CN108583704A - Omnidirectional's creeper truck - Google Patents

Abstract

The invention belongs to the technical field of crawler vehicles, and in particular relates to an omnidirectional crawler vehicle; an omnidirectional crawler vehicle comprises a vehicle body and three crawlers respectively connected to the vehicle body through connecting shafts, and the three connecting shafts The axes form an angle of 120 degrees to each other, and the connecting shaft is vertically connected to the track; the track includes a driving wheel, a driven wheel connected to the driving wheel through a chain, connected between the driving wheel and the driven wheel An intermediate frame through which the chains slide mutually, the intermediate frame is connected with the connecting shaft, and the two ends of the intermediate frame are respectively connected with a fixed frame and a fixed wheel frame. The invention provides a new omnidirectional tracked vehicle, which can move in all directions through the cooperation of the vehicle body and omnidirectional wheels, thus reducing the wear on the track; the steering of the track adopts differential steering, and changes the omnidirectional The steering of the wheel; the device can realize the movement of the tracked vehicle in different directions and the rotation of the body through the cooperation between the three crawlers.

Description

omnidirectional tracked vehicle

technical field

The invention belongs to the technical field of crawler vehicles, in particular to an omnidirectional crawler vehicle.

Background technique

Tracked vehicles are used more and more in various fields. Whether it is military or building construction, tracked vehicles are one of the very important tools. The advantage of the tracked vehicle is that it can travel on complex and rugged terrain; the steering of the tracked vehicle adopts differential steering. By changing the speed of the track, the differential speed makes the car body turn, but this steering method wears the track very seriously. Reduce the service life of tracked vehicles.

Contents of the invention

In view of the above problems, the present invention provides a new omnidirectional crawler vehicle, which can reduce the wear of the crawler belt and increase the service life of the crawler vehicle.

Concrete technical scheme of the present invention is as follows:

The invention provides an omnidirectional crawler vehicle, which includes a vehicle body and three crawlers respectively connected to the vehicle body through connecting shafts, and the axes of the three connecting shafts form an angle of 120 degrees to each other, and the connecting shafts and the crawlers Vertically connected; the track includes a driving wheel, a driven wheel connected to the driving wheel by a chain, an intermediate frame connected between the driving wheel and the driven wheel and sliding with the chain, the intermediate frame is connected to the Shaft connection, the two ends of the intermediate frame are respectively connected with a fixed frame and a fixed wheel frame, the fixed frame is provided with a driving motor for driving the driving wheel to rotate, and the driven wheel is slidably connected to the fixed wheel frame through the guide wheel shaft; A plurality of platforms are installed on the chain, each of the platforms is equipped with at least two omnidirectional wheels arranged in parallel, the axial direction of each of the omnidirectional wheels is parallel to the chain, and each of the omnidirectional wheels has two The axles at the ends are all installed on the platform by a support frame.

As a further improvement, the intermediate frame includes a frame body, and at least two grooves parallel to each other are provided on both sides of the frame body relative to the chain, and each of the grooves on the same side is along the The height direction is arranged at intervals, and each of the grooves is parallel to the lateral centerline of the side, and the positions of the grooves on the two sides are arranged in one-to-one correspondence, and the grooves are arranged along the length of the groove A plurality of scroll wheel shafts are installed at intervals in the direction, and a scroll wheel is perforated on each of the scroll wheel shafts.

As a further improvement, the fixing bracket includes a longitudinal bracket and a horizontal bracket vertically connected to the longitudinal bracket, the longitudinal bracket is fixedly connected to one end surface of the frame body, and the horizontal bracket is provided with a mounting hole, so The output shaft of the driving motor is connected to the driving wheel through the installation hole, and the body of the driving motor is fixedly connected to the transverse support.

