Crawler walking mechanism with posture self-adaption function

Abstract

The utility model discloses a self-adaptive posture crawler walking mechanism, and belongs to the technical field of crawler mechanisms. A self-adaptive posture crawler belt walking mechanism comprises a carrying frame and advancing crawler belts, the advancing crawler belts are located on the two sides of the carrying frame, the advancing crawler belts are connected with the carrying frame through hub driving assemblies, each hub driving assembly comprises a chain wheel and a driving motor, the driving motors are meshed with the advancing crawler belts through the chain wheels, and the driving motors are connected with the carrying frame through the chain wheels. And a crawler belt frame is arranged in the advancing crawler belt. In order to solve the problems that although an existing crawler walking mechanism can smoothly conduct climbing and downhill operation, a crawler cannot be in complete contact with the ground due to the influence of the slope angle in the running process, and the ground gripping effect of equipment can be affected, a crawler frame can be controlled to conduct overturning operation with a hub driving assembly as the center through a posture rotating shaft; and by matching with the tensioning wheel, the advancing crawler belt can be tightly attached to the ground all the time when passing through the slope, and the maximum road holding force is obtained.

Description

Technical Field

[0001] This utility model relates to the field of track mechanism technology, specifically to an adaptive track walking mechanism. Background Technology

[0002] The wheel-tracked composite stair-climbing wheelchair includes a frame, on which a seat, track mechanism, flat-walking wheels, and a switching mechanism are mounted. When traveling on flat ground, the switching mechanism causes the track mechanism to move upward and lift off the ground, while the flat-walking wheels touch the ground, allowing the wheelchair to travel on flat ground. When going up or down stairs, the switching mechanism causes the track mechanism to move downward and touch the ground, while the flat-walking wheels lift off the ground, allowing the wheelchair to use the track mechanism to go up or down stairs.

[0003] While existing tracked walking mechanisms can smoothly perform climbing and descending operations, the tracks cannot fully contact the ground during travel due to the slope angle, which affects the equipment's grip. Utility Model Content

[0004] The purpose of this invention is to provide an adaptive tracked walking mechanism. The track frame can be controlled to rotate around the hub drive assembly via the attitude pivot. With the tension wheel, the track can keep the track in contact with the ground at all times when passing over slopes to obtain maximum grip, which can solve the problems in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an adaptive attitude tracked walking mechanism, including a carrier frame and a traveling track, wherein the traveling track is located on both sides of the carrier frame, and the traveling track and the carrier frame are connected by a hub drive assembly, the hub drive assembly including a sprocket and a drive motor, wherein the drive motor meshes with the traveling track through the sprocket, a track frame is provided inside the traveling track, the hub drive assembly is installed above the track frame, and an attitude rotating shaft is provided on one side of the track frame, the attitude rotating shaft being rotatably connected to the carrier frame.

[0006] Furthermore, the track frame and the wheel hub drive assembly are rotatably connected via a support bearing.

[0007] Furthermore, the bottom of the track frame is provided with multiple support rollers, which are rotatably connected to the track frame and fit against the traveling track.

[0008] Furthermore, a tensioning wheel is provided on one side of the track frame, and a coupling is provided between the tensioning wheel and the support wheel, wherein the coupling is rotatably connected to the tensioning wheel and the support wheel respectively.

[0009] Furthermore, a hydraulic linkage assembly is provided between the tensioning wheel and the track frame, and the tensioning wheel is telescopically connected to the track frame through the hydraulic linkage assembly.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] 1. In this utility model, four independent track structures are installed around the frame. Each track is driven by an independent hub drive assembly. In addition, each track is equipped with an attitude pivot on the basis of the hub drive assembly. The attitude pivot can control the track frame to rotate around the hub drive assembly. With the tension wheel, the track can keep the track in close contact with the ground when passing through the slope to obtain maximum traction.

[0012] 2. In this utility model, when the attitude pivot axis controls the adjustment of the track frame, the tension wheel can retract and extend under the support of the hydraulic linkage assembly. This allows the track on the outside of the tension wheel to contact the slope or ground, thereby increasing the overall grip by increasing the contact area. Attached Figure Description

[0013] Figure 1 This is the overall front view of the present invention;

[0014] Figure 2 This is a schematic diagram of the hub drive assembly structure of this utility model;

[0015] Figure 3 This is a schematic diagram of the track frame structure of this utility model;

[0016] Figure 4 This is a schematic diagram of the walking posture of the tracked vehicle according to this utility model.

