Crawler and multi-motor driving steering speed regulator

Abstract

The multi-motor-driven steering speed regulator comprises a chassis frame, the outer walls of the two sides of the chassis frame are each rotationally connected with two sets of driving wheels, the driving wheels located on one side are connected through a crawler belt, the chassis frame is connected with two sets of bottom plates through a telescopic mechanism, and the two sets of bottom plates are arranged on the chassis frame. The two sets of bottom plates are located between the two sets of driving wheels and located at the position of the center shaft, two sets of sliding grooves are formed in the outer walls of the bottom plates, the inner walls of the bottom plates are obliquely arranged, and a plurality of sets of first steering wheels and second steering wheels are rotationally connected into the two sets of sliding grooves and are obliquely arranged. By means of the first steering wheel and the second steering wheel which are obliquely arranged, larger lateral force can be generated during rotation, so that frictional resistance during steering is effectively reduced, particularly during small-radius steering, energy loss can be remarkably reduced, a vehicle is more efficient during steering, and the problem that power consumption is increased is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of crawler vehicles, in particular to a crawler vehicle and a multi-motor driven steering speed regulator. Background Art

[0002] A tracked vehicle refers to a vehicle that uses a tracked running system instead of a wheeled running system. The cab, cargo platform or compartment of a tracked vehicle are basically the same as those of an ordinary wheeled vehicle, but the tracked vehicle has less unit pressure on the ground, less sinking, stronger adhesion and greater driving ability.

[0003] At present, crawler walking devices can achieve steering by adjusting the speed of the tracks on both sides, especially after adopting a dual-flow transmission system, center steering can be achieved. However, in actual application, this device still has a significant defect: when turning, since the track has a large ground contact area and needs to scrape the ground laterally, especially when making small radius turns on soft ground, the lateral friction resistance encountered increases significantly, which not only leads to increased power consumption, but also accelerates the wear of the tracks. Therefore, it is necessary to propose a crawler vehicle and a multi-motor driven steering speed regulator to address the above problems. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a crawler vehicle and a multi-motor driven steering speed regulator.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A tracked vehicle and a multi-motor driven steering speed regulator, comprising a chassis frame, wherein the outer walls on both sides of the chassis frame are rotatably connected to two sets of driving wheels, the driving wheels on one side are connected to each other through tracks, the chassis frame is connected to two sets of bottom plates through a telescopic mechanism, the two sets of bottom plates are respectively located between the two sets of driving wheels and are at the center axis position, the outer walls of the bottom plates are provided with two sets of sliding grooves, and the inner walls are both inclined, and multiple sets of steering wheels 1 and 2 are rotatably connected in the two sets of sliding grooves, and are all inclined.

[0007] Preferably, the telescopic mechanism comprises two groups of hydraulic cylinders fixedly connected to the outer wall of the chassis frame, and the telescopic ends of the two groups of hydraulic cylinders are respectively fixedly connected to the adjacent bottom plates.

[0008] Preferably, the inclination angle between the steering wheel 1 and the steering wheel 2 and the inner wall of the slide groove is forty-five degrees, and the outer walls of the steering wheel 1 and the steering wheel 2 are both provided with anti-slip grooves.

[0009] Preferably, the outer wall of the bottom plate is rotatably connected to a plurality of gears, and the plurality of gears are symmetrically arranged in pairs, and their positions correspond one-to-one to the positions of the steering wheel 1 and the steering wheel 2.

[0010] Preferably, the plurality of groups of gears are coaxially fixedly connected to the adjacent steering wheel 1 and steering wheel 2, respectively, and the plurality of groups of gears are connected to each other through racks.

[0011] Preferably, two groups of servo motors are fixedly connected to the outer wall of the bottom plate and are coaxially fixedly connected to the adjacent gears; two groups of stepper motors are fixedly connected to the inner wall of the chassis frame and are coaxially fixedly connected to the adjacent driving wheels.

[0012] The utility model has the following beneficial effects:

[0013] 1. The utility model can generate greater lateral force during rotation by tilting the steering wheel 1 and the steering wheel 2, thereby effectively reducing the friction resistance during steering. Especially when turning at a small radius, it can significantly reduce energy loss, making the vehicle more efficient during steering and effectively solving the problem of increased power consumption.

[0014] 2. The utility model controls the height of the bottom plate through the hydraulic cylinder, making it slightly lower than the lowest point of the track, ensuring that the steering wheel can fully contact the ground, providing stable lateral support, enhancing the stability of the vehicle during steering, effectively reducing the risk of rollover, and reducing the wear of the track. The design of the inclined steering wheel allows the vehicle to flexibly turn with a smaller turning radius, improving maneuverability in complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of a crawler vehicle and a multi-motor driven steering speed regulator proposed in the utility model;

[0016] Figure 2 for Figure 1 Schematic diagram of the structure of the midsole plate and steering wheels 1 and 2.

[0017] Figure 3 for Figure 2 Structural diagram.

[0018] In the figure: 1. Chassis frame; 2. Driving wheel; 3. Track; 4. Stepper motor; 5. Hydraulic cylinder; 6. Bottom plate; 7. Steering wheel 1; 8. Gear; 9. Rack; 10. Servo motor; 11. Slide; 12. Steering wheel 2. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] Reference Figure 1-3, a crawler vehicle and a multi-motor driven steering speed regulator, including a chassis frame 1, two sets of driving wheels 2 are rotatably connected to the outer walls on both sides of the chassis frame 1, and the driving wheels 2 on one side are connected to each other through crawlers 3. The chassis frame 1 is connected to two sets of bottom plates 6 through a telescopic mechanism, and the two sets of bottom plates 6 are respectively located between the two sets of driving wheels 2 and are at the center axis position. Two sets of slide grooves 11 are opened on the outer walls of the bottom plates 6, and the inner walls are inclined. Multiple sets of steering wheels 1 and 12 are rotatably connected in the two sets of slide grooves 11, and are all inclined; through the symmetrically arranged steering wheels 12, the vehicle can achieve higher flexibility and efficiency when turning. This design reduces the friction resistance of the tracked vehicle 3 when turning, especially when turning with a small radius, and can significantly reduce power consumption.

