CN1298578C - Deformed crawler belt system - Google Patents
Deformed crawler belt system Download PDFInfo
- Publication number
- CN1298578C CN1298578C CNB2004101554114A CN200410155411A CN1298578C CN 1298578 C CN1298578 C CN 1298578C CN B2004101554114 A CNB2004101554114 A CN B2004101554114A CN 200410155411 A CN200410155411 A CN 200410155411A CN 1298578 C CN1298578 C CN 1298578C
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- matrix
- supporting wheel
- wheel
- crawler belt
- belt system
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Abstract
The present invention discloses a deformed caterpillar band system which comprises a basal body, a caterpillar band, a driving wheel and a driven wheel. The present invention is characterized in that the system also comprises a parallelogram linkage and a rolling telescopic structure and a supporting wheel system structure with linear arrangement, wherein the parallelogram linkage uses the basal body as a frame, and the rolling telescopic structure is connected with the basal body; the parallelogram linkage is respectively hinged with the basal body and a connecting rod of a parallel mechanism through a cylinder (oil cylinder) and a piston, the rolling telescopic structure is connected with the parallelogram linkage through a supporting connecting rod and a damper, and the supporting wheel system structure with linear arrangement is connected with the framework of the supporting wheels of the parallelogram linkage. The caterpillar band system is driven to deform by the cylinder and the parallelogram linkage so as to adjust the gravity center, keep the tensile force of a caterpillar band and improve the shock absorption effect of the system, a mobile machine provided with the system not only has favorable flexibility, maneuvering performance and the capacity of climbing obstacles, but also has good stability and power performance and preferable damping capacity.
Description
Technical field
The present invention relates to a kind of cross-country, stair climbing and army-accepted caterpillar system of being suitable for.
Background technology
At present, construction engine, military locomotive and the employed caterpillar system of robot can be divided into the inverted trapezoidal structure of tank formula and the prolate shape structure of bulldozer formula substantially on construction profile.The former maneuvering performance is good, but because of center of gravity height and length of contact weak point, is unfavorable for climbing obstacles such as the bigger gradient or stair; Though and latter's crawler belt and ground-surface area of contact are big and length of contact is longer, the chassis is low in addition, center of gravity is low, is easy to stair climbing or travels on the road surface of complexity, and its alerting ability, manoevreability are restricted.In addition, the supporting wheel systems framework and the locomotive of these two kinds of caterpillar belt structures are fixed as one, and its damping effect is had a strong impact on.Designing the superior track driving mechanism of a kind of Combination property had become the common pursuit of mechanically moving or military robot industry already.
Summary of the invention
Purpose of the present invention is exactly in the advantage of integrating above-mentioned two kinds of crawler belts, overcomes on the basis of its shortcoming, designs a kind of both had better flexibility and manoevreability, has the deformed crawler belt system of stability and better anti again.
Technical solution of the present invention is to realize like this;
A kind of deformed crawler belt system, comprise matrix, crawler belt, driving wheel and flower wheel, it is characterized in that this system comprises that also one is the parallelogram lindage of frame with the matrix, one and joining rolling telescoping mechanism of matrix and linearly aligned supporting wheel systems structure, aforementioned parallelogram lindage is articulated in respectively on the connecting rod of matrix and parallel mechanism by cylinder (oil cylinder) and piston, the rolling telescoping mechanism links to each other with this four-bar mechanism with damper by support link, and the supporting wheel systems mechanism of described linear rank structure then links with the support wheel framework of four-bar mechanism.
Technical solution of the present invention also comprises described parallelogram lindage support link a, support link b, the supporting wheel systems framework is formed with the axle I and the axle II that are fixed on the matrix, matrix is a frame, the supporting wheel systems framework is a connecting rod, can remain the parallel of matrix and supporting wheel systems framework in the motion process.
Described rolling telescoping mechanism is made of movable frame and non-friction guide and damper, and non-friction guide and matrix are fixedly connected, and movable frame is installed on the non-friction guide, and movable frame is flexible before and after can be on movable guiding rail.
