Walking device

Abstract

The utility model relates to a walking device which comprises a supporting frame, a driving wheel, a rear driven wheel, a plurality of walking wheel sets and a crawler belt, the upper end of the driving wheel is higher than the horizontal plane of the upper end of the rear driven wheel, the lower end of the driving wheel is higher than the horizontal plane of the lower end of the rear driven wheel, and each walking wheel set comprises a plurality of installation cross beams arranged on the supporting frame. A mounting triangular plate is rotatably arranged on the mounting cross beam, walking single wheels are arranged at the ends, close to the front driven wheel and the rear driven wheel, of the mounting triangular plate respectively, the lower ends of the walking single wheels can be located on the same plane, and the plane is lower than the lower end of the rear driven wheel; a front walking reinforcing wheel is rotatably arranged on the supporting frame and located in front of the walking wheel set, and a rear walking reinforcing wheel is rotatably arranged on the supporting frame and located between the walking wheel set and the rear driven wheel and close to the rear driven wheel. The technical problem that an existing crawler-type walking device is poor in walking stability is solved.

Description

Technical Field

[0001] The utility model relates to the field of tracked vehicles, in particular to a walking device. Background Art

[0002] At present, in engineering machinery, there are many equipments that need to be equipped with walking devices, and crawler walking devices are common, such as a crawler walking device disclosed in Chinese patent application number: CN202210451897.4. The crawler walking device is installed on the tire of the vehicle, including a frame; a receiving assembly, installed on the frame, for placing the tire; a crawler assembly, installed on the frame, for switching the walking mode of the tire to the crawler walking mode; a wheel-track connection structure, the first end of which is swingably connected to the frame, the second end of which is rotationally connected to the rim of the tire, and the second end of the wheel-track connection structure is detachably connected to the rim of the tire; a transmission assembly, at least partially installed in the wheel-track connection structure, for transmission connection between the tire and the crawler assembly, the active end of the transmission assembly is installed on the rim of the tire, and the driven end of the transmission assembly is installed on the crawler assembly.

[0003] Due to the unevenness of the ground, existing crawler-type walking devices are often unable to achieve self-adaptation and cannot achieve relatively stable walking. Utility Model Content

[0004] Therefore, in view of the above-mentioned problems, the utility model proposes a walking device, which solves the technical problem that the existing crawler-type walking devices have poor walking stability.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a walking device, characterized in that it includes a supporting frame, a driving wheel rotatably arranged on the supporting frame, a rear passive wheel, multiple walking wheel groups and a crawler track covering the driving wheel, the rear passive wheel and the multiple walking wheel groups, the upper end of the driving wheel is higher than the horizontal plane of the upper end of the rear passive wheel, the lower end of the driving wheel is higher than the horizontal plane of the lower end of the rear passive wheel, the walking wheel group includes multiple mounting cross beams arranged on the supporting frame, a mounting triangular plate is rotatably arranged on the mounting cross beam, and a single walking wheel is respectively arranged on one end of the mounting triangular plate close to the front passive wheel and the rear passive wheel, and the lower end of each single walking wheel can be located in the same plane, which is lower than the lower end of the rear passive wheel, a front walking reinforcement wheel is rotatably arranged on the supporting frame in front of the walking wheel group, and a rear walking reinforcement wheel is rotatably arranged on the supporting frame between the walking wheel group and the rear passive wheel and close to the rear passive wheel.

[0006] Furthermore, a reinforcement plane is formed between the front travel reinforcement wheel and the rear travel reinforcement wheel, and the lower end surface of each single travel wheel can be located on the reinforcement plane at the same time.

[0007] Furthermore, an adjusting oil cylinder is provided on the supporting frame, a mounting bracket is provided on the piston rod of the adjusting oil cylinder, and the rear passive wheel is rotatably provided on the mounting bracket.

[0008] Furthermore, the middle portion of the inner side of the crawler belt protrudes downward to form a guide convex strip, and the middle portion of the guide convex strip is recessed upward to form a driving tooth groove.

[0009] Furthermore, the driving wheel and the rear driven wheel are in contact with the track through the driving tooth grooves to achieve flexible transmission.

