Self-adaptive crawler walking mechanism

Abstract

The utility model relates to a self-adaptive crawler belt walking mechanism which comprises a supporting frame, a driving wheel rotationally arranged on the supporting frame, a rear driven wheel rotationally arranged on the supporting frame, a plurality of walking wheel sets and a crawler belt wrapping the driving wheel, the rear driven wheel and the walking wheel sets. 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, the walking wheel sets are connected with the supporting frame through springs, and when the springs are not subjected to external force, the lower end of each walking wheel set 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 self-adaptive crawler walking mechanism is poor in walking stability is solved.

Description

Technical Field

[0001] The utility model relates to the field of crawler vehicles, in particular to an adaptive crawler walking mechanism. Background Art

[0002] At present, in engineering machinery, there are many equipments that need to be equipped with adaptive crawler walking mechanisms, and the most common ones are crawler-type adaptive crawler walking mechanisms, such as a crawler-type adaptive crawler walking mechanism disclosed in Chinese patent application number: CN202210451897.4. The crawler-type adaptive crawler walking mechanism is installed on the tire of the vehicle, including a frame; a receiving assembly, which is installed on the frame and used to place the tire; a crawler assembly, which is installed on the frame and used to switch 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, which is at least partially installed in the wheel-track connection structure, and is used to drive and connect 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, the existing crawler-type adaptive crawler walking mechanism is often unable to achieve self-adaptation and cannot achieve relatively stable walking. Utility Model Content

[0004] Therefore, in view of the above problems, the utility model proposes an adaptive crawler walking mechanism, which solves the technical problem of poor walking stability of the existing adaptive crawler walking mechanism.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: an adaptive crawler walking mechanism, including a supporting frame, a driving wheel rotatably arranged on the supporting frame, a rear passive wheel rotatably arranged on the supporting frame, multiple walking wheel groups and a crawler 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 is connected to the supporting frame through a spring, when the spring is not subjected to external force, the lower end of each walking wheel group 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. When the spring is not subjected to external force, each travel wheel group is lower than the reinforcement plane, and the difference is no more than 10 mm.

[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 contacts the crawler belt through the driving tooth groove to achieve flexible transmission.

[0010] Furthermore, the front travel reinforcement wheel, the rear travel reinforcement wheel and the travel wheel assembly 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, the walking wheel group also includes a plurality of mounting beams, on which mounting triangle plates are rotatably provided, and on the ends of the mounting triangle plates close to the front passive wheel and the rear passive wheel, walking single wheels are respectively provided, and the springs are provided on the mounting beams.

[0013] 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.

[0014] By adopting the above technical solution, the beneficial effects of the utility model are:

[0015] 1. This solution realizes the functions of different wheel bodies through the setting of driving wheels, rear passive wheels and walking wheel groups. The driving wheels and rear passive wheels are used to realize the effective positioning of the entire track. The driving wheels are also used for driving, and the walking wheel groups are used for walking support. Through the setting of springs, self-adaptation can be achieved when the road surface is uneven. Of course, the degree of this self-adaptation will not be too large, but it can greatly reduce the bumpy feeling.

[0016] 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.

[0017] 3. The difference is set to no more than 10mm to prevent the spring stroke from becoming longer, which may easily lead to a reduction in the spring life, and to achieve better stability.

[0018] 4. By adjusting the settings of the oil cylinder and the mounting bracket, the rear passive wheel can be adjusted to achieve effective tensioning.

[0019] 5. The setting of the guide convex strips and the driving tooth grooves can make the driving wheel, the front passive wheel and the rear passive wheel contact with 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 with the crawler track through the guide convex strips clamped in the middle to achieve flexible transmission.

[0020] 6. The setting of the connection frame and the reinforcing rib plate can better improve the strength of the connection between the adaptive crawler walking mechanism and other vehicle bodies.

[0021] 7. By installing the crossbeam and the setting of the triangle plate, the two walking wheels on the same triangle plate can swing, and the swing of different walking wheels of multiple walking wheel groups can be used to achieve self-adaptation to the ground. With the spring, the installation crossbeam can only slide roughly vertically on the support frame. For example, a sliding groove is set on the support frame so that the installation crossbeam can only slide in the sliding groove. This setting can achieve better self-adaptation.

[0022] 8. 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

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the front side of the utility model;

[0024] Figure 2 It is a front view structural schematic diagram of the utility model;

[0025] Figure 3 It is a cross-sectional structural schematic diagram of the utility model;

[0026] Figure 4 It is a three-dimensional structural schematic diagram of the back side of the utility model;

[0027] Figure 5 yes Figure 4 Schematic diagram of the structure inside the connecting frame;

[0028] Figure 6 This is a schematic diagram of the structure of the utility model in which the support frame and the crawler are omitted;

[0029] Figure 7 yes Figure 6 A schematic diagram of the structure in a top-down state;

[0030] Figure 8 yes Figure 2 Sectional view at AA in the middle;

[0031] Fig. 9 A schematic structural diagram of another embodiment of the utility model.