As a further improvement, the fixed wheel frame includes a horizontal plate and two vertical plates vertically connected to the horizontal plate, the two vertical plates are arranged symmetrically along the center line of the horizontal plate, and the horizontal plate and the frame body The upper end face of the side away from the longitudinal support is connected, and the two longitudinal plates are provided with connection holes, and the positions of the two connection holes are correspondingly set, and the guide wheel shaft passes through the driven wheel and is respectively connected with the two connection holes .

As a further improvement, the chain is composed of a plurality of articulated link structures, and the link structure includes two links arranged in parallel and 4 links, and the 4 links are connected in groups of two to the The same side of the above-mentioned links, and the two sets of links are located opposite to each other, one of each set of links is used to connect the two links, one end of the other is superimposed on one of the links, and the other end It is connected with adjacent chain link structures, and each of the chain links is perpendicular to the link, and each of the omnidirectional wheels is parallel to the chain links.

As a further improvement, the driving wheel and the driven wheel have the same structure, including a sprocket and a ring gear fixedly connected with the sprocket, the ring gear is surrounded by a plurality of tooth blocks, and each tooth The blocks are each meshed with the links.

As a further improvement, the link includes a fixed pipe, a telescopic rod disposed in the fixed pipe, and a fixed rod disposed on the fixed pipe away from the end of the telescopic rod, and the fixed pipe is a hollow structure with one end open , the telescopic rod is arranged in the fixed pipe and extends outward, and the telescopic rod is formed with threads, the chain link close to the intermediate frame is installed on the fixed rod, far away from the intermediate frame The chain link is installed on the telescopic rod, and the fixed pipe is provided with a lifting mechanism to control the telescopic rod. The lifting mechanism includes a worm wheel and a worm meshed with the worm wheel. The worm wheel is sleeved on the Outside the telescopic rod, it is screwed with the telescopic rod, and a bracket is installed at the lower end of the worm wheel. A motor installed on the inner wall of the fixed pipe is connected through a coupling, and the platform is installed on two links of the same link structure.

As a further improvement, the platform is provided with two sliding slots at intervals along the length direction of the platform, and the platform is installed on two chain links which are used to connect the two links and are arranged opposite to each other. The slots are arranged perpendicular to the omnidirectional wheels, and a sliding assembly is installed in each of the sliding slots, and the sliding assembly includes a base installed on the bottom of the sliding slot, a slide rail installed on the base, and a slide rail installed on the bottom of the slot. The lead screw on the slide rail and the two sliders, the lead screw passes through the two sliders, and the lead screw is connected with one of the sliders with positive threads, and with the other with reverse threads connected, one end of the lead screw is connected with a rotating motor fixed on the base, and the two supporting frames oppositely arranged in front and back are installed on the two slide blocks respectively.

As a further improvement, the omnidirectional wheel includes an omnidirectional wheel shaft and a roller sleeved on the omnidirectional wheel shaft through two bearings, and the two bearings are respectively arranged at the left and right ends of the roller, and the omnidirectional wheel shaft A locking element for locking the rollers is installed on the roller, and the locking element includes two chucks arranged in the rollers, a plurality of blocks arranged on each of the chucks and installed on the entire To the cylinder on the wheel shaft and connected with each of the chucks, each of the blocks is connected to the chuck through a rotating part, each of the chucks is sleeved on the omnidirectional wheel shaft, and the cylinder The chuck is controlled to move along the omnidirectional wheel shaft, and the two chucks move in opposite directions on the omnidirectional wheel shaft, and the end surface of the outer ring of the bearing close to the inner side of the roller is provided with the The above-mentioned blocks correspond to the locking slots.

As a further improvement, the distances between the two chucks and the two bearings are equal, and the initial extension lengths of the two cylinders are also equal.

The beneficial effects of the present invention are as follows:

The invention provides a new omnidirectional tracked vehicle, which can move in all directions through the cooperation of the vehicle body and omnidirectional wheels, thus reducing the wear on the track; the steering of the track adopts differential steering, and changes the omnidirectional The steering of the wheel; the device can realize the movement of the tracked vehicle in different directions and the rotation of the body through the cooperation between the three crawlers.

