CN109018041A - A kind of tire and triangle crawler type composite walking mechanism based on heavy-duty vehicle - Google Patents
A kind of tire and triangle crawler type composite walking mechanism based on heavy-duty vehicle Download PDFInfo
- Publication number
- CN109018041A CN109018041A CN201811022022.2A CN201811022022A CN109018041A CN 109018041 A CN109018041 A CN 109018041A CN 201811022022 A CN201811022022 A CN 201811022022A CN 109018041 A CN109018041 A CN 109018041A
- Authority
- CN
- China
- Prior art keywords
- wheel
- vehicle
- support
- shaft
- triangle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to a kind of tires based on heavy-duty vehicle and triangle crawler type composite walking mechanism, belong to heavy-duty vehicle walking mechanism.Triangle rubber belt track wheel is linked by vehicle bridge and is connect with the preceding bridge input shaft two sides of vehicle chassis, the rear axle shaft two sides connection of rubber tyre and vehicle chassis.The follow-up type gear tooth-type intermediate supports triangle rubber belt track wheel mechanism that the present invention designs, the design that its symmetric support structure engages the special construction of wheel with supporting suspension, crawler belt more effectively improves the bearing load to car body, suitable for heavy-load type engineering truck especially as this preceding bridge receiving varying load of container front crane, it is easily changed.The compound running gear of tire-crawler belt that vehicle uses effectively reduces grounding pressure, is suitable for different weight operating condition, expands use scope.
Description
Technical field
The invention belongs to heavy-duty vehicle walking mechanisms.
Background technique
The all-terrain vehicle for being equipped with triangle crawler belt can be in the various landform such as snowfield, desert, marsh and muddy jungle
Traveling, triangle Athey wheel have with conventional tyre compared with handling capacity is strong, driving power greatly, adhesion property and stability it is good etc. special
Point.To make common vehicle obtain really full region maneuverability, general triangle Athey wheel be mounted on the motor vehicle for 4 wheel driven,
The agri-vehicles such as large tractor, combine harvester and heavy-load type engineering truck further improve the motor-driven cross-country energy of vehicle
Power.Currently, different form can be divided into according to the difference of operating condition and loading capacity.According to it, whether there is or not autonomous drivings: it is autonomous driving and
Follow-up type；According to driving method difference: gear tooth-type and making a turn formula；According to bearing mode difference: cantilevered and intermediate supports formula；Root
According to supporting power difference: heavy, light-duty and microlight-type.
The triangle Athey wheel that the four wheel drive truck that the MATTRACKS company in the U.S. is 9298 kilograms is developed is a kind of autonomous
Driving cantilevered bearing structure.The crawler belt series can configure nearly all four-wheel drive currently in use that can run highway
Vehicle, mobility are relatively high.But connection driving wheel and weight bearing train use edge cantilevered connection frame, due to cantilevered weights
It is relatively light, when rural area is compared with bad working environments, driving wheel can occur when vehicle, which is run, turns and bogie wheel deflection angle is inconsistent
Situation.That there are intensity and toughnesses is obviously insufficient for cantilever connection frame, and current such triangle caterpillar band type is only suitable only for light running vehicle
In the preferable environment of load conditions.
Another LiteFoot all-terrain vehicle crawler belt converting system has used a kind of exclusive rubber torsional anti-torque system,
And revolutionary deformable suspension, it ensure that biggish ground face contact, it is in office where to provide difficulty to you under the conditions of shape
With the tractive force and mobility of the imagination, smoothly controllable driving ensure that.The triangle Track gear combination suspension meeting of use
The dipping and heaving for causing vehicle, increases the running resistance of vehicle, and the structure of use is not suitable for heavy-load type engineering truck, is only suitable for
Light-duty, the higher 4 wheel driven motor vehicle of mobility, practicability is smaller, therefore promoted extension is relatively narrow.
The four rubber belt track wheel snowmobile of brave horse H2 type of SOUCY TRACK company production, triangle crawler belt is a kind of cantilever
Formula structure is supported using aluminum wheel hub structure.Such design ensure that the vehicle can walk the road conditions of various kinds, can be used for agriculture
Industry, emergency relief and exploration work.But the design based on its triangle Track gear structure, cause to need to send out in terms of power
Motivation reaches a very high torque peak；In addition, by its front, directive wheel improves one compared with other triangle train vehicles
Highly, also big to transmission system although becoming more easily, to need to be turned up suspension and the chassis of vehicle at cross-country aspect
It juggles things, such structure needs biggish variation to vehicle body structure.
Domestic Hangzhou Li Wei Machinery Co., Ltd. has developed the triangle crawler belt product for full landform and light vehicle, is one
Kind makes a turn formula intermediate supports formula triangle Track gear structure, uses torsion bar tensioning apparatus.Driving wheel and bogie wheel are using intermediate
Support is attached, and in order to not influence driving wheel rotation, connection support frame is supported using one side, caused a problem in that so whole
On support connecting frame apparent torsional deformation can occur for the mass of a vehicle body transmitting under case of heavy load, therefore can only
Bear light-duty load.Existing crawler belt wheel construction entirety lifting capacity is still less than normal, it is difficult to for large and medium-sized mechanical and large-scale
Military equipment, and structure self stability, anti-to turn over performance to be improved.But due to its bearing capacity deficiency, vibration is excessive, only stops
It stays on principle prototype, not can be realized real promotion and application
The KZ series Controlled Source Car of domestic east geophysics company independent research is a kind of swing type thrust wheel triangle
Track gear, train are connect with vehicle bridge, vehicle frame by mounting rack, make driving wheel departing from walker, eliminate ground and directly pass
The vertical load being delivered on driving wheel improves the service life of transmission system.The disadvantage is that complete vehicle weight obviously increases, train tensioning knot
Structure intensity is on the weak side, and rubber belt track amount of tension is less than normal, and wheel design is not easy to dismantle, and thrust wheel cannot better adaptively expression
Condition.
Summary of the invention
The present invention provides a kind of tire based on heavy-duty vehicle and triangle crawler type composite walking mechanism, to solve to deposit at present
Due to tire it is smaller with contact area of ground, can blow out in operation, destructible be laid with road surface, hauling ability is not
High problem.