[0010] Furthermore, the front travel reinforcement wheel, the rear travel reinforcement wheel and the single travel wheel are in contact with the track by means of a guide convex strip clamped in the middle, thereby realizing flexible transmission.

[0011] Furthermore, a connection frame for strengthening the connection is arranged on the rear side surface of the support frame, and a plurality of reinforcing ribs are arranged in the connection frame.

[0012] Furthermore, a front passive wheel is rotatably provided on the support frame in front of the front walking reinforcement wheel, the driving wheel is located between the front passive wheel and the rear passive wheel, the upper end of the driving wheel is higher than the tangent plane of the front passive wheel and the upper end of the rear passive wheel, and the lower end of the driving wheel is higher than the tangent plane of the front passive wheel and the lower end of the rear passive wheel.

[0013] By adopting the above technical solution, the beneficial effects of the utility model are:

[0014] 1. This scheme realizes the functions of different wheel bodies through the arrangement of a driving wheel, a rear passive wheel and a walking wheel group. The driving wheel is used for driving, and the driving wheel and the rear passive wheel are also used to realize the effective positioning of the entire crawler track. The walking wheel group is used for walking support. By installing a crossbeam and a triangular plate, it can be realized that the two walking single wheels on the same triangular plate will swing. The swing of different walking single wheels of multiple walking wheel groups is utilized to realize adaptation to the ground, and the lower ends of the walking single wheels are limited to be located in the same plane, which is lower than the lower end of the rear passive wheel, so as to realize better support, and the upper end of the driving wheel is limited to be higher than the horizontal plane of the upper end of the rear passive wheel, and the lower end of the driving wheel is higher than the horizontal plane of the lower end of the rear passive wheel, so as to realize better driving and tensioning.

[0015] In addition, the provision of the front and rear travel reinforcement wheels can achieve tensioning and enhance the travel stability of the travel wheel set, and can also ensure that the single travel wheel will not swing significantly.

[0016] 2. The lower end surface of each walking single wheel can be located on the reinforced plane at the same time, which can achieve better stability.

[0017] 3. By adjusting the settings of the oil cylinder and the mounting bracket, the rear passive wheel can be adjusted to achieve effective tensioning.

[0018] 4. The setting of the guide convex strips and the driving tooth grooves can make the driving wheel and the rear driven wheel contact the crawler track through the driving tooth grooves to achieve flexible transmission, and make the front walking reinforced wheel, the rear walking reinforced wheel and the walking single wheel contact the crawler track through the guide convex strips clamped in the middle to achieve flexible transmission.

[0019] 5. The setting of the connecting frame and the reinforcing rib plate can better improve the strength of the connection between the walking device and other vehicle bodies.

[0020] 6. A front passive wheel is added so that the front passive wheel and the rear passive wheel are used to achieve effective positioning of the entire track, and the driving wheel is mainly used for driving, achieving the same invention intent. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the front side of the utility model;

[0022] Figure 2 It is a front view structural schematic diagram of the utility model;

[0023] Figure 3 It is a cross-sectional structural schematic diagram of the utility model;

[0024] Figure 4 It is a three-dimensional structural schematic diagram of the back side of the utility model;

[0025] Figure 5 yes Figure 4 A schematic diagram of the structure inside the connecting frame;

[0026] Figure 6 This is a schematic diagram of the structure of the utility model in which the support frame and the crawler are omitted;

[0027] Figure 7 yes Figure 6 A schematic diagram of the structure in a top-down state;

[0028] Figure 8 yes Figure 2 Sectional view at AA in the middle;

[0029] Fig. 9 It is a structural schematic diagram of another embodiment of the utility model.

[0030] Reference numerals:

[0031] 1. Support frame; 2. Driving wheel; 3. Front passive wheel; 4. Rear passive wheel; 5. Track; 51. Guide rib; 52. Driving tooth groove; 6. Travel wheel group; 61. Mounting beam; 62. Mounting triangle plate; 63. Travel single wheel; 71. Front travel reinforced wheel; 72. Rear travel reinforced wheel; 81. Adjusting cylinder; 82. Mounting bracket; 9. Connecting frame; 91. Reinforcement rib plate. DETAILED DESCRIPTION

