CN108248711A - A kind of wearable crawler type snowfield mobile devices and its vibration-reducing control method - Google Patents
A kind of wearable crawler type snowfield mobile devices and its vibration-reducing control method Download PDFInfo
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- CN108248711A CN108248711A CN201810139278.5A CN201810139278A CN108248711A CN 108248711 A CN108248711 A CN 108248711A CN 201810139278 A CN201810139278 A CN 201810139278A CN 108248711 A CN108248711 A CN 108248711A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000725 suspension Substances 0.000 claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 37
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 238000007514 turning Methods 0.000 claims description 5
- 230000005284 excitation Effects 0.000 claims description 4
- 239000011229 interlayer Substances 0.000 claims description 2
- 229920003051 synthetic elastomer Polymers 0.000 claims description 2
- 239000005061 synthetic rubber Substances 0.000 claims description 2
- 238000013016 damping Methods 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract description 7
- 230000002146 bilateral effect Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 208000032370 Secondary transmission Diseases 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
A kind of wearable crawler type snowfield mobile devices and its vibration-reducing control method, belong to Vehicle Engineering technical field, including suspension strut mechanism, Caterpillar transmission mechanism, crawler belt guiding mechanism, crawler belt steering mechanism and strainer, the damper connecting band track bottom plate and front guide of front end, the elastic tension of crawler belt is realized simultaneously in Athey wheel vibration damping, eliminates traditional hydraulic tensioning mechanism；Three dampers next are mainly used for the vibration damping of Athey wheel；The movement locus of upper suspension support when rear-mounted bilateral buffer beam is used to constrain vibration damping, buffer beam is simultaneously equipped with chain transmission tensioning device, it is ensured that ensures the reliability of caterpillar driving device while vibration damping.The configuration of the present invention is simple, maintaining is easy, it is convenient to mount and dismount, automobile tire need not be dismantled, do not need to lifting equipment, people can complete independently, installation is simple, time saving, reliable, it can be in severe snowy road surface and deep snowy road surface traveling, cross-country power is strong, smaller to the destructiveness of road, durable.
Description
Technical field
The invention belongs to Vehicle Engineering technical fields, especially relate to a kind of wearable crawler type snowfield row of four-wheel drive
Sail device and method.
Background technology
In extremely cold area, the inconvenient development to economic society of communications and transportation brings great resistance.It is in ice box
Countries and regions, severe ice and snow road environment brings inconvenience to traffic.Due to the special construction and attribute of tire,
Ice and snow road traveling is also possible to that traffic accident can be caused.
In order to preferably solve the problems, such as this, the appearance of the cross-country crawler belt of snowfield brings great side to the people of severe cold area
Just.And it is divided into two kinds mostly in snowfield pedrail mechanism current on the market, a kind of is the crawler belt walking mechanism of similar tank track,
This pedrail mechanism can form 360 degree of original places swivels in complex landform mobility strong, and throwing over barrier ability is strong, can be across
More trench, but weight is big, fuel consumption is big, ensures relative difficulty, once damage cross-country power degradation, and repair
It is extremely inconvenient.Another kind is traditional triangle pedrail mechanism, and crawler belt own wt is big, and driving parts are more and complicated, and
It needs completely to remove vehicle original tire during installation, and needs the help of lifting equipment that can just set up.Moreover triangle crawler belt
Also it being limited by self structure, whole load-bearing capacity need to be improved, and high stability is poor, and crawler belt integral strength is not high,
Easily damaged when running at high speed.One people operation be it is extremely difficult, it is cumbersome, take.Therefore in the prior art urgently
A kind of novel technical solution is needed to solve the problems, such as this.
Invention content
The technical problems to be solved by the invention are：A kind of wearable crawler type snowfield mobile devices and its vibration damping control are provided
Method processed, caterpillar belt structure is simple, and maintaining is easy, is convenient to mount and dismount, without dismantling automobile tire, not needing to lifting equipment,
One people can complete independently, installation is simple, time saving, reliable.It can be travelled in severe snowy road surface and deep snowy road surface, more
Wild ability is strong, smaller to the destructiveness of road, durable.
