the chain and are hinged with the chain, the first hanger and the second hanger are located directly above or directly below the chain and oppositely arranged, the first side of the first connecting portion is provided with first pulley, the first pulley is matched with the first circumferential track, the second side of the second connecting portion is provided with second pulley, the second pulley is matched with the second circumferential track, the first hanger portion is provided with first roller, and the second hanger portion is provided with second roller, the axial direction of the first pulley and the second pulley both is the second direction, and the axial direction of the first roller and the second roller both is the first direction.

[0006] Optionally, the second moving device includes second motor, omni-directional wheel set and rebound mechanism for pressing the omni-directional wheel set against the T-shaped suspension rail, the second motor and the rebound mechanism are arranged on the frame, the omni-directional wheel set is arranged on the rebound mechanism, and the second motor is drivingly connected with the omni-directional wheel set.

[0007] Optionally, in each pair of the hangers, the first hanger and the second hanger are arranged on a chain link of the chain, the first hanger is hinged at first hinging position of the chain link, and the second hanger is hinged at second hinging position of the chain link.

[0008] Optionally, the rebound mechanism includes two middle swing arms hinged on the frame and two first ends of telescopic damping assemblies hinged on the frame, second ends of the damping assemblies are hinged with second ends of the swing arms, and two ends of the omni-directional wheel set are rotatably connected at first ends of the two swing arms.

[0009] Optionally, the wheel shaft of the omni-wheel group is connected with the second motor through a synchronous belt transmission.

[0010] In the technical scheme, first, the first suspension member and the second suspension member are arranged in a single row above or below the chain, so that the size of the suspension member in the second direction (the lateral direction of the T-shaped rail) is greatly reduced, and the suspension member can be applied to a more narrow environment. Second, the second motor is arranged on the vehicle frame, and the rebound mechanism only needs to provide the pressing force of the omni-wheel group, and does not need to provide the pressing force of the second motor, so that the spring mass of the damping assembly is small, and the response is fast, the traction control is high, and the position accuracy is high. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 Fig. 1 is a schematic view of a suspension traveling tracked vehicle suspended on a suspension rail; Figure 2 Fig. 2 is a schematic view of a suspension traveling tracked vehicle; Figure 3 Fig. 3 is a schematic view of a first moving unit after removing a wheel frame plate; Figure 4 Fig. 4 is a schematic view of the first moving unit after removing the second suspension member from Fig. 3; Figure 3 Figure 5 Fig. 5 is a schematic view of the first suspension member and the first circumferential rail; Figure 6 Fig. 6 is a schematic view of the suspension member connected with the chain; Figure 7 Fig. 7 is a schematic view of a rebound mechanism.

[0012] In the drawings, 1 is a vehicle frame; 100 is a T-shaped suspension rail; 2 is a first moving device; 21 is a first moving unit; 211 is a wheel plate; 2111 is a first circumferential rail; 212 is a sprocket; 213 is a chain; 2131 is an inner link; 2132 is an outer link; 214 is a first suspension member; 2141 is a first connecting portion; 21411 is a first pulley; 21412 is a first hinged shaft; 2142 is a first suspension portion; 21421 is a first roller; 215 is a second suspension member; 2151 is a second connecting portion; 21511 is a second pulley; 21512 is a second hinged shaft; 2152 is a second suspension portion; 21521 is a second roller; 22 is a first motor; 3 is a second moving device; 31 is a second motor; 32 is an omni-wheel group; 33 is a rebound mechanism; 331 is a swing arm; 332 is a damping assembly; 34 is a synchronous belt. DETAILED DESCRIPTION

[0013] Hereinafter, the embodiments will be described with reference to the drawings.

