Crawler driving structure and crawler

Abstract

The utility model discloses a crawler driving structure and a crawler, and belongs to the technical field of crawlers. According to the utility model, the problems that the area of a crawler belt is large and the crawler belt can be influenced by each other due to the fact that a secondary motor and a permanent magnet used for suspension are flatly laid on the crawler belt are solved, and the supporting block comprises a transverse supporting plate and a longitudinal supporting plate connected with the transverse supporting plate and the crawler belt; the vehicle body suspension system comprises a suspension permanent magnet set arranged on the surface of the transverse supporting plate, suspension magnets matched with the suspension permanent magnet set are arranged on the vehicle body, the track propelling system comprises a secondary motor arranged on the side face of the longitudinal supporting plate, and a primary motor of the track propelling system is arranged on the vehicle body. The T-shaped supporting block is arranged on the crawler, and the suspension permanent magnet and the driving permanent magnet are respectively arranged on the transverse supporting plate and the longitudinal supporting plate, so that the driving mechanism is compact in structure, the size of the crawler is not too large, and the production cost of the crawler is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of crawler vehicles, and particularly relates to a driving structure and crawler of a crawler vehicle. Background Art

[0002] Traditional crawler vehicles rely on engines and motors as power systems. The power transmission needs to be transmitted to the driving wheel through a transmission mechanism. The driving wheel drags the crawler by meshing with the crawler, and the vehicle travels by relying on the friction between the crawler and the ground. The power transmission loss in this process is large, and the traveling speed is also limited. At the same time, the load wheels of the vehicle are in direct contact with the lower crawler plate and bear all the weight of the vehicle, increasing the frictional loss of traditional crawler vehicles. At the same time, in recent years, with the increasingly prominent contradiction between energy demand and environmental resources, electric vehicles have gradually become a research hotspot in the field of road transportation due to their own advantages such as environmental protection and energy conservation.

[0003] The invention patent with the patent number CN101209676B discloses a maglev crawler linear motor electric drive vehicle. The secondary of the linear motor for driving and the permanent magnet for levitation are both laid flat on the crawler, which makes the area of the crawler larger, increases the cost of the crawler vehicle, and there may be mutual influence between the secondary of the linear motor and the permanent magnet. Content of the Utility Model

[0004] Aiming at the problems in the prior art that the secondary of the linear motor for driving and the permanent magnet for levitation are both laid flat on the crawler, which makes the area of the crawler larger, increases the cost of the crawler vehicle, and there may be mutual influence between the secondary of the linear motor and the permanent magnet, the utility model provides a driving structure and crawler of a crawler vehicle.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A driving structure of a crawler vehicle includes a crawler propulsion system, a vehicle body levitation system and a support block. The support block includes a transverse support plate and a longitudinal support plate connecting the transverse support plate and the crawler. The transverse support plate and the longitudinal support plate together form a support block with a T-shaped cross-section. The vehicle body levitation system includes a group of levitation permanent magnets arranged on the surface of the transverse support plate, and the levitation magnets cooperating with the group of levitation permanent magnets are arranged on the vehicle body. The crawler propulsion system includes motor secondaries respectively arranged on the sides of the longitudinal support plate, and the motor primaries of the crawler propulsion system are arranged on the vehicle body.

[0007] After adopting this technical solution, a support block with a T-shaped cross-section is arranged on the crawler, and the permanent magnets of the crawler propulsion system and the vehicle body levitation system are respectively arranged on the surface of the transverse support plate of the support block and on both sides of the longitudinal support plate, so that the driving structure arranged on the crawler is compact, the size of the crawler will not be too large, and the production cost of the crawler vehicle is reduced.

[0008] Preferably, the suspension permanent magnet group consists of several first permanent magnets, which are evenly arranged on a side of the transverse support plate away from the longitudinal support plate, with a gap provided between two adjacent first permanent magnets.

[0009] After adopting this technical solution, the suspended permanent magnet group is set to be composed of multiple first permanent magnets, so that the suspended permanent magnet group can follow the bending and rotation of the track, avoiding the hard permanent magnets affecting the normal rotation of the track.

