CN109398516A - A kind of crawler attachment - Google Patents

A kind of crawler attachment Download PDF

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Publication number
CN109398516A
CN109398516A CN201811530163.5A CN201811530163A CN109398516A CN 109398516 A CN109398516 A CN 109398516A CN 201811530163 A CN201811530163 A CN 201811530163A CN 109398516 A CN109398516 A CN 109398516A
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China
Prior art keywords
wheel
crawler
guide
limit
along
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CN201811530163.5A
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CN109398516B (en
Inventor
许华旸
赵亮
姜雨
王志超
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Ningbo Shihe Ruishi Environmental Protection Technology Co ltd
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Ningbo Shihe Robot Technology Co Ltd
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Priority to CN201811530163.5A priority Critical patent/CN109398516B/en
Publication of CN109398516A publication Critical patent/CN109398516A/en
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Publication of CN109398516B publication Critical patent/CN109398516B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
    • B62D55/0847—Track blocking devices mounted on the frame; Track guides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

本发明涉及一种履带装置，包括：固定板、主动轮、从动轮、限位轮组和履带件，主动轮、从动轮和限位轮组均转动连接在固定板上，履带件套设在主动轮、从动轮和限位轮组上；履带件内表面上形成有多个啮合单元，多个啮合单元沿履带件的长度方向间隔设置，且相邻两个啮合单元之间形成第一设定间距，各啮合单元上均形成有导向槽，各啮合单元的导向槽沿履带件的长度方向形成导向通道；限位轮组位于主动轮和从动轮之间，限位轮组包括导向轮，导向轮用于在导向通道内滚动，以与啮合单元配合限制履带件沿导向轮的轴向移动。本发明可以防止履带件与主动轮和从动轮之间发生偏离，从而有效防止履带件的脱落，提高了履带装置使用的可靠性。

The invention relates to a crawler track device, comprising: a fixed plate, a driving wheel, a driven wheel, a limit wheel set and a crawler track piece. The driving wheel, the driven wheel and the limit wheel set are all rotatably connected on the fixed board, and the crawler track piece is sleeved on the fixed board. On the driving wheel, the driven wheel and the limit wheel set; a plurality of meshing units are formed on the inner surface of the crawler, and the plurality of meshing units are arranged at intervals along the length direction of the crawler, and a first device is formed between two adjacent meshing units. Each meshing unit is formed with a guide groove, and the guide groove of each meshing unit forms a guide channel along the length direction of the crawler; the limit wheel set is located between the driving wheel and the driven wheel, and the limit wheel set includes a guide wheel, The guide wheel is used for rolling in the guide channel, so as to cooperate with the meshing unit to limit the axial movement of the track piece along the guide wheel. The invention can prevent the deviation between the crawler track piece and the driving wheel and the driven wheel, thereby effectively preventing the crawler track piece from falling off and improving the reliability of the crawler device in use.