Described linearly aligned supporting wheel systems is made up of support wheel, support wheel carrier and torsion spring, and support wheel is connected with the support wheel carrier with bearing by wheel shaft, and torsion spring one end is connected with the support wheel carrier, and the other end is connected with the supporting wheel systems framework.
Technical solution of the present invention also comprises on described anchor shaft I that is used for fixing strut bar a and strut bar b and the axle II torsion spring also is housed, and the one end is fixed on the matrix, and the other end then is individually fixed on strut bar a or the b.
Compared with prior art, deformed crawler belt system advantage provided by the invention is to promote by the effect of cylinder (oil cylinder) distortion of transmission device, adjust the position of center of gravity, the anxiety that keeps crawler belt simultaneously, significantly improve its damping effect, make mechanically movings such as locomotive that this system is installed or robot not only have the ability of better flexibility, maneuvering performance and climbing obstacle, also make it possess better stability and tractive performance, and had superior cushioning ability.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Fig. 2 is the structural representation after the distortion embodiment illustrated in fig. 1.
Fig. 3 is the birds-eye view that part embodiment illustrated in fig. 1 is analysed and observe.
Fig. 1 is the specification digest accompanying drawing of invention.
Among the figure, 1 movable frame, 2 spherical guides, 3 support wheel carrier, 4 supporting wheel systems frameworks, 5 dampers, 6 support link a, 7 torsion springs, 8 cylinders, 9 strut bar b, 10 driving wheels, 11 flower wheels, 12 support wheels, 13 torsion springs, 14 bearings, 15 I, 16 II, 17 crawler belts, 18 matrixes.
The specific embodiment
As shown in the figure, in the drawings, support link a6, support link b9, the axle I that fixes on supporting wheel systems framework 4 and the matrix 18
15 with the axle II16 is connected, the formation parallelogram lindage.Make supporting wheel systems framework 4 can remain parallel with matrix 18.The cylinder body of cylinder 8 and piston are hinged with matrix 18 and supporting wheel systems framework 4 respectively, are used for driver train distortion.Spherical guide 2 is captiveed joint with matrix 18, and movable frame 1 is installed on the spherical guide 2, and movable frame 1 can stretch front and back on spherical guide.Support link a6 is connected with movable frame 1 by damper 5, and driving movable frame 1 stretches in the parallelogram lindage distortion, adds the fine setting of damper, can keep the constant tensile force of crawler belt 17.Torsion spring 7 is installed on the I15, and torsion spring 7 one ends are connected with matrix 18, and the other end is connected with support link a6, and torsion spring 7 provides the bearing force of balancing gravity, carries out damping with cylinder 8.Support wheel 12 is connected with support wheel carrier 3 with bearing by wheel shaft, supports wheel carrier 3 and is connected with supporting wheel systems framework 4, and each support wheel all has independently shock-absorbing function.
Claims (5)
1. deformed crawler belt system, comprise matrix, crawler belt, driving wheel and flower wheel, it is characterized in that this system comprises that also one is the parallelogram lindage of frame with the matrix, a rolling telescoping mechanism of captiveing joint and linearly aligned supporting wheel systems structure with matrix, aforementioned parallelogram lindage is articulated on the connecting rod of matrix and parallel mechanism respectively by cylinder and piston, respectively with matrix and link to each other with support link, described linearly aligned supporting wheel systems then links with the supporting wheel systems framework of four-bar mechanism the rolling telescoping mechanism by wheel shaft and damper.
2. deformed crawler belt system according to claim 1, it is characterized in that described parallelogram lindage is by support link a (6), support link b (9), supporting wheel systems framework (4) is formed with the axle I (15) and the axle II (16) that are fixed on the matrix (18), matrix (18) is a frame, supporting wheel systems framework (4) is a connecting rod, makes this connecting rod mechanism remain the parallel of matrix and supporting wheel systems framework in motion process.
3. deformed crawler belt system according to claim 1, it is characterized in that described rolling telescoping mechanism is by movable frame (1) and spherical guide (2) and damper (5) formation, spherical guide (2) is fixedly connected with matrix (18), movable frame (1) is installed on the spherical guide (2), and movable frame can be flexible before and after spherical guide (2) is gone up.
4. deformed crawler belt system according to claim 1, it is characterized in that described linearly aligned supporting wheel systems is by support wheel (12), supporting wheel carrier (3) and torsion spring (13) forms, support wheel (12) is connected with support wheel carrier (3) with bearing by wheel shaft, torsion spring (13) one ends are connected with support wheel carrier (3), and the other end is connected with supporting wheel systems framework (4).
5. deformed crawler belt system according to claim 2 is characterized in that on described anchor shaft I (15) that is used for fixing strut bar a (6) and strut bar b (9) and the axle II (16) torsion spring (7) being housed also, is used to provide the bearing force of balancing gravity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004101554114A CN1298578C (en) | 2004-11-01 | 2004-11-01 | Deformed crawler belt system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004101554114A CN1298578C (en) | 2004-11-01 | 2004-11-01 | Deformed crawler belt system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1603197A CN1603197A (en) | 2005-04-06 |
| CN1298578C true CN1298578C (en) | 2007-02-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004101554114A Expired - Fee Related CN1298578C (en) | 2004-11-01 | 2004-11-01 | Deformed crawler belt system |
Country Status (1)
| Country | Link |
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| CN (1) | CN1298578C (en) |
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|---|---|---|---|---|
| KR20110115574A (en) * | 2008-12-19 | 2011-10-21 | 캐터필라 커머셜 에스.에이.알.엘 | Lock apparatus for variable gauge undercarriage |
| JP5678082B2 (en) * | 2009-11-19 | 2015-02-25 | キャタピラー コマーシャル ソシエテ ア レスポンサビリテ リミテ | Gauge variable chassis equipment |
| CN102001282B (en) * | 2010-10-28 | 2013-02-27 | 中国农业大学 | Running system of caterpillar tractor with adjustable center of gravity |
| CN101983888B (en) * | 2010-10-28 | 2012-02-29 | 中国农业大学 | Crawler tractor running system capable of adjusting gravity center along fore-and-aft direction |
| CN102815345A (en) * | 2012-08-09 | 2012-12-12 | 恒天九五重工有限公司 | Quadrilateral caterpillar track luffing mechanism |
| CN102815346A (en) * | 2012-08-09 | 2012-12-12 | 恒天九五重工有限公司 | Caterpillar band amplitude varying device of rotary drilling rig |
| CN103287517B (en) * | 2013-06-27 | 2018-02-27 | 中国北方车辆研究所 | A kind of deformed caterpillar formula small-sized movable system |
| CN103693121B (en) * | 2013-12-16 | 2016-04-13 | 华南理工大学 | A kind of Transformable caterpillar |
| CN104354777B (en) * | 2014-11-06 | 2016-05-25 | 中国人民解放军国防科学技术大学 | A kind of rocker-arm four link suspension system for caterpillar |
| CN104477264B (en) * | 2014-11-27 | 2016-11-23 | 浙江理工大学 | A kind of variable parallelogram crawler type in-pipe Work robot |
| CN104477268B (en) * | 2014-11-27 | 2017-01-04 | 浙江理工大学 | A kind of drive lacking crawler-type mobile obstacle detouring platform |
| CN104890749A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Crawler type substation patrol robot based on hub motor |
| CN106114661B (en) * | 2016-07-20 | 2018-03-06 | 河北工业大学 | A kind of crawler belt transformable robot mobile platform based on four-bar mechanism |
| CN107804385B (en) * | 2017-10-30 | 2020-04-21 | 北京理工大学 | Track tensioning device |
| CN108257300A (en) * | 2018-01-10 | 2018-07-06 | 芜湖智佳信息科技有限公司 | A kind of automatic vending machine folding wheel carrier |
| CN108216408A (en) * | 2018-03-09 | 2018-06-29 | 北京华信智航科技有限公司 | A kind of foldable robot crawler platform based on resilient support wheel |