[0032] Reference numerals:

[0033] 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; 64. Spring; 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

[0034] The utility model is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0035] refer to Figures 1 to 8 The present embodiment provides an adaptive crawler walking mechanism, comprising 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 comprises a plurality of springs 64 arranged on the supporting frame 1, a mounting crossbeam 61 connected to the other end of the spring 4, a mounting triangular plate 62 is rotatably arranged on the mounting crossbeam 61, and a walking single 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 walking single 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.

[0036] 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.

[0037] 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.

[0038] 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 .

[0039] In the above structure, the front and rear walking reinforcement wheels may not be provided; in the above structure, the adjustment structure formed by the adjustment cylinder and the mounting bracket may be replaced by other conventional structures, the purpose of which is to achieve the adjustability or buffering of the rear passive wheel; the above connection frame and the reinforcing rib plate may not be provided, which will not affect the purpose of this scheme, and they are mainly used for connection with the vehicle body; the structure of the above crawler may also adopt other structures, and the structure of this scheme is a better structure. In the above structure, the installation beam and the installation triangle plate may not be provided, so that the single walking wheel can be extended and retracted with the extension and retraction of the spring.

[0040] The beneficial effects of the utility model are:

[0041] 1. This solution realizes the functions of different wheel bodies through the setting of active wheels, front passive wheels, rear passive wheels and walking wheel groups. The front passive wheels and rear passive wheels are used to realize the effective positioning of the entire track, the active wheels are used for driving, and the walking wheel groups are used for walking support. Through the setting of springs, self-adaptation can be achieved when the road surface is uneven. Of course, the degree of this self-adaptation will not be too large, but it can greatly reduce the bumpy feeling.

[0042] 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.

[0043] 3. The difference is set to no more than 10mm to prevent the spring stroke from becoming longer, which may easily lead to a reduction in the spring life, and to achieve better stability.

[0044] 4. By adjusting the settings of the oil cylinder and the mounting bracket, the rear passive wheel can be adjusted to achieve effective tensioning.

[0045] 5. The setting of the guide convex strips and the driving tooth grooves can make the driving wheel, the front passive wheel and the rear passive wheel contact with 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 with the crawler track through the guide convex strips clamped in the middle to achieve flexible transmission.

[0046] 6. The setting of the connection frame and the reinforcing rib plate can better improve the strength of the connection between the adaptive crawler walking mechanism and other vehicle bodies.

[0047] 7. By installing the crossbeam and the setting of the triangle plate, the two walking wheels on the same triangle plate can swing, and the swing of different walking wheels of multiple walking wheel groups can be used to achieve self-adaptation to the ground. With the spring, the installation crossbeam can only slide roughly vertically on the support frame. For example, a sliding groove is set on the support frame so that the installation crossbeam can only slide in the sliding groove. This setting can achieve better self-adaptation.

[0048] 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.

[0049] 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. An adaptive crawler walking mechanism, 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 being connected to the supporting frame through a spring, when the spring is not subjected to an external force, the lower end of each walking wheel group being lower than the lower end of the rear passive wheel, a front walking reinforcement wheel being rotatably arranged in front of the walking wheel group on the supporting frame, and a rear walking reinforcement wheel being rotatably arranged between the walking wheel group and the rear passive wheel on the supporting frame and close to the rear passive wheel.

2. The adaptive crawler walking mechanism according to claim 1, characterized in that: A reinforcement plane is formed between the front travel reinforcement wheel and the rear travel reinforcement wheel. When the spring is not subjected to external force, each travel wheel group is lower than the reinforcement plane, and the difference is no more than 10 mm.

3. The adaptive crawler walking mechanism 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. An adaptive crawler walking mechanism 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. The adaptive crawler walking mechanism according to claim 4, characterized in that: The driving wheel contacts the crawler belt through the driving tooth groove to realize flexible transmission.

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

7. An adaptive crawler walking mechanism 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. An adaptive crawler walking mechanism according to any one of claims 1 to 3, characterized in that: The walking wheel group also includes a plurality of mounting cross beams, on which mounting triangular plates are rotatably arranged, and on one end of the mounting triangular plates close to the front passive wheel and the rear passive wheel, a single walking wheel is respectively arranged, and the spring is arranged on the mounting cross beam.

9. The adaptive crawler walking mechanism 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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