CN203581169U - Traveling device capable of automatically spanning wide groove - Google Patents
Traveling device capable of automatically spanning wide groove Download PDFInfo
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- CN203581169U CN203581169U CN201320765144.7U CN201320765144U CN203581169U CN 203581169 U CN203581169 U CN 203581169U CN 201320765144 U CN201320765144 U CN 201320765144U CN 203581169 U CN203581169 U CN 203581169U
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- 239000000203 mixture Substances 0.000 claims abstract description 11
- 241001465754 Metazoa Species 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 12
- 241000272165 Charadriidae Species 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 238000002485 combustion reaction Methods 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000000969 carrier Substances 0.000 description 4
- 230000005021 gait Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a traveling device capable of automatically spanning a wide groove. The traveling device comprises two wheel groups, a frame and a wheel driving device, wherein the two wheel groups are distributed symmetrically on the left and right sides by taking the middle axle surface, which is parallel to the traveling direction, of the traveling device as a symmetry plane; the two wheel groups are identical in composition model; each wheel group consists of four or more than four wheels and one wheel stand; the frame is respectively and fixedly connected with the wheel stands of the two wheel groups, so that the two wheel groups are formed into a whole; meanwhile, the frame also can also serve as an object-bearing carrier of the traveling device; the wheel driving device is used for driving whole or partial wheels of the wheel groups to roll, so that the whole traveling device can travel. A structure combined with a four-wheel continuous traveling mode and a crawler belt continuous traveling mode is adopted, so t hat the traveling device capable of automatically spanning the wide groove has the advantages of strong spanning capability, high traveling speed, stable spanning process, simple structure, simplicity in control, low manufacturing cost and the like, and can serve as a traveling mechanism of an engineering machine or transport vehicle requiring capability of spanning the wide groove.
Description
Technical field
The utility model relates to a kind of construction machinery and equipment, particularly relates to a kind of wide groove crossing running voluntarily.
Background technology
As crossed over voluntarily the wide groove in front, the mode of advancing that conventionally can take has four-wheel mode, stride mode, the crawler belt mode etc. of advancing continuously of intermittently advancing of advancing continuously.Wherein, the four-wheel mode of advancing is continuously the most common, and vehicle is all taked this kind of mode mostly, which structure is relatively simple, turns to easily, can have high gait of march, but it is poor which is crossed over the ability of wide groove, can only cross over the width groove more much smaller than wheel diameter.The stride intermittently mode of advancing can be crossed over wider groove, but which complex structure, control difficulty is large and gait of march is lower.The crawler belt continuously mode of advancing can be crossed over wider groove with higher speed, but which structure relative complex, manufacturing cost is high.
Summary of the invention
The purpose of this utility model is to provide a kind of wide groove crossing running voluntarily with advantages such as span ability is strong, gait of march fast, leap process is steady, simple in structure, it is simple to control, low cost of manufactures.
The utility model adopts following technical scheme for achieving the above object:
Comprise two harness an animal to a cart wheels, vehicle frame and wheel drivers; Two harness an animal to a cart middle axial plane that wheels are parallel to direct of travel take running gear is as the plane of symmetry, and one-tenth is symmetrically arranged, and the two wheels composition patterns of harnessing an animal to a cart are identical, often harness an animal to a cart wheels by
more than four and fourwheel and a wheel carrier composition; Vehicle frame is affixed with two the harness an animal to a cart wheel carriers of wheels respectively, makes two wheels of harnessing an animal to a cart form an entirety, and vehicle frame is simultaneously also as the carrier of running gear loaded object; Wheel driver drives the wheel rolling of wheel group, thereby whole running gear is advanced.
Press such scheme, more than four and four wheel of the described wheels of often harnessing an animal to a cart is arranged on the wheel carrier of a box, more than four and four wheel is arranged at wheel carrier length direction interval, the rolling direct of travel of each wheel is all consistent with wheel carrier length direction, and wheel carrier length direction is parallel to the direct of travel of whole running gear; Two wheels above in four main bearing wheeds in the middle of being arranged on wheel carrier and the below width between centers separately of two wheels are greater than the width of groove, to make this running gear keep while there is not the wide groove of diff-H self height of gravitational center constant crossing over, can steadily promptly cross over groove.
