Crawler vibration reduction suspension device and crawler

Abstract

The utility model relates to the technical field of robots, and discloses a crawler damping suspension device and a crawler, the crawler damping suspension device comprises a swing arm, a first buffer assembly and a second buffer assembly, the swing arm is suitable for being rotatably connected with a vehicle body and a crawler wheel set, one end of the first buffer assembly is rotatably connected with the swing arm, and the other end of the first buffer assembly is suitable for being rotatably connected with the vehicle body; one end of the second buffer assembly is rotatably connected with the swing arm, the other end of the second buffer assembly is suitable for being rotatably connected with the vehicle body, and the first buffer assembly and the second buffer assembly are located at the two ends of the swing arm. The impact of the buffering part is absorbed through the first buffering assembly, the second buffering assembly at the other end of the swing arm exerts acting force on the swing arm which swings, and the swing frequency of the swing arm is reduced, so that when the tracked vehicle travels on a fluctuating road surface, the vehicle body can keep a good posture, and the running smoothness of the tracked vehicle is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a vibration reduction suspension device for a crawler vehicle and a crawler vehicle. Background Art

[0002] The long-standing demand for transporting materials in mountainous scenic areas and complex terrains requires a large amount of manpower to complete, which is not only highly dangerous but also greatly increases the cost.

[0003] As the application areas of tracked robots continue to develop, the transportation of materials by tracked robots can greatly reduce the demand for manpower. From security monitoring, firefighting, search and rescue, transportation, etc. in the civilian field to caves, counter-terrorism, bomb disposal, building surveys, mine sweeping, obstacle removal, biological and chemical warfare agent detection, etc. in the military field, human demand for the application of tracked robots is getting higher and higher.

[0004] The shock-absorbing suspension of the crawler vehicle in the prior art directly sets the shock absorber at the connection between the vehicle body and the track wheel assembly to reduce the impact of the track wheel assembly on the uneven road surface when the crawler vehicle is traveling on complex terrain. However, when the track wheel assembly is impacted, the vehicle body of this structure shakes too much and cannot filter out the high and low frequency vibrations of the wheel assembly, resulting in the crawler vehicle's driving being not smooth enough. Utility Model Content

[0005] In view of this, the utility model provides a tracked vehicle vibration reduction suspension device and a tracked vehicle, so as to solve the problem that the tracked vehicle vibration reduction suspension in the prior art cannot filter out the high and low frequency vibrations of the wheel set, thus causing the tracked vehicle to run unsmoothly.

[0006] In the first aspect, the utility model provides a vibration-damping suspension device for a tracked vehicle, comprising a swing arm, a first buffer assembly and a second buffer assembly, wherein the swing arm is suitable for being rotatably connected to a vehicle body and a track wheel assembly, one end of the first buffer assembly is rotatably connected to the swing arm, and the other end is suitable for being rotatably connected to the vehicle body, one end of the second buffer assembly is rotatably connected to the swing arm, and the other end is suitable for being rotatably connected to the vehicle body, and the first buffer assembly and the second buffer assembly are located at both ends of the swing arm.

[0007] Beneficial effect: The utility model provides a second buffer component. When the tracked vehicle travels on a rough road surface such as a complex terrain, the track wheel group feeds back the impact on the road surface to the swing arm, and the first buffer component absorbs and buffers part of the impact. The second buffer component at the other end of the swing arm applies a force to the swinging swing arm to slow down the swinging frequency of the swing arm. This allows the tracked vehicle to maintain a good posture when traveling on an undulating road surface, thereby improving the smoothness of the tracked vehicle's travel.

[0008] In an optional embodiment, the first buffer assembly includes a mounting frame and a shock absorber, the mounting frame is rotatably connected to the swing arm, one end of the shock absorber is rotatably connected to the mounting frame, and the other end is suitable for being rotatably connected to the vehicle body.

[0009] Beneficial effect: The utility model provides a shock absorber, which can absorb and filter the vibration of the road surface when the tracked vehicle passes through an uneven road surface, so that the tracked vehicle can travel more smoothly.

[0010] In an optional implementation, two shock absorbers are provided, and the two shock absorbers are rotatably mounted on two ends of the mounting frame respectively.

[0011] Beneficial effects: The utility model rotates and installs two shock absorbers on the two ends of the mounting frame respectively. When the crawler vehicle travels on an uneven road surface, the shock absorbers can play a role in buffering and shock reduction regardless of whether the crawler vehicle is in an uphill posture or a downhill posture.

[0012] In an optional embodiment, the shock absorber includes a shell, a piston rod and a first elastic member, one end of the shell is rotatably connected to the swing arm or the vehicle body, and the other end of the shell is provided with an opening, one end of the piston rod is slidably installed in the shell, and the other end of the piston rod is rotatably connected to the vehicle body or the swing arm, and the first elastic member is sleeved on the outside of the shell.

[0013] Beneficial effect: When the tracked vehicle of the utility model travels on an uneven road surface, the first elastic member can filter the vibration of the road surface, and the piston rod in the housing is damped by the hydraulic oil, which can inhibit the reciprocating motion of the first elastic member, thereby improving the smoothness of the tracked vehicle during travel.

[0014] In an optional embodiment, the second buffer assembly includes a bracket, a mounting seat and a second elastic member, the bracket is rotationally connected to the swing arm or the vehicle body, the mounting seat is rotationally connected to the vehicle body or the swing arm, and the second elastic member is arranged between the bracket and the mounting seat.

[0015] Beneficial effect: When the tracked vehicle of the utility model travels on an uneven road, the first buffer assembly plays a buffering role through the first elastic member. The elastic force of the first elastic member itself will cause the swing arm to swing back and forth. The elastic force of the second elastic member can offset the elastic force of the first elastic member, thereby reducing the frequency of the swing of the swing arm, thereby making the tracked vehicle travel more smoothly.

[0016] In an optional embodiment, a first mounting hole is provided on the mounting seat, and the second buffer assembly further includes an adjusting member and a fastener, one end of the adjusting member is fixedly connected to the bracket, and the other end of the adjusting member passes through the first mounting hole, the second elastic member is sleeved on the adjusting member, and the fastener is movably installed on one end of the adjusting member located on the mounting seat.

[0017] Beneficial effect: The utility model can adjust the degree of compression of the second elastic member by adjusting the fastener, so that the second elastic member has different elastic forces, thereby providing different forces on the swing arm to meet the use requirements of the crawler vehicle under different road conditions.

[0018] In an optional embodiment, the adjusting member is provided with an external thread, the fastening member is provided with an internal thread, and the adjusting member is threadably connected to the fastening member.

[0019] In an optional embodiment, the second buffer assembly further includes a protective member, and the protective member is fixedly mounted on the bracket.

[0020] Beneficial effect: The utility model can protect the second elastic member by setting a protective member, thereby preventing stones and other debris on the road from falling into the second elastic member when the tracked vehicle is moving, ensuring the buffering and stabilizing effect of the swing arm, and further ensuring the smoothness of the tracked vehicle when moving.

[0021] In an optional embodiment, a mounting portion is rotatably mounted on the swing arm, and the mounting portion is suitable for fixedly mounting the track wheel assembly.

[0022] In a second aspect, the utility model also provides a crawler vehicle, comprising a vehicle body, a crawler wheel assembly and the above-mentioned crawler vehicle vibration reduction suspension device, wherein a swing arm, a first buffer assembly and a second buffer assembly are rotationally connected to the vehicle body, and the crawler wheel assembly is rotationally connected to the swing arm.

