CN105460091B - Crawler body assembly - Google Patents

Abstract

The invention discloses a kind of crawler body assemblies, including vehicle frame, driving device, driving wheel, inducer, bogie wheel and crawler belt；The crawler belt is installed on vehicle frame by driving wheel, inducer and bogie wheel；The inside of driving wheel, the outer circle of inducer and bogie wheel and crawler belt is equipped with the tooth to match；Crawler body assembly of the invention can carry out the transport of the wounded, it is ensured that the wounded are timely conveyed out disaster area, conducive to the treatment of the wounded under complicated rescue environment.

Description

Track chassis assembly

technical field

The invention relates to a self-propelled mechanism, in particular to a crawler chassis assembly.

Background technique

After the occurrence of geological disasters, roads and buildings were severely damaged, and ordinary ambulance vehicles could not reach the place where the wounded were injured. People needed to use stretchers to carry the wounded to the location of the ambulance to perform on-the-spot rescue or send them to the hospital for rescue. When the wounded, two people need to cooperate to lift the wounded, the manpower cost is high, and the transport speed is slow, so that the wounded cannot be treated in time and effectively, which is not conducive to the treatment of the wounded.

Contents of the invention

In view of this, the purpose of the present invention is to provide a crawler chassis assembly, which is suitable for rescue work after geological disasters, can transport the wounded in complex rescue environments, and ensure that the wounded are transported out of the disaster area in time.

The crawler chassis assembly of the present invention includes a vehicle frame, a driving device, a driving wheel, an induction wheel, a road wheel and a track; the track is installed on the vehicle frame through the driving wheel, the induction wheel and the road wheel; The outer circle of the wheel and the inner side of the track are provided with matching teeth.

Further, the track is made of rubber.

Further, the vehicle frame is provided with an inner mounting plate and an outer mounting plate corresponding to the driving wheel, the induction wheel and the road wheel; the driving wheel is installed on the outside of the inner mounting plate through the driving device, and the driving wheel is fixed to the power output of the driving device on the shaft; the induction wheel and the road wheel are respectively installed between the inner mounting plate and the outer mounting plate through their respective axles; a cover plate covering the upper part of the road wheel is also fixed between the inner mounting plate and the outer mounting plate.

Further, it also includes a storage box fixed on the vehicle frame.

Further, it also includes a self-balancing bracket installed on the vehicle frame; the self-balancing bracket includes a front-rear balance mechanism and a left-right balance mechanism; the front-rear balance mechanism includes a synchronous belt transmission mechanism, an arc guide rail and a front-rear balance bracket; the The arc guide rails are arranged vertically; the front ends of the front and rear balance brackets are hinged to the transmission belt of the synchronous belt transmission mechanism, and the rear ends are slidably connected to the arc guide rails.

Further, the left and right balance mechanism includes a left and right balance bracket, a spline motor and a supporting plate; the left and right balance bracket and the spline motor are fixed to the front and rear balance brackets; the output shaft of the spline motor is arranged along the longitudinal direction of the vehicle frame and is balanced by the left and right The bracket performs radial support positioning; the supporting plate is fixed on the output shaft of the spline motor.

Further, the lateral sides of the pallet are guide rail structures for sliding fit with the stretcher bed sheets, and the lateral lateral sides of the pallet are provided with a plurality of pulleys for sliding fit with the stretcher bed; The rear end of the board is fixed with a fixed baffle for slidingly limiting the stretcher bed.

The beneficial effects of the present invention are: the crawler chassis assembly of the present invention can transport the wounded in a complex rescue environment, ensure that the wounded are transported out of the disaster area in time, and facilitate the treatment of the wounded.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is a sectional view along line A-A of Fig. 1 .