Press such scheme, the radius of described wheel is identical, and the setting height(from bottom) of wheel on wheel carrier is identical, when running gear must be crossed over two sides co-altitude or the less groove of diff-H.
Press such scheme, the radius of described wheel is identical or different, and the setting height(from bottom) difference of wheel on wheel carrier, when there is the groove of larger diff-H running gear palpus leap two sides; When wheel group lands, near the wheel kiss the earth of wheel carrier intermediate arrangement, and the wheel built on stilts certain altitude of arranging near wheel carrier two ends, larger the closer to the height of the wheel built on stilts of wheel carrier end.
Press such scheme, the radius difference of described wheel, the setting height(from bottom) of wheel on wheel carrier is identical, when there is the groove of larger diff-H running gear palpus leap two sides; When wheel group lands, near the wheel kiss the earth of wheel carrier intermediate arrangement, and the wheel built on stilts certain altitude of arranging near wheel carrier two ends, larger the closer to the height of the wheel built on stilts of wheel carrier end.
Press such scheme, described vehicle frame is made by rectangle steel or channel-section steel, at the downside of vehicle frame, can weld some gussets or angle steel to strengthen the intensity of vehicle frame; The connection mode of vehicle frame and both sides wheel carrier is connected for welding or with bolt, vertically opens multiple bolts hole in order to adjust the height of vehicle frame on the web of both sides wheel carrier.
Press such scheme, described wheel driver is a set of actuating device by electrical motor, combustion engine or other propulsion source by chain transmission, with transmission or gear transmission, drives two wheels of harnessing an animal to a cart wheels.
Press such scheme, described wheel driver is two cover actuating devices by electrical motor, combustion engine or other propulsion source by chain transmission, with transmission or gear transmission, drives respectively the wheel of two cover vehicle groups.
Press such scheme, the arranged outside of described wheel driver has protective case, plays to seal and protect not corroded by external environment.
Adopt the radius of identical or different wheel, the identical or different arrangement of the setting height(from bottom) of wheel on wheel carrier is conducive to running gear leap two sides the poor groove of certain altitude.By contrast, the diameter of wheel is larger, and the two sides diff-H of the groove that whole running gear can be crossed over can be larger.By contrast, the wheel quantity being driven by wheel driver is more, and the two sides diff-H of the groove that whole running gear can be crossed over can be larger.
The beneficial effects of the utility model are owing to adopting four-wheel advance continuously mode and the crawler belt structure that the mode of advancing combines continuously, there is the advantages such as span ability is strong, gait of march fast, leap process is steady, simple in structure, it is simple to control, low cost of manufacture, can be used as various need and possess the construction machinery and equipment of wide groove of leap or the traveling gear of transport vehicle.
Accompanying drawing explanation
Fig. 1 is the structure birds-eye view of the utility model embodiment mono-.
Fig. 2 is the structure front elevation of the utility model embodiment mono-.
Fig. 3 is the structure birds-eye view of the utility model embodiment bis-.
Fig. 4 is the structure front elevation of the utility model embodiment bis-
Fig. 5 is the structure birds-eye view of the utility model embodiment tri-.
Fig. 6 is the structure front elevation of the utility model embodiment tri-.
Fig. 7-Figure 10 is that the utility model embodiment tri-crosses over two sides and has diff-H
hthe process schematic diagram of groove.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the utility model is described further.
The specific embodiment one
As shown in Figure 1 and Figure 2, its structure comprises: wheel group 1, wheel group 1 ', vehicle frame 2, vehicle frame 2 ', wheel driver 3.The middle axial plane that wheel group 1 and wheel group 1 ' are parallel to direct of travel take running gear is as the plane of symmetry, and one-tenth is symmetrically arranged.Two wheels of harnessing an animal to a cart form by four wheel 4a, 4b, 4c, 4d and a wheel carrier 5.Vehicle frame 2 and vehicle frame 2 ' are affixed with two the harness an animal to a cart wheel carriers 5 of wheels respectively, make two wheels of harnessing an animal to a cart form an entirety, and vehicle frame 2 and vehicle frame 2 ' are simultaneously as the carrier of running gear loaded object.Wheel driver 3 drives two wheel rollings of wheels of harnessing an animal to a cart, thereby whole running gear is advanced.
