CN104443086A - Hydraulic telescopic transformable crawler wheel - Google Patents
Hydraulic telescopic transformable crawler wheel Download PDFInfo
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- CN104443086A CN104443086A CN201410749561.1A CN201410749561A CN104443086A CN 104443086 A CN104443086 A CN 104443086A CN 201410749561 A CN201410749561 A CN 201410749561A CN 104443086 A CN104443086 A CN 104443086A
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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
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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
- B62D55/14—Arrangement, location, or adaptation of rollers
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Abstract
本发明公开一种液压伸缩变形履带车轮，履带、液压支撑架和三个支撑轮；第二支撑轮与第三支撑轮的之间通过伸缩杆连接，第二支撑轮与第三支撑轮的之间通过液压伸缩杆连接，液压伸缩杆与第二支撑轮与第三支撑轮之间分别安装一橡胶块本发明的有益效果是：液压支撑架包括支撑液压缸体和三个液压杆组成形成一个圆，这种圆形履带轮结构优点是行驶速度快，适合干燥的路面行驶，当通过收缩液压支撑架，同时第二支撑轮与第三支撑轮由于液压伸缩杆伸展支撑轮之间的距离，使得行走轮成三角形状，这种履带的结构的触地面积大，适合在较为泥泞的场所行驶。
The invention discloses a hydraulic telescopic deformable crawler wheel, a crawler belt, a hydraulic support frame and three support wheels; the second support wheel and the third support wheel are connected by a telescopic rod; They are connected by a hydraulic telescopic rod, and a rubber block is respectively installed between the hydraulic telescopic rod and the second support wheel and the third support wheel. Round, the advantage of this circular track wheel structure is that it is fast and suitable for driving on dry roads. When the hydraulic support frame is contracted, the distance between the second support wheel and the third support wheel is extended due to the hydraulic telescopic rod. The traveling wheels are made into a triangular shape, and the crawler structure has a large contact area, which is suitable for driving in relatively muddy places.
Description
技术领域 technical field
本发明涉及一种液压伸缩变形履带车轮。 The invention relates to a hydraulic telescopic deformable crawler wheel.
背景技术 Background technique
履带轮是为了更好的适应近代各种车辆对高通过性与高机动性等苛刻性能的要求， 融合了轮胎与履带行走机构的优点而研发的新型行走机构，目前的履带轮一般是三角履带轮或者长条式的履带轮，目前的这几种履带轮都不具备变形或者相互转换的特点。 The track wheel is a new type of running mechanism developed by combining the advantages of tires and track running mechanisms in order to better meet the demanding performance requirements of various modern vehicles for high passability and high mobility. The current track wheels are generally triangular track wheels. Wheels or long track wheels, the current types of track wheels do not have the characteristics of deformation or mutual conversion.
发明内容 Contents of the invention
针对上述现有技术存在的问题，本发明提供一种液压伸缩变形履带车轮，能够快递的变形，适合不同地形和场合使用。 Aiming at the above-mentioned problems in the prior art, the present invention provides a hydraulic telescopic deformable crawler wheel, which can be deformed expressly and is suitable for use in different terrains and occasions.
为了实现上述目的，本发明采用的技术方案是：一种可变形的履带车轮包括：履带以及用于支撑履带的液压支撑架和三个支撑轮； In order to achieve the above object, the technical solution adopted by the present invention is: a deformable crawler wheel includes: a crawler and a hydraulic support frame for supporting the crawler and three support wheels;
所述的液压支撑架包括支撑液压缸体和安装在支撑液压缸体上的三个液压杆组成，液压杆的端部均置有与履带的内齿啮合的圆弧齿片，圆弧齿片以及三个转角齿轮与履带啮合，并形成一个圆，三个支撑轮通过连杆铰接，其中第二支撑轮与第三支撑轮的之间通过伸缩杆连接， 第二支撑轮与第三支撑轮的之间通过液压伸缩杆连接，液压伸缩杆与第二支撑轮与第三支撑轮之间分别安装一橡胶块。 The hydraulic support frame consists of a supporting hydraulic cylinder block and three hydraulic rods installed on the supporting hydraulic cylinder block. The ends of the hydraulic rods are equipped with arc gears that mesh with the internal teeth of the track. And the three corner gears mesh with the track and form a circle. The three support wheels are hinged through connecting rods, and the second support wheel and the third support wheel are connected by telescopic rods. The second support wheel and the third support wheel The two are connected by a hydraulic telescopic rod, and a rubber block is respectively installed between the hydraulic telescopic rod and the second support wheel and the third support wheel.