[0010] Preferably, the crawler propulsion system is a linear crawler propulsion system, and the linear crawler propulsion system is provided with two linear motor secondaries, and each of the linear motor secondary is composed of several evenly arranged second permanent magnets.

[0011] After adopting this technical solution, the secondary of the linear motor is set to be composed of multiple second permanent magnets, so that the secondary of the linear motor can follow the bending and rotation of the track, avoiding the hard permanent magnets affecting the normal rotation of the track.

[0012] Preferably, the suspension magnet is a suspension dewar or electromagnet connected to the vehicle body.

[0013] This technical solution utilizes high-temperature superconducting magnetic levitation technology to minimize friction between the vehicle body and the tracks, addressing the significant power transmission losses, frictional losses, and speed limitations of conventional tracked vehicles. Leveraging the uniquely strong pinning capabilities of high-temperature superconducting magnetic levitation, it generates a macroscopic levitation force that balances the weight of the suspended body. This addresses the shortcomings of existing magnetic levitation tracked vehicle technologies, such as high electromagnetic levitation energy consumption, the increased cost of an external electromagnetic levitation controller, and the high control precision and real-time requirements, while also improving endurance.

[0014] Preferably, the tracks are provided with induction teeth, the vehicle body is provided with a lower support wheel, the lower support wheel is provided with a limiting groove cooperating with the induction tooth, the depth of the limiting groove is greater than the height of the induction tooth, and the suspension displacement of the lower support wheel is less than the height of the induction tooth.

[0015] After adopting this technical solution, the depth of the limiting groove is greater than the height of the inducing tooth, so that the wheel surface of the lower support wheel is in contact with the track when the vehicle body is not suspended, while the end face of the inducing tooth is not in contact with the bottom of the limiting groove, making the force more uniform; the suspension displacement of the lower support wheel is less than the height of the inducing tooth, so that the inducing tooth is always located in the limiting groove, preventing it from leaving the limiting groove.

[0016] A crawler track is provided with a crawler vehicle driving structure.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0018] 1. The utility model sets a T-shaped support block on the crawler track, and sets the permanent magnets of the crawler propulsion system and the vehicle body suspension system on the surface of the transverse support plate of the support block and on both sides of the longitudinal support plate, so that the drive structure arranged on the crawler track is compact, the crawler track size will not be too large, and the production cost of the crawler vehicle is reduced.

[0019] 2. This utility model utilizes high-temperature superconducting magnetic levitation technology to minimize friction between the vehicle body and the tracks, addressing the significant power transmission losses, frictional losses, and speed limitations of conventional tracked vehicles. By leveraging the uniquely strong pinning capabilities of high-temperature superconducting magnetic levitation, this vehicle generates a macroscopic levitation force that balances the weight of the suspended body. This addresses the shortcomings of existing magnetic levitation tracked vehicle technologies, such as high electromagnetic levitation energy consumption, the increased cost of an external electromagnetic levitation controller, and the high control precision and real-time requirements, thereby improving endurance.

[0020] 3. The utility model is provided with an inducing tooth. The depth of the limiting groove is greater than the height of the inducing tooth, so that the wheel surface of the lower support wheel is in contact with the track when the vehicle body is not suspended, while the end face of the inducing tooth is not in contact with the bottom of the limiting groove, so that the force is more uniform; the suspension displacement of the lower support wheel is less than the height of the inducing tooth, so that the inducing tooth is always located in the limiting groove, avoiding it from leaving the limiting groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be described by way of examples with reference to the accompanying drawings, in which:

[0022] Figure 1 It is a structural diagram of the utility model;

[0023] Among them: 1- suspension magnet; 2- suspension permanent magnet group; 3- support block; 4- driving permanent magnet group; 5- motor primary; 6- induction gear; 7- crawler track; 8- lower support wheel. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0025] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0026] The following will Figure 1 describe the present utility model in detail.