Description of drawings

Fig. 1 is the structural representation of embodiment 1 omnidirectional crawler vehicle;

Fig. 2 is the structural representation of embodiment 1 crawler belt;

Fig. 3 is the structural representation of embodiment 2 middle frame;

Fig. 4 is the cross-sectional view of embodiment 3 fixed frame;

Fig. 5 is the structural representation of embodiment 4 fixed wheel frame;

Fig. 6 is the structural representation of embodiment 5 chain link structure;

Fig. 7 is the structural representation of embodiment 6 driving wheel;

Fig. 8 is the sectional view of embodiment 7 links;

Fig. 9 is a side view of Fig. 8;

Fig. 10 is the sectional view of embodiment 8 platform;

Fig. 11 is a cross-sectional view of the omnidirectional wheel of Embodiment 9.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and the following embodiments.

Example 1

Embodiment 1 of the present invention provides an omnidirectional crawler vehicle, as shown in Figures 1 and 2, comprising a vehicle body 1 and three crawlers 3 connected to the vehicle body 1 through connecting shafts 2, and the three connecting shafts The axes of 2 form an angle of 120 degrees with each other, and the connecting shaft 2 is vertically connected with the crawler belt 3; the crawler belt 3 includes a driving wheel 4, a driven wheel 6 connected to the driving wheel 4 through a chain 5, and a driven wheel connected to the driving wheel 4 and the driven wheel 6 and the intermediate frame 8 that slides with the chain 5, the intermediate frame 8 is connected with the connecting shaft 2, and the two ends of the intermediate frame 8 are respectively connected with a fixed frame 9 and a fixed wheel frame 11, the fixed frame 9 is provided with a drive motor 7 that drives the driving wheel 4 to rotate, and the driven wheel 6 is slidably connected to the fixed wheel frame 11 through the guide wheel shaft 10; a plurality of platforms 12 are installed on the chain 5 , each said platform 12 is equipped with at least two omnidirectional wheels 13 arranged in parallel, the axial direction of each said omnidirectional wheel 13 is parallel to said chain 5, and the axles at both ends of each said omnidirectional wheel 13 pass through The supporting frame 14 is installed on the platform 12 .

The invention provides a new omnidirectional tracked vehicle, which can move in all directions through the cooperation of the vehicle body and omnidirectional wheels, thus reducing the wear on the track; the steering of the track adopts differential steering, and changes the omnidirectional The steering of the wheel; the device can realize the movement of the tracked vehicle in different directions and the rotation of the body through the cooperation between the three crawlers.

When the tracked vehicle walks vertically, the track perpendicular to the direction of motion does not work, only the omnidirectional wheel moves, and the other two tracks move at the same speed. Since the ground gives the friction force of the two tracks in different directions, the friction of the two tracks can be combined. The force is decomposed into horizontal and vertical forces, and the force in the horizontal direction is equal in size and opposite in direction, so it can be canceled out, leaving only the force in the vertical direction. Therefore, the latter two tracks can control the tracked vehicle Walk vertically; when it is necessary to turn left, the speed of the track at the bottom right increases, and at this time, the friction force on the track at the bottom right increases, and the tracked vehicle can be controlled to turn left; due to the outer end surface of the track Omni-directional wheels are installed on the top, therefore, the rotation of the track in different directions can drive the rotation of the omni-directional wheels in different directions, which can reduce the wear on the track.

When the crawler is working, turn on the driving motor, the rotation of the driving motor drives the driving wheel to rotate, and the rotation of the driving wheel drives the driven wheel to rotate through the chain. Since the chain and the intermediate frame slide against each other, the movement of the crawler can be realized, avoiding the chain and the intermediate frame. The middle frame is damaged due to excessive friction between the frames, and omnidirectional wheels are installed on the outer end surface of the track, so the rotation of the track can drive the rotation of the omnidirectional wheel, and when the track is not working, the omnidirectional wheel can also rotate, so that It can prolong the service life of the track; the purpose of setting the fixed frame and the fixed wheel frame is to fix the driving motor and the driven wheel, so as to avoid the influence of the movement of the driving motor and the driven wheel on the track walking; two or three omnidirectional wheels can be set, Even more, take two omnidirectional wheels as an example in this embodiment.

Example 2

The omnidirectional crawler vehicle provided by Embodiment 2 of the present invention is basically the same as Embodiment 1, except that, as shown in FIG. Both sides are provided with at least two grooves 82 parallel to each other, and each groove 82 on the same side is arranged at intervals along the height direction of the side, and each groove 82 is aligned with the transverse centerline of the side. Parallel, the position of each described groove 82 that is respectively arranged on two side faces is arranged one by one, and a plurality of scroll wheel shafts 84 are installed at intervals along the length direction of the described groove 82 in the described groove 82, and each described scroll wheel shaft 84 Roller wheels 83 are all worn on the top.

In the present invention, setting the intermediate frame can increase the load-bearing capacity, and the rolling wheel is arranged on the intermediate frame, and the rolling wheel rotates in the groove through the rolling wheel shaft, so that the rolling wheel can rotate relative to the chain, avoiding the mutual influence between the intermediate frame and the chain ; Since the two sides of the middle frame relative to the chain are in contact with the chain, rolling wheels are installed on both sides of the middle frame, and the positions of the grooves on the two sides correspond to each other; two grooves on the same side can be set , three, or even more, in this embodiment, two grooves are set on the same side as an example.

Example 3

The omnidirectional crawler vehicle provided by Embodiment 3 of the present invention is basically the same as Embodiment 2, except that, as shown in FIG. 92, the longitudinal bracket 91 is fixedly connected to one side end surface of the frame body 81, the horizontal bracket 92 is provided with a mounting hole 93, and the output shaft of the driving motor 7 passes through the mounting hole 93 and the The driving wheel 4 is connected, and the body of the drive motor 7 is fixedly connected with the transverse bracket 92 .

In the present invention, the fixing frame is set in order to fix the driving motor, so as to avoid the influence of the suspended setting of the driving motor on crawler walking, and the output shaft of the driving motor passes through the mounting hole and is fixedly connected with the driving wheel, while the fuselage part of the driving motor is Installed on the horizontal bracket, the vertical bracket and the middle piece are fixedly installed, which can fix both the driving motor and the middle frame, so that the fixing effect is better.

Example 4

The omnidirectional crawler vehicle provided by Embodiment 4 of the present invention is basically the same as Embodiment 3, except that, as shown in FIG. A vertical plate 112, the two vertical plates 112 are arranged symmetrically along the center line of the horizontal plate 111, the horizontal plate 111 is connected to the side end surface of the frame body 81 away from the longitudinal support 91, the two vertical plates 112 Both of them are provided with connecting holes 113, and the positions of the two connecting holes 113 are set correspondingly. The guide wheel shaft 10 passes through the driven wheel 6 and is respectively connected with the two connecting holes 113.

The purpose of setting the fixed wheel frame in the present invention is to fix the driven wheel. The horizontal plate is installed on the intermediate frame, and the horizontal plate and the longitudinal plate are respectively installed on the left and right end faces of the intermediate frame, and the two vertical plates are respectively installed on the driven wheel. The front and rear ends of the front and rear, and the guide wheel shaft is fixedly connected with the connection hole on the longitudinal plate, so that the driven wheel can rotate around the guide wheel shaft, which can better fix the driven wheel and control the driven wheel.

Example 5

The omnidirectional crawler vehicle provided by Embodiment 5 of the present invention is basically the same as Embodiment 1, except that, as shown in FIG. Two chain links 51 and four chain links 52 arranged in parallel, the four chain links 52 are connected to the same side of the link 51 in pairs, and two sets of chain links 52 are arranged oppositely, each group of chain links One of the links 52 is used to connect the two links 51, one end of the other is superimposed on one of the links 51, and the other end is connected to the adjacent link structure, and each link 52 All are perpendicular to the link 51 , and each omnidirectional wheel 13 is parallel to the chain link 52 .