Description

A kind of crawler attachment
Technical field
The present invention relates to walking arrangement technology more particularly to a kind of crawler attachments.
Background technique
With the high speed development of modern society and science and technology, creeper truck is just increasingly used in various complicated rings Border, especially in the various fields such as hazardous environment monitoring, zone of ignorance detection, planetary detection, rescue search, explosive, creeper truck It can replace worker and execute and have dangerous work.
Existing creeper truck includes crawler attachment, and crawler attachment includes driving wheel, driven wheel, carrying roller and track member, master Driving wheel and driven wheel are engaged with track member, and carrying roller plays a supporting role to track member between driving wheel and driven wheel.
However existing crawler attachment, in walking and steering procedure, track member can generate deformation, to be easy to make crawler belt Part and driving wheel, driven wheel deviate between carrying roller, cause falling off for track member, and reduce that crawler attachment uses can By property.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of crawler attachment, to improve the reliability that crawler attachment uses.
A kind of crawler attachment, comprising: fixed plate, driving wheel, driven wheel, position-limited wheel group and track member, the driving wheel, from Driving wheel and position-limited wheel group are rotatably connected in the fixed plate, and the track member is set in the driving wheel, driven wheel and limit In the wheel group of position；Multiple engaging elements are formed on the track member inner surface, multiple engaging elements are along the track member The setting of length direction interval, and the first setting spacing is formed between the two neighboring engaging element, on each engaging element It is each formed with guide groove, the guide groove of each engaging element forms guide channel along the length direction of the track member, described Driving wheel and driven wheel are meshed for driving the track member to operate with the engaging element；The position-limited wheel group is located at described Between driving wheel and driven wheel, the position-limited wheel group includes directive wheel, and the directive wheel is used to roll in the guide channel, To limit the track member along the axial movement of the directive wheel with engaging element cooperation.
Crawler attachment of the invention, when driving driving wheel rotation, driving wheel passes through the engaging element being engaged with and drives Track member operating.In crawler attachment walking and steering procedure, the directive wheel of position-limited wheel group is in each engaging element along shoe always In the guide channel that strips length direction is formed, from there through directive wheel and engaging element cooperation limitation track member along directive wheel Axial movement, prevents from deviateing between track member and driving wheel and driven wheel, to effectively prevent falling off for track member, improves The reliability that crawler attachment uses.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is front view of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is the structural schematic diagram of position-limited wheel group of the present invention.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.It should be appreciated, however, that the offer of attached drawing is only For a better understanding of the present invention, they should not be interpreted as limitation of the present invention.
As shown in Figure 1 and Figure 2, crawler attachment provided in an embodiment of the present invention, comprising: fixed plate 1, driving wheel 2, driven wheel 3, position-limited wheel group 4 and track member 5, driving wheel 2, driven wheel 3 and position-limited wheel group 4 are rotatably connected in fixed plate 1, track member 5 It is set in driving wheel 2, driven wheel 3 and position-limited wheel group 4；Multiple engaging elements 51 are formed on 5 inner surface of track member, it is multiple to nibble It closes unit 51 to be arranged along the length direction interval of track member 5, and forms the first setting spacing between two neighboring engaging element 51, Each engaging element 51 has been respectively formed on guide groove, and the guide groove of each engaging element 51 forms guiding along the length direction of track member 5 Channel, driving wheel 2 and driven wheel 3 are meshed for driving track member 5 to operate with engaging element 51；Position-limited wheel group 4 is located at actively Between wheel 2 and driven wheel 3, position-limited wheel group 4 includes directive wheel 43, directive wheel 43 for being rolled in guide channel, with engage Axial movement of the cooperation of the unit 51 limitation track member 5 along directive wheel 43.
Crawler attachment in the present embodiment, when driving driving wheel 2 to rotate, driving wheel 2 passes through the engagement list being engaged with Member 51 drives track member 5 to operate.In crawler attachment walking and steering procedure, the directive wheel 43 of position-limited wheel group 4 is always in each Engaging element 51 cooperates along the guide channel that 5 length direction of track member is formed from there through directive wheel 43 and engaging element 51 Track member 5 is limited along the axial movement of directive wheel 43, prevents from deviateing between track member 5 and driving wheel 2 and driven wheel 3, from And it is effectively prevent falling off for track member 5, improve the reliability that crawler attachment uses.
