Independent damping crawler walking mechanism

Abstract

The utility model discloses an independent damping crawler belt walking mechanism, which belongs to the technical field of crawler belt type mobile platforms and comprises a support frame, a hub motor arranged at the upper end of the support frame, driven wheels arranged at the middle end and the lower end of the support frame, a crawler belt arranged on the hub motor and the driven wheels, a first wedge-shaped frame and a second wedge-shaped frame arranged on the side end face of the support frame, the first wedge-shaped frame and the second wedge-shaped frame are both connected with a stabilizing plate, and the stabilizing plate is connected with the supporting frame through a spring damper. The crawler walking mechanism can solve the problem that when an existing crawler walking mechanism is used, vibration and impact transmitted by a crawler can act on a vehicle body, and consequently the vehicle body runs unstably. When the crawler belt walking mechanism walks on an uneven road surface, the crawler belt walking mechanism can adapt to the ground state to be attached to the road surface, vibration and impact transmitted by the crawler belt can be preferentially absorbed through contraction of the spring damper, vibration and impact acting on a vehicle body can be greatly reduced, the vehicle body runs stably, and the stability of the vehicle body is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to crawler type mobile platform technical field, concretely is independent damping crawler walking mechanism. BACKGROUND

[0002] The crawler type mobile platform is a kind of equipment that can be moved in complex terrain and harsh environment, mainly comprising walking system, driving system, control system, suspension system and load-carrying system etc., with powerful carrying capacity, can be stably moved and carry heavy goods under complex terrain conditions, can be flexibly adjusted and combined according to different working scenes and needs, realize more types of work tasks by adding mechanical arm, gripper etc.

[0003] The crawler walking mechanism of the existing crawler type mobile platform when in use, when walking on uneven road surface such as gravel, pothole, the vibration and impact transmitted by crawler can act on vehicle body, cause vehicle body to run unevenly, and vehicle body stability is poor. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing independent damping crawler walking mechanism, when walking on uneven road surface, not only can self-adapting ground state adhere to road surface, and the vibration and impact transmitted by crawler can be absorbed by the contraction of spring damper in priority, so that the vibration and impact acting on vehicle body can be greatly reduced, so that vehicle body runs stably, improves vehicle body stability, and can solve the problems in the prior art.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] Independent damping crawler walking mechanism, including support frame, the upper end of support frame is provided with wheel hub motor, the middle end and lower end of support frame are provided with driven wheel, wheel hub motor and driven wheel are provided with crawler, the side end surface of support frame is provided with first wedge-shaped frame and second wedge-shaped frame, first wedge-shaped frame and second wedge-shaped frame are connected with firm plate, firm plate is connected with vehicle body by pin shaft, firm plate is also connected with support frame by spring damper.

[0007] Preferably, the side end surface of the support frame is provided with a first support, a second support and a third support, the first wedge-shaped frame is movably connected to the first support, the second wedge-shaped frame is movably connected to the second support, and the spring damper is movably connected to the third support.

[0008] Preferably, one end of the firm plate is movably connected to the first wedge-shaped frame, and the other end of the firm plate is movably connected to the second wedge-shaped frame.

[0009] Preferably, the firm plate is provided with a fourth support, and the spring damper is movably connected to the fourth support away from the third support.

[0010] Preferably, the first wedge and the second wedge have the same shape, and the first wedge and the second wedge are distributed on both sides of the stabilizing plate.

[0011] Preferably, the track is driven by a hub motor to rotate on the driven wheel.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] The track of this invention is driven by a hub motor to rotate on the driven wheel. When traveling on uneven roads such as gravel and potholes, the movable first wedge frame, second wedge frame and stabilizing plate move under the traction of the spring damper, causing the spring damper to contract and deform. This allows the track to not only adapt to the ground conditions and conform to the road surface, but also the vibration and impact transmitted by the track will be preferentially absorbed by the contraction of the spring damper, which greatly reduces the vibration and impact acting on the vehicle body. It can filter road bumps, reduce impact, make the vehicle body run smoothly and improve the stability of the vehicle body. Attached Figure Description

[0014] Figure 1 This is a frontal schematic diagram of the independent shock-absorbing track walking mechanism of this utility model;

[0015] Figure 2 This is a top-view schematic diagram of the independent shock-absorbing track walking mechanism of this utility model;

[0016] Figure 3 This is a top-view schematic diagram of the independent shock-absorbing track walking mechanism of this utility model;

[0017] Figure 4 This is a side view of the independent shock-absorbing track walking mechanism of this utility model.

[0018] In the diagram: 1. Support frame; 11. Hub motor; 12. Driven wheel; 13. First wedge frame; 131. First support; 14. Second wedge frame; 141. Second support; 2. Track; 3. Stabilizing plate; 31. Third support; 32. Fourth support; 4. Spring damper. Detailed Implementation

[0019] 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.