[0027] Embodiment 1

[0028] As Figure 1 shown, a driving structure of a crawler vehicle includes a crawler propulsion system, a vehicle body suspension system, and a support block 3. The support block 3 includes a transverse support plate and a longitudinal support plate connecting the transverse support plate and the crawler 7. The transverse support plate and the longitudinal support plate together form a support block 3 with a T-shaped cross-section. The vehicle body suspension system includes a suspension permanent magnet group 2 provided on the surface of the transverse support plate, and a suspension magnet 1 cooperating with the suspension permanent magnet group 2 is provided on the vehicle body. The crawler propulsion system includes motor secondaries respectively provided on the sides of the longitudinal support plate, and a motor primary 5 of the crawler propulsion system is provided on the vehicle body. By arranging the support block 3 with a T-shaped cross-section on the crawler 7 and respectively arranging the permanent magnets of the crawler propulsion system and the vehicle body suspension system on the surface of the transverse support plate of the support block 3 and on both sides of the longitudinal support plate, the driving structure arranged on the crawler 7 is compact, the crawler size will not be too large, and the production cost of the crawler vehicle is reduced;

[0029] In this embodiment, the suspension permanent magnet group 2 is composed of several first permanent magnets, and the several first permanent magnets are uniformly arranged on the side of the transverse support plate away from the longitudinal support plate, and a gap is provided between adjacent two first permanent magnets.

[0030] In this embodiment, the crawler propulsion system is a linear crawler propulsion system. There are two linear motor secondaries in the linear crawler propulsion system, and the linear motor secondaries are driving permanent magnet groups 4. Each of the driving permanent magnet groups 4 is composed of several second permanent magnets uniformly arranged.

[0031] On both sides of the support block 3, the secondary of the motor for propulsion is laid. At the lower end of the vehicle body, the primary 5 of the linear motor for propulsion is fixedly connected. The primary 5 of the linear motor is composed of two armature windings, which are respectively located on both sides of the support block 3 on the crawler 7 and are arranged opposite to the second permanent magnet group. An alternating current power supply is applied to the electromagnetic coils on the primary of the linear motor. A traveling wave magnetic field is generated in the air gap between the primary of the linear motor and the second permanent magnet group. When the second permanent magnet group cuts the traveling wave magnetic field, an induced electromotive force is generated and a current is produced. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, driving the second permanent magnet group to move, and thus driving the crawler to move. When the vehicle makes a turning motion, the magnitude of the magnetic force generated at both ends can be controlled by adjusting the magnitude of the current flowing through the electromagnetic coils at both ends of the primary of the linear motor, reducing the lateral movement of the vehicle body and ensuring the stability of the air gap size. The electromagnetic coils on one side of the primary of the linear motor and the second permanent magnets on the same side will generate a normal suction force. The crawler propulsion system adopts a bilateral linear motor to cancel out the normal forces generated at both ends.

[0032] In this embodiment, the support block is composed of 45# cast steel and rubber coated on the 45# cast steel.

[0033] In this embodiment, the suspension magnet 1 is a suspension dewar connected to the vehicle body. A high-temperature superconducting block is arranged in the suspension dewar, and the suspension dewar is connected with a cooling medium conveying mechanism. The cooling medium is liquid nitrogen, and the cooling medium conveying mechanism is used to convey or discharge liquid nitrogen from the suspension dewar, so that the high-temperature superconducting block works or stops working.

[0034] The first permanent magnet adopts a high-strength permanent magnet. The high-temperature superconducting maglev has the characteristics of large suspension force and stable suspension force. As long as the suspension force is balanced with the gravity of the suspended object, the suspended object can be stable at its equilibrium position. The height of its equilibrium position from the ground is determined by the number and strength of the first permanent magnets and the size and number of superconducting blocks in the suspension system. The suspension system using high-temperature superconducting maglev has a self-stabilization function: in an external magnetic field, the unique strong pinning ability of high-temperature superconductors makes it difficult for magnetic field lines to escape from the bondage of the pinning center (for the already captured magnetic field lines) and also difficult to penetrate into the superconductor (for the free magnetic field lines that have not been captured). This unique pinning characteristic enables the superconductor to induce a superconducting strong current that hinders this change as the external magnetic field changes. The electromagnetic interaction between this superconducting current and the external magnetic field generates a suspension force that balances the gravity of the suspended body itself macroscopically, which is a characteristic of automatically maintaining the balance between gravity and magnetism. When the magnetic levitation system does not need to generate magnetic force, the height of the vehicle body drops.