In the present invention, the chain is composed of a plurality of link structures, and each link structure is equipped with a platform, therefore, the reorganization of the track can be realized by disassembling the link structure, and the omnidirectional When you need to add omni-directional wheels, you only need to add the chain link structure, which makes the reorganization of the track easier and saves time.

By setting the link, not only can the disassembly of the chain link structure be simplified, but also the driving wheel and the driven wheel are meshed through the link, so there is no need to set a tooth groove specially used to mesh with the teeth, and the rolling wheel in the groove Sliding is realized relative to the link; the device is reasonable in design, easy to use, and can realize multiple functions at the same time, serving multiple purposes at one stroke.

Example 6

The omnidirectional crawler vehicle provided by Embodiment 6 of the present invention is basically the same as Embodiment 5, except that, as shown in Figure 7, the driving wheel 4 has the same structure as the driven wheel 6, and both include a sprocket 41 and a sprocket 41. The sprocket 41 is fixedly connected to the ring gear 42 , the ring gear 42 is surrounded by a plurality of tooth blocks 43 , and each of the tooth blocks 43 is meshed with the link 51 .

In the present invention, the size and structure of the driving wheel and the driven wheel are the same, and the wheel is divided into a sprocket and a plurality of tooth blocks, and the tooth blocks are meshed with the link to realize the movement of the chain, and the sprocket and the ring gear are separately arranged, which can It is convenient for the replacement of the sprocket, and the ring gear is composed of multiple tooth blocks. When one of the sprocket or tooth blocks fails, only the faulty part needs to be replaced, and it is no longer necessary to replace the entire wheel; the device The setting is more cost-effective.

Example 7

The omnidirectional crawler vehicle provided by Embodiment 7 of the present invention is basically the same as Embodiment 5, the difference is that, as shown in Figure 8 and Figure 9, the link 51 includes a fixed pipe 511, which is arranged in the fixed pipe 511 The telescopic rod 512 and the fixed rod 513 arranged on the fixed pipe 511 away from the end of the telescopic rod 512, the fixed pipe 511 is a hollow structure with one end open, and the telescopic rod 512 is arranged in the fixed pipe 511 and extend outward, and the telescoping rod 512 is formed with threads, the chain link 52 close to the intermediate frame 8 is installed on the fixed rod 513, and the chain link 52 far away from the intermediate frame 8 is installed on the On the telescopic rod 512, the fixed pipe 511 is provided with a lifting mechanism to control the expansion and contraction of the telescopic rod 512. The lifting mechanism includes a worm wheel 514 and a worm 515 that is engaged with the worm wheel 514. The worm wheel 514 is socketed Outside the telescopic rod 512 and screwed to the telescopic rod 512, a bracket 516 is installed at the lower end of the worm wheel 514, and the bracket 516 is installed in the fixed pipe 511 through a rotating shaft 517 away from the opening end. On one end face, the worm 515 is connected with a motor 519 installed on the inner wall of the fixed pipe 511 through a coupling 518, and the platform 12 is installed on the two links 51 of the same link structure.

In the present invention, the elevating mechanism is provided to control the width of the two opposite chain links, and the fixed rod is arranged at one end close to the middle frame. When the width of the two chain links needs to be adjusted, the motor is turned on, and the rotation of the motor passes through The shaft drives the worm to rotate, and the rotation of the worm drives the worm wheel to rotate. Since the worm wheel is screwed to the telescopic rod, the rotation of the worm wheel can control the lifting of the telescopic rod, thereby realizing the adjustment of the width of the two chain links. It is fixed at the bottom of the fixed pipe, and the setting of the rotating shaft can realize the rotation of the worm gear; the device is scientific in design, easy to use, and suitable for widespread use; in this embodiment, because the width of the two chain links can be adjusted, the platform is installed on the On two links of the same link structure.

Example 8

The omnidirectional crawler vehicle provided by Embodiment 8 of the present invention is basically the same as Embodiment 5, except that, as shown in FIG. And the platform 12 is installed on two chain links 52 that are used to connect the two links 51 and are positioned oppositely. A sliding assembly is installed inside, and the sliding assembly includes a base 122 installed at the bottom of the chute 121, a slide rail 123 installed on the base 122, a lead screw 124 installed on the slide rail 123 and two Slider 125, described lead screw 124 passes through two described slide blocks 125, and described lead screw 124 is connected with positive thread of one of described slide block 125, is connected with reverse thread of another described slide block 125, described One end of the lead screw 124 is connected with a rotating motor 126 fixed on the base 122 , and the two supporting frames 14 oppositely positioned front and back are respectively installed on the two sliders 125 .

In the present invention, the sliding assembly is set to adjust the width between the two omnidirectional wheels on the same platform. When the width between the two omnidirectional wheels needs to be adjusted, the motor is turned on, and the rotation of the motor drives the screw to rotate. The lead screws are connected by screw connection, but the screw connection directions are different, so the rotation of the lead screw drives the two sliders to slide in opposite directions on the slide rail, and the support frame is installed on the slider, so the slider slides in the opposite direction. The width between the two omnidirectional wheels on the same platform can be adjusted, and since the two supporting frames for the same omnidirectional wheel are respectively installed on different sliders of two different chute, the screw of the two sliders and the lead screw The direction of connection is the same; positive thread connection and reverse thread connection both indicate the screwing direction of the thread, positive thread indicates that the screwing direction is left-handed or right-handed, and reverse thread indicates that the screwing direction is right-handed or left-handed; in this embodiment, therefore There is no need to adjust the width of the two links on the same link structure, so the platform can be installed on the two links used to connect the two links, of course, the platform can also be installed on the two links of the same link structure, In this embodiment, the platform is preferably installed on two chain links for connecting two links.

Example 9

The omnidirectional tracked vehicle provided by Embodiment 9 of the present invention is basically the same as Embodiment 1, except that, as shown in FIG. The roller 133 on the omnidirectional wheel shaft 131, the two bearings 132 are respectively arranged at the left and right ends of the roller 133, the locking element for locking the roller 133 is installed on the omnidirectional wheel shaft 131, the The locking element includes two chucks 134 arranged in the roller 133, a plurality of blocks 135 arranged on each of the chucks 134, and mounted on the omnidirectional wheel shaft 131 and connected with each of the chucks 134. The connected cylinder 136, each of the clamping blocks 135 is connected to the chuck 134 through a rotating member 137, and each of the chucks 134 is sleeved on the omnidirectional wheel shaft 131, and the cylinder 136 controls the The chuck 134 moves along the omnidirectional wheel shaft 131, and the two chucks 134 move in opposite directions on the omnidirectional wheel shaft 131, and the outer ring of the bearing 132 is provided on the inner side end surface of the roller 133. There is a locking slot 138 corresponding to the locking block 135 .

In this embodiment, the distances between the two chucks 134 and the two bearings 132 are equal, and the initial extension lengths of the two cylinders 136 are also equal.

The purpose of setting the locking element in the present invention is to lock the omnidirectional wheels through the locking bearings. When the crawler vehicle runs vertically on a smooth road surface, the omnidirectional wheels on the two caterpillar belts that are set at an angle to the walking direction will slip , affecting the walking of the crawler vehicle, therefore, when walking on a smooth road, it is necessary to lock the omnidirectional wheel, and control the walking of the crawler vehicle through the track belt; when locking the omnidirectional wheel, open the two cylinders on the omnidirectional wheel at the same time, And the two cylinders work in the opposite direction. The extension of the expansion rod in the cylinder drives the chuck to move towards the bearing until the block on the chuck and the slot on the bearing are locked correspondingly, and the cylinder stops working to avoid high-speed rotation of the bearing. Rotation destroys the clamping block, so a rotating part is provided on the chuck, so that the clamping block is locked with the card slot while rotating; the device is reasonable in design, easy to use, and convenient to realize the function of omnidirectional wheel locking.

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, those skilled in the art may make various modifications to the technical solutions of the present invention. and improvements, all should fall within the scope of protection determined by the claims of the present invention.

Claims (10)

1. a kind of omnidirectional's creeper truck, which is characterized in that pass through connecting shaft (2) and the vehicle body (1) including vehicle body (1) and respectively Three crawler belts (3) of connection, and the axis of three connecting shafts (2) is mutually 120 degree of angles, the connecting shaft (2) and the shoe Band (3) vertical connection；The driven wheel that the crawler belt (3) includes driving wheel (4), is connect with the driving wheel (4) by chain (5) (6), the middle frame (8) for being connected between driving wheel (4) and driven wheel (6) and mutually being slided with the chain (5), the centre Frame (8) is connect with the connecting shaft (2), and the both ends of the middle frame (8) are connected separately with fixed frame (9) and solid wheel carrier (11), The fixed frame (9) is equipped with the driving motor (7) that driving driving wheel (4) rotates, and the driven wheel (6) passes through guiding wheel shaft (10) it is slidably connected on solid wheel carrier (11)；Multiple platforms (12) are installed, on each platform (12) on the chain (5) At least two omni-directional wheels (13) disposed in parallel are installed, the axis direction of each omni-directional wheel (13) is parallel with the chain (5), And the wheel shaft at each omni-directional wheel (13) both ends is mounted on by supporting rack (14) on the platform (12).

2. omnidirectional's creeper truck according to claim 1, which is characterized in that the middle frame (8) includes frame body (81), described Frame body (81) is equipped at least two grooves (82) being mutually parallel on the two sides relative to the chain (5), on same side Each groove (82) along the short transverse interval of place side be arranged, and each groove (82) with place side Cross central line is parallel, and each groove (82) position for being respectively arranged on two sides is arranged in a one-to-one correspondence, in the groove (82) Multiple rolling shafts (84) are installed along the length direction interval of the groove (82), are worn on each rolling shaft (84) There is scroll wheel (83).

3. omnidirectional's creeper truck according to claim 2, which is characterized in that the fixed frame (9) includes longitudinal carrier (91) And with the longitudinal carrier (91) horizontal support connected vertically (92), the longitudinal carrier (91) and the frame body (81) One side end face is fixedly connected, and the horizontal support (92) is equipped with mounting hole (93), and the output shaft of the driving motor (7) passes through The mounting hole (93) connect with the driving wheel (4), and the fuselage and the horizontal support (92) of the driving motor (7) are fixed Connection.

4. omnidirectional's creeper truck according to claim 3, which is characterized in that the solid wheel carrier (11) include transverse slat (111) with And with the transverse slat (111) two stringer board (112) connected vertically, center line of two stringer boards (112) along the transverse slat (111) It is symmetrical arranged, the transverse slat (111) connect with the side end face far from longitudinal carrier (91) on the frame body (81), and two is described vertical Connecting hole (113) is equipped on plate (112), and two connecting hole (113) positions are correspondingly arranged, the guiding wheel shaft (10) is worn The driven wheel (6) is crossed to connect with two connecting holes (113) respectively.

5. omnidirectional's creeper truck according to claim 1, which is characterized in that the chain (5) by multiple articulated connections chain Section structure forms, and the link configuration includes two links (51) and 4 chain links (52) disposed in parallel, 4 chain links (52) it is one group of the same side for being connected to the link (51) two-by-two, and two groups of chain link (52) positions are oppositely arranged, every group of chain link (52) for connecting two links (51) one of in, another one end superposition connects a link wherein (51) on, the other end is connect with adjacent link configuration, and each chain link (52) is vertical with the link (51), each described Omni-directional wheel (13) is parallel with the chain link (52).