[0020] To address the technical issue that existing tracked systems, when traversing uneven surfaces such as gravel and potholes, transmit vibrations and impacts to the vehicle body, resulting in unstable operation and poor vehicle stability, please refer to [link to relevant documentation]. Figures 1-4 This embodiment provides the following technical solution:

[0021] The independent shock-absorbing track walking mechanism includes a support frame 1, a hub motor 11 is provided at the upper end of the support frame 1, and driven wheels 12 are provided at the middle and lower ends of the support frame 1. Tracks 2 are provided on the hub motor 11 and the driven wheels 12, and the tracks 2 are driven by the hub motor 11 to rotate on the driven wheels 12.

[0022] The support frame 1 has a first wedge frame 13 and a second wedge frame 14 on its side end face. The first wedge frame 13 and the second wedge frame 14 have the same shape and are distributed on both sides of the stabilizing plate 3.

[0023] The support frame 1 has a first support 131 and a second support 141 on its side end face. The first wedge frame 13 is movably connected to the first support 131, and the second wedge frame 14 is movably connected to the second support 141.

[0024] Specifically, the first wedge frame 13 is movably connected to the support frame 1 via the first support 131, and the second wedge frame 14 is movably connected to the support frame 1 via the second support 141, so that the first wedge frame 13 and the second wedge frame 14 can move on the support frame 1.

[0025] The first wedge frame 13 and the second wedge frame 14 are both connected to the stabilizing plate 3. One end of the stabilizing plate 3 is movably connected to the first wedge frame 13, and the other end of the stabilizing plate 3 is movably connected to the second wedge frame 14. The stabilizing plate 3 is connected to the vehicle body through a pin.

[0026] The stabilizing plate 3 is also connected to the support frame 1 via a spring damper 4.

[0027] Specifically, when traveling on uneven surfaces such as gravel and potholes, the movable first wedge frame 13, the second wedge frame 14, and the stabilizing plate 3 move under the traction of the spring damper 4, causing the spring damper 4 to contract and deform. This allows the track 2 to not only adapt to the ground conditions and conform to the road surface, but also the vibration and impact transmitted by the track 2 will be preferentially absorbed by the contraction of the spring damper 4, thus greatly reducing the vibration and impact acting on the vehicle body.

[0028] Among them, a third support 31 is provided on the side end face of the support frame 1, and the spring damper 4 is movably connected to the third support 31. A fourth support 32 is provided on the stabilizing plate 3, and the end of the spring damper 4 away from the third support 31 is movably connected to the fourth support 32.

[0029] Specifically, the track 2 is driven by the hub motor 11 to rotate on the driven wheel 12. When traveling on uneven roads such as gravel and potholes, the first wedge frame 13, the second wedge frame 14 and the stabilizing plate 3 are moved under the traction of the spring damper 4, and the spring damper 4 is deformed by contraction. This allows the track 2 to not only adapt to the ground condition and conform to the road surface, but also the vibration and impact transmitted by the track 2 will be absorbed by the contraction of the spring damper 4 first. This greatly reduces the vibration and impact acting on the vehicle body, filters out road bumps, reduces impact, makes the vehicle run smoothly and improves the stability of the vehicle body.

[0030] 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.

[0031] 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. Independent shock-absorbing track walking mechanism, comprising a support frame (1), characterized in that: The upper end of the support frame (1) is provided with a hub motor (11), the middle end and the lower end of the support frame (1) are provided with driven wheels (12), the hub motor (11) and the driven wheels (12) are provided with tracks (2), the side end faces of the support frame (1) are provided with first wedge-shaped frames (13) and second wedge-shaped frames (14), the first wedge-shaped frames (13) and the second wedge-shaped frames (14) are connected with stable plates (3), the stable plates (3) are connected with a vehicle body through pin shafts, and the stable plates (3) are also connected with the support frame (1) through spring dampers (4).

2. The self-contained suspension track-track mechanism of claim 1, wherein: The side end faces of the support frame (1) are provided with first supports (131), second supports (141) and third supports (31), the first wedge-shaped frames (13) are movably connected on the first supports (131), the second wedge-shaped frames (14) are movably connected on the second supports (141), and the spring dampers (4) are movably connected on the third supports (31).

3. The self-contained suspension track-track mechanism of claim 2, wherein: One end of the stable plate (3) is movably connected on the first wedge-shaped frame (13), and the other end of the stable plate (3) is movably connected on the second wedge-shaped frame (14).

4. The self-contained suspension track-track mechanism of claim 2, wherein: The stable plate (3) is provided with a fourth support (32), and one end of the spring damper (4) away from the third support (31) is movably connected on the fourth support (32).

5. The self-contained suspension track-track mechanism of claim 2, wherein: The first wedge-shaped frames (13) and the second wedge-shaped frames (14) are of the same shape, and the first wedge-shaped frames (13) and the second wedge-shaped frames (14) are distributed on both sides of the stable plate (3).

6. The self-contained suspension track-track mechanism of claim 1, wherein: The track (2) is driven to rotate on the driven wheel (12) by the hub motor (11).

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