The composition pattern of wheel group 1 and wheel group 1 ' is identical, only describes the composition pattern of wheel group 1 below.Four wheel 4a, 4b of wheel group 1,4c, 4d radius are identical, be arranged on the wheel carrier 5 of box, setting height(from bottom) is identical, at wheel carrier 5 length direction intervals, arrange, the rolling direct of travel of each wheel is all consistent with the length direction of wheel carrier 5, and the rotating speed of each wheel is identical, wheel carrier 5 length directions are parallel to the direct of travel of running gear.While arranging wheel 4a, 4b, 4c, 4d on wheel carrier 5, in four wheels of palpus assurance, the center-to-center distance L of 4a and 4b and 4c and 4d is greater than the width B of groove, i.e. L >B.When running gear need to be crossed over two sides without diff-H or the less wide groove of diff-H, adopt four wheels of the identical setting height(from bottom) of same radius to realize.In leap process, there will not be height of gravitational center to change, traveling gear can be realized steadily and crossing over rapidly.
The effect of vehicle frame 2 and vehicle frame 2 ' is to be connected two wheels of harnessing an animal to a cart, and makes two wheels of harnessing an animal to a cart form an entirety.Vehicle frame 2 and vehicle frame 2 ' form crossbeam by shaped steel, then on crossbeam, set for this platform to place object and arrange other mechanisms.Vehicle frame 2 and vehicle frame 2 ' are arranged in the position near wheel carrier 5 two ends.Vehicle frame 2 and vehicle frame 2 ' are welding with the connection mode of wheel carrier 5.
The specific embodiment two
As shown in Figure 3, Figure 4, its structure comprises: wheel group 1, wheel group 1 ', vehicle frame 2, vehicle frame 2 ', wheel driver 3.The middle axial plane that wheel group 1 and wheel group 1 ' are parallel to direct of travel take running gear is as the plane of symmetry, and one-tenth is symmetrically arranged.Two wheels of harnessing an animal to a cart form by five wheel 4a, 4b, 4c, 4d, 4e and a wheel carrier 5.Vehicle frame 2 and vehicle frame 2 ' are affixed with two the harness an animal to a cart wheel carriers 5 of wheels respectively, make two wheels of harnessing an animal to a cart form an entirety, and vehicle frame 2 and vehicle frame 2 ' are simultaneously as the carrier of running gear loaded object.Wheel driver 3 drives two wheel rollings of wheels of harnessing an animal to a cart, thereby whole running gear is advanced.
The composition pattern of wheel group 1 and wheel group 1 ' is identical, only describes the composition pattern of wheel group 1 below.Five wheel 4a, 4b of wheel group 1,4c, 4d, 4e radius are identical, be arranged on the wheel carrier 5 of box, at wheel carrier 5 length direction intervals, arrange, the rolling direct of travel of each wheel is all consistent with the length direction of wheel carrier 5, and the rotating speed of each wheel is identical, wheel carrier 5 length directions are parallel to the direct of travel of running gear.During layout, require when wheel group lands, near wheel 4b, 4c, the 4d of wheel carrier 5 intermediate arrangement, answer kiss the earth, near wheel 4a, the wheel 4e built on stilts certain altitude of wheel carrier 5 two ends layouts
g, in five wheels, the center-to-center distance L of 4a and 4b and 4d and 4e is greater than the width B of groove, i.e. L>B.When running gear need to be crossed over two sides and has the wide groove of larger diff-H, adopt five wheels of the different setting height(from bottom)s of same radius can realize smoothly leap process.
The specific embodiment three
As shown in Figure 5, Figure 6, its structure comprises: wheel group 1, wheel group 1 ', vehicle frame 2, vehicle frame 2 ', wheel driver 3.The middle axial plane that wheel group 1 and wheel group 1 ' are parallel to direct of travel take running gear is as the plane of symmetry, and one-tenth is symmetrically arranged.Two wheels of harnessing an animal to a cart form by six wheel 4a, 4b, 4c, 4d, 4e, 4f and a wheel carrier 5.Vehicle frame 2 and vehicle frame 2 ' are affixed with two the harness an animal to a cart wheel carriers 5 of wheels respectively, make two wheels of harnessing an animal to a cart form an entirety, and vehicle frame 2 and vehicle frame 2 ' are simultaneously as the carrier of running gear loaded object.Wheel driver 3 drives the two all or part of wheel rollings of wheels of harnessing an animal to a cart, thereby whole running gear is advanced.
The composition pattern of wheel group 1 and wheel group 1 ' is identical, only describes the composition pattern of wheel group 1 below.In six wheels of wheel group 1, the radius of wheel 4b, 4c, 4d, 4e is
r 1 , the radius of wheel 4a, 4f is
r 2 ,
r 1 >
r 2 .All wheels are arranged on the wheel carrier 5 of box, wheel 4a, 4b, 4c, 4d, 4e, 4f arrange at wheel carrier 5 length direction intervals, the rolling direct of travel of each wheel is all consistent with the length direction of wheel carrier 5, and the rotating speed of each wheel is identical, wheel carrier 5 length directions are parallel to the direct of travel of running gear.While arranging wheel 4a, 4b, 4c, 4d, 4e, 4f on wheel carrier 5, the center-to-center distance of 4b and 4c and 4d and 4e in four wheels in the middle of palpus assurance is arranged in
lbe greater than the width of groove
b,
l>
b.When running gear, need to cross over two sides simultaneously and have larger diff-H
hgroove time adopt six wheels of the different setting height(from bottom)s of different radii.During layout, require when wheel group lands, wheel 4b, 4c, 4d, 4e near wheel carrier 5 intermediate arrangement answer kiss the earth, and by adopting the different setting height(from bottom)s of different radii or same radius to make wheel 4a, the wheel 4f built on stilts certain altitude arranged near wheel carrier 5 two ends
g, when wheel group adopts quantity while being greater than 6 wheels, should be larger the closer to the height of the wheel built on stilts of wheel carrier end, this arrangement is conducive to running gear and crosses over two sides and have the poor groove of certain altitude.
Claims (9)
1. wide groove crossing running voluntarily, is characterized in that: comprise wheel group (1), wheel group (1 '), vehicle frame (2), vehicle frame (2 ') and wheel driver (3); The middle axial plane that wheel group (1) and wheel group (1 ') are parallel to direct of travel take running gear is as the plane of symmetry, one-tenth is symmetrically arranged, wheel group (1) is identical with wheel group (1 ') composition pattern, and the wheels of often harnessing an animal to a cart are by more than four and four wheel and a wheel carrier (5) composition; Vehicle frame (2), vehicle frame (2 ') are affixed with the wheel carrier (5) of wheel group (1) and wheel group (1 ') respectively, make wheel group (1) and wheel group (1 ') form an entirety, vehicle frame (2), vehicle frame (2 ') are simultaneously also as the carrier of running gear loaded object; Wheel driver (3) drives all or part of wheel rolling of wheel group, thereby whole running gear is advanced.
2. wide groove according to claim 1 crossing running voluntarily, it is characterized in that: more than four and four wheel of the described wheels of often harnessing an animal to a cart is arranged on the wheel carrier (5) of a box, more than four and four wheel is arranged at wheel carrier (5) length direction interval, the rolling direct of travel of each wheel is all consistent with wheel carrier (5) length direction, and wheel carrier (5) length direction is parallel to the direct of travel of whole running gear; Two wheels above in four main bearing wheeds in the middle of being arranged on wheel carrier (5) and the below width between centers separately (L) of two wheels are greater than the width (B) of groove, to make this running gear keep while there is not the wide groove of diff-H self height of gravitational center constant crossing over, can steadily promptly cross over groove.
3. wide groove according to claim 1 and 2 crossing running voluntarily, it is characterized in that: described vehicle frame vehicle frame (2), vehicle frame (2 ') are made by rectangle steel or channel-section steel, at the downside of vehicle frame (2), vehicle frame (2 '), can weld some gussets or angle steel to strengthen the intensity of vehicle frame (2), vehicle frame (2 '); The connection mode of vehicle frame (2), vehicle frame (2 ') and both sides wheel carrier (5) is connected for welding or with bolt.
4. wide groove according to claim 3 crossing running voluntarily, is characterized in that: the radius of described wheel is identical, and the setting height(from bottom) of wheel on wheel carrier (5) is identical, when running gear must be crossed over two sides co-altitude or the less groove of diff-H.
5. wide groove according to claim 3 crossing running voluntarily, is characterized in that: the radius of described wheel is identical or different, and the setting height(from bottom) difference of wheel on wheel carrier (5), when there is the groove of larger diff-H running gear palpus leap two sides; When wheel group (1) and wheel group (1 ') land, near the wheel kiss the earth of wheel carrier (5) intermediate arrangement, and the wheel built on stilts certain altitude of arranging near wheel carrier (5) two ends, should be larger the closer to the height of the wheel built on stilts of wheel carrier (5) end.
6. wide groove according to claim 3 crossing running voluntarily, is characterized in that: the radius difference of described wheel, and the setting height(from bottom) of wheel on wheel carrier (5) is identical, when there is the groove of larger diff-H running gear palpus leap two sides; When wheel group lands, near the wheel of wheel carrier (5) intermediate arrangement, answer kiss the earth, and the wheel built on stilts certain altitude of arranging near wheel carrier (5) two ends, larger the closer to the height of the wheel built on stilts of wheel carrier (5) end.
7. wide groove according to claim 1 and 2 crossing running voluntarily, is characterized in that: described wheel driver (3) is a set of actuating device by electrical motor, combustion engine or other propulsion source by chain transmission, with transmission or gear transmission, drives two wheels of harnessing an animal to a cart wheels.
8. wide groove according to claim 1 and 2 crossing running voluntarily, is characterized in that: described wheel driver (3) is two cover actuating devices by electrical motor, combustion engine or other propulsion source by chain transmission, with transmission or gear transmission, drives respectively the wheel of two cover vehicle groups.
9. wide groove according to claim 1 crossing running voluntarily, is characterized in that: the arranged outside of described wheel driver (3) has protective case, plays to seal and protect not corroded by external environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320765144.7U CN203581169U (en) | 2013-11-29 | 2013-11-29 | Traveling device capable of automatically spanning wide groove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320765144.7U CN203581169U (en) | 2013-11-29 | 2013-11-29 | Traveling device capable of automatically spanning wide groove |
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| Publication Number | Publication Date |
|---|---|
| CN203581169U true CN203581169U (en) | 2014-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320765144.7U Expired - Lifetime CN203581169U (en) | 2013-11-29 | 2013-11-29 | Traveling device capable of automatically spanning wide groove |
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| CN (1) | CN203581169U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016522A (en) * | 2017-12-14 | 2018-05-11 | 安庆师范大学 | A kind of bilateral rolling irrigation canals and ditches of expansion chain-type cross over Detecting Robot |
| JP2018136139A (en) * | 2017-02-20 | 2018-08-30 | 清水建設株式会社 | Moving device for diagnosing deterioration of tile |
| CN110695955A (en) * | 2019-09-29 | 2020-01-17 | 深圳乐动机器人有限公司 | Robot obstacle crossing method and robot |
-
2013
- 2013-11-29 CN CN201320765144.7U patent/CN203581169U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018136139A (en) * | 2017-02-20 | 2018-08-30 | 清水建設株式会社 | Moving device for diagnosing deterioration of tile |
| CN108016522A (en) * | 2017-12-14 | 2018-05-11 | 安庆师范大学 | A kind of bilateral rolling irrigation canals and ditches of expansion chain-type cross over Detecting Robot |
| CN108016522B (en) * | 2017-12-14 | 2021-03-19 | 安庆师范大学 | Expanded chain type bilateral rolling ditch crossing investigation robot |
| CN110695955A (en) * | 2019-09-29 | 2020-01-17 | 深圳乐动机器人有限公司 | Robot obstacle crossing method and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Wide groove self crossing traveling device Effective date of registration: 20220520 Granted publication date: 20140507 Pledgee: Bank of China Limited Wuhan Qingshan sub branch Pledgor: WUHAN K-CRANE OCEAN LIFTING TECHNOLOGY Co.,Ltd. Registration number: Y2022420000130 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140507 |
|
| CX01 | Expiry of patent term | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20140507 Pledgee: Bank of China Limited Wuhan Qingshan sub branch Pledgor: WUHAN K-CRANE OCEAN LIFTING TECHNOLOGY Co.,Ltd. Registration number: Y2022420000130 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |