Movable automatic load leveling crawler equipment

Abstract

The utility model belongs to the technical field of track equipment, and particularly relates to movable type automatic leveling load track equipment. Comprising a cover plate, a direct current battery, a lifting support leg controller, a motor driver, a main control system, a high-precision double-shaft tilt angle sensor, a crawler servo motor, a crawler frame base, a motor shield, a crawler platform, a lifting support leg, a support leg tilt angle sensor, a crawler, a crawler guide wheel, a crawler auxiliary wheel, a crawler transmission gear and a crawler tensioning mechanism, a crawler servo motor is arranged on the crawler frame base, a motor shield is arranged outside the crawler servo motor, and the high-precision double-shaft tilt angle sensor is connected with the master control system. Through the structure leveling mode, the stability of keeping the platform horizontal during moving operation and the operation efficiency are greatly improved; compared with a traditional mode that the leveling supporting legs directly fall to the ground, the supporting legs do not need to be folded and unfolded repeatedly when moving operation is needed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of tracked equipment, and specifically relates to a mobile automatic leveling load tracked equipment. BACKGROUND

[0002] The tracked equipment is driven by a driving wheel, surrounds the driving wheel, a load wheel, an inducing wheel and a supporting wheel, and is flexible. The tracked equipment is driven by a driving wheel, surrounds the driving wheel, a load wheel, an inducing wheel and a supporting wheel, and is flexible.

[0003] The existing tracked equipment adopts a direct landing mode when driving, and needs to repeatedly retract and extend the supporting legs, so that the tracked equipment cannot be used when moving operation is needed. SUMMARY

[0004] This section aims to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments.

[0005] In view of the above and / or the problems existing in the prior art, the utility model is proposed.

[0006] Therefore, the utility model aims to provide a mobile automatic leveling load tracked equipment, a servo motor drives a tracked transmission gear to drive the tracked equipment to move forward, backward, left and right, a leveling part detects platform horizontal data by a high-precision double-shaft inclination sensor, and then adjusts the work of the lifting supporting leg by a main control system, so that the stability of the platform can be ensured during driving.

[0007] To solve the above technical problems, according to one aspect of the utility model, the utility model provides the following technical scheme:

[0008] The utility model provides a mobile automatic leveling load tracked equipment, it includes: apron, direct current battery, lifting support controller, motor driver, main control system, high accuracy double -axle angle sensor, tracked servo motor, tracked vehicle frame base, motor shield, tracked platform, lifting support, support angle sensor, tracked belt, tracked guide wheel, tracked auxiliary wheel, tracked transmission gear and tracked tensioning mechanism, tracked servo motor is arranged on the tracked vehicle frame base, motor shield is arranged outside tracked servo motor, high accuracy double -axle angle sensor is connected with main control system, high accuracy double -axle angle sensor is horizontally installed in the central position of tracked vehicle frame base, lifting support is arranged in the four corners of tracked vehicle frame base, tracked platform is connected to the top of lifting support, direct current battery, lifting support controller, motor driver and main control system are arranged on the tracked platform, apron is arranged on the top of tracked platform, support angle sensor is arranged on the lifting support, tracked guide wheel, tracked auxiliary wheel, tracked transmission gear and tracked tensioning mechanism are all arranged in the both sides of tracked vehicle frame base, and the tracked belt is connected on tracked guide wheel and tracked transmission gear.

[0009] As a preferred scheme of the mobile automatic leveling load tracked equipment, the inner side of the tracked belt is provided with uniformly distributed tooth grooves, and the tooth grooves are meshed and connected with the tracked transmission gear.

[0010] As a preferred scheme of the mobile automatic leveling load tracked equipment, the lifting support comprises four double-axle angle sensors and a universal ball shaft structure at the top of the lifting rod, the lifting support is located at the position close to the inner side of the two ends of the tracked belt at the four corners of the tracked vehicle frame base, and the lifting support is fixed through bolts.

[0011] As a preferred scheme of the mobile automatic leveling load tracked equipment, the tracked tensioning mechanism adopts a screw rod telescopic mechanism.

[0012] As a preferred scheme of the mobile automatic leveling load tracked equipment, the tracked vehicle frame base is provided with a cleaning mechanism, the cleaning mechanism comprises a cleaning support, a transmission wheel, a transmission bevel gear, a cleaning roller and a cleaning bevel gear, the cleaning support is fixed on the tracked vehicle frame base, the transmission wheel is rotatably connected to the cleaning support, the transmission wheel is in contact with the tracked auxiliary wheel, the transmission bevel gear is coaxially arranged on the transmission wheel, the cleaning roller is rotatably connected to the side of the cleaning support, the cleaning bevel gear is coaxially arranged on the cleaning roller, the cleaning bevel gear is meshed with the transmission bevel gear, and the bottom of the cleaning roller is in contact with the bottom of the inner side of the tracked belt.

[0013] Compared with the prior art, the utility model discloses servo motor drive track transmission gear drives track to move operation of turning round in four directions, and the leveling part detects platform level data by high-precision double-shaft inclination sensor, then adjusts through the main control system control lifting support leg work, can guarantee the stability of platform in the process of driving, through this structure leveling mode, greatly improve the stability of keeping platform level when mobile operation, and operation efficiency, compared with the traditional leveling support leg directly falls the mode of landing without repeatedly retracting and releasing support leg when needing mobile operation. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the utility model will be described in detail below with the drawings and detailed implementation, obviously, the drawings in the following description only some implementation of the utility model, for the ordinary skilled person in the art, under the premise of not paying the creative labor, still can obtain other drawings according to these drawings. Wherein:

[0015] Figure 1 It is the explosion structure schematic diagram of the utility model;

[0016] Figure 2 It is the combined structure schematic diagram of the utility model;

[0017] Figure 3 It is the lifting support leg structure schematic diagram of the utility model;

[0018] Figure 4 It is the cleaning mechanism structure schematic diagram of the utility model;

[0019] Figure 5 It is the front and rear leveling state schematic diagram of the utility model;

[0020] Figure 6 It is the left and right leveling state schematic diagram of the utility model.

[0021] In the drawing: 1 cover plate, 2 DC battery, 3 lifting support leg controller, 4 motor driver, 5 main control system, 6 high-precision double-shaft inclination sensor, 7 track servo motor, 8 track vehicle frame base, 9 motor shield, 10 track platform, 11 lifting support leg, 12 support leg inclination sensor, 13 track, 14 track guide wheel, 15 track auxiliary wheel, 16 track transmission gear, 17 track tensioning mechanism, 18 cleaning mechanism, 181 cleaning support, 182 transmission wheel, 183 transmission bevel gear, 184 cleaning roller, 185 cleaning bevel gear. DETAILED DESCRIPTION

[0022] In order to make the above purpose, features and advantages of the utility model more obvious and easy to understand, the specific implementation of the utility model will be described in detail below with the drawings.

[0023] In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the connotation of the present application, therefore, the present application is not limited by the specific implementation manner disclosed below.

[0024] Secondly, the present application is described in detail in combination with the schematic diagram, when the present application is described in detail, for the convenience of description, the sectional view of the device structure will be partially enlarged without the general proportion, and the schematic diagram is only an example, which should not limit the scope of protection of the present application herein. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual manufacturing.

[0025] In order to make the purpose, technical scheme and advantages of the present application more clear, the embodiments of the present application will be further described in detail below in combination with the drawings.

[0026] The present application provides a mobile automatic leveling load track equipment, the servo motor drives the track transmission gear to drive the track to move forward and backward, the leveling part detects the platform horizontal data by the high-precision dual-axis inclination sensor, then adjusts the work of the lifting leg controlled by the main control system, which can guarantee the stability of the platform during driving, please refer to Figures 1-6 , comprising: cover plate 1, DC battery 2, lifting leg controller 3, motor driver 4, main control system 5, high-precision dual-axis inclination sensor 6, track servo motor 7, track frame base 8, motor shield 9, track platform 10, lifting leg 11, leg inclination sensor 12, track 13, track guide wheel 14, track auxiliary wheel 15, track transmission gear 16 and track tensioning mechanism 17.

[0027] The track servo motor 7 is arranged on the track frame base 8, the motor shield 9 is arranged outside the track servo motor 7, the high-precision dual-axis inclination sensor 6 is connected with the main control system 5, the high-precision dual-axis inclination sensor 6 is horizontally installed at the central position of the track frame base 8, the lifting leg 11 is arranged at the four corners of the track frame base 8, the lifting leg 11 is connected with the track platform 10 at the top, the DC battery 2, the lifting leg controller 3, the motor driver 4 and the main control system 5 are arranged on the track platform 10, the cover plate 1 is arranged on the top of the track platform 10, the leg inclination sensor 12 is arranged on the lifting leg 11, the track guide wheel 14, the track auxiliary wheel 15, the track transmission gear 16 and the track tensioning mechanism 17 are arranged on both sides of the track frame base 8, and the track 13 is connected with the track guide wheel 14 and the track transmission gear 16.