A kind of wearable crawler type snowfield mobile devices, it is characterized in that：Including suspension strut mechanism, Caterpillar transmission mechanism,
Crawler belt guiding mechanism, crawler belt steering mechanism and strainer, the suspension strut mechanism include upper suspension support, arch branch
Support, vertical damper, the first damper, the second damper, rear bearing sheet, crawler belt support baseboard and bogie wheel；
The Caterpillar transmission mechanism includes back roll bearing, transmission chain, back roll, driving shaft bearing, track drive shaft axis
It holds, drive gear wheel, crawler driving whell, driving pinion and sprocket wheel；
The crawler belt guiding mechanism includes front jockey wheel and preceding guide plate；
The crawler belt steering mechanism includes cylindrical rotor, steering bracket, connecting rod and height arm control；
The strainer includes connection bolt, tensioning spring, tensioning support plate, compresses sprocket wheel and buffer beam；
The upper suspension support is an integral structure with arch support；The Liang Ge corners of the arch support lead to respectively
Bolt is crossed to be fixedly connected with one end of vertical damper；The other end of the vertical damper is hinged with Athey wheel bottom plate；It is described
The both sides of Athey wheel bottom plate have been symmetrically arranged four pairs of bogie wheels；Athey wheel bottom plate and one end of preceding guide plate pass through king-bolt
Connection, the other end of the preceding guide plate are connect with front jockey wheel；
The inside both ends of the upper suspension support are symmetrically arranged with two pairs of gusseted plates, are set on the gusseted plate
Trepanning is equipped with, upper suspension support is bolted by gusseted plate with steering bracket；The steering bracket is v-shaped structure,
The top of steering bracket v-shaped structure is each provided with cylindrical rotor with bottom, and the centre position of steering bracket is provided with connecting rod；Institute
It states and height arm control is provided in connecting rod；
There are four bearing hole, the bearing hole of front end two is pacified by front roll bearing for the top setting of the upper suspension support
Equipped with front roll, and the both ends of front roll are equipped with crawler belt by key connection and clamp disk, and the bearing hole of rear end two passes through back roll
Bearing is equipped with back roll, and the back roll is connect by the transmission chain set on sprocket wheel with driving shaft bearing, the driving wheel
Bearing is fixed on rear bearing sheet, and driving pinion is provided on driving wheel bearing；It is fixedly installed on the rear bearing sheet
There is track drive bearing, drive gear wheel be provided on track drive bearing, crawler driving whell is installed on the inside of drive gear wheel,
The drive gear wheel is meshed with driving pinion；The crawler driving whell is engaged with the inboard gear of crawler belt；
The upper suspension support middle part setting is fluted, passes through inside grooves threaded post and external self-locking nut and side
Support plate is fixedly connected；The front side centre position of upper suspension support is provided with protrusion mounting hole, and subtract by bolt and second
It shakes one end connection of device, the other end of second damper and one end of the first damper forming V-shape arrangement arranged side by side, by same
A hinge joint is hinged with Athey wheel bottom plate；The other end of first damper passes through bolt with the mounting hole in the middle part of preceding guide plate
Connection；
The bottom rear of the upper suspension support is provided with turning mounting hole, and one end of buffer beam passes through turning mounting hole
The bolt of inside setting is connected with upper suspension support, and the other end of buffer beam and the base angle mounting hole of rear bearing sheet connect；Institute
It states buffer beam centre position and is provided with shrinkage pool, will be tensioned support plate by bolt is mounted on shrinkage pool；It is described tensioning support plate with
Buffer beam is connected by tensioning spring, is tensioned at the top of support plate and is provided with compression sprocket wheel；The compression sprocket wheel is arranged on transmission
On the inside of chain, with being driven chain link.
The crawler belt is synthetic rubber crawler belt, and crawler belt is internally provided with the interior gear teeth, passes through the interior gear teeth with four pairs of bogie wheels
Engagement.
The top of the crawler belt is arranged in the interlayer that roller and back roll are supported with upper suspension, and crawler belt passes through shoe
The centre position at roller both ends is arranged on clamping disk.
The outside of the track drive bearing and driving shaft bearing is provided with bearing cover.
The bogie wheel is installed on center shaft by bearing, and there is threaded hole in central shaft outer end, is connect with support plate thread.