进一步，所述的支撑液压缸体的内侧中心设有一内陷锥齿； Further, the inner center of the supporting hydraulic cylinder is provided with an inset bevel tooth;
第一齿轮与第二齿轮通过链条传动连接； The first gear and the second gear are connected through a chain drive;
第二齿轮与液压支撑架的支撑液压缸体通过液压输油空心轴连接，转换轴套于液压输油空心轴上，使得转换轴能够液压伸缩运动；第二齿轮的中心也具有一内陷锥齿； The second gear is connected to the supporting hydraulic cylinder block of the hydraulic support frame through the hydraulic oil delivery hollow shaft, and the conversion shaft is sleeved on the hydraulic oil delivery hollow shaft, so that the conversion shaft can be hydraulically telescopic; the center of the second gear also has a recessed cone tooth;
转换轴的一端具有能够与第二齿轮和支撑液压缸体的内陷锥齿相互啮合的双面锥齿，转角齿轮通过传动轴与第一齿轮连接。 One end of the conversion shaft has double-sided bevel teeth capable of meshing with the second gear and the sunken bevel teeth supporting the hydraulic cylinder block, and the corner gear is connected with the first gear through the transmission shaft.
进一步的改进，由第一齿轮、第二齿轮和链条组成的外驱动装置的外侧还安装有限位杆。 As a further improvement, a limiting rod is installed on the outer side of the outer driving device composed of the first gear, the second gear and the chain.
进一步的改进，液压支撑架的支撑液压缸体与液压输油空心轴之间为转动副连接方式，内部有橡胶密封圈。 As a further improvement, the supporting hydraulic cylinder body of the hydraulic support frame and the hydraulic oil delivery hollow shaft are connected by a rotating pair, and there is a rubber sealing ring inside.
本发明的有益效果是：所述的液压支撑架包括支撑液压缸体和安装在支撑液压缸体上的三个液压杆组成，液压杆的端部均置有与履带的内齿啮合的圆弧齿片，圆弧齿片与三个转角齿轮与履带啮合，并形成一个圆，这种圆形履带轮结构优点是行驶速度快，适合干燥的路面行驶，当通过收缩液压支撑架，同时第二支撑轮与第三支撑轮之间连接的液压伸缩杆通过液压伸长，加大第二支撑轮与第三支撑轮之间的距离，使得行走轮成一个钝角三角形状，这种履带的结构的触地面积大，适合在较为泥泞的场所行驶，液压伸缩杆与第二支撑轮与第三支撑轮之间分别安装一橡胶块，用于减振。 The beneficial effects of the present invention are: the hydraulic support frame is composed of a supporting hydraulic cylinder block and three hydraulic rods installed on the supporting hydraulic cylinder block, and the ends of the hydraulic rods are provided with circular arcs meshing with the internal teeth of the crawler belt The tooth piece, the circular arc tooth piece and the three corner gears mesh with the track and form a circle. The advantage of this circular track wheel structure is that it travels fast and is suitable for driving on dry roads. When the hydraulic support frame is contracted, the second The hydraulic telescopic rod connected between the support wheel and the third support wheel is hydraulically extended to increase the distance between the second support wheel and the third support wheel, so that the walking wheel forms an obtuse triangle shape. The structure of this track is The ground contact area is large, which is suitable for driving in relatively muddy places. A rubber block is respectively installed between the hydraulic telescopic rod and the second support wheel and the third support wheel for vibration reduction.
附图说明 Description of drawings
图1是本发明外轮结构图。 Fig. 1 is the structural diagram of the outer wheel of the present invention.
图2是本发明主体结构图。 Fig. 2 is a structural diagram of the main body of the present invention.
图3是本发明主图拆分图。 Fig. 3 is an exploded view of the main diagram of the present invention.
图4是转换轴的结构图。 Fig. 4 is a structural diagram of a conversion shaft.
图5是车轮呈三角形的结构图。 Fig. 5 is a structural diagram of a triangular wheel.
图6是车轮呈圆形时支撑轮的状态图。 Fig. 6 is a state view of the support wheel when the wheel is circular.
图7是本发明没有履带的结构图。 Fig. 7 is a structural diagram of the present invention without crawlers.
图中：1、履带，2、圆弧齿片，3、液压支撑架，4、转换轴， 6、液压伸缩杆，7、第一支撑轮，8、第二支撑轮，9、第三支撑轮，10、第二齿轮，11、第一齿轮，12、传动轴，13、，14、链条，15、限位杆，16、内陷锥齿。 In the figure: 1. Caterpillar, 2. Arc gear, 3. Hydraulic support frame, 4. Conversion shaft, 6. Hydraulic telescopic rod, 7. First support wheel, 8. Second support wheel, 9. Third support Wheel, 10, the second gear, 11, the first gear, 12, transmission shaft, 13,, 14, chain, 15, limit rod, 16, recessed bevel teeth.