Detailed ways

Fig. 1 is a structural schematic diagram of the present invention; Fig. 2 is a top view of Fig. 1; Fig. 3 is a sectional view of A-A of Fig. 1, as shown in the figure: the crawler chassis assembly of this embodiment includes a vehicle frame 1, a driving device 2, a driving Wheel 3, induction wheel 4, road wheel and crawler belt 5; Said crawler belt 5 is installed on vehicle frame 1 by driving wheel 3, induction wheel 4 and road wheel; The outer circle of driving wheel 3, induction wheel 4 and road wheel and crawler belt 5 Matching teeth are provided on the inner side of the vehicle frame; the drive wheel 3 is located at the front of the vehicle frame 1 and driven to rotate by the drive device 2, the induction wheel 4 is located at the rear of the vehicle frame 1, and the load wheel is located at the drive wheel 3 and the induction wheel Between 4, the crawler belt 5 is installed on the driving wheel 3, the induction wheel 4 and the road wheel, and the automatic control system is installed on the frame 1, which can control the speed and steering of the driving device 2, and then control the traveling speed and direction of the crawler chassis ; The crawler-type traveling mechanism has strong adhesion and good passability, and is suitable for driving on complex roads such as disaster areas.

In this embodiment, the material of the crawler belt 5 is rubber; the advantages of rubber are brought into full play to reduce the pressure of the crawler chassis assembly on the ground, reduce vibration, flexibly turn, not damage the road surface, fast speed, and overall weight. It is light, which enhances the adaptability of the tracked chassis assembly, makes the tracked chassis assembly more flexible on complex road surfaces, and improves the ability to overcome obstacles and climb slopes.

In this embodiment, the vehicle frame 1 is provided with an inner mounting plate 6 and an outer mounting plate 7 corresponding to the driving wheel 3, the induction wheel 4 and the load wheel; the driving wheel 3 is installed on the inner mounting plate 6 through the driving device 2. On the outside, the driving wheel 3 is fixed on the power output shaft of the driving device 2; the induction wheel 4 and the road wheel are respectively installed between the inner mounting plate 6 and the outer mounting plate 7 through their respective axles; the inner mounting plate 6 and the outer mounting plate A cover plate covering the upper part of the road wheel is also fixed between the plates 7; a stable and reliable installation structure is provided for the driving wheel 3, the induction wheel 4 and the road wheel, and at the same time, the induction wheel 4 and the road wheel can be effectively covered and protected. It is suitable for driving on complex roads such as disaster areas, beautiful and not easy to damage.

In this embodiment, it also includes a storage box fixed on the vehicle frame 1; it can play a role in transporting medicine and food.

In this embodiment, it also includes a self-balancing bracket installed on the vehicle frame 1; the self-balancing bracket includes a front-rear balance mechanism and a left-right balance mechanism; the front-rear balance mechanism includes a synchronous belt transmission mechanism 8, an arc guide rail 9 and Front and rear balance brackets 10; the arc guide rail 9 is vertically arranged; the front end of the front and rear balance bracket 10 is hinged to the transmission belt of the synchronous belt transmission mechanism 8, and the rear end is slidably connected to the arc guide rail 9; the self-balancing bracket is provided with There is an installation structure that matches the stretcher bed, so the stretcher bed can be installed on the self-balancing bracket according to the needs to realize the vehicle transportation of the wounded, saving human resources and ensuring that the wounded are sent to the doctor in time. The automatic control installed on the frame 1 The system sends control signals to the front and rear balance mechanisms and left and right balance mechanisms by detecting road conditions to keep the self-balancing bracket stable; it can smoothly transport the wounded in complex rescue environments, ensuring that the wounded are transported out of the disaster area in a timely and safe manner, avoiding The wounded suffers secondary injuries during the rescue work and transportation; the vertical arrangement of the arc guide rail 9 means that the circle where the arc guide rail 9 is located is located in a vertical plane, specifically a certain vertical plane along the longitudinal direction of the vehicle frame 1 Inside, the synchronous belt transmission mechanism 8 is driven by a servo motor, and the synchronous belt transmission mechanism 8 can be arranged along the traveling direction of the crawler chassis assembly, or it can be arranged obliquely or vertically. As shown in Figure 1, the synchronous belt transmission mechanism in this embodiment Mechanism 8 is tilted in a way that the front is high and the rear is low. Through the movement of the timing belt and the gravity of the front and rear balance brackets 10, the front and rear balance brackets 10 can slide between the timing belt transmission mechanism 8 and the arc guide rail 9, thereby adjusting the stretcher bed. The front and rear inclination angles keep balance; the rear ends of the front and rear balance supports 10 are provided with rollers corresponding to the arc guide rails 9, so that the front and rear balance supports 10 are slidably connected to the arc guide rails 9 by the rollers to reduce friction; the front and rear balance mechanisms of the present embodiment have strong bearing capacity, Suitable for rescue in disaster areas, the rear end of the synchronous belt transmission mechanism 8 is hinged to the vehicle frame 1, and the front end of the synchronous belt transmission mechanism 8 is installed on the vehicle frame 1 through a pillar; They are all hingedly connected, and the pillars are double-acting hydraulic cylinders controlled by the automatic control system. The automatic control system controls the extension or shortening of the pillars according to the road conditions, so as to adjust the inclination of the synchronous belt transmission mechanism 8 and increase the front and rear balance brackets. 10 The adjustment range of the front and rear inclination angles has strong adaptability, and the front and rear balance brackets 10 are guaranteed to be stable when driving on a slope.