A kind of vibration-reducing control method of wearable crawler type snowfield mobile devices, it is characterized in that：Using described in claim 1
A kind of wearable crawler type snowfield mobile devices,
Crawler belt is installed on wheel, wheel driving back roll rotation, and then the sprocket wheel at both ends is driven to be rotated, it is rear to roll
Cylinder both ends sprocket wheel drives coaxial gear rotation by the sprocket wheel on chain-driving rear bearing sheet, is nibbled with driving pinion
The drive gear wheel of conjunction rotates simultaneously, and coaxial track drive wheel drive crawler belt is driven to move forward；The forepart of crawler belt is by wink
Between impact, preceding guide plate around the place of being bolted rotate, the first shock absorbers compression, alleviate forepart impact；
The road excitation of crawler belt bottom is uneven, and the decrement of former and later two vertical dampers is different, upper suspension support into
During the front and rear swing of row, the second shock absorbers compression being connected with upper suspension support or extension, and then upper suspension is supported
Swing decays；Crawler belt passes through among front roll and the support of back roll and upper suspension, the front and rear pendulum of upper suspension support
It is dynamic that front roll and back roll can be caused to push crawler belt, while the first shock absorbers compression and preceding guide plate subtract to contract, first
The device that shakes carries out elastic tension crawler belt；
Spacing variation while upper suspension support is swung between back roll bearing and driving shaft bearing, buffer beam is with after
The structure of roller bearings and driving shaft bearing composition parallelogram can constrain its movement while upper suspension is supported and swung
Track；Simultaneously because transmission chain can fluff at this moment, the strainer on buffer beam can be under the pulling force of tensioning spring
Tensioning support plate is tensed, ensures that compressing sprocket wheel is pressed on transmission chain, ensures that transmission chain is reliably driven.
By above-mentioned designing scheme, the present invention can bring following advantageous effect：A kind of wearable crawler type snowfield traveling
Device and its vibration-reducing control method, caterpillar belt structure is simple, and maintaining is easy, is convenient to mount and dismount, without dismantling automobile tire, no
Need lifting equipment, people can complete independently, installation is simple, time saving, reliable.It can be in severe snowy road surface and deep product
Road traveling is avenged, cross-country power is strong, smaller to the destructiveness of road, durable.
The further advantageous effect of the present invention is：
1st, the present invention need not change the structure of original vehicle wheel suspension, without removing vehicle tyres, it is only necessary to by mounting bracket
Vehicle is driven to progress crawler belt in the card slot of crawler belt centre to fix, it is simple and reliable, it is convenient to mount and dismount.
2nd, the present invention carries out the vibration damping of crawler belt when driving using special mechanical vibration-proof structure, without installing hydraulic tensioning machine
Structure eliminates the rapid wears device such as hydraulic cylinder, fluid pressure line, simplifies the mechanical structure of Athey wheel, and substantially increase crawler belt can
By property and stability.
3rd, the secondary transmission mode that the present invention is combined using chain drive and gear drive, and add chain drive tensioning device
Structure, sleeve mechanism stable drive is reliable, strong to severe snowy road surface environmental suitability, and cross-country power compares general snowfield crawler belt
It takes turns stronger.
Description of the drawings
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated：
Fig. 1 is a kind of wearable crawler type snowfield mobile devices overall structure diagram of the present invention.
Fig. 2 is a kind of wearable crawler type snowfield mobile devices internal structure schematic diagram of the present invention.
Fig. 3 is a kind of wearable crawler type snowfield mobile devices Caterpillar transmission mechanism structure diagram of the present invention.
Fig. 4 is a kind of wearable crawler type snowfield mobile devices strainer structure diagram of the present invention.
1- side support plates, 2- cylindrical rotors, 3- steering brackets, 4- connecting rods, 5- height arm controls, 6- crawler belts, 7- in figure
Guide plate, 11- front jockey wheels, 12- crawler belts clamp disk, the big spiral shells of 13- before rear bearing sheet, 8- bogie wheels, 9- Athey wheels bottom plate, 10-
Bolt, the first dampers of 14-, the second dampers of 15-, 16- arch supports, 17- vertical dampers, the support of 18- upper suspensions, 19-
Bearing cover, 20- front rolls bearing, 21- front rolls, 22- back rolls bearing, 23- transmission chains, 24- back rolls, 25- drive shafts
Bearing, 26- track drives bearing, 27- drive gear wheels, 28- crawler driving whells, 29- driving pinions, 30- sprocket wheels, 31- connect
Connecting bolt, 32- tensioning springs, 33- tensionings support plate, 34- compress sprocket wheel, 35- buffer beams, 36- gusseteds plate, 37- centers
Axis, 38- support plates.
Specific embodiment
A kind of wearable crawler type snowfield mobile devices, as shown in Figure 1, including suspension strut mechanism, Caterpillar transmission mechanism,
Crawler belt guiding mechanism, crawler belt steering mechanism and strainer, core institution are suspension strut mechanism and Caterpillar transmission mechanism.
Suspension strut mechanism include upper suspension support 18, arch support 16, vertical damper 17, the first damper 14,
Second damper 15, rear bearing sheet 7, crawler belt support baseboard 9 and bogie wheel 8.
The upper suspension support 18 is integrated with arch support 16, and there are four bearing holes in upper suspension support 18, preceding
Two bearing holes are equipped with front roll 21 by front roll bearing 20, and 21 both ends of front roll are equipped with crawler belt by key connection
Disk 12 is clamped, to prevent the sideslip during traveling of crawler belt 6, latter two bearing hole is equipped with back roll 24, back roll both ends peace
Equipped with sprocket wheel 30, sprocket wheel 30 connects the transmission mechanism of rear bearing sheet 7 by transmission chain 23.
The upper suspension supports 18 inside both ends to have gusseted plate 36, and gusseted plate 36 is provided with hole, passes through bolt
Connect steering bracket 3.18 middle part of upper suspension support is provided with groove, and internal both sides side support plate 1 is bolted；Arch branch
Cheng16Liang Ge corners are provided with groove, and two vertical dampers 17 are bolted, and two vertical dampers 17 are mainly being carried out
Alleviate the impact force of vertical direction in traveling process with 6.17 bottom of vertical damper is hinged on Athey wheel bottom plate 9.
There is protrusion mounting hole at the 18 front side middle part of upper suspension support, and mounting hole installs the second damper by bolt
15, the second damper 15 and the first damper 14 are arranged, and be hinged on Athey wheel bottom by common hinge joint into V-shaped side by side
9 forepart of plate, alleviates the impact of forepart with this.
The upper suspension supports 18 rear portion both sides to have protrusion mounting hole, is connected with the both sides buffer beam 35 at rear portion,
Buffer beam 35 is used for constraining movement locus when upper suspension support 18 is swung.Two 35 other ends of buffer beam and rear bearing sheet 7
Base angle protrusion mounting hole be connected with.
The 9 center portion forepart of Athey wheel bottom plate is provided with indent slot, for being bolted with preceding guide plate 10,
There are four pairs of eight bogie wheels 8 in the both sides of Athey wheel bottom plate 9 respectively, and bogie wheel 8 rides upon gear teeth both sides in crawler belt 6, in support vehicle
Clamping tracks 6 while weight make the not sideslip in the process of moving of crawler belt 6.
The bogie wheel 8 is mounted on by bearing on central shaft 37, and there is threaded hole in 37 outer end of central shaft, for fixed support plate
38, the two, which is bolted, to be fixed together.
Caterpillar transmission mechanism includes back roll bearing 22, transmission chain 23, back roll 24, driving shaft bearing 25, track drive
Axle bearing 26, drive gear wheel 27, crawler driving whell 28, driving pinion 29, sprocket wheel 30.
The preceding sprocket wheel of the Caterpillar transmission mechanism is mounted on back roll 24, and rear sprocket wheel is mounted on drive shaft both ends, sprocket wheel
By key connection, drive shaft is fixed on by driving shaft bearing 25 on rear bearing sheet 7, and driving pinion is equipped in drive shaft
29, driving pinion 29 is meshed with the upper drive gear wheel 27 on track drive bearing 26, and track drive shaft is also through axis
It holds and is fixed on rear bearing sheet 7,27 inside of drive gear wheel is equipped with crawler driving whell 28, crawler driving whell 28 and crawler belt 6
Inside gear teeth meshing, and then realize and the power on wheel is transmitted on crawler belt, driving crawler belt moves forward, Caterpillar transmission mechanism
The secondary transmission mode being combined using chain drive and gear drive, the kind of drive is steadily reliable, and severe snowy road surface is fitted
Answering property is stronger.