[0014] Referring to Figures 1-7 ​The application discloses a suspended traveling caterpillar vehicle for traveling on a suspension rail. Figure 1 The suspension rail can be composed of a plurality of T-shaped suspension rails 100 which are fixedly arranged on a roof. The suspended traveling caterpillar vehicle can move in a first direction and a second direction. The first direction is the transverse direction of the T-shaped suspension rail 100, and the second direction is the longitudinal direction of the T-shaped suspension rail 100, that is, the extension direction of the T-shaped suspension rail 100. Referring to Figure 2 The suspended traveling caterpillar vehicle comprises a frame 1, and the frame 1 is provided with a first moving device 2 for being hung on the T-shaped suspension rail 100 and moving in the first direction and a second moving device 3 for moving in the second direction. The first moving device 2 comprises a first motor 22 and at least one first moving unit 21, Figure 2 Two first moving units 21 are shown in the figure. The first moving unit 21 comprises two oppositely arranged wheel plates 211, referring to Figures 3-5 One of the two wheel plates 211 is provided with a first circumferential track 2111, and the other is provided with a second circumferential track. The first circumferential track 2111 and the second circumferential track are just opposite in shape. The second circumferential track is not shown in the figure. The first circumferential track 2111 and the second circumferential track are similar to the tracks in the background art in shape and principle, and will not be described here. Referring to Figure 3 At least two sprockets 212 are arranged between the two wheel plates 211 and are spaced apart along the length direction of the wheel plate 211. Referring to Figure 2 The sprocket 212 is in transmission connection with the first motor 22, and specifically, the sprockets 212 of the two first moving units 21 are connected through a shaft, the shaft is provided with a bevel gear, the first motor 22 is also provided with a bevel gear, and the transmission connection is formed through the cooperation of the bevel gears. A chain 213 is sleeved on the sprocket 212, and a plurality of pairs of suspension members are arranged on the circumference of the chain 213, each pair of suspension members comprising a first suspension member 214 and a second suspension member 215. Referring to Figure 6 The first suspension member 214 comprises a first connecting part 2141 and a first suspension part 2142, and the second suspension member 215 comprises a second connecting part 2151 and a second suspension part 2152. The first connecting part 2141 and the second connecting part 2151 each comprise two side walls which are respectively located on the two sides of the chain 213 and are hingedly connected with the chain 213, and specifically, are hingedly connected with the chain 213 through a first hinge shaft 21412 and a second hinge shaft 21512. The first suspension member 214 and the second suspension member 215 are located directly above or below the chain 213 and are oppositely arranged. Referring to Figure 3The first hanging part 2142 is located above the first connecting part 2141 in the second direction, and the second hanging part 2152 is located above the second connecting part 2151 in the second direction. The first side of the first connecting part 2141, that is, the side close to the first circumferential track 2111, is provided with a first pulley 21411 which cooperates with the first circumferential track 2111, and the second side of the second connecting part 2151, that is, the side close to the second circumferential track, is provided with a second pulley 21511 which cooperates with the second circumferential track. The first hanging part 2142 is provided with a first roller 21421, and the axis directions of the first pulley 21411 and the second pulley 21511 are both the second direction, and the axis directions of the first roller 21421 and the second roller 21521 are both the first direction.

[0015] The specific traveling process of the suspended traveling caterpillar vehicle in the first direction, that is, the transverse direction of the T-shaped suspension rail, is described below with reference to Figure 1 、 Figure 2 and Figure 3 With the driving of the first motor 22, the sprocket 212 drives the chain 213 to rotate, and each pair of hanging parts (the first hanging part 214 and the second hanging part 215) moves with the chain 213 while being constrained by the first circumferential track 2111 and the second circumferential track. Taking the counterclockwise rotation of the chain 213 as an example, the hanging parts on the left side are gradually unhooked and gradually separated from the T-shaped suspension rail 100, the hanging parts in the middle are driven by the right force of the T-shaped suspension rail to move the first moving unit 21 as a whole to the right, and the hanging parts on the right side are gradually hooked and gradually connected to the T-shaped suspension rail 100. Figure 3

[0016] Compared with the caterpillar vehicle in the background art, the first hanging part and the second hanging part are both located above or below the chain and arranged in a single row, so that the size in the second direction (the transverse direction of the T-shaped rail) is greatly reduced. Thus, it can be applied to a more narrow environment. The caterpillar vehicle in the background art has two hanging parts located on both sides of the chain, and has a large transverse size.

[0017] Optionally, reference is made to Figure 2 and Figure 7 ​The second moving device 3 comprises a second motor 31, an omni-wheel set 32 and a rebound mechanism 33 for pressing the omni-wheel set 32 against the T-shaped suspension rail 100. The omni-wheel set 32 is a prior art which can roll in both longitudinal and transverse directions. The second motor 31 and the rebound mechanism 33 are arranged on the vehicle frame 1, and the omni-wheel set 32 is arranged on the rebound mechanism 33, and the second motor 31 is in driving connection with the omni-wheel set 32.

[0018] In the process of the tracked vehicle moving, the omni-wheel set 32 is pressed against the lower surface of the T-shaped suspension rail 100 under the elastic force of the rebound mechanism 33. When the T-shaped suspension rail 100 is uneven, the omni-wheel set 32 will move up and down, but can always keep in contact with the lower surface of the T-shaped suspension rail 100 under the action of the rebound mechanism 33. The moving principle of the tracked vehicle in the second direction: the second motor 31 drives the omni-wheel set 32 to rotate, thereby driving the tracked vehicle to move transversely. Since the suspension members are provided with rollers (the first roller 21421 and the second roller 21521), rolling friction is formed, and the friction is small. Since the second motor 31 is arranged on the vehicle frame 1 in the tracked vehicle, the rebound mechanism 33 only needs to provide the pressing force of the omni-wheel set 32. In the patent in the background art, the driving motor and the omni-wheel set are arranged on the rebound mechanism. Since the mass of the driving motor is large, the spring mass of the rebound mechanism is increased, which damages the ability of the system to quickly and accurately respond to small structural unevenness, and affects the traction size of the driving motor and the position accuracy of the tracked vehicle, especially in the case of high speed. The spring mass of the tracked vehicle is small, the response is fast, the traction control is high, and the position accuracy is high.