[0032] The utility model is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0033] refer to Figures 1 to 8 The present embodiment provides a walking device, including a supporting frame 1, a driving wheel 2 rotatably arranged on the supporting frame 1, a front passive wheel 3, a rear passive wheel 4 rotatably arranged on the supporting frame 1, a plurality of walking wheel groups 6 and a crawler 5 covering the driving wheel 2, the front passive wheel 3, the rear passive wheel 4 and the plurality of walking wheel groups 6, the upper end of the driving wheel 2 is higher than the tangent plane of the upper ends of the front passive wheel 3 and the rear passive wheel 4, the lower end of the driving wheel 2 is higher than the tangent plane of the lower ends of the front passive wheel 3 and the rear passive wheel 4, the walking wheel group 6 includes a plurality of mounting beams 61 arranged on the supporting frame 1, a mounting triangular plate 62 is rotatably arranged on the mounting beam 61, and a single walking wheel 63 is respectively arranged on one end of the mounting triangular plate close to the front passive wheel 3 and the rear passive wheel 4, and the lower end of each single walking wheel 63 can be located in the same plane, which is lower than the lower end of the front passive wheel 3 or the rear passive wheel 4.

[0034] A front travel reinforcement wheel 71 is rotatably provided on the support frame 1 between the travel wheel set 6 and the front driven wheel 3 and near the front driven wheel 3, and a rear travel reinforcement wheel 72 is rotatably provided on the support frame 1 between the travel wheel set 6 and the rear driven wheel 4 and near the rear driven wheel 4. A reinforcement plane is formed between the front travel reinforcement wheel 71 and the rear travel reinforcement wheel 72, and the lower end surface of each travel single wheel 63 can be simultaneously located on the reinforcement plane.

[0035] The support frame 1 is provided with an adjusting cylinder 81, and a mounting bracket 82 is provided on the piston rod of the adjusting cylinder 81, and the rear driven wheel 4 is rotatably provided on the mounting bracket 82. The inner middle part of the track 5 is convex downward to form a guide convex strip 51, and the middle part of the guide convex strip 51 is concave upward to form a driving tooth groove 52. The driving wheel 2, the front driven wheel 3 and the rear driven wheel 4 are in contact with the track 5 through the driving tooth groove 52 to achieve flexible transmission. The front walking reinforcement wheel 71, the rear walking reinforcement wheel 72 and the walking single wheel 63 are in contact with the track 5 by clamping the guide convex strip 51 in the middle to achieve flexible transmission.

[0036] A connection frame 9 for strengthening the connection is arranged on the rear side of the support frame 1 , and a plurality of reinforcing ribs 91 are arranged inside the connection frame 9 .

[0037] In the above structure, the front walking reinforced wheels and the rear walking reinforced wheels may not be provided; in the above structure, the adjustment structure formed by the adjustment cylinder and the mounting bracket may also be replaced by other conventional structures, the purpose of which is to achieve the adjustability or buffering of the rear passive wheel; the above-mentioned connecting frame and reinforcing rib plate may also not be provided, which will not affect the purpose to be achieved by this scheme, and they are mainly used for connection with the vehicle body; the structure of the above-mentioned crawler track may also adopt other structures, and the structure of this scheme is a better structure.

[0038] The beneficial effects of this embodiment are:

[0039] 1. This scheme realizes the functions of different wheel bodies by setting the driving wheel, the front passive wheel, the rear passive wheel and the walking wheel group. The front passive wheel and the rear passive wheel are used to realize the effective positioning of the entire crawler track, the driving wheel is used for driving, and the walking wheel group is used for walking support. By installing the crossbeam and the setting of the triangular plate, it can be achieved that the two walking single wheels on the same triangular plate will swing, and the swing of different walking single wheels of multiple walking wheel groups can be used to achieve adaptation to the ground, and the lower ends of the walking single wheels are limited to be located in the same plane, which is lower than the lower end of the rear passive wheel, so as to achieve better support, and the upper end of the driving wheel is limited to be higher than the horizontal plane of the upper end of the rear passive wheel, and the lower end of the driving wheel is higher than the horizontal plane of the lower end of the rear passive wheel, so as to achieve better driving and tensioning.

[0040] 2. The setting of the front and rear walking reinforcement wheels can not only achieve tensioning, but also enhance the walking stability of the walking wheel set, and also ensure that the single walking wheel will not produce large swings.