The crawler belt guiding mechanism includes front jockey wheel 11, preceding guide plate 10.Preceding guide plate 10 passes through with Athey wheel bottom plate 9
King-bolt 13 is connected with Athey wheel bottom plate 9, i.e., preceding guide plate 10 can be rotated around the place of being bolted, and preceding 10 middle part of guide plate has
Mounting hole, is bolted the first damper 14, and the first damper 14 and the second damper 15 are hinged on Athey wheel bottom plate 9
On.
The crawler belt steering mechanism includes cylindrical rotor 2, steering bracket 3, connecting rod 4, height arm control 5.Crawler belt turns to
Mechanism keeps good wheel steering while being mainly used for fixing wheel.During installation, wheel drives into tilting mounting bracket to shoe
Before and after belt wheel in the groove of roller, height arm control 5 is adjusted, the upper end of height arm control 5 is connected with wheel drive shaft, led to
Cross big nut fixation tighten, ensure wheels travel during without departing from.
The strainer includes connection bolt 31, tensioning spring 32, tensioning support plate 33, compresses sprocket wheel 34, buffer beam
35.35 both ends of buffer beam of strainer are connected to the bottom corners mounting hole of upper suspension support 18 and rear bearing sheet 7
Base angle mounting hole.Simultaneously buffer beam 35 middle part have mounting hole for install tensioning support plate 33.35 upper side of buffer beam
There is hook, tensioning spring 32 is hooked on hook.
There is shrinkage pool at 35 middle part of buffer beam, and 32 other end of tensioning spring is hooked in hole, the installation of 35 inside top of buffer beam
Have small bearing for install compress sprocket wheel 34, compression sprocket wheel side compression transmission chain 23 out of transmission chain 23.
A kind of vibration-reducing control method of wearable crawler type snowfield mobile devices, in the mistake of off-road vehicle installation crawler belt traveling
Cheng Zhong, when the forepart of crawler belt 6 is impacted by moment, preceding guide plate 10 is rotated around the place of being bolted, and the first damper 14 is pressed
Forepart impact is alleviated in contracting.
When crawler belt 6 receives the road excitation from crawler belt bottom in the driving process in crawler belt.Due to 6 bottom of crawler belt
It is unevenly distributed before and after road excitation, that is, the decrement for leading to two front and rear vertical dampers 17 is different, and vibration damping process is answered at this time
It is miscellaneous, it is broadly divided into following three processes：
When the decrement difference of former and later two vertical dampers 17, upper suspension support 18 can generate front and rear swing,
Upper suspension support can cause to compress with 18 the second dampers 15 for being connected of upper suspension support while 18 swing or
It upholds, and then decays to the swing of upper suspension support 18.
When the swing before and after the progress of upper suspension support 18, due to crawler belt 6 from front roll 21 and back roll 24 with it is upper
It is passed through among portion's suspension strut 18, the swing of upper suspension support 18 can cause front and rear roller 24 to push crawler belt 6, and then lead
Causing the compression of the first damper 14 and preceding guide plate 10, the first damper 14 plays the work of elastic tension crawler belt 6 at this time to contract
With.
Upper suspension support 18 can cause the spacing between back roll axis and drive shaft to change while swing, that is, pacify
Two axis equipped with sprocket wheel 30.And the structure of buffer beam 35 and back roll bearing 22 and drive shaft composition parallelogram can be upper
Portion's suspension strut 18 constrains the track of its movement while swing.Simultaneously because transmission chain 23 can fluff at this moment, positioned at vibration damping
Strainer on bar 35 can pull down nervous compact schemes plate 33 in the pulling force of tensioning spring 32, ensure to compress the pressure of sprocket wheel 34 tightly
On transmission chain 23, ensure the reliable transmission of transmission chain 23.