具体实施方式 Detailed ways
下面结合附图对本发明作进一步说明。 The present invention will be further described below in conjunction with accompanying drawing.
如图1和图2所示，本发明包括：履带1以及用于支撑履带的液压支撑架3和第一支撑轮7、第二支撑轮8、第三支撑轮9，所述的第一支撑轮7、第二支撑轮8、第三支撑轮9均为可转动的转角齿轮。 As shown in Fig. 1 and Fig. 2, the present invention includes: a track 1, a hydraulic support frame 3 for supporting the track, a first support wheel 7, a second support wheel 8, and a third support wheel 9. The first support wheel Wheel 7, the second supporting wheel 8, and the third supporting wheel 9 are all rotatable corner gears.
液压支撑架3包括支撑液压缸体和安装在支撑液压缸体上的三个液压杆组成，液压杆的端部均置有与履带1的内齿啮合的圆弧齿片2，圆弧齿片2以及第一支撑轮7、第二支撑轮8、第三支撑轮9均与履带啮合，并形成一个圆，第一支撑轮7与第二支撑轮8以及第一支撑轮7与第三支撑轮9中间通过连杆铰接，如图6所示，第二支撑轮8与第三支撑轮9的之间通过伸缩杆连接， 第二支撑轮8与第三支撑轮9的之间通过液压伸缩杆连接，液压伸缩杆6与第二支撑轮8与第三支撑轮9之间分别安装一橡胶块用于减振。 The hydraulic support frame 3 consists of a supporting hydraulic cylinder block and three hydraulic rods installed on the supporting hydraulic cylinder block. The ends of the hydraulic rods are equipped with arc gears 2 meshing with the internal teeth of the crawler belt 1. The arc gears 2 and the first support wheel 7, the second support wheel 8, and the third support wheel 9 are all meshed with the track, and form a circle, the first support wheel 7 and the second support wheel 8 and the first support wheel 7 and the third support wheel The middle of the wheel 9 is hinged by a connecting rod. As shown in Figure 6, the second support wheel 8 and the third support wheel 9 are connected by a telescopic rod, and the second support wheel 8 and the third support wheel 9 are hydraulically telescopic. The rods are connected, and a rubber block is respectively installed between the hydraulic telescopic rod 6 and the second support wheel 8 and the third support wheel 9 for vibration damping.
所述的支撑液压缸体的内侧中心设有一内陷锥齿16； The center of the inner side of the supporting hydraulic cylinder is provided with an inset bevel tooth 16;
第一齿轮11与第二齿轮10通过链条14传动连接； The first gear 11 is connected to the second gear 10 through a chain 14;
第二齿轮10与液压支撑架3的支撑液压缸体通过液压输油空心轴13连接，液压支撑架3的支撑液压缸体与液压输油空心轴13之间为转动副连接方式，内部有橡胶密封圈，防止液压油的泄露。 The second gear 10 is connected to the supporting hydraulic cylinder block of the hydraulic support frame 3 through the hydraulic oil delivery hollow shaft 13, and the supporting hydraulic cylinder block of the hydraulic support frame 3 and the hydraulic oil delivery hollow shaft 13 are connected by a rotating pair, and there is a rubber The sealing ring prevents the leakage of hydraulic oil.
转换轴4套于液压输油空心轴13上，使得转换轴4能够液压伸缩运动；第二齿轮10的中心也具有一内陷锥齿；如图4所示，转换轴4的一端具有能够与第二齿轮10和支撑液压缸体的内陷锥齿16相互啮合的双面锥齿，转角齿轮7通过传动轴12与第一齿轮11连接； The conversion shaft 4 is sleeved on the hydraulic oil delivery hollow shaft 13, so that the conversion shaft 4 can hydraulically telescopically move; the center of the second gear 10 also has an inset bevel tooth; as shown in Figure 4, one end of the conversion shaft 4 has The second gear 10 is a double-sided bevel gear that meshes with the inset bevel gear 16 supporting the hydraulic cylinder block, and the corner gear 7 is connected with the first gear 11 through a transmission shaft 12;
由第一齿轮11、第二齿轮10和链条14组成的外驱动装置的外侧还安装有限位杆15，使得外驱动装置位置得到固定不会产生偏移。 A limiting rod 15 is also installed on the outer side of the outer driving device composed of the first gear 11, the second gear 10 and the chain 14, so that the position of the outer driving device is fixed without deviation.