[0041] 3. The lower end surface of each walking single wheel can be located on the reinforced plane at the same time, which can achieve better stability.

[0042] 4. By adjusting the settings of the oil cylinder and the mounting bracket, the rear passive wheel can be adjusted to achieve effective tensioning.

[0043] 5. The setting of the guide convex strips and the driving tooth grooves can make the driving wheel and the rear driven wheel contact the crawler track through the driving tooth grooves to achieve flexible transmission, and make the front walking reinforced wheel, the rear walking reinforced wheel and the walking single wheel contact the crawler track through the guide convex strips clamped in the middle to achieve flexible transmission.

[0044] 6. The setting of the connecting frame and the reinforcing rib plate can better improve the strength of the connection between the walking device and other vehicle bodies.

[0045] Refer to Fig. 9, the front passive wheel is omitted, and the driving wheel replaces the front passive wheel and the driving wheel in the first embodiment, so that the driving wheel is used for both driving and positioning, achieving the same invention intention. In this solution, the driving wheel 2, the passive wheel 4, and the front walking reinforcement wheel 71 form a basic structure for supporting the crawler 5, and the walking wheel group is used to cooperate to achieve effective walking.

[0046] Although the present invention has been specifically demonstrated and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes may be made to the present invention in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A walking device, characterized in that: The invention comprises a supporting frame, a driving wheel rotatably arranged on the supporting frame, a rear passive wheel rotatably arranged on the supporting frame, a plurality of walking wheel groups and a crawler track covering the driving wheel, the rear passive wheel and the plurality of walking wheel groups, the upper end of the driving wheel being higher than the horizontal plane of the upper end of the rear passive wheel, the lower end of the driving wheel being higher than the horizontal plane of the lower end of the rear passive wheel, the walking wheel group comprising a plurality of mounting cross beams arranged on the supporting frame, a mounting triangular plate being rotatably arranged on the mounting cross beam, a single walking wheel being respectively arranged on one end of the mounting triangular plate close to the front passive wheel and the rear passive wheel, the lower end of each single walking wheel being located in the same plane, which is lower than the lower end of the rear passive wheel, a front walking reinforcement wheel being rotatably arranged on the supporting frame in front of the walking wheel group, and a rear walking reinforcement wheel being rotatably arranged on the supporting frame between the walking wheel group and the rear passive wheel and close to the rear passive wheel.

2. A walking device according to claim 1, characterized in that: A reinforcement plane is formed between the front travel reinforcement wheel and the rear travel reinforcement wheel, and the lower end surface of each single travel wheel can be located on the reinforcement plane at the same time.

3. A walking device according to claim 1, characterized in that: An adjusting oil cylinder is arranged on the supporting frame, a mounting bracket is arranged on the piston rod of the adjusting oil cylinder, and the rear passive wheel is rotatably arranged on the mounting bracket.

4. A walking device according to any one of claims 1 to 3, characterized in that: The middle part of the inner side of the crawler belt protrudes downward to form a guide convex strip, and the middle part of the guide convex strip is recessed upward to form a driving tooth groove.

5. A walking device according to claim 4, characterized in that: The driving wheel and the rear driven wheel are in contact with the crawler belt through the driving tooth grooves to realize flexible transmission.

6. A walking device according to claim 4, characterized in that: The front walking reinforced wheel, the rear walking reinforced wheel and the walking single wheel are in contact with the crawler belt by means of guide convex strips clamped in the middle, so as to realize flexible transmission.

7. A walking device according to any one of claims 1 to 3, characterized in that: A connection frame for strengthening the connection is arranged on the rear side surface of the support frame, and a plurality of reinforcing ribs are arranged in the connection frame.

8. A walking device according to any one of claims 1 to 3, characterized in that: A front passive wheel is rotatably provided on the support frame in front of the front walking reinforcement wheel, the driving wheel is located between the front passive wheel and the rear passive wheel, the upper end of the driving wheel is higher than the tangent plane of the front passive wheel and the upper end of the rear passive wheel, and the lower end of the driving wheel is higher than the tangent plane of the front passive wheel and the lower end of the rear passive wheel.

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