The snowfield crawler travel device relies on Caterpillar transmission mechanism passing power, and wherein Caterpillar transmission mechanism is by chain drive
Secondary transmission mode is combined with gear drive to ensure reliably to be driven.It is not of uniform size by internal four while crawler belt is advanced
Damper vibration damping is carried out to Athey wheel, wherein the first damper 14 ensures the elastic tension to crawler belt while vibration damping, province
Hydraulic tensioning mechanism is gone to, the bogie in upper suspension support 18 ensures the reliable of vehicle while clamping to wheel
It turns to, you can realize the repertoire of pedrail mechanism.
Claims (6)
1. a kind of wearable crawler type snowfield mobile devices, it is characterized in that：Including suspension strut mechanism, Caterpillar transmission mechanism, shoe
Band guiding mechanism, crawler belt steering mechanism and strainer, the suspension strut mechanism include upper suspension support (18), arch
Support (16), vertical damper (17), the first damper (14), the second damper (15), rear bearing sheet (7), crawler belt support bottom
Plate (9) and bogie wheel (8)；
The Caterpillar transmission mechanism include back roll bearing (22), transmission chain (23), back roll (24), driving shaft bearing (25),
Track drive axle bearing (26), drive gear wheel (27), crawler driving whell (28), driving pinion (29) and sprocket wheel (30)；
The crawler belt guiding mechanism includes front jockey wheel (11) and preceding guide plate (10)；
The crawler belt steering mechanism includes cylindrical rotor (2), steering bracket (3), connecting rod (4) and height arm control (5)；
The strainer include connection bolt (31), tensioning spring (32), tensioning support plate (33), compress sprocket wheel (34) and
Buffer beam (35)；
The upper suspension support (18) is an integral structure with arch support (16)；Two turnings of the arch support (16)
Place is fixedly connected respectively by bolt with one end of vertical damper (17)；The other end and crawler belt of the vertical damper (17)
It is hinged to take turns bottom plate (9)；The both sides of the Athey wheel bottom plate (9) have been symmetrically arranged four pairs of bogie wheels (8)；Athey wheel bottom plate
(9) it is connect with one end of preceding guide plate (10) by king-bolt (13), the other end and front jockey wheel of the preceding guide plate (10)
(11) it connects；
The inside both ends of the upper suspension support (18) are symmetrically arranged with two pairs of gusseted plates (36), the gusseted plate
(36) trepanning is provided on, upper suspension support (18) is bolted by gusseted plate (36) and steering bracket (3)；It is described
Steering bracket (3) is v-shaped structure, and the top and bottom of steering bracket (3) v-shaped structure are each provided with cylindrical rotor (2), turn to branch
The centre position of frame (3) is provided with connecting rod (4)；Height arm control (5) is provided on the connecting rod (4)；
There are four bearing hole, the bearing hole of front end two passes through front roll bearing for the top setting of the upper suspension support (18)
(20) front roll (21) is installed, and the both ends of front roll (21) are equipped with crawler belt by key connection and clamp disk (12), rear end two
A bearing hole is equipped with back roll (24) by back roll bearing (22), and the back roll (24) on sprocket wheel (30) by setting
Transmission chain (23) is connect with driving shaft bearing (25), and the driving wheel bearing (25) is fixed on rear bearing sheet (7), driving
Driving pinion (29) is provided on wheel bearing (25)；Track drive bearing (26) is fixedly installed on the rear bearing sheet (7),
Drive gear wheel (27) is provided on track drive bearing (26), crawler driving whell is installed on the inside of drive gear wheel (27)
(28), the drive gear wheel (27) is meshed with driving pinion (29)；The crawler driving whell (28) is interior with crawler belt (6)
Side gear engages；
Setting is fluted in the middle part of the upper suspension support (18), passes through inside grooves threaded post and external self-locking nut and side
Support plate (1) is fixedly connected；The front side centre position of upper suspension support (18) is provided with protrusion mounting hole, and by bolt with
One end connection of second damper (15), one end of the other end and the first damper (14) of second damper (15) are arranged side by side
Forming V-shape is arranged, hinged by same hinge joint and Athey wheel bottom plate (9)；The other end of first damper (14) is with before
Mounting hole in the middle part of guide plate (10) is bolted；
The bottom rear of the upper suspension support (18) is provided with turning mounting hole, and one end of buffer beam (35) is pacified by turning
The bolt set inside dress hole is connect with upper suspension support (18), the other end of buffer beam (35) and the bottom of rear bearing sheet (7)
Angle mounting hole connection；Buffer beam (35) centre position is provided with shrinkage pool, and will be tensioned support plate (33) by bolt is mounted on
On shrinkage pool；The tensioning support plate (33) is connect with buffer beam (35) by tensioning spring (32), the top of tensioning support plate (33)
Portion, which is provided with, compresses sprocket wheel (34)；The compression sprocket wheel (34) is arranged on the inside of transmission chain (23), is connect with transmission chain (23).
2. a kind of wearable crawler type snowfield mobile devices according to claim 1, it is characterized in that：The crawler belt (6) is
Synthetic rubber crawler belt, and crawler belt (6) is internally provided with the interior gear teeth, passes through interior gear teeth meshing with four pairs of bogie wheels (8).
3. a kind of wearable crawler type snowfield mobile devices according to claim 1, it is characterized in that：The crawler belt (6)
Top is arranged in the interlayer that roller (21) and back roll (24) support (18) with upper suspension, and crawler belt (6) passes through crawler belt
Clamp the centre position that disk (12) is arranged on roller (21) both ends.
4. a kind of wearable crawler type snowfield mobile devices according to claim 1, it is characterized in that：The track drive shaft
The outside for holding (26) and driving shaft bearing (25) is provided with bearing cover (19).
5. a kind of wearable crawler type snowfield mobile devices according to claim 1, it is characterized in that：The bogie wheel (8)
It is mounted on central shaft (37) by bearing, there is threaded hole in central shaft (37) outer end, is threadedly coupled with support plate (38).
6. a kind of vibration-reducing control method of wearable crawler type snowfield mobile devices, it is characterized in that：Using described in claim 1
A kind of wearable crawler type snowfield mobile devices,
Crawler belt (6) is installed on wheel, wheel driving back roll (24) rotates, and then the sprocket wheel (30) at both ends is driven to be turned
Dynamic, back roll (24) both ends sprocket wheel (30) drives coaxial gear to turn by the sprocket wheel on chain-driving rear bearing sheet (7)
It is dynamic, it the drive gear wheel (27) that engage with driving pinion (29) while rotates, drives coaxial crawler driving whell (28) driving
Crawler belt (6) moves forward；The forepart of crawler belt (6) is impacted by moment, and preceding guide plate (10) rotates around the place of being bolted, and first
Damper (14) compresses, and alleviates forepart impact；
The road excitation of crawler belt (6) bottom is uneven, and the decrement of former and later two vertical dampers (17) is different, upper suspension support
(18) when carrying out front and rear swing, the second damper (15) compression or extension that are connected with upper suspension support, and then to top
The swing of suspension strut (18) decays；Crawler belt (6) supports (18) from front roll (21) and back roll (24) with upper suspension
Centre passes through, and the swing of upper suspension support (18) can cause front roll (21) and back roll (24) to push crawler belt (6), together
When the first damper (14) compress and preceding guide plate (10) is to contract, the first damper (14) carries out elastic tension crawler belt
(6)；
Spacing while upper suspension support (18) is swung between back roll bearing (22) and driving shaft bearing (25) changes, and subtracts
The structure that the bar (35) that shakes forms parallelogram with back roll bearing (22) and driving shaft bearing (25) can be supported in upper suspension
(18) track of its movement is constrained while swing；Simultaneously because transmission chain (23) can fluff at this moment, positioned at buffer beam (35)
On strainer nervous compact schemes plate (33) can be pulled down in the pulling force of tensioning spring (32), ensure that compressing sprocket wheel (34) be pressed on
On transmission chain (23), ensure that transmission chain (23) is reliably driven.
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| CN114633819A (en) * | 2022-04-27 | 2022-06-17 | 吉林大学 | Crawler belt walking device |
| CN114633818A (en) * | 2022-04-27 | 2022-06-17 | 吉林大学 | Crawler belt walking device |
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| CN108248711B (en) | 2023-10-27 |
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