由于第一支撑轮7、第二支撑轮8、第三支撑轮9，三个液压杆的圆弧齿片2 共同支撑着履带1，履带1处于绷紧状态，由于力的作用，第二支撑轮8与第三支撑轮9的之间还固定的弹簧6处于压缩状态， 此时，履带1大体上处于一个圆形的状态。转换轴4是与发动机连接的，是整个车轮运动的唯一动力源，实现运动的转换方式是，通过控制系统控制使运动转换轴4在轴向实现移动，当运动转换轴4靠在液压支撑架3上时，运动转换轴4的锥齿轮与支撑液压缸体的内陷锥齿16啮合，带动液压支撑架3转动，从而整个车轮一圆形的结构快速转动。 Because the first support wheel 7, the second support wheel 8, the third support wheel 9, and the arc gears 2 of the three hydraulic rods support the track 1 together, the track 1 is in a tight state. Due to the force, the second support The fixed spring 6 between the wheel 8 and the third support wheel 9 is in a compressed state, and at this moment, the crawler belt 1 is substantially in a circular state. The conversion shaft 4 is connected with the engine and is the only power source for the movement of the entire wheel. The way to realize the conversion of motion is to control the motion conversion shaft 4 to move in the axial direction through the control system. When the motion conversion shaft 4 leans against the hydraulic support frame 3, the bevel gear of the motion conversion shaft 4 meshes with the recessed bevel gear 16 of the supporting hydraulic cylinder block, driving the hydraulic support frame 3 to rotate, so that the whole wheel-circular structure rotates quickly.
通过收缩支撑液压缸体上的三个液压杆，液压杆的端部的圆弧齿片2不再与履带接触啮合，履带处于松弛状，第二支撑轮8与第三支撑轮9的之间固定的弹簧6快速复位，使得第二支撑轮8与第三支撑轮9的之间的距离变大，第一支撑轮7、第二支撑轮8、第三支撑轮9呈现一个等腰钝角三角形，如图5所示，整个履带包裹的车轮处于一个等腰钝角三角形，车轮着地面积大。通过液压操控系统推动转换轴4向第二齿轮10的方向移动，转换轴4不再与液压支撑架3连接，液压支撑架3处于无动力源状态，第二齿轮10的中心口的口径稍大于转换轴4的直径，使得转换轴4的轴体能够穿过第二齿轮10的中心口，这样，转换轴4端部的锥齿可以与第二齿轮10的内陷锥齿啮合，通过转换轴4带动第二齿轮10，通过链条14与使传动第一齿轮11转动，而第一齿轮11有通过传动轴12带动第一支撑轮7的转动，从而实现履带1的转动。 By shrinking and supporting the three hydraulic rods on the hydraulic cylinder block, the circular arc tooth piece 2 at the end of the hydraulic rod is no longer in contact with the crawler belt, and the crawler belt is in a loose state. Between the second support wheel 8 and the third support wheel 9 The fixed spring 6 resets quickly, so that the distance between the second support wheel 8 and the third support wheel 9 becomes larger, and the first support wheel 7, the second support wheel 8, and the third support wheel 9 present an isosceles obtuse triangle , as shown in Figure 5, the wheels wrapped by the entire track are in an isosceles obtuse triangle, and the wheels have a large ground area. Push the conversion shaft 4 to move in the direction of the second gear 10 through the hydraulic control system, the conversion shaft 4 is no longer connected with the hydraulic support frame 3, the hydraulic support frame 3 is in a state of no power source, and the diameter of the center port of the second gear 10 is slightly larger than The diameter of the conversion shaft 4 is such that the shaft body of the conversion shaft 4 can pass through the central opening of the second gear 10, so that the bevel teeth at the end of the conversion shaft 4 can mesh with the recessed bevel teeth of the second gear 10, and the conversion shaft 4 Drive the second gear 10, and drive the first gear 11 to rotate through the chain 14, and the first gear 11 drives the rotation of the first support wheel 7 through the transmission shaft 12, thereby realizing the rotation of the crawler belt 1.
Claims (5)
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Cited By (4)
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| CN110946717A (en) * | 2019-12-19 | 2020-04-03 | 吉林大学 | A rehabilitation training device for obstetrics and gynecology nursing |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN112389554A (en) * | 2020-12-04 | 2021-02-23 | 徐州博汇世通重工机械有限责任公司 | Crawler driving wheel with adjustable ground pressure |
| CN112937713A (en) * | 2021-04-02 | 2021-06-11 | 中南大学 | Composite wall-climbing robot and its control method |
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