In the above-described embodiments, it is preferred that engaging element 51 includes multiple engaging tooths, and multiple engaging tooths are along track member 5 Width direction interval is arranged, and forms guide groove between two neighboring engaging tooth.Thus, it is possible to mitigate the weight of track member 5, realize The lightweight of crawler attachment and be conducive to reduce guide groove difficulty of processing.
In the above-described embodiments, it is preferred that position-limited wheel group 4 includes: frame body 41；Position-limited wheel 42, position-limited wheel are two, two limits Position wheel 42 is parallel and is arranged along the width direction interval of track member 5, and two position-limited wheels 42 are connected by transmission shaft 44 and the rotation of frame body 41 It connects；Directive wheel 43 is located between two position-limited wheels 42 and is rotatablely connected with frame body 41；It is formed between position-limited wheel 42 and directive wheel 43 Second setting spacing so that engaging tooth can by passing through between position-limited wheel 42 and directive wheel 43, position-limited wheel 42 and directive wheel 43 with nibble Tooth cooperation is closed to limit track member 5 along the axial movement of directive wheel 43.As a result, two position-limited wheels 42 respectively with 43 two sides of directive wheel Engaging tooth and the directive wheel 43 rolled in guide channel triple mating reactions under, the operating of track member 5 can be made more For stabilization, even if advancing or dropping in rugged complex environment, track member 5 will not be with driving wheel 2 and driven Occur to deviate and fall off between wheel 3.
In the above-described embodiments, it is preferred that directive wheel 43 is multiple, length direction of multiple directive wheels 43 along track member 5 Interval setting.Thus, it is possible to more effectively axial movement of the limitation track member 5 along directive wheel 43.
In the above-described embodiments, it is preferred that the first setting spacing is less than the diameter of position-limited wheel 42 and directive wheel 43.As a result, It can prevent position-limited wheel 42 and directive wheel 43 from passing through from the first setting spacing, thus during crawler attachment operation always Cooperate with engaging tooth to limit track member 5 along the axial movement of directive wheel 43.
In the above-described embodiments, it is preferred that 5 inner surface of track member is additionally provided with defining flange 52, and defining flange 52 is along crawler belt The length direction of part 5 extends and is located between engaging tooth and position-limited wheel 42, and defining flange 52 is used to cooperate with position-limited wheel 42 to limit Axial movement of the track member 5 processed along directive wheel 43.Limit can be reduced by the cooperation of defining flange 52 and position-limited wheel 42 as a result, Contact and friction between wheel 42 and engaging tooth, thus to engaging tooth shape at protection.
In the above-described embodiments, it is preferred that the crawler attachment further includes vibration absorber 9, and vibration absorber 9 includes: connecting plate 91, extend along the length direction of track member 5 and is connect with transmission shaft 44；Limit plate 92, the length direction along track member 5 extend simultaneously It is mounted in fixed plate 1；Shock-absorbing spring 93, shock-absorbing spring 93 are arranged along the short transverse of track member 5 and are folded in connecting plate 91 Between limit plate 92.When encountering barrier, track member 5 is lifted up as a result, and position-limited wheel 42 can be lifted with track member 5 It rises, and power effect is let out by the realization of shock-absorbing spring 93, so that the track member contacted with position-limited wheel 42 5 be made to paste completely with ground It closes, guarantees the contact area of crawler attachment and ground, improve the stability that crawler attachment is advanced.
In the above-described embodiments, it is preferred that gib block hole 11 is offered in fixed plate 1, gib block hole 11 is along track member 5 Short transverse setting, transmission shaft 44 are threaded through in gib block hole 11 and can slide along gib block hole 11.As a result, in gib block hole Under 11 guiding role, the movement of transmission shaft 44 can be made more accurate, stable.
In the above-described embodiments, it is preferred that position-limited wheel group 4 is multiple groups, and multiple groups position-limited wheel group 4 is located at the bottom of track member 5 And be arranged along the length direction interval of track member 5, the transmission shaft 44 of multiple groups position-limited wheel group 4 is connect with connecting plate 91.As a result, may be used More effectively to limit track member 5 along the axial movement of position-limited wheel group 4, to further prevent falling off for track member 5.
In the above-described embodiments, it is preferred that the crawler attachment further includes driving mechanism 6, and driving mechanism 6 includes: motor 61, It is mounted in fixed plate 1；First sprocket wheel 64, is mounted on the output shaft of motor reducer 62；Second sprocket wheel 65 is mounted on actively On wheel shaft 21；Chain 66 is set on the first sprocket wheel 64 and the second sprocket wheel 65.Thus, it is possible to which 61 driving force of motor is passed through chain Wheel chain transminssion mechanism is efficiently transferred on driving wheel 2, to improve the stability of crawler attachment traveling.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft etc. are all It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude Except protection scope of the present invention.