[0028] The inside of the track 13 is provided with uniformly distributed tooth grooves, which are connected in meshing with the track driving gear 16, and the track driving gear 16 is engaged to drive the track 13 to move.

[0029] The lifting legs 11 include four double-axis inclination sensors and a universal ball shaft structure at the top of the lifting rod, and are located at the positions close to the inside of the two ends of the track 13 at the four corners of the track frame base 8, and are fixed by bolts.

[0030] The track tensioning mechanism 17 adopts a screw rod telescopic mechanism for telescopic adjustment of the tension of the track 13.

[0031] When the track runs, the inside is easy to fall into the gravel on the road surface, which affects the driving of the track driving gear 16. Therefore, the track frame base 8 is provided with a cleaning mechanism 18, which includes a cleaning support 181, a driving wheel 182, a driving bevel gear 183, a cleaning roller 184 and a cleaning bevel gear 185. The cleaning support 181 is fixed on the track frame base 8, the driving wheel 182 is rotatably connected to the cleaning support 181, the driving wheel 182 is in contact with the track auxiliary wheel 15, the driving bevel gear 183 is coaxially arranged on the driving wheel 182, the cleaning roller 184 is rotatably connected to the side of the cleaning support 181, the cleaning bevel gear 185 is coaxially arranged on the cleaning roller 184, the cleaning bevel gear 185 is in meshing with the driving bevel gear 183, and the bottom of the cleaning roller 184 is in contact with the inside bottom of the track 13.

[0032] When the track 13 runs, the track auxiliary wheel 15 drives the driving wheel 182 to rotate, the driving wheel 182 synchronously drives the driving bevel gear 183 to rotate, the driving bevel gear 183 is in meshing to drive the cleaning bevel gear 185 to rotate, and the cleaning bevel gear 185 synchronously drives the cleaning roller 184 to rotate, so as to clean the falling objects on the track 13 and avoid entering the track driving gear 16.

[0033] The moving part sends instructions and pulses to the motor driver 4 through Modbus or Bluetooth communication of the flat plate or remote control device to the main control system 5, so that the track servo motor 7 drives the track driving gear 16 to drive the track 13 to move forward, backward, left and right, and to turn around, and the leveling part compares the real-time data of the platform horizontal data sent by the high-precision double-axis inclination sensor 6 to the main control system 5 with the real-time data of the leg inclination sensor 12, and after system calculation, the adjusted value is sent to the lifting leg controller 3 to complete the leveling work.

[0034] Automatic leveling system steps;

[0035] The data detected by the double-axis high-precision sensor is transmitted to the controller, the controller calculates the angle of the highest one of the four lifting legs relative to the highest one of the four lifting legs, and the angle is used as the reference leg for leveling support. The controller sets the program to manually or automatically complete the leveling task.

[0036] Execution steps:

[0037] 1. System power on, controller initialization complete self-test;

[0038] 2. When the system is normal, receive the instruction to start automatic leveling, the system will take the current track vehicle position as the reference, compare the angle data between the platform and the horizontal plane, and adjust the platform to level.

[0039] 3. If there is a leg extension failure or abnormality during leveling, the display screen displays the fault information;

[0040] 4. When the leg reaches the preset value range, the system completes the leveling work;

[0041] 5. If the track vehicle is driving to an uneven road section, the dual-axis high-precision tilt sensor will transmit data to the controller in real time, and the controller will calculate the angle between the four leveling legs and the horizontal plane according to the current vehicle body and the horizontal plane. The highest angle is taken as the reference leg;

[0042] 6. The controller gives instructions through the algorithm, and the leg is automatically adjusted until the leveling work is completed;

[0043] Leveling algorithm steps;

[0044] 1-1. First, the dual-axis high-precision tilt sensor located in the center of the base measures the angle between the vehicle frame and the horizontal plane, and compares the detected data with the data of the leveling legs. Set the angle between the front and rear directions of the leveling legs and the horizontal plane as X, and the angle between the left and right directions and the horizontal plane as Y

[0045] 2-1. Compare X and Y, and adjust the angle with larger deviation from the preset value first, with an adjustment range of half of the preset value. Then compare the data again and continue to adjust the angle with larger deviation from the preset value. Repeat until X and Y are within the preset value range tolerance, and the adjustment is complete.