6. omnidirectional's creeper truck according to claim 5, which is characterized in that the structure of the driving wheel (4) and driven wheel (6) Equally, the gear ring (42) for including sprocket wheel (41) and being fixedly connected with the sprocket wheel (41), the gear ring (42) is by multiple teeth Block (43), which encloses, to be set, and each tooth block (43) engages connection with the link (51).

7. omnidirectional's creeper truck according to claim 5, which is characterized in that the link (51) include fixed pipe fitting (511), Telescopic rod (512) in the fixed pipe fitting (511) and the separate telescopic rod on the fixed pipe fitting (511) (512) fixed link (513) of one end, the fixed pipe fitting (511) are the hollow-core construction of one end open, the telescopic rod (512) In the fixed pipe fitting (511) and extend outwardly, and screw thread is formed on the telescopic rod (512), close to the centre The chain link (52) of frame (8) is mounted in the fixed link (513), and the chain link (52) far from the middle frame (8) is mounted on It is equipped on the telescopic rod (512), in the fixed pipe fitting (511) and controls the flexible elevating mechanism of the telescopic rod (512), institute It includes worm gear (514) and the worm screw (515) with the worm gear (514) fit engagement, worm gear (514) socket to state elevating mechanism The telescopic rod (512) outside, and be spirally connected with the telescopic rod (512), and the worm gear (514) lower end is equipped with holder (516), the holder (516) is mounted in the fixed pipe fitting (511) one far from the open end by rotary shaft (517) On side end face, the worm screw (515) is connected with the electricity on fixed pipe fitting (511) inner wall by shaft coupling (518) Machine (519), and the platform (12) is mounted on two links (51) of same link configuration.

8. omnidirectional's creeper truck according to claim 5, which is characterized in that platform (12) described in platform (12) upper edge Length direction is equipped at intervals with two sliding slots (121), and the platform (12) is mounted on for connecting two link (51) and the positions On two chain links (52) being oppositely arranged, two sliding slots (121) are vertically arranged with the omni-directional wheel (13), each sliding slot (121) slide assemblies are mounted in, the slide assemblies include the pedestal (122) for being mounted on the sliding slot (121) bottom, peace Sliding rail (123) and the leading screw (124) being installed on the sliding rail (123) on the pedestal (122) and two sliding blocks (125), the leading screw (124) passes through two sliding blocks (125), and the leading screw (124) and wherein one sliding block (125) are just It is threadedly coupled, is connect with another sliding block (125) left-hand thread, one end of the leading screw (124), which is connected with, is fixed on the bottom Electric rotating machine (126) on seat (122), two support frames as described above (14) being oppositely arranged before and after position are separately mounted to two cunnings On block (125).

9. omnidirectional's creeper truck according to claim 1, which is characterized in that the omni-directional wheel (13) includes omnidirectional's wheel shaft (131) and by two bearings (132) idler wheel (133) on omnidirectional's wheel shaft (131), two bearings are socketed in (132) left and right ends of the idler wheel (133) are respectively arranged on, are equipped on omnidirectional's wheel shaft (131) for being rolled described in locking The locking element of (133) is taken turns, the locking element includes two chucks (134) being set in the idler wheel (133), set on each described Multiple fixture blocks (135) on chuck (134) and be installed on omnidirectional's wheel shaft (131) and with each chuck (134) even The cylinder (136) connect, each fixture block (135) are connected to by rotating member (137) on the chuck (134), each card Disk (134) is sheathed on omnidirectional's wheel shaft (131), and the cylinder (136) controls the chuck (134) along the omni-directional wheel Axis (131) is mobile, and two chucks (134) are moved in opposite direction on omnidirectional's wheel shaft (131), the bearing (132) outer ring is equipped with the card slot of locking corresponding with the fixture block (135) close to the internal side end face of the idler wheel (133) (138)。

10. omnidirectional's creeper truck according to claim 9, which is characterized in that two chucks (134) and two bearings The distance between (132) it is equal, and the initial extension elongation of two cylinders (136) is also equal.