The technical solution adopted by the present invention is that:
Triangle rubber belt track wheel is linked by vehicle bridge and is connect with the preceding bridge input shaft two sides of vehicle chassis, rubber tyre and vehicle
The rear axle shaft two sides connection on chassis；
The structure of the vehicle chassis is: vehicle frame is connected across preceding bridge, on rear axle shaft, the output shaft and triangle rubber of preceding bridge
The vehicle bridge link of Athey wheel is installed together, and engine is connected on front side of chassis, exports axis connection clutch one end, clutch
Output end connects the input shaft of speed changer, and speed changer is linked together by universal joint and transmission shaft one end, the transmission shaft other end
Axis connection is inputted by the main reducing gear of the universal joint of the other side and drive axle, in main reducing gear output end bevel gear and differential mechanism
Gear mesh together, the output end of differential mechanism connects semiaxis, and semiaxis is linked together by wheel hub and rear-wheel rubber tyre；
The structure of the triangle rubber belt track wheel is:
Vehicle bridge links one end connection vehicle bridge input shaft, and the other end is attached fixation by flat key with main shaft, while actively
Wheel is fastened by bolt, rotates together it, and sealing is bolted in intermediate supports and ring flange, and the other end is connected to
Supporting suspension assembly upper end carries out transmitting vehicle power；Crawler belt engages bull wheel, crawler belt engagement steamboat and big bogie wheel, small bogie wheel
The composition that links together integrated support walking wheel, greatly support wheel shaft, small support wheel shaft self-control retaining ring one, interior hexagonal cylindrical head
Screw one, elastic washer one, plain washer one and weight bearing train are fastenedly connected；
By bearing and side, just supporting block is symmetrically connected to integrated support suspension two sides, support reinforcing plate one to big support wheel shaft
End oblique weld side just supporting block different location carry out reinforcement support, the other end is welded on main stable bracing frame, and with it is small
Wheel shaft is supported to connect by bearing, main shaft support square steel, rectangular supporting board are by being welded to connect in main stable bracing frame interposition
It sets；
Intermediate supports and supporting suspension are bolted together by central symmetry, main supporting structure by welding manner with
The connection of supporting suspension assembly, rectangular supporting board are big that wheel shaft is supported to pass through by being welded to connect in main stable bracing frame middle position
Just supporting block is symmetrically connected to integrated support suspension two sides for bearing and side, and support reinforcing plate one end oblique weld is in the rigid supporting block in side
On；
Ring flange is linked together by hexagon socket cap head screw three, elastic washer three, plain washer three with bearing (ball) cover
Realization is sealed internal shafting structure, and bearing (ball) cover and main shaft pass through hexagon socket cap head screw two, elastic washer two, put down
Washer two tightens together, and is fixed on deep groove ball bearing outer ring；Main shaft realizes fortune opposite with ring flange by deep groove ball bearing
Turn, ring flange is bolted with whole intermediate supports；
Ring flange is connected between among support plate by hexagon socket cap head screw four, elastic washer four, plain washer four
Position seals internal shafting structure with realizing；
Big bogie wheel is identical with small weight bearing wheel construction, and crawler belt engagement bull wheel, end terminal pad, the big bogie wheel of big bogie wheel are logical
Cross hexagon socket cap head screw, Stud connection constitutes entirety together, with support wheel shaft by self-control retaining ring two, interior hexagonal cylindrical
Head screw five, elastic washer five, plain washer five, which link together, collectively forms train walking and support system, and crawler belt engagement is big
Wheel is engaged with rubber belt track.
The present invention provides a kind of follow-up type gear tooth-type intermediate supports triangle rubber belt track wheel, can not reequip or on a small quantity
It under conditions of reequiping wheeled vehicle, is exchanged with vehicle tyre, reduces the ground pressure of vehicle, hauling ability is improved, thus quickly
The cross-country power for promoting wheeled vehicle, it is harshness to cross-country traveling ability and high maneuverability etc. can preferably to adapt to modern age various vehicles
Can requirement, the advantages of having merged tire and creeper undercarriage and the novel travelling mechanism researched and developed.
Rubber belt track is light-weight, with small vibration, will not destroy being laid with road surface, and have better passability relative to tire,
Triangle crawler belt has both the structural advantages of tire and conventional track, preferably overcomes various rough topography conditions to the shadow of mechanical work
It rings, greatly expands the application range of crawler type and wheeled transport vehicle.
It is an advantage of the invention that the design of symmetric support structure keeps the operation of triangle Athey wheel more reliable and more stable.Designed master
Driving wheel is about 670mm apart from crawler belt bottom, and active wheel diameter is 550mm, and driving wheel is symmetrically distributed in the two sides of support construction, method
Blue disk is the two sides that intermediate support plate is symmetrically mounted on by bolt, and shafting structure is all symmetrically sealed in inside, by vehicle bridge chain
Bridge main shaft is picked up in succession and driving wheel is driven to operate, and symmetric support structure of the invention is instead of most of triangle caterpillar systems
Driving wheel is only to be located at side in side, support construction, and this avoid body gravity shakinesses in the process of running to lead to crawler belt
The problem of driving system is biased to, sees Fig. 3, Fig. 7 and Fig. 8.
The supporting suspension of running gear is welded by square steel, intermediate supports top center at the top of the supporting suspension about
For 350mm, in side, just supporting block different location carries out reinforcement support to support reinforcing plate one end oblique weld；The other end is welded on master
On stable bracing frame, and it is connect with small support wheel shaft by bearing.Main shaft support square steel, rectangular supporting board are by being welded to connect
Main stable bracing frame middle position, stable structure, and the protrusion designed is structurally characterized in that bending resistance anti-twisting property is stronger, and energy
Biggish shock loading is born, sees Fig. 5.
In such a way that weight bearing train tooth carries out engagement: crawler belt engages bull wheel, end terminal pad, big bogie wheel and passes through interior hexagonal circle
Chapiter screw, Stud connection constitute entirety together；Crawler belt engagement bull wheel is designed as 24 teeth and is engaged with rubber belt track, has
It has imitated play of the crawler belt under bad working environments in operational process smaller, has increased the attachment between rubber belt track and bogie wheel
Power.Larger wheels dimensions is diameter 400mm, and thickness 70mm, built-in bearing, bull wheel subcenter is away from for 1160mm；Small wheels ruler
Very little specification is diameter 250mm, thickness 65mm, built-in bearing；Centre is connected with supporting suspension, and rubber grouser is fully engaged at negative
Roller system middle position, compare other triangle caterpillar band types, effectively improves the engagement force between wheel shoe, increases operation
Stability is suitable for the installation of heavy-load type engineering truck, sees Fig. 5, Figure 11 and Figure 12.