In this embodiment, the left and right balance mechanisms include left and right balance brackets 11, spline motors and supporting plates 12; the left and right balance brackets 11 and spline motors are fixed on the front and rear balance brackets 10; The longitudinal arrangement and the radial support and positioning are carried out by the left and right balance brackets 11; the supporting plate 12 is fixed on the output shaft of the spline motor; the spline motor includes an integrated motor and a reducer, and the output shaft of the reducer is used as a spline The output shaft of the key motor controls the left and right inclination of the supporting plate 12 by controlling the positive and negative rotation of the motor and the rotation angle; through the combination of the synchronous belt transmission mechanism 8 and the left and right balance mechanism, the supporting plate 12 can be automatically adjusted within a certain range Balance the position, and then maintain the balance of the stretcher bed, avoiding the secondary injury to the wounded due to the influence of external factors during the rescue work;

The working principle of the self-balancing bracket is: scan and analyze the terrain in front of the crawler chassis assembly through the three-dimensional omnidirectional laser radar at the front end of the vehicle frame 1. When there is no obstacle, the current three-dimensional position of the synchronous belt transmission mechanism 8 is maintained, so that the Balance bracket 10 keeps balance on the front-back direction, and moves on;

When there is an obstacle ahead, firstly, the single-chip microcomputer control system generates a pulse signal to drive the servo motor of the crawler chassis to gradually decelerate the crawler chassis assembly; the single-chip microcomputer compares and analyzes the signals returned by the photoelectric sensor;

It does not exceed the adjustable range (in order to prevent the entire mobile platform from rolling over and ensure the range of gravity center of gravity, the front and rear balance safety adjustment range is 10° front and rear) a. The control system starts to slowly reduce the speed of the crawler 5; b. Start scanning the slope information of the obstacle surface through the three-dimensional omnidirectional laser radar, and feed it back to the control system; c. Use the millimeter wave radar located at the front end of the crawler chassis to detect the obstacles in front Feedback of the distance, when the crawler chassis assembly is controlled to move to a certain distance from the obstacle, the fully closed-loop synchronous belt transmission mechanism 8 is started, and slowly adjusted according to the slope information of the feedback obstacle surface; d. When the crawler chassis assembly When starting to climb over obstacles, the controller adjusts the running speed of the synchronous belt and the spline motor by detecting the speed of the crawler belt 5, so as to ensure that the stretcher is always in a horizontal position in the front, rear, left and right positions; e. While adjusting the horizontal position, The running speed of the synchronous belt and the spline motor is corrected through the support position information fed back by the gyroscope positioned on the front and rear balance supports 10 to enhance the accuracy of adjustment;

If it exceeds the adjustable range of the synchronous belt transmission mechanism 8, the action path will be re-planned through the front terrain information sent back by the three-dimensional omnidirectional laser radar. If the obstacle can be avoided, go around; if there are other obstacles, continue to step a.