Claims (10)

1.一种履带装置，其特征在于，包括：固定板(1)、主动轮(2)、从动轮(3)、限位轮组(4)和履带件(5)，所述主动轮(2)、从动轮(3)和限位轮组(4)均转动连接在所述固定板(1)上，所述履带件(5)套设在所述主动轮(2)、从动轮(3)和限位轮组(4)上；1. A crawler device, characterized in that it comprises: a fixed plate (1), a driving wheel (2), a driven wheel (3), a limit wheel set (4) and a track member (5), the driving wheel ( 2) Both the driven wheel (3) and the limiting wheel set (4) are rotatably connected to the fixed plate (1), and the crawler member (5) is sleeved on the driving wheel (2), the driven wheel ( 3) and the limit wheel set (4); 所述履带件(5)内表面上形成有多个啮合单元(51)，多个所述啮合单元(51)沿所述履带件(5)的长度方向间隔设置，且相邻两个所述啮合单元(51)之间形成第一设定间距，各所述啮合单元(51)上均形成有导向槽，各所述啮合单元(51)的导向槽沿所述履带件(5)的长度方向形成导向通道，所述主动轮(2)和从动轮(3)与所述啮合单元(51)相啮合用于带动所述履带件(5)运转；A plurality of engaging units (51) are formed on the inner surface of the crawler member (5), and the plurality of engaging units (51) are arranged at intervals along the length direction of the crawler member (5), and two adjacent ones of the A first set distance is formed between the engaging units (51), each of the engaging units (51) is formed with a guide groove, and the guide groove of each of the engaging units (51) is along the length of the crawler member (5). A guide channel is formed in the direction, and the driving wheel (2) and the driven wheel (3) are engaged with the meshing unit (51) to drive the track member (5) to run; 所述限位轮组(4)位于所述主动轮(2)和从动轮(3)之间，所述限位轮组(4)包括导向轮(43)，所述导向轮(43)用于在所述导向通道内滚动，以与所述啮合单元(51)配合限制所述履带件(5)沿所述导向轮(43)的轴向移动。The limiting wheel set (4) is located between the driving wheel (2) and the driven wheel (3), the limiting wheel set (4) includes a guide wheel (43), and the guide wheel (43) is used for It rolls in the guide channel to cooperate with the meshing unit (51) to restrict the movement of the crawler track member (5) along the axial direction of the guide wheel (43). 2.根据权利要求1所述的履带装置，其特征在于，所述啮合单元(51)包括多个啮合齿，多个所述啮合齿沿所述履带件(5)的宽度方向间隔设置，相邻两个所述啮合齿之间形成所述导向槽。2 . The crawler track device according to claim 1 , wherein the meshing unit ( 51 ) comprises a plurality of meshing teeth, and a plurality of the meshing teeth are arranged at intervals along the width direction of the crawler member ( 5 ), and are opposite to each other. 3 . The guide groove is formed between two adjacent meshing teeth. 3.根据权利要求2所述的履带装置，其特征在于，所述限位轮组(4)还包括：3. The crawler device according to claim 2, wherein the limiting wheel set (4) further comprises: 架体(41)；frame body (41); 限位轮(42)，所述限位轮为两个，两所述限位轮(42)平行并沿所述履带件(5)的宽度方向间隔设置，两所述限位轮(42)通过传动轴(44)与所述架体(41)转动连接；Limiting wheels (42), there are two limiting wheels, the two limiting wheels (42) are parallel and are arranged at intervals along the width direction of the crawler member (5), the two limiting wheels (42) The frame body (41) is rotatably connected through the transmission shaft (44); 所述导向轮(43)位于两个所述限位轮(42)之间并与所述架体(41)转动连接；The guide wheel (43) is located between the two limit wheels (42) and is rotatably connected with the frame body (41); 所述限位轮(42)和导向轮(43)之间形成第二设定间距以使所述啮合齿能够由所述限位轮(42)和导向轮(43)之间通过，所述限位轮(42)和导向轮(43)与所述啮合齿配合以限制所述履带件(5)沿所述导向轮(43)的轴向移动。A second set distance is formed between the limit wheel (42) and the guide wheel (43) so that the meshing teeth can pass between the limit wheel (42) and the guide wheel (43), the A limit wheel (42) and a guide wheel (43) cooperate with the meshing teeth to limit the axial movement of the track member (5) along the guide wheel (43). 4.根据权利要求3所述的履带装置，其特征在于，所述导向轮(43)为多个，多个所述导向轮(43)沿所述履带件(5)的长度方向间隔设置。The crawler device according to claim 3, characterized in that there are a plurality of the guide wheels (43), and the plurality of the guide wheels (43) are arranged at intervals along the length direction of the crawler member (5). 5.