The design of shafting structure transmission system, easy for installation, processing technology is simpler.Transmission system is mainly by vehicle bridge chain
It connects, driving wheel, ring flange, main shaft, flat key, deep groove ball bearing composition, installation is simple, good seal, need to only check before installation each
Can a wheel even running.Components need to only guarantee that ring flange can be operated steadily after the installation is completed.
The compound running gear of tire-crawler type efficiently reduces the grounding pressure of heavy-load type engineering truck.With heavy-load type
For engineering truck container front crane, during port traffic cargo, current front handling mobile crane total weight is about 71t, after slinging
Up to 110t, 70% load generated in this way is added in front of vehicle in bridge gross weight, and front-wheel tire is caused to be squeezed and deformed, and
Smaller with contact area of ground due to tire under heavily loaded environment, can blow out situation in operation.By to tire and
The comparison of crawler belt dynamics Recurdyn simulation calculation, 4 layers of container stack, when lifting by crane the 3rd 4 layers of 14t heavy-load container of row: tire
Grounding pressure P1=350000/253081 × 10-6=1.383Mpa, triangle crawler belt grounding pressure are P1 1=370000/ (768096
×10-6)=0.482Mpa；5 layers of container stack lift by crane the 2nd row's 30t heavy-load container: tire grounding pressure P2=450000/
279510×10-6=1.61Mpa, triangle crawler belt grounding pressure are P2 2=470000/ (768096 × 10-6)=0.612Mpa；Arm
Frame lifts by crane 6 layers of 45t heavy-load container of the 1st row: tire grounding pressure P in maximum height3=520000/283813 × 10-6=
1.832Mpa, triangle crawler belt grounding pressure are P3 3=540000/ (768096 × 10-6)=0.703Mpa；Transport phase homogenous quantities goods
Under the premise of object, rubber tyre grounding pressure is about 2.6~2.9 times of crawler belt grounding pressure, and deflection is larger, exists in this way
It is more demanding on selection tire, grounding pressure is efficiently reduced, calculated result is shown in simulation curve Figure 14~19.
It lays the foundation for triangle caterpillar system and tire-crawler belt composite system exploitation of heavy-load type engineering truck in future.
Currently, domestic still use the compound running gear of tire-crawler belt without any engineering truck.Due to present triangle crawler belt
System is only applicable to Lightweight project vehicle such as tractor, motorcycle, car etc., for heavy-load type such as container front crane due to three
The defect of angle caterpillar belt structure is not still able to satisfy replacement and requires.The follow-up type gear tooth-type intermediate supports triangle rubber that the present invention designs
Athey wheel mechanism, the design that symmetric support structure engages the special construction of wheel with supporting suspension, crawler belt more effectively improve pair
The bearing load of car body is suitable for heavy-load type engineering truck especially as this preceding bridge receiving varying load of container front crane, easily
In replacement.The compound running gear of tire-crawler belt that vehicle uses effectively reduces grounding pressure, is suitable for different weight operating condition,
Expand use scope.
Detailed description of the invention
Fig. 1 is use state diagram of the present invention；
Fig. 2 is structural schematic diagram of the invention；
Fig. 3 is gear tooth-type intermediate supports triangle rubber belt track wheel shaft side structure schematic diagram of the present invention；
Fig. 4 is walking with load train axis side structure schematic diagram of the present invention；
Fig. 5 is present invention walking support shaft side structure schematic diagram；
Fig. 6 is intermediate supports of the present invention and supporting suspension connection relationship axis side structure schematic diagram；
Fig. 7 is main shaft portion structural front view of the present invention；
Fig. 8 is main axis transmission system complete section structural schematic diagram of the present invention；
Fig. 9 is intermediate support plate complete section structural schematic diagram of the present invention；
Figure 10 is medial support structures main view of the present invention；
Figure 11 is driving wheel connection support transmission system axis side structure schematic diagram of the present invention；
Figure 12 is driving wheel connection support transmission system complete section structural schematic diagram of the present invention；
Figure 13 (a) is bogie wheel structure shaft side figure of the present invention；
Figure 13 (b) is bogie wheel complete section structural schematic diagram of the present invention；
Figure 14 is that cargo mass is 14t, ground holding power dynamics simulation curve synoptic diagram suffered by rubber tyre；
Figure 15 is that cargo mass is 14t, ground holding power dynamics simulation curve synoptic diagram suffered by triangle crawler belt；
Figure 16 is that cargo mass is 30t, ground holding power dynamics simulation curve synoptic diagram suffered by rubber tyre；
Figure 17 is that cargo mass is 30t, ground holding power dynamics simulation curve synoptic diagram suffered by triangle crawler belt；
Figure 18 is that cargo mass is 45t, ground holding power dynamics simulation curve synoptic diagram suffered by rubber tyre；
Figure 19 is that cargo mass is 45t, ground holding power dynamics simulation curve synoptic diagram suffered by triangle crawler belt；
Figure 20 is emulation experiment intermediate cam crawler belt Force principle axis side simplification figure；
Figure 21 is that the compound running gear of tire-crawler type simplifies force diagram in emulation experiment；
Figure 22 is vehicle running gear in emulation experiment (based on tire and triangle crawler belt) related fitted position figure；
Figure 23 is the operating condition division figure that different centers of gravity and engineering truck carrying different weight are combined in emulation experiment；
In figure: 1- vehicle chassis, 2- gear tooth-type intermediate supports triangle rubber belt track wheel, 3- rubber tyre, 4- driver's cabin, 5-
The main boom of suspender telescopic arm, 6-, 7- suspender turntable, 8- hydraulic cylinder, 9- hydraulic stem, 10- suspender boom, 11- hoisting arm expansion raising
Arm, 12- hydraulic stem, 13- hydraulic cylinder, 14- car body, 15- container；Bridge before 101-, 102- engine, 103- vehicle frame, 104- from
Clutch, 105- speed changer, 106- transmission shaft, 107- universal joint, 108- main reducing gear, 109- differential mechanism, 110- semiaxis；201- master
Driving wheel, the link of 202- vehicle bridge, 203- intermediate supports, 204- supporting suspension, the small bogie wheel of 205-, 206- crawler belt engagement steamboat,
The big bogie wheel of 207-, 208- crawler belt engage bull wheel, 209- rubber belt track；210- main supporting structure, 211- make retaining ring one, 212- by oneself
Hexagon socket cap head screw one, 213- elastic washer one, 214- plain washer one；215- ring flange, 216- bearing (ball) cover, 217- master
Axis, 218- hexagon socket head roller screw two, 219- elastic washer two, 220- plain washer two, 221- hexagon socket cap head screw three,
222- elastic washer three, 223- plain washer three, 224- deep groove ball bearing 6215,225- flat key；226- hexagon socket cap head screw
Four, 227- elastic washer four, 228- plain washer four；The end 229- terminal pad, 230- self-control retaining ring two, hexagonal cylindrical head spiral shell in 231-
Follow closely five, 232- elastic washer five, 233- plain washer five；The big support wheel shaft of 2041-, 2042- square steel supporting block, 2043- support add
Strong plate, 2044- main shaft support square steel, 2045- rectangular supporting board, the small support wheel shaft of 2046-, the main stable bracing frame of 2047-.