[0017] In the diagram: 1. Carrier frame; 2. Track; 3. Hub drive assembly; 4. Attitude pivot; 301. Track frame; 302. Track roller; 303. Tensioner; 3011. Support bearing; 3031. Coupling; 3032. Hydraulic linkage assembly. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] To address the issue that while existing tracked systems can smoothly climb and descend slopes, the tracks cannot fully contact the ground during travel due to the slope angle, thus affecting the equipment's traction; please refer to... Figure 1-4 The present invention provides the following solution:

[0020] An adaptive attitude tracked walking mechanism includes a carrier frame 1 and a traveling track 2. The traveling track 2 is located on both sides of the carrier frame 1. The traveling track 2 and the carrier frame 1 are connected by a hub drive assembly 3. The hub drive assembly 3 includes a sprocket and a drive motor. The drive motor meshes with the traveling track 2 through the sprocket. A track frame 301 is provided inside the traveling track 2. The hub drive assembly 3 is installed above the track frame 301. An attitude rotating shaft 4 is provided on one side of the track frame 301. The attitude rotating shaft 4 is rotatably connected to the carrier frame 1.

[0021] Four independent tracks 2 are installed around the frame 1. Each track 2 is driven by an independent hub drive assembly 3. Each track also has an attitude pivot 4 mounted on top of the hub drive assembly 3. The attitude pivot 4 is a free-moving, unpowered axis. The free movement of the attitude pivot 4 controls the track frame 301 to rotate around the hub drive assembly 3, allowing the two tracks on one side to achieve different angles when in contact with the ground. Figure 4 The angle shown is 135°, which, together with the tension wheel 303, allows the track 2 to stay close to the ground when passing over slopes, thus obtaining maximum traction;

[0022] The track frame 301 is rotatably connected to the hub drive assembly 3 via a support bearing 3011. The drive motor in the hub drive assembly 3 drives the sprocket to rotate, thereby realizing the movement of the track. The track frame 301 supporting the track is connected to the sprocket via a support bearing 3011. In this way, while providing support, the frame structure can be rotated at an angle in conjunction with the attitude pivot 4. Multiple support rollers 302 are provided at the bottom of the track frame 301. The support rollers 302 are rotatably connected to the track frame 301 and are in contact with the moving track 2. The support rollers 302 are arranged at the bottom of the track frame 301, mainly to provide support and ensure the effective contact area between the track and the ground.

[0023] A tensioning wheel 303 is provided on one side of the track frame 301. A coupling 3031 is provided between the tensioning wheel 303 and the support roller 302. The coupling 3031 is rotatably connected to both the tensioning wheel 303 and the support roller 302. A hydraulic linkage assembly 3032 is provided between the tensioning wheel 303 and the track frame 301. The tensioning wheel 303 is telescopically connected to the track frame 301 through the hydraulic linkage assembly 3032. When the attitude pivot 4 controls the adjustment of the track frame 301, the tensioning wheel 303 can retract and extend under the support of the hydraulic linkage assembly 3032. This allows the track outside the tensioning wheel 303 to contact the slope or ground, thereby increasing the overall grip by increasing the contact area.

[0024] Working principle: Four independent tracks 2 are installed around the frame 1. Each track 2 is driven by an independent hub drive assembly 3. Each track is also equipped with an attitude pivot 4 on the hub drive assembly 3. The attitude pivot 4 can control the track frame 301 to rotate around the hub drive assembly 3. With the tension wheel 303, the track 2 can keep close to the ground when passing through the slope to obtain maximum traction.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0026] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tracked walking mechanism with adaptive attitude, characterized in that, The system includes a carrier frame (1) and a track (2). The track (2) is located on both sides of the carrier frame (1). The track (2) and the carrier frame (1) are connected by a hub drive assembly (3). The hub drive assembly (3) includes a sprocket and a drive motor. The drive motor meshes with the track (2) through the sprocket. The track frame (301) is provided inside the track (2). The hub drive assembly (3) is installed above the track frame (301). An attitude pivot (4) is provided on one side of the track frame (301). The attitude pivot (4) is rotatably connected to the carrier frame (1).

2. The adaptive attitude tracked walking mechanism according to claim 1, characterized in that: The track frame (301) and the hub drive assembly (3) are rotatably connected by a support bearing (3011).

3. The adaptive attitude tracked walking mechanism according to claim 1, characterized in that: The bottom of the track frame (301) is provided with multiple support rollers (302), which are rotatably connected to the track frame (301) and are in contact with the track (2).

4. The adaptive attitude tracked walking mechanism according to claim 3, characterized in that: A tensioning wheel (303) is provided on one side of the track frame (301), and a coupling (3031) is provided between the tensioning wheel (303) and the support wheel (302). The coupling (3031) is rotatably connected to the tensioning wheel (303) and the support wheel (302) respectively.

5. The adaptive attitude tracked walking mechanism according to claim 4, characterized in that: A hydraulic linkage assembly (3032) is provided between the tensioning wheel (303) and the track frame (301), and the tensioning wheel (303) is telescopically connected to the track frame (301) through the hydraulic linkage assembly (3032).

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