[0019] Optionally, in each pair of suspension members, referring to Figure 6 , the first suspension member 214 and the second suspension member 215 are arranged on one link (the outer link 2132 or the inner link 2131) of the chain 213, the first suspension member is hinged at the first hinge of the link, and the second suspension member is hinged at the second hinge of the link. The size of the link, the size of the T-shaped suspension rail and the specific size of the suspension member have a matching relationship with each other, so that the first suspension member 214 and the second suspension member 215 are respectively hung on the left and right sides of the T-shaped suspension rail.

[0020] Optionally, referring to Figure 1 , Figure 2 and Figure 7The rebound mechanism 33 comprises two swing arms 331 hingedly connected to the frame 1 at the middle and two telescopic damping assemblies 332 hingedly connected to the frame 1 at the first end. The two swing arms 331 are arranged opposite to each other in the first direction, and the two damping assemblies 332 are also arranged opposite to each other in the first direction. The damping assembly 332 is a prior art, which can be specifically composed of a spring and a telescopic cylinder. The second end of the damping assembly 332 is hingedly connected to the second end of the swing arm 331, and the two ends of the omni-wheel set 32 are rotatably connected to the first ends of the two swing arms 331.

[0021] During the travel of the tracked vehicle, when the T-shaped suspension rail 100 is uneven, the omni-wheel set 32 will always press against the lower surface of the T-shaped suspension rail 100 by swinging up and down with the swing arm 331, thereby driving the tracked vehicle to travel stably. The rebound mechanism 33 is relatively simple, and the effective spring mass is mainly limited to the omni-wheel set 32 and the swing arm 331. Due to the reduction of the spring mass, the damping assembly 332 can operate at a significantly higher response speed and fidelity, ensuring that the omni-wheel set 32 is in continuous and firm contact with the T-shaped suspension rail 100, even in the case of high-frequency unevenness. This improves traction control and position accuracy, and allows the use of more compact and less powerful damping assemblies 332.

[0022] Optionally, referring to Figure 2 and Figure 7 the wheel shaft of the omni-wheel set 32 and the second motor 31 can be drivingly connected through a synchronous belt 34.

Claims

1. A suspended traveling tracked vehicle comprising a frame, on which a first moving device for being hung on a T-shaped suspension rail and moving in a first direction and a second moving device for moving in a second direction are arranged; wherein, The first direction is the transverse direction of the T-shaped suspension rail, and the second direction is the longitudinal direction of the T-shaped suspension rail; characterized in that the first moving device comprises a first motor and at least one first moving unit, the first moving unit comprises two oppositely arranged wheel plates, one of the two wheel plates is provided with a first circumferential track, and the other is provided with a second circumferential track, at least two sprockets are arranged between the two wheel plates and spaced apart along the length direction of the wheel plates, the sprockets are in transmission connection with the first motor, a chain is sleeved on the sprockets, a plurality of pairs of suspension members are arranged on the chain and spaced apart in the circumferential direction of the chain, each pair of suspension members comprises a first suspension member and a second suspension member, the first suspension member comprises a first connecting portion and a first suspension portion, the second suspension member comprises a second connecting portion and a second suspension portion, the first connecting portion and the second connecting portion each comprise two side walls which are respectively located on both sides of the chain and are hingedly connected with the chain, the first suspension member and the second suspension member are located directly above or below the chain and are oppositely arranged, a first pulley is arranged on the first side of the first connecting portion and matched with the first circumferential track, a second pulley is arranged on the second side of the second connecting portion and matched with the second circumferential track, a first roller is arranged on the first suspension portion, and a second roller is arranged on the second suspension portion, the axial directions of the first pulley and the second pulley are the second direction, and the axial directions of the first roller and the second roller are the first direction.

2. The suspended tracked vehicle of claim 1, wherein, The second moving device comprises a second motor, an omni-wheel set and a rebound mechanism for pressing the omni-wheel set against the T-shaped suspension rail, the second motor and the rebound mechanism are arranged on the vehicle frame, and the omni-wheel set is arranged on the rebound mechanism and in transmission connection with the second motor.

3. The suspended tracked vehicle of claim 1, wherein, In each pair of suspension members, the first suspension member and the second suspension member are arranged on one link of the chain, the first suspension member is hingedly connected at a first hinge of the link, and the second suspension member is hingedly connected at a second hinge of the link.

4. The suspended tracked vehicle of claim 1, wherein, The rebound mechanism comprises two middle swing arms hingedly connected to the vehicle frame and two first ends of two telescopic damping assemblies hingedly connected to the vehicle frame, second ends of the damping assemblies are hingedly connected to second ends of the swing arms, and two ends of the omni-wheel set are rotatably connected to first ends of the two swing arms.

5. The suspended tracked vehicle of claim 1, wherein, The wheel shaft of the omni-wheel set is in transmission connection with the second motor through a synchronous belt.

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