| CN108890686B (en) * | 2018-07-09 | 2021-03-09 | 白捷东 | Caterpillar robot with variable gravity center |
| CN108773422A (en) * | 2018-08-13 | 2018-11-09 | 湖南农业大学 | A kind of shock reducing type track driving mechanism of adjustable terrain clearance |
| CN108773421A (en) * | 2018-08-13 | 2018-11-09 | 湖南农业大学 | It is a kind of to adjust the horizontal crawler body with elevating function with electro-hydraulic |
| CN108974163A (en) * | 2018-08-13 | 2018-12-11 | 张祝 | A kind of adjustable shock reducing type track drive method of terrain clearance |
| CN109319004B (en) * | 2018-10-19 | 2024-03-08 | 广东技术师范大学 | Step climbing device |
| CN109864864B (en) * | 2019-03-06 | 2020-09-11 | 无锡市第二人民医院 | Working method of bed changing machine |
| CN112061257A (en) * | 2020-10-14 | 2020-12-11 | 安徽铸星机械制造有限公司 | Variable crawler chassis of agricultural machine |
| CN114147018B (en) * | 2021-11-09 | 2023-01-20 | 合肥工业大学 | Oil storage tank mechanical cleaning device with large deformability |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1051019A (en) * | 1990-03-31 | 1991-05-01 | 武穴市农机化技术服务中心 | Cterpillar drive |
| US5431082A (en) * | 1993-07-30 | 1995-07-11 | Giat Industries | Minesweeping system and method |
| JPH10218044A (en) * | 1997-02-10 | 1998-08-18 | Kubota Corp | Crawler running vehicle |
| US6196645B1 (en) * | 1998-08-10 | 2001-03-06 | Brian J. Bergstrom | Means and method for removing debris from the drive wheel of a track-driven vehicle |
| EP1199247A1 (en) * | 2000-10-20 | 2002-04-24 | Otico | Drive mechanism for an endless-tracked vehicle with a tensioning wheel |
| JP2003011859A (en) * | 2001-07-05 | 2003-01-15 | Seirei Ind Co Ltd | Crawler unit |
| JP2003104251A (en) * | 2001-09-28 | 2003-04-09 | Daiwa House Ind Co Ltd | Self-traveling device |
| EP1308378A1 (en) * | 2000-08-10 | 2003-05-07 | Yanmar Agricultural Equipment Co., Ltd. | Mobile agricultural machinery |
| FR2850625A1 (en) * | 2003-02-03 | 2004-08-06 | Bernard Coeuret | CRAWLER VEHICLE WITH VARIABLE LENGTH BEARING |
| CN1528633A (en) * | 2003-09-26 | 2004-09-15 | 吉林大学 | Deformable crawler running machinery |
-
2004
- 2004-11-01 CN CNB2004101554114A patent/CN1298578C/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1051019A (en) * | 1990-03-31 | 1991-05-01 | 武穴市农机化技术服务中心 | Cterpillar drive |
| US5431082A (en) * | 1993-07-30 | 1995-07-11 | Giat Industries | Minesweeping system and method |
| JPH10218044A (en) * | 1997-02-10 | 1998-08-18 | Kubota Corp | Crawler running vehicle |
| US6196645B1 (en) * | 1998-08-10 | 2001-03-06 | Brian J. Bergstrom | Means and method for removing debris from the drive wheel of a track-driven vehicle |
| EP1308378A1 (en) * | 2000-08-10 | 2003-05-07 | Yanmar Agricultural Equipment Co., Ltd. | Mobile agricultural machinery |
| EP1199247A1 (en) * | 2000-10-20 | 2002-04-24 | Otico | Drive mechanism for an endless-tracked vehicle with a tensioning wheel |
| JP2003011859A (en) * | 2001-07-05 | 2003-01-15 | Seirei Ind Co Ltd | Crawler unit |
| JP2003104251A (en) * | 2001-09-28 | 2003-04-09 | Daiwa House Ind Co Ltd | Self-traveling device |
| FR2850625A1 (en) * | 2003-02-03 | 2004-08-06 | Bernard Coeuret | CRAWLER VEHICLE WITH VARIABLE LENGTH BEARING |
| CN1528633A (en) * | 2003-09-26 | 2004-09-15 | 吉林大学 | Deformable crawler running machinery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1603197A (en) | 2005-04-06 |
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