根据权利要求3所述的履带装置，其特征在于，所述第一设定间距小于所述限位轮(42)和导向轮(43)的直径。5 . The crawler device according to claim 3 , wherein the first set distance is smaller than the diameters of the limiting wheel ( 42 ) and the guide wheel ( 43 ). 6 . 6.根据权利要求3所述的履带装置，其特征在于，所述履带件(5)内表面还设有限位凸缘(52)，所述限位凸缘(52)沿所述履带件(5)的长度方向延伸并位于所述啮合齿和限位轮(42)之间，所述限位凸缘(52)用于与所述限位轮(42)配合以限制所述履带件(5)沿所述导向轮(43)的轴向移动。6 . The crawler device according to claim 3 , wherein a limit flange ( 52 ) is further provided on the inner surface of the crawler member ( 5 ), and the limit flange ( 52 ) extends along the crawler member ( 6 . 5) extends in the length direction and is located between the engaging teeth and the limit wheel (42), and the limit flange (52) is used to cooperate with the limit wheel (42) to limit the track member ( 5) Move along the axial direction of the guide wheel (43). 7.根据权利要求3所述的履带装置，其特征在于，该履带装置还包括减振装置(9)，所述减振装置(9)包括：7. The crawler device according to claim 3, characterized in that, the crawler device further comprises a vibration damping device (9), the vibration damping device (9) comprising: 连接板(91)，沿所述履带件(5)的长度方向延伸并与所述传动轴(44)连接；a connecting plate (91), which extends along the length direction of the crawler member (5) and is connected with the transmission shaft (44); 限位板(92)，沿所述履带件(5)的长度方向延伸并安装在所述固定板(1)上；A limit plate (92), extending along the length direction of the crawler member (5) and mounted on the fixing plate (1); 减振弹簧(93)，所述减振弹簧(93)沿所述履带件(5)的高度方向设置并夹设在所述连接板(91)与限位板(92)之间。A damping spring (93) is provided along the height direction of the crawler member (5) and sandwiched between the connecting plate (91) and the limiting plate (92). 8.根据权利要求7所述的履带装置，其特征在于，所述固定板(1)上开设有导向条孔(11)，所述导向条孔(11)沿所述履带件(5)的高度方向设置，所述传动轴(44)穿设在所述导向条孔(11)内并能够沿所述导向条孔(11)滑动。8 . The crawler track device according to claim 7 , wherein a guide bar hole ( 11 ) is formed on the fixing plate ( 1 ), and the guide bar hole ( 11 ) is along the direction of the track member ( 5 ). 9 . The height direction is arranged, and the transmission shaft (44) is penetrated in the guide bar hole (11) and can slide along the guide bar hole (11). 9.根据权利要求7所述的履带装置，其特征在于，所述限位轮组(4)为多组，多组所述限位轮组(4)位于所述履带件(5)的底部并沿所述履带件(5)的长度方向间隔设置，多组所述限位轮组(4)的传动轴(44)均与所述连接板(91)连接。9 . The crawler device according to claim 7 , wherein the limiting wheel sets ( 4 ) are multiple sets, and the multiple sets of the limiting wheel sets ( 4 ) are located at the bottom of the crawler track member ( 5 ). 10 . and are arranged at intervals along the length direction of the crawler member (5), and the transmission shafts (44) of the plurality of sets of the limiting wheel sets (4) are all connected with the connecting plate (91). 10.根据权利要求1-9中任一所述的履带装置，其特征在于，该履带装置还包括驱动机构(6)，所述驱动机构(6)包括：10. The crawler device according to any one of claims 1-9, characterized in that, the crawler device further comprises a driving mechanism (6), the driving mechanism (6) comprising: 电机(61)，安装在所述固定板(1)上；a motor (61), mounted on the fixing plate (1); 第一链轮(64)，安装在所述电机减速器(62)的输出轴上；a first sprocket (64), mounted on the output shaft of the motor reducer (62); 第二链轮(65)，安装在所述主动轮轴(21)上；a second sprocket (65), mounted on the drive axle (21); 链条(66)，套设在所述第一链轮(64)和第二链轮(65)上。A chain (66) is sleeved on the first sprocket (64) and the second sprocket (65).
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US11364959B1 (en) * 2021-12-27 2022-06-21 Amos Power, Inc. Modular robotic vehicle
US11547035B1 (en) 2022-05-24 2023-01-10 Amos Power, Inc. Lift assist for an electrically driven hitch on an robotic vehicle
USD1014573S1 (en) 2022-04-01 2024-02-13 Amos Power, Inc. Removable track unit for a robotic vehicle
USD1014569S1 (en) 2022-04-01 2024-02-13 Amos Power, Inc. Robotic vehicle

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