CN205469350U - Crawler -type is from running gear - Google Patents
Crawler -type is from running gear Download PDFInfo
- Publication number
- CN205469350U CN205469350U CN201620025727.XU CN201620025727U CN205469350U CN 205469350 U CN205469350 U CN 205469350U CN 201620025727 U CN201620025727 U CN 201620025727U CN 205469350 U CN205469350 U CN 205469350U
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- CN
- China
- Prior art keywords
- crawler
- inducer
- vehicle frame
- drivewheel
- bogie wheel
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- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a crawler -type is from running gear, including frame, drive arrangement, action wheel, inducer, bogie wheel and track, the track passes through action wheel, inducer and bogie wheel and installs in the frame, the excircle of action wheel, inducer and bogie wheel and the inboard of track are equipped with the assorted tooth, the utility model discloses a crawler -type is from running gear can carry out transporting of the wounded under the rescue environment of complicacy, ensure the quilt that the wounded are timely to carry out the disaster area, does benefit to the wounded's treatment.
Description
Technical field
This utility model relates to automatic walking mechanism, particularly relates to a kind of crawler self and walks mechanism.
Background technology
After there is geological disaster, road and building cannot be arrived by serious destruction, common ambulance
The place that the wounded are injured, people need, with stretcher, the wounded are lifted to ambulance location and could implement to give first aid on the spot
Or send rescue to hospital, and when using easy stretcher to give first aid to the wounded, be required to two people's cooperations and just can lift the wounded,
Human cost is high, and travelling speed is slow, makes the wounded not treated timely and effectively, is unfavorable for the wounded
Treatment.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of crawler self and walks mechanism, it is adaptable to geology
In rescue work after disaster, the transport of the wounded can be carried out under complicated rescue environment, it is ensured that the wounded are timely
Be conveyed out disaster area.
Crawler self of the present utility model walks mechanism, including vehicle frame, driving means, drivewheel, inducer,
Bogie wheel and crawler belt；Described crawler belt is installed on vehicle frame by drivewheel, inducer and bogie wheel；Drivewheel,
The inner side of inducer and the cylindrical of bogie wheel and crawler belt is provided with the tooth matched.
Further, the material of described crawler belt is rubber.
Further, on described vehicle frame, corresponding drivewheel, inducer and bogie wheel are provided with inner side installing plate and outside
Installing plate；Described drivewheel is installed on the outside of inner side installing plate by driving means, and drivewheel is fixed on and drives
On the power output shaft of dynamic device；Described inducer and bogie wheel are installed on inner side by respective wheel shaft respectively
Between installing plate and outboard mounting plates；It is further fixed on covering in bogie wheel between inner side installing plate and outboard mounting plates
The cover plate on top.
Further, the storage bin being fixed on vehicle frame is also included.
Further, the self-balancing bracket being installed on vehicle frame is also included；Described self-balancing bracket includes anterior-posterior balance
Mechanism and left-right balance mechanism；Described anterior-posterior balance mechanism includes synchronous belt drive mechanism, arc guide rail and front
Back balance support；Described arc guide rail is vertically arranged；The front end of described anterior-posterior balance support is articulated with synchronization
The transmission band of tape handler, rear end is slidably connected to arc guide rail.
Further, described left-right balance mechanism includes left-right balance support, spline motor and supporting plate；A described left side
Right balance bracket and spline motor are fixed on anterior-posterior balance support；The output shaft of spline motor is along the longitudinal direction of vehicle frame
Arrange and carried out radially supporting location by left-right balance support；Described supporting plate is fixed on the output of spline motor
Axle.
Further, the both lateral sides edge of described supporting plate be for leading that stretcher single-degree-of-freedom is slidably matched
The both lateral sides edge of rail structure and supporting plate is provided with the multiple pulleys for being slidably matched with stretcher；Described
The rear end of supporting plate is fixed with for the spacing fixed dam that slides stretcher.
The beneficial effects of the utility model are: crawler self of the present utility model walks mechanism, can be in complexity
The transport of the wounded is carried out, it is ensured that the wounded are conveyed out the treatment in disaster area, the beneficially wounded timely under rescue environment.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the A-A sectional view of Fig. 1.