[0046] Algorithm:

[0047] After comparing X and Y, adjust according to the following situations respectively:

[0048] 1. When X>0, the vehicle frame is low in front and high in back, and two front legs are supported;

[0049] 2. When X<0, the vehicle frame is high in front and low in back, and two rear legs are supported;

[0050] 3. When Y>0, the vehicle frame is low on the left and high on the right, and two left legs are supported;

[0051] 4. When Y<0, the vehicle frame is high on the left and low on the right, and two right legs are supported.

[0052] The preset deviation range in step 2-1 is:

[0053] │X│≤0.1°;

[0054] │Y│≤0.1°.

[0055] Although the present application has been described with reference to the embodiments above, various improvements can be made thereto and equivalent replacements can be made to the components thereof without departing from the scope of the present application. In particular, as long as there is no structural conflict, each feature in the embodiments disclosed in the present application can be combined with each other in any manner, and the combinations are not exhaustively described in the present specification merely for the purpose of omitting the length and saving resources. Therefore, the present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A mobile, self-leveling load track device, characterized by, The application relates to a caterpillar track vehicle, which comprises a cover plate (1), a direct current battery (2), a lifting leg controller (3), a motor driver (4), a main control system (5), a high-precision double-shaft tilt angle sensor (6), a caterpillar track servo motor (7), a caterpillar track frame base (8), a motor shield (9), a caterpillar track platform (10), a lifting leg (11), a leg tilt angle sensor (12), a caterpillar track (13), a caterpillar track guide wheel (14), a caterpillar track auxiliary wheel (15), a caterpillar track transmission gear (16) and a caterpillar track tensioning mechanism (17), the caterpillar track servo motor (7) is arranged on the caterpillar track frame base (8), the motor shield (9) is arranged outside the caterpillar track servo motor (7), the high-precision double-shaft tilt angle sensor (6) is connected with the main control system (5), the high-precision double-shaft tilt angle sensor (6) is horizontally arranged at a central position of the caterpillar track frame base (8), the lifting legs (11) are arranged at four corners of the caterpillar track frame base (8), the lifting legs (11) are connected with the caterpillar track platform (10) at top portions, the direct current battery (2), the lifting leg controller (3), the motor driver (4) and the main control system (5) are arranged on the caterpillar track platform (10), the cover plate (1) is arranged on the caterpillar track platform (10) at a top portion, the leg tilt angle sensor (12) is arranged on the lifting leg (11), the caterpillar track guide wheel (14), the caterpillar track auxiliary wheel (15), the caterpillar track transmission gear (16) and the caterpillar track tensioning mechanism (17) are arranged on both sides of the caterpillar track frame base (8), and the caterpillar track (13) is connected with the caterpillar track guide wheel (14) and the caterpillar track transmission gear (16). The caterpillar track (13) is provided with uniformly distributed tooth grooves on the inner side, and the tooth grooves are in meshing connection with the caterpillar track transmission gear (16).

2. A mobile self-leveling load-track device according to claim 1, characterized in that The lifting leg (11) comprises four double-shaft tilt angle sensors and a universal ball shaft structure at the top of a lifting rod, the lifting leg (11) is arranged at positions close to the inner sides of both ends of the caterpillar track (13) at four corners of the caterpillar track frame base (8), and the lifting leg (11) is fixed through bolts.

3. A mobile self-leveling load-track device according to claim 1, wherein, The caterpillar track tensioning mechanism (17) adopts a screw rod telescopic mechanism.

4. A mobile self-leveling load-track device according to claim 1, wherein, The caterpillar track frame base (8) is provided with a cleaning mechanism (18), the cleaning mechanism (18) comprises a cleaning support (181), a transmission wheel (182), a transmission bevel gear (183), a cleaning roller (184) and a cleaning bevel gear (185), the cleaning support (181) is fixed on the caterpillar track frame base (8), the transmission wheel (182) is rotatably connected to the cleaning support (181), the transmission wheel (182) is in contact with the caterpillar track auxiliary wheel (15), the transmission bevel gear (183) is coaxially arranged on the transmission wheel (182), the cleaning roller (184) is rotatably connected to the side of the cleaning support (181), the cleaning bevel gear (185) is coaxially arranged on the cleaning roller (184), the cleaning bevel gear (185) is in meshing connection with the transmission bevel gear (183), and the bottom of the cleaning roller (184) is in contact with the bottom of the inner side of the caterpillar track (13).

5. A mobile self-leveling load-track device according to claim 1, wherein, ​

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