[0023] Because the crawler vehicle has the same beneficial effects as the crawler vehicle vibration reduction suspension device, it will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a schematic structural diagram of a vibration reduction suspension device for a crawler vehicle according to an embodiment of the utility model;

[0026] Figure 2 It is a front view of a vibration reduction suspension device for a crawler vehicle according to an embodiment of the utility model;

[0027] Figure 3 It is a structural schematic diagram of a shock absorber in a vibration-damping suspension device for a crawler vehicle according to an embodiment of the utility model;

[0028] Figure 4 The present invention is a schematic structural diagram of a second buffer assembly in a vibration-damping suspension device for a tracked vehicle according to an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 1. swing arm; 101. second mounting hole; 102. mounting portion;

[0031] 2. first buffer assembly; 201. mounting frame; 202. shock absorber; 2021. housing; 2022. piston rod; 2023. first elastic member;

[0032] 3. Second buffer assembly; 301. Bracket; 302. Mounting seat; 303. Second elastic member; 304. Adjusting member; 305. Fastening member; 306. Protective member. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0034] Combine the following Figures 1 to 4 , describing an embodiment of the utility model.

[0035] According to an embodiment of the present utility model, on the one hand, as Figures 1 to 4 As shown, a vibration reduction suspension device for a crawler vehicle is provided, comprising a swing arm 1, a first buffer assembly 2 and a second buffer assembly 3. The swing arm 1 is suitable for being rotatably connected to a vehicle body and a track wheel assembly. One end of the first buffer assembly 2 is rotatably connected to the swing arm 1, and the other end is suitable for being rotatably connected to the vehicle body. One end of the second buffer assembly 3 is rotatably connected to the swing arm 1, and the other end is suitable for being rotatably connected to the vehicle body. The first buffer assembly 2 and the second buffer assembly 3 are located at both ends of the swing arm 1.

[0036] Specifically, the tracked vehicle shock absorbing suspension device in this embodiment is suitable for being installed at the bottom of the body of the tracked vehicle, the swing arm 1 is hinged to the body, the first buffer assembly 2 and the second buffer assembly 3 are arranged between the bottom of the body and the swing arm 1, and a track wheel assembly is installed on the swing arm 1, and the track wheel assembly is used to drive the track to move.

[0037] In this embodiment, when the tracked vehicle is moving on complex terrain such as rugged roads, the track wheel assembly is impacted by the ground, driving the swing arm 1 to swing up and down. During the swinging of the swing arm 1, the first buffer component 2 can absorb and buffer the swing arm 1 through its own elastic force, thereby reducing the impact of the road surface transmitted to the vehicle body. When the elastic force of the first buffer component 2 acts on the swing arm 1, the swing arm 1 will swing back and forth. At this time, the elastic force of the second buffer component 3 applies an elastic force in the opposite direction to the other side of the swing arm 1, which offsets the elastic force of the first buffer component 2 at the other end of the swing arm 1, thereby reducing the swinging frequency of the swing arm 1.

[0038] The utility model provides a second buffer component 3. When the tracked vehicle travels on a rough road surface such as a complex terrain, the track wheel group feeds back the impact on the road surface to the swing arm 1. The first buffer component 2 absorbs and buffers part of the impact. The second buffer component 3 at the other end of the swing arm 1 applies a force to the swinging swing arm 1 to slow down the swinging frequency of the swing arm 1. Therefore, when the tracked vehicle travels on an undulating road surface, the vehicle body can maintain a good posture, thereby improving the smoothness of the tracked vehicle's travel.

[0039] In one embodiment, Figure 1 and Figure 2 As shown, the first buffer assembly 2 includes a mounting frame 201 and a shock absorber 202. The mounting frame 201 is connected to the swing arm 1. One end of the shock absorber 202 is rotatably connected to the mounting frame 201, and the other end is suitable for being rotatably connected to the vehicle body.

[0040] Specifically, in this embodiment, the mounting frame 201 is arranged above one end of the swing arm 1, the bottom end of the shock absorber 202 is hinged to the mounting frame 201, and the top end of the shock absorber 202 is hinged to the vehicle body. When the track wheel assembly is impacted by an uneven road surface, the swing arm 1 swings up and down with the track wheel assembly, and at this time, the first buffer assembly 2 absorbs the impact of the swing arm 1 on the vehicle body through its own elastic force and damping force.

[0041] The utility model provides a shock absorber 202, which can absorb and filter the vibration of the road surface when the crawler vehicle passes through an uneven road surface, so that the crawler vehicle can travel more smoothly.

[0042] In one embodiment, Figure 1 and Figure 2 As shown, two shock absorbers 202 are provided, and the two shock absorbers 202 are rotatably mounted on two ends of the mounting frame 201 respectively.

[0043] Specifically, in this embodiment, two shock absorbers 202 are rotatably mounted on both ends of the mounting frame 201. When the swing arm 1 rotates, the shock absorber 202 at one end of the mounting frame 201 is subjected to tension, and the shock absorber 202 at the other end is subjected to pressure. The shock absorbers 202 with opposite forces can keep the mounting frame 201 balanced.

[0044] The utility model rotatably mounts two shock absorbers 202 on the two ends of the mounting frame 201. When the crawler vehicle travels on an uneven road surface, the shock absorbers 202 can play a role in buffering and shock reduction regardless of whether the crawler vehicle is in an uphill or downhill posture.

[0045] In one embodiment, Figure 3As shown, the shock absorber 202 includes a shell 2021, a piston rod 2022 and a first elastic member 2023. One end of the shell 2021 is rotatably connected to the swing arm 1 or the vehicle body, and the other end of the shell 2021 is provided with an opening. One end of the piston rod 2022 is slidably installed in the shell 2021, and the other end of the piston rod 2022 is rotatably connected to the vehicle body or the swing arm 1. The first elastic member 2023 is sleeved on the outside of the shell 2021.

[0046] Specifically, in this embodiment, the shell 2021 is in a tubular shape, with a accommodating cavity inside. One end of the shell 2021 is provided with an opening, and the other end of the shell 2021 is hinged to the mounting frame 201 or the vehicle body. One end of the piston rod 2022 is slidably installed in the shell 2021, and the other end of the piston rod 2022 is hinged to the vehicle body or the mounting frame 201. Hydraulic oil is provided between the shell 2021 and the piston rod 2022, and the two ends of the first elastic member 2023 are respectively connected to the shell 2021 and the piston rod 2022. When the swing arm 1 swings, the swing arm 1 drives the mounting seat 302 to rotate with the vehicle body. At this time, the first elastic member 2023 is stretched or compressed, and the piston rod 2022 slides in the shell 2021. Through the elastic force of the first elastic member 2023 outside the shell 2021 and the resistance of the hydraulic oil, the impact of the track wheel group on the swing arm 1 can be absorbed.

[0047] In this embodiment, the first elastic member 2023 is a coil spring, one end of the coil spring is connected to the end of the housing 2021 , and the other end is connected to the end of the piston rod 2022 .

[0048] When the tracked vehicle of the utility model travels on an uneven road surface, the first elastic member 2023 can filter the vibration of the road surface, and the piston rod 2022 is damped by the hydraulic oil in the housing 2021, which can suppress the reciprocating motion of the first elastic member 2023, thereby improving the smoothness of the tracked vehicle during travel.

[0049] In one embodiment, Figure 4 As shown, the second buffer assembly 3 includes a bracket 301, a mounting seat 302 and a second elastic member 303, the bracket 301 is rotationally connected to the swing arm 1 or the vehicle body, the mounting seat 302 is rotationally connected to the vehicle body or the swing arm 1, and the second elastic member 303 is arranged between the bracket 301 and the mounting seat 302.

[0050] Specifically, in this embodiment, the second elastic member 303 adopts a disc spring, which has a certain rigidity and a characteristic that the elastic force borne by one disc and multiple discs is the same, while maintaining the elastic stroke without allowing excessive rebound.

[0051] When the tracked vehicle of the utility model travels on an uneven road surface, the first buffer assembly 2 plays a buffering role through the first elastic member 2023. The elastic force of the first elastic member 2023 itself can cause the swing arm 1 to swing back and forth. The elastic force of the second elastic member 303 can offset the elastic force of the first elastic member 2023, thereby reducing the swing frequency of the swing arm 1, thereby making the tracked vehicle travel more smoothly.

[0052] In one embodiment, Figure 4 As shown, a first mounting hole is provided on the mounting seat 302, and the second buffer assembly 3 also includes an adjusting member 304 and a fastener 305, one end of the adjusting member 304 is fixedly connected to the bracket 301, and the other end of the adjusting member 304 passes through the first mounting hole, the second elastic member 303 is sleeved on the adjusting member 304, and the fastener 305 is movably installed on one end of the adjusting member 304 located on the mounting seat 302.

[0053] The utility model can adjust the compression degree of the second elastic member 303 by adjusting the fastener 305, so that the second elastic member 303 has different elastic forces, thereby providing different forces to the swing arm 1 to meet the use requirements of the crawler vehicle under different road conditions.

[0054] In one embodiment, the adjusting member 304 is provided with an external thread, the fastening member 305 is provided with an internal thread, and the adjusting member 304 is threadedly connected to the fastening member 305 .

[0055] Specifically, in this embodiment, the adjusting member 304 is a screw rod, and the fastener 305 is a nut. The thread is provided with an external thread, and the nut is provided with an internal thread. One end of the screw rod is fixedly connected to the bracket 301, and the other end passes through the mounting hole and is rotatably connected to the swing arm 1. The end of the screw rod away from the bracket 301 is threadedly connected to the nut. By rotating the nut, the distance between the bracket 301 and the mounting seat 302 can be adjusted, thereby adjusting the compression degree of the second elastic member 303, so that the second elastic member 303 has different elastic forces.

[0056] In one embodiment, Figure 4 As shown, the second buffer assembly 3 further includes a protective member 306 , and the protective member 306 is fixedly mounted on the bracket 301 .

[0057] Specifically, in this embodiment, the protective member 306 is in a cylindrical structure. The protective member 306 is sleeved outside the second elastic member 303 , and one end of the protective member 306 is fixedly connected to the bracket 301 .

[0058] The utility model can protect the second elastic member 303 by setting the protective member 306, so as to prevent stones and other debris on the road from falling into the second elastic member 303 when the tracked vehicle is moving, thereby ensuring the buffering and stabilizing effect of the swing arm 1, and further ensuring the smoothness of the tracked vehicle when moving.

[0059] In one embodiment, Figure 1 and Figure 2 As shown, a second mounting hole 101 is provided on the swing arm 1 , and the second mounting hole 101 is suitable for being rotatably connected to the vehicle body, and the first buffer assembly 2 and the second buffer assembly 3 are located on both sides of the second mounting hole 101 .

[0060] Specifically, in this embodiment, a second mounting hole 101 is provided in the middle position of the swing arm 1, and the second mounting hole 101 is rotatably connected to the vehicle body through a pin shaft. When the first buffer component 2 is compressed or stretched, the swing arm 1 rotates with the second mounting hole 101 as the axis of rotation, so that the second buffer component 3 is stretched or compressed accordingly.

[0061] In one embodiment, Figure 1 and Figure 2 As shown, a mounting portion 102 is rotatably mounted on the swing arm 1, and the mounting portion 102 is suitable for fixedly mounting a track wheel assembly.

[0062] Specifically, in this embodiment, the mounting portion 102 is connected to the mounting frame 201, so that the crawler vehicle can maintain a good posture when the vehicle rises and falls.

[0063] According to an embodiment of the utility model, on the other hand, a tracked vehicle is provided, comprising a vehicle body, a track wheel assembly and a tracked vehicle shock absorbing suspension device in this embodiment, wherein a swing arm 1, a first buffer assembly 2 and a second buffer assembly 3 are rotationally connected to the vehicle body, and the track wheel assembly is rotationally connected to the swing arm 1.

[0064] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vibration-damping suspension device for a crawler vehicle, characterized in that: include: A swing arm (1), wherein the swing arm (1) is adapted to be rotatably connected to the vehicle body and the track wheel assembly; A first buffer assembly (2), one end of which is rotatably connected to the swing arm (1), and the other end of which is suitable for being rotatably connected to the vehicle body; A second buffer component (3), one end of the second buffer component (3) is rotatably connected to the swing arm (1), and the other end is suitable for being rotatably connected to the vehicle body, and the first buffer component (2) and the second buffer component (3) are located at both ends of the swing arm (1).

2. The vibration-damping suspension device for a crawler vehicle according to claim 1, characterized in that: The first buffer component (2) comprises: A mounting frame (201), wherein the mounting frame (201) is connected to the swing arm (1); A shock absorber (202), one end of which is rotatably connected to the mounting frame (201), and the other end of which is suitable for being rotatably connected to the vehicle body.

3. The vibration-damping suspension device for a crawler vehicle according to claim 2, characterized in that: Two shock absorbers (202) are provided, and the two shock absorbers (202) are rotatably mounted on two ends of the mounting frame (201) respectively.

4. The vibration-damping suspension device for a crawler vehicle according to claim 2 or 3, characterized in that: The shock absorber (202) comprises: A shell (2021), one end of the shell (2021) being rotatably connected to the swing arm (1) or the vehicle body, and the other end of the shell (2021) being provided with an opening; A piston rod (2022), one end of the piston rod (2022) being slidably mounted in the housing (2021), and the other end of the piston rod (2022) being rotationally connected to the vehicle body or the swing arm (1); A first elastic member (2023), wherein the first elastic member (2023) is sleeved on the outside of the shell (2021).

5. The vibration-damping suspension device for a crawler vehicle according to claim 1, characterized in that: The second buffer component (3) comprises: A bracket (301), the bracket (301) being rotatably connected to the swing arm (1) or the vehicle body; A mounting seat (302), the mounting seat (302) being rotatably connected to the vehicle body or the swing arm (1); A second elastic member (303), wherein the second elastic member (303) is arranged between the bracket (301) and the mounting seat (302).

6. The vibration-damping suspension device for a crawler vehicle according to claim 5, characterized in that: The mounting seat (302) is provided with a first mounting hole, and the second buffer assembly (3) further comprises: An adjusting member (304), one end of the adjusting member (304) being fixedly connected to the bracket (301), the other end of the adjusting member (304) passing through the first mounting hole, and the second elastic member (303) being sleeved on the adjusting member (304); A fastener (305) is movably mounted on one end of the adjusting member (304) located on the mounting seat (302).

7. The vibration-damping suspension device for a crawler vehicle according to claim 6, characterized in that: The adjusting member (304) is provided with an external thread, the fastening member (305) is provided with an internal thread, and the adjusting member (304) is threadedly connected to the fastening member (305).

8. The vibration-damping suspension device for a crawler vehicle according to any one of claims 5 to 7, characterized in that: The second buffer component (3) further comprises: A protective member (306), wherein the protective member (306) is fixedly mounted on the bracket (301).

9. The vibration-damping suspension device for a crawler vehicle according to claim 1, characterized in that: A mounting portion (102) is rotatably mounted on the swing arm (1), and the mounting portion (102) is suitable for fixedly mounting a track wheel assembly.

10. A crawler vehicle, characterized in that: include: Vehicle body; The vibration-damping suspension device for a crawler vehicle according to any one of claims 1 to 9, wherein the swing arm (1), the first buffer assembly (2) and the second buffer assembly (3) are rotatably connected to the vehicle body; A track wheel assembly, wherein the track wheel assembly is rotationally connected to the swing arm (1).

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