Specific embodiment
Triangle rubber belt track wheel 2 is connect by vehicle bridge link 202 with the 101 input shaft two sides of preceding bridge of vehicle chassis 1, rubber
Tire 3 is connect with 110 two sides of rear axle shaft of vehicle chassis 1；
The structure of the vehicle chassis 1 is: vehicle frame 103 is connected across preceding bridge 101, on rear axle shaft 110, preceding bridge 101 it is defeated
The vehicle bridge of shaft and triangle rubber belt track wheel links 202 and is installed together, and engine 102 is connected to 1 front side of chassis, output shaft
104 one end of clutch is connected, 104 output end of clutch connects the input shaft of speed changer 105, and speed changer 105 passes through universal joint 107
It links together with 106 one end of transmission shaft, 106 other end of transmission shaft is subtracted by the universal joint 107 and the master of drive axle of the other side
Fast device 108 inputs axis connection, and 108 output end bevel gear of main reducing gear meshes together with the gear in differential mechanism 109, differential mechanism
109 output end connects semiaxis 110, and semiaxis 110 is linked together by wheel hub with rear-wheel rubber tyre 3.
The structure of the triangle rubber belt track wheel 2 is:
1) triangle crawler belt is connected relationship
Vehicle bridge links 202 one end and connects vehicle bridge input shaft；The other end and main shaft 217 pass through flat key 225 and are attached fixation,
Driving wheel 201 is fastened by bolt simultaneously, rotates together it, intermediate supports 203 are bolted with ring flange 215
Sealing, the other end are connected to 204 upper end of supporting suspension assembly and carry out transmitting vehicle power；Crawler belt engages bull wheel 208, crawler belt engagement
Steamboat 206 and big bogie wheel 207, small bogie wheel 205, which link together, constitutes integrated support walking wheel, greatly support wheel shaft
2041, small support wheel shaft 2046 self-control retaining ring 1, hexagon socket cap head screw 1, elastic washer 1, plain washer
One 214 are fastenedly connected with weight bearing train；Driving wheel 201, crawler belt engagement bull wheel 208, crawler belt engagement steamboat 206 are with rubber
Crawler belt grouser rotates together, and sees Fig. 3, sees Fig. 4；
2) braced frame assembly connection relationship
By bearing and side, just supporting block 2042 is symmetrically connected to integrated support suspension two sides, support to big support wheel shaft 2041
In side, just 2042 different location of supporting block carries out reinforcement support to 2043 one end oblique weld of stiffening plate；The other end is welded on main stabilization
On support frame 2047, and it is connect with small support wheel shaft 2046 by bearing.Main shaft support square steel 2044, rectangular supporting board 2045 are logical
Welded connecting is crossed in main 2047 middle position of stable bracing frame, sees Fig. 5；
3) intermediate supports and supporting suspension connection relationship: intermediate supports 203 and supporting suspension 204 mainly pass through central symmetry
It is bolted together, main supporting structure 210 is connect by welding manner with supporting suspension assembly, and rectangular supporting board 2045 passes through
It is welded to connect in main 2047 middle position of stable bracing frame, supports wheel shaft 2041 symmetrical by the rigid supporting block 2042 of bearing and side greatly
Integrated support suspension two sides are connected to, just 2042 different location of supporting block carries out 2043 one end oblique weld of support reinforcing plate in side
Reinforce support, sees Fig. 6；
4) main transmission assembly connection relationship
Since main axis transmission system is to be symmetrically distributed in support construction two sides, therefore only provide partial symmetry shafting knot in figure
Structure, driving wheel 201 are linked together by flat key 225 with main shaft 217, and driving driving wheel runs at high speed；Ring flange 215 passes through interior
Hexagonal cylindrical head screw 3 221, elastic washer 3 222, plain washer 3 223 and bearing (ball) cover 216, which link together, to be realized internally
Portion's shafting structure is sealed, and bearing (ball) cover 216 and main shaft 217 pass through hexagon socket cap head screw 2 218, elastic washer two
219, plain washer 2 220 tightens together, and is fixed on 224 outer ring of deep groove ball bearing；Main shaft 217 passes through deep groove ball bearing 224
Realize the opposite operating with ring flange 215, ring flange 215 is bolted with whole intermediate supports, collectively forms vehicle bridge to vehicle
The integral drive-system of 202 replacement triangle Caterpillar tyre of bridge link, is shown in Fig. 7 and Fig. 8；
5) Athey wheel running gear assembly connection relationship
Its complete vehicle quality is transmitted on intermediate support plate 203 by driving wheel totality transmission system by shafting structure, flange
Disk 215 is connected between among support plate by hexagon socket cap head screw 4 226, elastic washer 4 227, plain washer 4 228
Position seals internal shafting structure with realizing, sees Fig. 9, Figure 10, Figure 11 and Figure 12；
6) big bogie wheel connection relationship
Walk load wheel train structure includes big bogie wheel and small bogie wheel, and specific structure is the difference in size, installation
Component and its position are the same, and crawler belt engages bull wheel 208, end terminal pad 229, big bogie wheel 207 and passes through interior hexagonal cylindrical
Head screw, Stud connection constitute entirety together；Pass through self-control retaining ring 2 230, interior hexagonal cylindrical head spiral shell with support wheel shaft 2041
Follow closely 5 231, elastic washer 5 232, plain washer 5 233 links together and collectively forms train walking and support system, crawler belt
Engagement bull wheel 208 is engaged with rubber belt track 209, and Figure 13 is shown in the effectively smaller movement of crawler belt in the process of running.
The present invention has following four technical characterstics:
One, the shafting structure being connected with driving wheel 201, vehicle bridge link 202 are connected by bolt and 201 side center of driving wheel
It connects, 201 other side of driving wheel is linked together by flat key 225 with main shaft 217, and driving driving wheel runs at high speed.In order to make to connect
It connects conveniently, and does not shake between Track gear and vehicle body in the process of running, design main shaft 217, connects driving wheel 201
Acting flange disk 215 symmetrically connects, and compared with intermediate supports form Track gear more identical with other forms, structure is obviously steady
Qualitative enhancing, and bigger load can be born, position of centre of gravity is stablized, and sees Fig. 2, Fig. 9 and Figure 10.
Two, the connection type of intermediate support beam and the supporting suspension 204 for connecting weight bearing train, intermediate supports 203 and support
Suspension 204 is mainly bolted together by central symmetry, and main supporting structure 210 passes through welding manner and supporting suspension assembly
Connection, small bogie wheel 205, big bogie wheel 207 are linked together by support shaft and supporting suspension 204, further, pass through self-control
Retaining ring 211, hexagon socket head cap screw 212, elastic washer 213, plain washer 214 will support wheel shaft to connect with bogie wheel, main support
Structure 210 is connect by welding manner with supporting suspension assembly；Big support wheel shaft 2041 passes through bearing and square just supporting block 2042
Integrated support suspension two sides are symmetrically connected to, 2043 one end oblique weld of support reinforcing plate is in side's 2042 different location of rigid supporting block
Carry out reinforcement support；The other end is welded on main stable bracing frame 2047, and is connect with small support wheel shaft 2046 by bearing.It is main
Axis supports square steel 2044, rectangular supporting board 2045 by being welded to connect in the such one side in main 2047 middle position of stable bracing frame
The intermal force of smooth transfer carload is played, also can effectively have been connect driving wheel with bogie wheel on the other hand
Come, it is therefore prevented that the case where causing driving wheel that can not rotate because of support frame position constraint.Compared with existing supporting wheel systems,
Support frame structure design solves driving wheel because connection eccentric position leads to support frame discontinuity, and structure is more stable, sees
Fig. 3, Fig. 6, Fig. 7 and Fig. 8.
Three, the design of crawler belt meshing gear, the i.e. connection with big bogie wheel 207, small bogie wheel 205 and rubber belt track 209
Mode, crawler belt engage bull wheel 208, end terminal pad 229, big bogie wheel 207 by hexagon socket cap head screw, Stud connection one
It rises and constitutes entirety, there are the gear teeth of certain amount to be intermeshed with the grouser on rubber belt track 209 on crawler belt engagement bull wheel 208
Connection.Such gear-bogie wheel one form is used currently without any form, by perforation on driving wheel 201, with rubber
Tooth block on 209 inner surface of glue crawler belt is meshed, and tooth block has guiding role concurrently.On the one hand it can increase bogie wheel in case of heavy load
Under intensity and toughness, on the other hand can be engaged with by design crawler belt different form, effectively prevent entire triangle
There is a situation where plays with crawler belt under different operating conditions for Track gear, realize the even running of vehicle, see Fig. 3 and Figure 13.
Four, the compound running gear of wheel-track formula based on heavy-load type engineering truck, running gear of the present invention are driven using preceding bridge
Dynamic, power transmission sequence is divided into two parts: vehicle frame 103 is the tower structure being connected across on tandem axle first, is filled through suspension
It sets, preceding bridge, rear axle are supported on wheel, the offer power resources of engine 102, by clutch 104- speed changer 105- transmission shaft
106- main reducing gear 108- differential mechanism 109- semiaxis 110- tire 4；Secondly, drive axle 101- driving wheel 201- crawler belt 209- bears a heavy burden
Wheel 205,207- walking；Train carrying sequence are as follows: vehicle frame 103- drive axle 101- intermediate supports 203- supporting suspension 204- weight bearing
Wheel 205,207.Driving wheel is directly installed on drive axle hub, is driven and is rotated by drive axle, is then driven by the engagement of tooth block
Crawler belt rotation, crawler belt drive directive wheel, bogie wheel rotation by frictional force, achieve the purpose that walking.The compound row of tire-crawler type
Walking system improves the mobility of original caterpillar system, reduces grounding pressure, will not destroy and be laid with road surface, and relative to tire
With better passability, Fig. 2 and Fig. 3 are seen.
Working principle:
1. vehicle running gear: the running gear is driven using preceding bridge, power transmission sequence are as follows: drive axle-driving wheel-track
Band-bogie wheel；Driving wheel is directly installed on drive axle hub, is driven and is rotated by drive axle, is then driven by the engagement of tooth block
Crawler belt rotation, crawler belt drive directive wheel, bogie wheel rotation by frictional force, achieve the purpose that walking.Train carrying sequence: vehicle
Frame-drive axle-intermediate supports-supporting suspension-bogie wheel.By the tooth block phase on perforation, with rubber belt track inner surface on driving wheel
Engagement, tooth block have guiding role concurrently.Crawler belt is with teeth piece of rubber material outer surface decorative pattern, is suitble to snowfield, farmland, desert, surface dust
Etc. soft earth's surface.
2. triangle crawler belt main transmission: vehicle bridge input shaft is connected to transmission system main shaft, main biography by vehicle bridge link 202
Moving axis is connect by flat key with driving wheel 201, and ring flange is realized intermediate supports inside shafting structure and sealed, and driving wheel 201 is logical
It crosses deep groove ball bearing and intermediate supports 203 realizes opposite Operative movement, and rubber belt track 209 is driven to carry out rotation advance；Car body
Balanced weight is applied on the triangle crawler belt of two sides by intermediate supports 203, intermediate supports transmit complete vehicle quality load to support
On suspension 204, it is further transferred to large and small support wheel shaft, bogie wheel is eventually transferred into and fastens, crawler belt engages bull wheel 208 with main
Driving wheel 201 engages rubber belt track grouser together and realizes rotation and then travel forward, and sees Fig. 3, Figure 11 and Figure 12.
Effect of the invention is further illustrated by emulation experiment below.
Based on the compound running gear vehicle chassis of heavy-load type engineering tyre-triangle crawler type: with heavy-load type container front side
For hanging, the overall structure of container front crane is devised, front handling mobile crane provides power by 1 engine of vehicle chassis, passes through fluid power
Transmission, electrichydraulic control, tire 3 are walked, and realize the traveling of vehicle, bridge driving before the present invention is designed as, rear-axle steering, front-wheel be with
Ejector half gear tooth-type intermediate supports triangle rubber belt track wheel 2, rear-wheel are rubber tyre 4, the generally compound running gear of wheel-track formula,
Efficiently reduce the grounding pressure of front-wheel.Secondly vehicle frame be the tower structure being connected across on tandem axle, through suspension arrangement,
Preceding bridge, rear axle are supported on wheel, and engine provides power resources, poor by clutch-speed changer-transmission shaft-main reducing gear-
Fast device-semiaxis-tire, which links together preceding bridge and rear axle, realizes that the movement of vehicle adjusts.See Fig. 2.
Boom luff and its suspender telescopic system: container front crane drives suspender to hang by hydraulic cylinder 13, hydraulic stem 12
Arm 10, the flexible of hoisting arm expansion rising arm 11, pitching, are turned by HYDRAULIC CONTROL SYSTEM suspender telescopic arm 5, main boom 6 and suspender
The positive and negative rotation of disk 7, left and right be flexible and lateral movement, vehicle traveling, realize the hanging box of different quality container 15, carry and
Stacking is shown in Fig. 1.
Emulation experiment principle and its experimental result:
See triangle crawler belt Force principle axis side simplification figure 20:
It is as shown in figure 21 that the compound running gear of tire-crawler type simplifies stress:
B: triangle Caterpillar tyre width, design value 340mm；
B: tire centerline away from or triangle track gage, design value 2650mm；
L: triangle crawler belt contacts ground effective length, design value 1656mm；
F: suffered ground holding power size；
P1, P2, P3, P4: four points of tire and triangle crawler belt are chosen；
σ1、σ2、σ3、σ4: the ground pressure of four points；
α: boom rises and the relative angle of car body, is changing value, is determined when calculating according to specific operating condition.
Following formula can be passed through around X-axis and Y-axis the moment of inertia:
Ix=2Lb (B/2)2Iy=1/6bL2 (1)
P1, P2, P3, P4 point are to geostatic pressure σ in front side crane triangle Athey wheel working state figure1、σ2、σ3And σ4It can lead to
Following calculation method is crossed to obtain.
Front handling mobile crane extreme working position is taken, i.e. it is maximum to bear load for front-wheel；At this moment have:
(α=0) (7) at this time
Design vehicle running gear (based on tire and triangle crawler belt) related fitted position such as Figure 22, simulation result table
Show, such design and simulation operation is more steady, can more obtain more satisfactory result.
Operating condition is divided as shown in figure 23 in conjunction with different centers of gravity and engineering truck carrying different weight:
15000mm is that a liter maximum height is sling in front, and 1965mm, 3815mm, 6315mm are respectively handling different quality goods
Object distance on front side of triangle Athey wheel, therefore following calculating and simulation analysis are carried out according to three of the above operating condition.
Preliminary tire and triangle crawler bearing area are calculated out according to above-mentioned theory, relevant parameter model is imported
Into Recurdyn, triangle crawler belt and tire walking model are established, assigns the relevant parameters such as quality.In triangle crawler belt driving wheel matter
Driving is added and defined in heart position, and certain speed is arranged, and errorless laggard action mechanics/Kinematics Simulation is checked, when setting emulates
Between be 20s, step number be 200 steps, dynamics Recurdyn emulation experiment is carried out to tire and crawler belt respectively, sees simulation curve Figure 14
~19, simulation analysis result is as follows:
Comparative tire and triangle crawler belt, simulation result are shown respectively, such as curve graph 14 and 15: 1 loading capacity of operating condition is 14t
When, curve has certain shake oscillation fluctuation when initial launch, it may appear that biggish holding power, this is because established ground and wheel
There are certain distances between tire, generated in dropping process, are systematic error present in software, in true operational process
In be not in, when running smoothly for the true ground pressure of tire be about 350000N, as shown in figure 14；1 loading capacity of operating condition is
When 14t, due to that in the process of running, can occur small oscillation between creeper tread and ground, therefore holding power size can be
It is variation in a period of time, takes its plot mean size, be about 370000N for the true ground pressure of triangle crawler belt, such as schemes
Shown in 15.
Comparative tire and triangle crawler belt, simulation result are shown respectively, such as curve graph 16 and 17: 2 loading capacity of operating condition is 30t
When, curve has certain shake oscillation fluctuation when initial launch, it may appear that biggish holding power, this is because established ground and wheel
There are certain distances between tire, generated in dropping process, are systematic error present in software, in true operational process
In be not in, when running smoothly for the true ground pressure of tire be about 450000N, as shown in figure 16；2 loading capacity of operating condition is
When 30t, curve has certain shake oscillation fluctuation when initial launch, it may appear that biggish holding power, due in the process of running, carrying out
Small oscillation can occur between band plate and ground, therefore holding power size can be variation whithin a period of time, take its song
It is about 470000N that line average value size, which is the true ground pressure of triangle crawler belt, as shown in figure 17.
Comparative tire and triangle crawler belt, simulation result are shown respectively, such as curve graph 18 and 19: 3 loading capacity of operating condition is 45t
When, it is at this time dead weight, curve has certain shake oscillation fluctuation when initial launch, it may appear that biggish holding power, this is
It is generated in dropping process since there are certain distances between established ground and tire, it is system present in software
Error is not in true operational process, for the true ground pressure of tire is about 520000N when running smoothly, such as schemes
Shown in 18；When 3 loading capacity of operating condition is 45t, curve has certain shake oscillation fluctuation when initial launch, it may appear that biggish support
Power, since small oscillation in the process of running, can occur between creeper tread and ground, therefore holding power size can be at one section
It is variation in time, takes its plot mean size, is about 540000N for the true ground pressure of triangle crawler belt, as shown in figure 19.