[0021] The telescopic mechanism includes two groups of hydraulic cylinders 5 fixedly connected to the outer wall of the chassis frame 1, and the telescopic ends of the two groups of hydraulic cylinders 5 are respectively fixedly connected to the adjacent bottom plates 6; when not in daily use, the bottom plates 6 can be retracted with the help of the hydraulic cylinders 5.

[0022] The inclination angle of the steering wheel 1 7 and the steering wheel 2 12 to the inner wall of the slide 11 is forty-five degrees. The outer walls of the steering wheel 1 7 and the steering wheel 2 12 are provided with anti-slip grooves. The outer wall of the base plate 6 is rotatably connected to multiple sets of gears 8. The multiple sets of gears 8 are symmetrically arranged in pairs, and their positions correspond one to one with the positions of the steering wheel 1 7 and the steering wheel 2 12. The multiple sets of gears 8 are coaxially fixedly connected to the adjacent steering wheel 1 7 and the steering wheel 2 12 respectively. The multiple sets of gears 8 are connected to each other through racks 9. Two sets of servo motors 10 are fixedly connected to the outer wall of the base plate 6, and are coaxially fixedly connected to the adjacent gear 8. Two sets of stepper motors 4 are fixedly connected to the inner wall of the chassis frame 1, and are coaxially fixedly connected to the adjacent driving wheel 2.

[0023] In the present invention, the device is specifically used as follows: when not in use, the hydraulic cylinder 5 contracts and the base plate 6 is retracted to reduce space occupancy; when it is needed, the hydraulic cylinder 5 extends and the base plate 6 is unfolded to the working position, that is, a horizontal position slightly lower than the lowest point of the track 3, ensuring that the steering wheel 1 7 and the steering wheel 2 12 can fully contact the ground, so as to provide sufficient lateral support during the steering process and ensure the stability of the vehicle.

[0024] Then, according to the steering instruction, the servo motor 10 is started, and power is transmitted through the gear 8 to control the rotation of the steering wheel 1 7 and the steering wheel 2 12. According to the operation requirements, the stepper motor 4 is controlled to drive the driving wheel 2, so that the crawler 3 starts to move. When the steering wheel 1 7 or the steering wheel 2 12 rotates, an inward lateral force is applied. This force prompts the crawler 3 to turn in the opposite direction of rotation. For example, if the left steering wheel rotates forward, the vehicle will turn to the right. Due to the design of the tilt angle, the steering wheel will generate a greater lateral force when rotating, making the vehicle more flexible and stable when turning. At the same time, since the force is applied on one side of the steering wheel, the turning radius of the vehicle will also be reduced, thereby enhancing maneuverability.

[0025] The above are only preferred specific implementation methods of the present invention, but the protection scope of the present invention is not limited to them. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.

Claims

1. A crawler vehicle and a multi-motor driven steering speed regulator, comprising a chassis frame (1), characterized in that: The outer walls of both sides of the chassis frame (1) are rotatably connected to two sets of driving wheels (2), and the driving wheels (2) on one side are connected to each other through tracks (3). The chassis frame (1) is connected to two sets of bottom plates (6) through a telescopic mechanism. The two sets of bottom plates (6) are respectively located between the two sets of driving wheels (2) and are located at the center axis position. The outer walls of the bottom plates (6) are provided with two sets of sliding grooves (11), and the inner walls are both inclined. Multiple sets of steering wheels (1) (7) and steering wheels (12) are rotatably connected in the two sets of sliding grooves (11), and are all inclined.

2. A crawler vehicle and a multi-motor driven steering speed regulator according to claim 1, characterized in that: The telescopic mechanism comprises two groups of hydraulic cylinders (5) fixedly connected to the outer wall of the chassis frame (1), and the telescopic ends of the two groups of hydraulic cylinders (5) are respectively fixedly connected to the adjacent bottom plates (6).

3. A crawler vehicle and a multi-motor driven steering speed regulator according to claim 2, characterized in that: The inclination angle between the steering wheel 1 (7), the steering wheel 2 (12) and the inner wall of the slide groove (11) is 45 degrees, and the outer walls of the steering wheel 1 (7) and the steering wheel 2 (12) are both provided with anti-slip grooves.

4. A crawler vehicle and a multi-motor driven steering speed regulator according to claim 3, characterized in that: The outer wall of the bottom plate (6) is rotatably connected to a plurality of gears (8), and the plurality of gears (8) are symmetrically arranged in pairs, and their positions correspond one to one with the positions of the first steering wheel (7) and the second steering wheel (12).

5. The crawler vehicle and multi-motor driven steering speed controller according to claim 4, characterized in that: The plurality of groups of gears (8) are respectively coaxially fixedly connected to the adjacent steering wheel 1 (7) and steering wheel 2 (12), and the plurality of groups of gears (8) are connected to each other via racks (9).

6. The crawler vehicle and multi-motor driven steering speed controller according to claim 5, characterized in that: Two groups of servo motors (10) are fixedly connected to the outer wall of the bottom plate (6) and are coaxially fixedly connected to the adjacent gear (8); two groups of stepper motors (4) are fixedly connected to the inner wall of the chassis frame (1) and are coaxially fixedly connected to the adjacent driving wheel (2).

Images