Detailed description of the invention
Fig. 1 is structural representation of the present utility model；Fig. 2 is the top view of Fig. 1；Fig. 3 is the A-A of Fig. 1
Sectional view, as shown in the figure: the crawler self of the present embodiment walks mechanism, including vehicle frame 1, driving means 2,
Drivewheel 3, inducer 4, bogie wheel and crawler belt 5；Described crawler belt 5 is by drivewheel 3, inducer 4 and
Bogie wheel is installed on vehicle frame 1；The inner side of drivewheel 3, inducer 4 and the cylindrical of bogie wheel and crawler belt 5 sets
There is the tooth matched；Drivewheel 3 is located at the front portion of vehicle frame 1 and is driven rotation, inducer by driving means 2
4 rear portions being located at vehicle frame 1, bogie wheel is located between drivewheel 3 and inducer 4, and crawler belt 5 is installed on master
On driving wheel 3, inducer 4 and bogie wheel, vehicle frame 1 is provided with automatic control system, it is possible to control to drive
The rotating speed of device 2 and turning to, and then control gait of march and the direction of crawler body；Crawler-type traveling machine
Structure adhesive force is strong, good by property, is suitable to the complex road surfaces such as disaster area and travels.
In the present embodiment, the material of described crawler belt 5 is rubber；Play the strong point of rubber to greatest extent,
The overall pressure to ground of mechanism reduces, vibration reduces, turns to flexibly, do not damages road to make crawler self walk
Face, speed is fast, overall weight is light, enhances crawler self and walks the adaptability of mechanism, makes crawler self
Walk mechanism on complex road surface, possess more flexible performance, improve obstacle climbing ability and climbing capacity.
In the present embodiment, on described vehicle frame 1, corresponding drivewheel 3, inducer 4 and bogie wheel are provided with inner side peace
Dress plate 6 and outboard mounting plates 7；Described drivewheel 3 is installed on inner side installing plate 6 by driving means 2
Outside, drivewheel 3 is fixed on the power output shaft of driving means 2；Described inducer 4 and bogie wheel divide
It is not installed between inner side installing plate 6 and outboard mounting plates 7 by respective wheel shaft；Inner side installing plate 6 He
It is further fixed on covering in the cover plate on bogie wheel top between outboard mounting plates 7；For drivewheel 3, inducer 4 and
Bogie wheel provides reliable and stable mounting structure, can effectively cover inducer 4 and bogie wheel simultaneously
And protection, be suitable to the complex road surfaces such as disaster area and travel, attractive in appearance, it is hardly damaged.
In the present embodiment, also include the storage bin being fixed on vehicle frame 1；Can play medicine and food delivery
Effect.
In the present embodiment, also include the self-balancing bracket being installed on vehicle frame 1；Before described self-balancing bracket includes
Back balance mechanism and left-right balance mechanism；Described anterior-posterior balance mechanism includes synchronous belt drive mechanism 8, circular arc
Guide rail 9 and anterior-posterior balance support 10；Described arc guide rail 9 is vertically arranged；Described anterior-posterior balance support 10
Front end be articulated with the transmission band of synchronous belt drive mechanism 8, rear end is slidably connected to arc guide rail 9；From flat
Weighing apparatus bracket is provided with the mounting structure matched with stretcher, therefore can be installed on by stretcher as required certainly
Realize the wounded are carried out vehicle-mounted transport in balance bracket, save human resources, it is ensured that the wounded send in time and seek medical advice,
The automatic control system installed on vehicle frame 1 is by detection pavement behavior balanced controls forwards, backwards and left-right balance
Mechanism sends control signal to keep self-balancing bracket steady；Can carry out smoothly under complicated rescue environment
The transport of the wounded, it is ensured that what the wounded were timely, safe is conveyed out disaster area, it is to avoid the wounded are in rescue work and fortune
By secondary injury during sending；The vertically arranged circle referring to arc guide rail 9 place of arc guide rail 9 is positioned at
In one perpendicular, it is specially along a certain perpendicular of vehicle frame 1 longitudinal direction, synchronous belt drive mechanism 8
By driven by servomotor, synchronous belt drive mechanism 8 can walk the direct of travel layout of mechanism along crawler self,
Can also be obliquely installed or erect setting, as it is shown in figure 1, the synchronous belt drive mechanism 8 in the present embodiment with
Mode low after front height is obliquely installed, by motion and the gravity of anterior-posterior balance support 10 itself of Timing Belt
Effect can make anterior-posterior balance support 10 slide between synchronous belt drive mechanism 8 and arc guide rail 9, and then adjusts
Inclination angle before and after whole stretcher, keeps balance；Anterior-posterior balance support 10 rear end correspondence arc guide rail 9 is provided with roller,
Make anterior-posterior balance support 10 be connected to arc guide rail 9 by roller-coaster, reduce friction；Before the present embodiment
Back balance mechanism bearing capacity is strong, is suitable to disaster area rescue, and the rear end of synchronous belt drive mechanism 8 is articulated with vehicle frame
1, the front end of synchronous belt drive mechanism 8 is installed on vehicle frame 1 by pillar；The two ends of described pillar and Timing Belt
All being articulated and connected between drive mechanism 8 and vehicle frame 1, described pillar is by the double cropping of automatic controlling system
With hydraulic cylinder, automatic control system controls pillar according to pavement behavior and elongates or shortens, to adjust Timing Belt biography
The gradient of motivation structure 8, the adjusting range at inclination angle before and after increase anterior-posterior balance support 10, strong adaptability,
Ensure that anterior-posterior balance support 10 is steady in the case of travelling on slope road.