It is as follows to calculate different operating condition grounding pressures arrangements for binding isotherm calculation formula (1)~(7):
Operating condition 1: tire grounding pressure: P1=350000/253081 × 10-6=1.383Mpa
Triangle crawler belt grounding pressure: P1 1=370000/ (768096 × 10-6)=0.482Mpa
Operating condition 2: tire grounding pressure: P2=450000/279510 × 10-6=1.61Mpa
Triangle crawler belt grounding pressure: P2 2=470000/ (768096 × 10-6)=0.612Mpa
Operating condition 3: tire grounding pressure: P3=520000/283813 × 10-6=1.832Mpa
Triangle crawler belt grounding pressure: P3 3=540000/ (768096 × 10-6)=0.703Mpa
Interpretation of result: effectively reducing grounding pressure, under the premise of transporting phase homogenous quantities cargo, rubber tyre grounding pressure
About 2.6~2.9 times of crawler belt grounding pressure, and deflection is larger, it is more demanding on selection tire in this way；Another party
Face improves the safety of stability and driving, enhances antivibration, the anti-twisting property of vehicle frame, with the increase of cargo mass, boom
Also certain distance can be accordingly extended, certain influence is had on the stability of vehicle in this way, caterpillar system enhances stability, reduces
Grounding pressure.
To sum up, heavy-load type engineering truck such as container front crane is mainly by the compound running gear vehicle of tire-triangle crawler type
Chassis, car body, the heavy loading mechanisms composition such as the carrying that realize certain function, remove obstacles, deliver, are suitable in vehicle position of centre of gravity
Real-time change, the movement of overall vehicle varying load, different types of heavy-load type engineering truck of traveling under the conditions of more bad working environments
, solve there is currently easily blow out as rubber tyre stress is larger, wheeled vehicle is limited to environmental constraints, replacement it is more multiple
Miscellaneous, pedestal, which is located at side, leads to a series of problems, such as load capacity is uneven, operation is unstable, and with the increasing of cargo mass
Add, boom also can accordingly extend certain distance, have certain influence to the stability of vehicle in this way, and caterpillar system enhances stabilization
Property, grounding pressure is efficiently reduced, there is the research and development and design to Future Projects motor vehicles and machines running gear great reality to anticipate
Justice.
Claims (2)
1. a kind of tire and triangle crawler type composite walking mechanism based on heavy-duty vehicle, it is characterised in that: triangle rubber belt track
Wheel is linked by vehicle bridge and is connect with the preceding bridge input shaft two sides of vehicle chassis, the rear axle shaft two sides of rubber tyre and vehicle chassis
Connection, in which: the structure of the triangle rubber belt track wheel is:
Vehicle bridge links one end connection vehicle bridge input shaft, and the other end is attached fixation by flat key with main shaft, while driving wheel is logical
It crosses bolt to be fastened, rotates together it, sealing is bolted in intermediate supports and ring flange, and the other end is connected to support
Suspension assembly upper end carries out transmitting vehicle power；Crawler belt engagement bull wheel, crawler belt engagement steamboat are connect with big bogie wheel, small bogie wheel
Integrated support walking wheel, greatly support wheel shaft, small support wheel shaft self-control retaining ring one, hexagon socket cap head screw are constituted together
One, elastic washer one, plain washer one and weight bearing train are fastenedly connected；
By bearing and side, just supporting block is symmetrically connected to integrated support suspension two sides to big support wheel shaft, and support reinforcing plate one end is inclined
The rigid supporting block different location in the oblique side of being welded on carries out reinforcement support, and the other end is welded on main stable bracing frame, and with small support
Wheel shaft is connected by bearing, and main shaft support square steel, rectangular supporting board are by being welded to connect in main stable bracing frame middle position；
Intermediate supports and supporting suspension are bolted together by central symmetry, and main supporting structure passes through welding manner and support
Suspension assembly connection, rectangular supporting board are big that wheel shaft is supported to pass through bearing by being welded to connect in main stable bracing frame middle position
Just supporting block is symmetrically connected to integrated support suspension two sides with side, and support reinforcing plate one end oblique weld is in side just supporting block；
Ring flange is linked together realization by hexagon socket cap head screw three, elastic washer three, plain washer three and bearing (ball) cover
Internal shafting structure is sealed, bearing (ball) cover and main shaft pass through hexagon socket cap head screw two, elastic washer two, plain washer
Two tighten together, and are fixed on deep groove ball bearing outer ring；Main shaft realizes operating opposite with ring flange, method by deep groove ball bearing
Blue disk is bolted with whole intermediate supports；
Ring flange is connected between support plate middle position by hexagon socket cap head screw four, elastic washer four, plain washer four,
Internal shafting structure is sealed with realizing；
Big bogie wheel is identical with small weight bearing wheel construction, and crawler belt engagement bull wheel, end terminal pad, the big bogie wheel of big bogie wheel pass through interior
Hexagonal cylindrical head screw, Stud connection constitute entirety together, pass through self-control retaining ring two, interior hexagonal cylindrical head spiral shell with support wheel shaft
Nail five, elastic washer five, plain washer five, which link together, collectively forms train walking and support system, crawler belt engage bull wheel with
Rubber belt track is engaged.