[0035] Embodiment 2

[0036] As Figure 1As shown in the figure, this embodiment is basically the same as Embodiment 1, with the difference that: guide teeth 6 are provided on the crawler belt 7, a lower support wheel 8 is provided on the vehicle body, and a limiting groove for cooperating with the guide teeth 6 is provided on the lower support wheel 8. The depth of the limiting groove is greater than the height of the guide teeth 6, and the suspension displacement of the lower support wheel 8 is less than the height of the guide teeth 6. The cooperation between the guide teeth 6 and the limiting groove realizes the function of preventing the vehicle from losing stability left and right during operation and stabilizing the vehicle body. The fact that the suspension displacement of the lower support wheel 8 is less than the height of the guide teeth 6 ensures that the guide teeth 6 are still located in the limiting groove after the vehicle body is suspended, guaranteeing that the vehicle body will not randomly displace left and right after being suspended.

[0037] Embodiment 3

[0038] This embodiment is basically the same as Embodiment 2, with the difference that: the suspension magnet 1 is an electromagnet; a power supply system for the electromagnet is provided on the vehicle body, and the vehicle body can be suspended on the crawler belt 7 through the cooperation of the first permanent magnet and the electromagnet on the vehicle.

[0039] Embodiment 4

[0040] A crawler belt containing any one of the crawler drive structures in Embodiments 1-3.

[0041] The above-described embodiments only represent the specific implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the protection scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the technical solution of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application.

Claims

1. A driving structure of a crawler vehicle, characterized in that: It includes a crawler propulsion system, a vehicle body suspension system, and a support block (3). The support block (3) includes a transverse support plate and a longitudinal support plate connecting the transverse support plate and the crawler (7). The transverse support plate and the longitudinal support plate together form a support block (3) with a T-shaped cross-section. The vehicle body suspension system includes a suspension permanent magnet group (2) arranged on the surface of the transverse support plate, and a suspension magnet (1) cooperating with the suspension permanent magnet group (2) is arranged on the vehicle body. The crawler propulsion system includes motor secondaries respectively arranged on the sides of the longitudinal support plate, and a motor primary (5) of the crawler propulsion system is arranged on the vehicle body.

2. The drive structure of a crawler vehicle according to claim 1, characterized in that: The suspension permanent magnet group (2) is composed of several first permanent magnets. The several first permanent magnets are evenly arranged on the side of the transverse support plate away from the longitudinal support plate, and a gap is provided between adjacent two first permanent magnets.

3. The drive structure of a crawler vehicle according to claim 1, characterized in that: The crawler propulsion system is a linear crawler propulsion system. There are two linear motor secondaries in the linear crawler propulsion system. The linear motor secondaries are driving permanent magnet groups (4), and each driving permanent magnet group (4) is evenly arranged by several second permanent magnets.

4. A crawler vehicle drive structure according to any one of claims 1-3, characterized in that: The suspension magnet (1) is a suspension dewar or an electromagnet connected to the vehicle body.

5. A crawler vehicle drive structure according to any one of claims 1-3, characterized in that: Inducing teeth (6) are arranged on the crawler (7), a lower support wheel (8) is arranged on the vehicle body, and a limiting groove cooperating with the inducing teeth (6) is arranged on the lower support wheel (8). The depth of the limiting groove is greater than the height of the inducing teeth (6), and the suspension displacement of the lower support wheel (8) is less than the height of the inducing teeth (6).

6. A crawler track, characterized in that: The crawler is provided with the crawler vehicle drive structure according to any one of claims 1-5.

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