In this embodiment, the lateral sides of the pallet 12 are guide rail structures for sliding fit with the stretcher bed sheets, and the lateral lateral sides of the pallet 12 are provided with a plurality of rails for sliding fit with the stretcher bed. Pulley 13; The rear end of described supporting plate 12 is fixed with the fixed baffle plate 14 that is used for carrying out sliding limit to stretcher bed; With supporting plate 12, one end corresponding to the head of the wounded is the front end, and one end corresponding to the feet is the rear end, as As shown in Figure 1, the rear end of the supporting plate 12 is the right end of the supporting plate 12 shown in Figure 1, and the front end of the supporting plate 12 is higher than the rear end, so the stretcher bed is close to the fixed baffle plate 14 under its own gravity, And fixed baffle 14 is positioned, and stretcher bed can be pulled out, is convenient for the escort of the wounded, can install the sliding piece that matches supporting plate 12 on the existing simple stretcher to realize the installation of stretcher bed, make full use of existing resources , reduce cost, pulley 13 is set on pallet 12 to facilitate the pushing and pulling out of the stretcher bed.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (3)

1. A crawler chassis assembly, characterized in that: comprise vehicle frame, driving device, driving wheel, inducer, road wheel and crawler belt; Described crawler belt is installed on vehicle frame by driving wheel, inducer and road wheel; Drive wheel , the outer circle of the induction wheel and the road wheel and the inner side of the crawler belt are provided with matching teeth; it also includes a self-balancing bracket installed on the frame; the self-balancing bracket includes a front and rear balance mechanism and a left and right balance mechanism; the front and rear The balance mechanism includes a synchronous belt transmission mechanism, an arc guide rail and a front and rear balance bracket; the arc guide rail is arranged vertically; the front end of the front and rear balance bracket is hinged to the belt of the synchronous belt transmission mechanism, and the rear end is slidably connected to the arc guide rail ; The synchronous belt transmission mechanism is inclined in a way that the front is high and the rear is low; the left and right balance mechanisms include a left and right balance bracket, a spline motor and a supporting plate; the left and right balance brackets and the spline motor are fixed on the front and rear balance brackets; The output shaft is arranged along the longitudinal direction of the vehicle frame and is radially supported and positioned by the left and right balance brackets; the supporting plate is fixed to the output shaft of the spline motor; the corresponding driving wheel, idler wheel and road wheel are equipped with inner mountings on the frame. plate and the outer mounting plate; the driving wheel is installed on the outside of the inner mounting plate through the driving device, and the driving wheel is fixed on the power output shaft of the driving device; the induction wheel and the road wheel are respectively installed on the inner mounting plate through their respective axles and the outer mounting plate; a cover plate covering the upper part of the road wheel is also fixed between the inner mounting plate and the outer mounting plate; the lateral sides of the supporting plate are guide rails for sliding fit with the stretcher sheet structure and the lateral sides of the supporting board are provided with a plurality of pulleys for sliding cooperation with the cot; the rear end of the supporting board is fixed with a fixed baffle for sliding and limiting the cot; the front end of the vehicle frame A three-dimensional omnidirectional laser radar for scanning and analyzing the terrain ahead of the crawler chassis assembly is provided; the vehicle frame is also provided with a single-chip microcomputer control mechanism for controlling the walking of the crawler chassis assembly. 2. The crawler chassis assembly according to claim 1, characterized in that: the crawler is made of rubber. 3. The crawler chassis assembly according to claim 1, further comprising a storage box fixed to the vehicle frame.