2. a kind of tire and triangle crawler type composite walking mechanism based on heavy-duty vehicle according to claim 1, special
Sign is: the structure of the vehicle chassis is: vehicle frame is connected across preceding bridge, on rear axle shaft, the output shaft and triangle rubber of preceding bridge
The vehicle bridge link of Athey wheel is installed together, and engine is connected on front side of chassis, exports axis connection clutch one end, clutch
Output end connects the input shaft of speed changer, and speed changer is linked together by universal joint and transmission shaft one end, the transmission shaft other end
Axis connection is inputted by the main reducing gear of the universal joint of the other side and drive axle, in main reducing gear output end bevel gear and differential mechanism
Gear mesh together, the output end of differential mechanism connects semiaxis, and semiaxis is linked together by wheel hub and rear-wheel rubber tyre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022022.2A CN109018041A (en) | 2018-09-02 | 2018-09-02 | A kind of tire and triangle crawler type composite walking mechanism based on heavy-duty vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022022.2A CN109018041A (en) | 2018-09-02 | 2018-09-02 | A kind of tire and triangle crawler type composite walking mechanism based on heavy-duty vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109018041A true CN109018041A (en) | 2018-12-18 |
Family
ID=64622973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811022022.2A Pending CN109018041A (en) | 2018-09-02 | 2018-09-02 | A kind of tire and triangle crawler type composite walking mechanism based on heavy-duty vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109018041A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795395A (en) * | 2019-04-02 | 2019-05-24 | 上海宝冶集团南京建筑有限公司 | A kind of multi-purpose machinery transport vehicle |
| CN110816701A (en) * | 2019-11-05 | 2020-02-21 | 重庆长安工业(集团)有限责任公司 | Driving structure of driving wheel of triangular crawler wheel |
| CN111907611A (en) * | 2020-07-30 | 2020-11-10 | 江苏理工学院 | Triangular crawler wheel type chassis |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5894900A (en) * | 1993-06-18 | 1999-04-20 | Honda Giken Kogyo Kabushiki Kaisha | Motor vehicle with rear crawler belts |
| CN200967502Y (en) * | 2006-10-24 | 2007-10-31 | 中国石油集团东方地球物理勘探有限责任公司 | Focus vehicle triangle crawler wheel system |
| CN201400224Y (en) * | 2009-08-10 | 2010-02-10 | 乐都县光明农机制造有限公司 | Crawler type running gear of walking tractor |
| US8801115B2 (en) * | 2008-12-09 | 2014-08-12 | Vermeer Manufacturing Company | Apparatus for converting a wheeled vehicle to a tracked vehicle |
| CN206031551U (en) * | 2016-08-27 | 2017-03-22 | 潍坊泰鸿拖拉机有限公司 | Triangle athey wheel drive assembly |
| CN206125214U (en) * | 2016-10-26 | 2017-04-26 | 约翰迪尔（天津）有限公司 | Harvester traveling system and combine thereof |
| CN107140044A (en) * | 2017-05-08 | 2017-09-08 | 湖南农业大学 | A kind of profiling triangle crawler type drive mechanism |
-
2018
- 2018-09-02 CN CN201811022022.2A patent/CN109018041A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5894900A (en) * | 1993-06-18 | 1999-04-20 | Honda Giken Kogyo Kabushiki Kaisha | Motor vehicle with rear crawler belts |
| CN200967502Y (en) * | 2006-10-24 | 2007-10-31 | 中国石油集团东方地球物理勘探有限责任公司 | Focus vehicle triangle crawler wheel system |
| US8801115B2 (en) * | 2008-12-09 | 2014-08-12 | Vermeer Manufacturing Company | Apparatus for converting a wheeled vehicle to a tracked vehicle |
| CN201400224Y (en) * | 2009-08-10 | 2010-02-10 | 乐都县光明农机制造有限公司 | Crawler type running gear of walking tractor |
| CN206031551U (en) * | 2016-08-27 | 2017-03-22 | 潍坊泰鸿拖拉机有限公司 | Triangle athey wheel drive assembly |
| CN206125214U (en) * | 2016-10-26 | 2017-04-26 | 约翰迪尔（天津）有限公司 | Harvester traveling system and combine thereof |
| CN107140044A (en) * | 2017-05-08 | 2017-09-08 | 湖南农业大学 | A kind of profiling triangle crawler type drive mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795395A (en) * | 2019-04-02 | 2019-05-24 | 上海宝冶集团南京建筑有限公司 | A kind of multi-purpose machinery transport vehicle |
| CN109795395B (en) * | 2019-04-02 | 2024-03-26 | 上海宝冶集团南京建筑有限公司 | Multipurpose mechanical transport vehicle |
| CN110816701A (en) * | 2019-11-05 | 2020-02-21 | 重庆长安工业(集团)有限责任公司 | Driving structure of driving wheel of triangular crawler wheel |
| CN111907611A (en) * | 2020-07-30 | 2020-11-10 | 江苏理工学院 | Triangular crawler wheel type chassis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2302969C2 (en) | Crawler vehicle suspension system | |
| CN103935412B (en) | Modularization rubber belt track is taken turns | |
| CN101890986B (en) | Deformable all-terrain adaptable robot walking mechanism | |
| CN109018041A (en) | A kind of tire and triangle crawler type composite walking mechanism based on heavy-duty vehicle | |
| CN202847852U (en) | Wheel-tracked variable chassis | |
| CN107521573A (en) | A kind of damping crawler-type unmanned mobile platform | |
| CN202264689U (en) | Tunnel construction transport vehicle | |
| CN106275112B (en) | heavy equipment transport vechicle | |
| CN102616293B (en) | Triangular crawler traveling device | |
| CN106553712A (en) | A kind of deformable crawler unit | |
| CN107298134A (en) | A kind of Self-loading-unloading tracked carrier | |
| CN108340978A (en) | A kind of replaceable triangle crawler belt wheel assembly of high-speed overload | |
| CN112572626B (en) | Triangular crawler type hydraulic direct-drive profiling chassis and profiling method thereof | |
| CN213007619U (en) | Chassis of multi-wheel all-terrain robot | |
| CN107963132A (en) | A kind of articulated dumper chassis | |
| CN203793463U (en) | Modular rubber crawler wheel | |
| EP1153772B1 (en) | Load carrying machine | |
| CN206766168U (en) | A kind of crawler unit of convenient regulation crawler belt | |
| Yang et al. | Track Design of Track-Wheel Transport Vehicle and Strength Analysis of Important Components | |
| CN204937293U (en) | The crawler-type mobile platform of passive adaptation landform and there is its robot | |
| CN114313041A (en) | Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler | |
| CN103010019A (en) | Bowing-type tractor | |
| CN207045484U (en) | A kind of Self-loading-unloading tracked carrier | |
| CA3035144C (en) | Assembly and method for enabling rotational motion in a vehicle or mobile working machine | |
| CN102303497A (en) | H-type power chassis with function of adjusting ground clearance and wheel tread |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181218 |
|
| WD01 | Invention patent application deemed withdrawn after publication |