In the present embodiment, described left-right balance mechanism includes left-right balance support 11, spline motor and supporting plate 12；
Described left-right balance support 11 and spline motor are fixed on anterior-posterior balance support 10；The output shaft of spline motor
Being longitudinally arranged and being carried out radially supporting location by left-right balance support 11 along crawler body；Described supporting plate
12 output shafts being fixed on spline motor；Spline motor includes motor and the decelerator become one, to subtract
The output shaft of speed device, as the output shaft of spline motor, controls torr by the rotating and corner controlling motor
The inclination angle, left and right of plate 12；By synchronous belt drive mechanism 8 is combined with left-right balance mechanism so that supporting plate
12 within the specific limits, can be automatically adjusted equilbrium position, and then keep stretcher balance, it is to avoid in rescue
Due to the impact of extraneous factor in work, cause the secondary injury to the wounded；
The operation principle of self-balancing bracket is: by the three-dimensional omnidirectional laser radar of vehicle frame 1 front end to crawler type
The landform in automatic walking mechanism front is scanned analyzing, and when not having barrier, keeps synchronous belt drive mechanism 8
Leading dimension position, make anterior-posterior balance support 10 in the longitudinal direction keep balance, move on；
When barrier occurs in front, first pass through single-chip computer control system and produce pulse signal driving track bottom
The servomotor of dish makes crawler self walk mechanism progressively to slow down；Single-chip microcomputer is by passing back photoelectric sensor
Signal is analyzed；
Without departing from adjustable extent (in order to prevent whole mobile platform from turning on one's side, it is ensured that the movable model of center of gravity
Enclosing, anterior-posterior balance safe adjustment range is the most each 10 °) a. is when three-dimensional omnidirectional Laser Radar Scanning is to front
When there is barrier, feed back to control system, start slowly to reduce the speed of crawler belt 5；B. by three-dimensional complete
Start blocking surfaces grade information is scanned to laser radar, and feed back to control system；C. pass through
It is positioned at the millimetre-wave radar of the crawler body front end feedback to preceding object thing distance, controls crawler self
Walk mechanism when moving to barrier certain distance, start to start closed-loop synchronous belt drive mechanism 8, and according to
The grade information of the blocking surfaces of feedback regulates slowly；D. walk mechanism when crawler self to start to turn over
During obstacle-overpass thing, controller, by the detection to crawler belt 5 speed, adjusts Timing Belt and the fortune of spline motor
Line speed, it is ensured that stretcher is horizontal on position all the time around；E. horizontal level is being adjusted
While, by the stent location information of the gyroscope that is positioned on anterior-posterior balance support 10 feedback to Timing Belt and
The speed of service of spline motor is corrected processing, and strengthens the accuracy adjusted；
If exceed the adjustable extent of synchronous belt drive mechanism 8, passed back by three-dimensional omnidirectional laser radar
Front terrain information, again planning action path.If during energy avoiding obstacles, then detouring；If existing
Other barriers, then proceed step a.
In the present embodiment, the both lateral sides edge of described supporting plate 12 is for joining for sliding with stretcher single-degree-of-freedom
The guide rail structure closed and the both lateral sides edge of supporting plate 12 are provided with for multiple with what stretcher was slidably matched
Pulley 13；The rear end of described supporting plate 12 is fixed with the fixed dam 14 for sliding spacing to stretcher；
With one end of the corresponding wounded's head of supporting plate 12 as front end, one end of corresponding foot is rear end, as it is shown in figure 1,
The rear end of supporting plate 12 is i.e. the right-hand member of supporting plate 12 shown in Fig. 1, and the front end of supporting plate 12 is higher than rear end, therefore
Stretcher is close to fixed dam 14 under himself action of gravity, and is positioned by fixed dam 14, can
Stretcher is pulled out, it is simple to the wounded escort, can install on existing Simple stretcher and to match with supporting plate 12
Sliding part realizes the installation of stretcher, makes full use of existing resource, reduces cost, supporting plate 12 arranges cunning
Wheel 13 is easy to pushing and pulling out of stretcher.
Finally illustrate, above example only in order to the technical solution of the utility model to be described and unrestricted,
Although being described in detail this utility model with reference to preferred embodiment, those of ordinary skill in the art should
Work as understanding, the technical solution of the utility model can be modified or equivalent, without deviating from this reality
By objective and the scope of new technique scheme, it all should be contained in the middle of right of the present utility model.
Claims (4)
1. a crawler self walks mechanism, it is characterised in that: include vehicle frame, driving means, drivewheel, inducer, bogie wheel and crawler belt；Described crawler belt is installed on vehicle frame by drivewheel, inducer and bogie wheel；The cylindrical of drivewheel, inducer and bogie wheel and the inner side of crawler belt are provided with the tooth matched；Also include the self-balancing bracket being installed on vehicle frame；Described self-balancing bracket includes anterior-posterior balance mechanism and left-right balance mechanism；Described anterior-posterior balance mechanism includes synchronous belt drive mechanism, arc guide rail and anterior-posterior balance support；Described arc guide rail is vertically arranged；The front end of described anterior-posterior balance support is articulated with the transmission band of synchronous belt drive mechanism, and rear end is slidably connected to arc guide rail；Described left-right balance mechanism includes left-right balance support, spline motor and supporting plate；Described left-right balance support and spline motor are fixed on anterior-posterior balance support；The output shaft of spline motor being longitudinally arranged and being carried out radially supporting location by left-right balance support along vehicle frame；Described supporting plate is fixed on the output shaft of spline motor；The both lateral sides edge that both lateral sides edge is the guide rail structure for being slidably matched with stretcher single-degree-of-freedom and supporting plate of described supporting plate is provided with the multiple pulleys for being slidably matched with stretcher；The rear end of described supporting plate is fixed with for the spacing fixed dam that slides stretcher.
Crawler self the most according to claim 1 walks mechanism, it is characterised in that: the material of described crawler belt is rubber.
Crawler self the most according to claim 1 walks mechanism, it is characterised in that: on described vehicle frame, corresponding drivewheel, inducer and bogie wheel are provided with inner side installing plate and outboard mounting plates；Described drivewheel is installed on the outside of inner side installing plate by driving means, and drivewheel is fixed on the power output shaft of driving means；Described inducer and bogie wheel are installed between inner side installing plate and outboard mounting plates by respective wheel shaft respectively；It is further fixed on covering in the cover plate on bogie wheel top between inner side installing plate and outboard mounting plates.
Crawler self the most according to claim 1 walks mechanism, it is characterised in that: also include the storage bin being fixed on vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620025727.XU CN205469350U (en) | 2016-01-12 | 2016-01-12 | Crawler -type is from running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620025727.XU CN205469350U (en) | 2016-01-12 | 2016-01-12 | Crawler -type is from running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205469350U true CN205469350U (en) | 2016-08-17 |
Family
ID=56666034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620025727.XU Expired - Fee Related CN205469350U (en) | 2016-01-12 | 2016-01-12 | Crawler -type is from running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205469350U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105460091A (en) * | 2016-01-12 | 2016-04-06 | 重庆交通大学 | Crawler belt chassis assembly |
-
2016
- 2016-01-12 CN CN201620025727.XU patent/CN205469350U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105460091A (en) * | 2016-01-12 | 2016-04-06 | 重庆交通大学 | Crawler belt chassis assembly |
| CN105460091B (en) * | 2016-01-12 | 2019-10-08 | 重庆交通大学 | Crawler body assembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20170112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |