KR20220074379A - Crawler and vehicle comprising the crawler that can be independent driven - Google Patents

Abstract

The present invention relates to a crawler corresponding to a ramp, comprising: a drive shaft for generating a rotational force; Orbit rotated through the rotational force of the drive shaft; a plurality of wheels assisting the track to be rotated by the rotational force; a frame for fixing the drive shaft and the plurality of wheels; and a cylinder having one end fixed to the frame and the other end fixed to the vehicle body to be drawn out and drawn in.

Description

Vehicle including crawler and independently driveable crawler

The present invention relates to a crawler corresponding to a ramp, and to a vehicle including the crawler and a crawler capable of independently driving.

The crawler-type crawler traveling device has a larger footprint than the non-tracked vehicle. Therefore, the grounding pressure applied to the grounding unit target surface is low, and it has the advantages of being easy to drive on rough roads and in relatively weak or soft ground. Therefore, the crawler-type driving device is sometimes applied to a work vehicle that mainly works in a wet field where the grounding target surface is soft or in a place with rough terrain. Conventionally, a plurality of lower and upper guiding wheels rotatably mounted on a track frame between the driving wheel and the tension wheel, and the driving wheel and the tension wheel, and supported by the upper guiding wheel and the lower traction wheel, and supported by the rotation of the driving wheel and the tension wheel Includes crawlers that generate maneuverability.

Since these crawlers mainly drive on rough roads, rough road driving ability is treated as a very important factor, and a technology for mitigating shock and improving driving ability to drive more stably is required.

Republic of Korea Patent Publication No. 10-2012-0064515 (2012. 06. 19)

An embodiment of the present invention aims to provide driving stability for more stably performing rough road driving.

An embodiment of the present invention aims to alleviate the impact on a slope in which the slope is rapidly changed.

The present invention relates to a crawler corresponding to a ramp, comprising: a drive shaft for generating a rotational force; Orbit rotated through the rotational force of the drive shaft; a plurality of wheels assisting the track to be rotated by the rotational force; a frame for fixing the drive shaft and the plurality of wheels; and a cylinder having one end fixed to the frame and the other end fixed to the vehicle body to be drawn out and drawn in.

And, the cylinder may be provided on the front side based on the moving direction that is moved through the driving of the drive shaft.

In addition, in the triangular spacing form formed by the first interval from the other end of the cylinder to the center of rotation of the drive shaft, the second interval from the other end of the cylinder to one end of the cylinder, and the third interval from the center of rotation of the drive shaft to one end of the frame Only the distance of the second interval can be increased or decreased by drawing out and retracting the cylinder.

In addition, the crawler further includes a sensing unit for detecting the shape of the ground toward the moving direction, and when the ground sensed by the sensing unit is spaced downward by a predetermined angle or more from the moving direction, the crawler rotates around the drive shaft from the vehicle body to correspond to the inclination angle can be

In addition, the plurality of wheels may include a first wheel positioned on the front side of the moving direction and a driven wheel configured with a plurality of wheels positioned along the inner side of the track on the ground side.

In addition, the plurality of wheels may further include a second wheel disposed at the rear side of the moving direction, and the first wheel may be spaced upward from the ground when moving in the moving direction in a horizontal state to form an entrance angle of the track.

In addition, it further includes a tension maintaining unit fixed to the frame to press the track in the moving direction, the tension maintaining unit may be connected to the first wheel to press the track through the first wheel.

car body; and a plurality of crawlers independently connected to the vehicle body, wherein the crawler includes: a driving shaft for generating a rotational force; Orbit rotated through the rotational force of the drive shaft; a plurality of wheels assisting the track to be rotated by the rotational force; a frame for fixing the drive shaft and the plurality of wheels; and a cylinder having one end fixed to the frame and the other end fixed to the vehicle body to be drawn out and drawn in. Provided is a vehicle including a crawler capable of independently driving.

According to an embodiment of the present invention, by providing a plurality of independently driven crawlers, it is possible to provide a vehicle with driving stability that performs rough road driving more stably.

According to an embodiment of the present invention, it is possible to provide a vehicle in which a crawler is rotated to correspond to an abruptly changed inclination by sensing the inclination.

1 is a view showing a vehicle climbing a slope according to an embodiment of the present invention;
Figure 2 shows a crawler according to an embodiment of the present invention, Figure 2 (a) is a view showing the back of the crawler, 2 (b) is a view showing the side of the crawler,
3 is a view showing that the crawler according to an embodiment of the present invention is rotated with respect to the drive shaft by drawing out the cylinder;
4 is a view showing a perspective view in which the track is omitted from the crawler according to an embodiment of the present invention;
5 is a view showing a cross-sectional view of a driving unit according to an embodiment of the present invention;
6 is a view showing a crawler according to another embodiment of the present invention;
7 is a view showing a side according to another embodiment of the present invention;
8 is a perspective view of a crawler omitting a track according to another embodiment of the present invention;
9 is an exploded perspective view of a crawler omitting a track and a cylinder according to another embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, this is merely an example, and the present invention is not limited thereto.

In the description of the present invention, if it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. And, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the content throughout this specification.

The technical spirit of the present invention is determined by the claims, and the following examples are only one means for efficiently explaining the technical spirit of the present invention to those of ordinary skill in the art to which the present invention belongs.

1 is a view showing a vehicle climbing a slope according to an embodiment of the present invention.

Referring to FIG. 1 , a vehicle including a crawler 100 capable of independently driving may include a plurality of crawlers 100 . The crawler 100 may be connected to the vehicle body 10 through a drive shaft 150 receiving rotational power. Also, the crawler 100 may be coupled to the vehicle body 10 through a cylinder 110 included in the crawler 100 . The drive shaft 150 is configured to transmit a rotational force, and the cylinder 110 is drawn out and may transmit a pressing force in a straight direction. Accordingly, when the cylinder 110 is withdrawn, the crawler 100 may be pushed by the pressing force. However, since the crawler 100 is connected to the vehicle body 10 through the drive shaft 150 , pressurization by the cylinder 110 may cause rotation of the drive shaft 150 as a rotation shaft. For example, the crawler 100 that is rotated from the vehicle body 10 about the driving shaft 150 may be the crawler 100 positioned at the end of the inclined surface as shown. That is, when the angle with the ground 1 is formed by abruptly changing the inclination at the end of the ramp, the cylinder 110 can be withdrawn by the sensing unit (not shown), and the withdrawn cylinder 110 is a crawler ( 100 ) may be rotated by a predetermined angle from the driving shaft 150 .

Here, the predetermined angle is an angle spaced apart from the end of the ramp with respect to the moving direction, and the cylinder 110 may be drawn out so that the crawler 100 can rotate by the spaced angle. That is, it may be a compensation angle (A) that compensates for the spaced apart angle. The formation of the compensation angle A can reduce or prevent the impact that occurs when the vehicle body 10 travels on a slope and the front crawler 100 lands due to a change in the slope. That is, according to the shape of the ground (1), the rotation by the compensation angle (A) of the crawler (100) from the vehicle body (10) can be made to maintain the ground plane (1) enemy to the maximum.

In order to form such a compensation angle (A), the rotational center of the driving shaft 150 may be provided further rearward based on the movement direction than the position of the cylinder 110 . The angle formed in the front of the moving direction, which is often defined as the approach angle, may be formed by being positioned where the frontmost wheel 120 is spaced upward from the ground 1 . This can improve driving stability while driving over an obstacle protruding based on the flat ground 1 in the moving direction.

On the other hand, the compensation angle (A) is generated when traveling on a concave obstacle that is recessed based on the flat ground (1) in the moving direction or the ground (1) having a structure in which the inclination is sharply lowered based on the moving direction. (100) It is possible to improve driving stability by mitigating the impact by compensation through rotation.

2 is a view showing a crawler 100 according to an embodiment of the present invention, FIG. 2 (a) is a view showing the rear side of the crawler 100, 2 (b) is a view showing the side of the crawler 100 to be.

Referring to FIGS. 2A and 2B , in the crawler 100 , the driving shaft 150 may protrude toward the vehicle body 10 with respect to the rotating track 101 , and the cylinder 110 is disposed. can be Of course, the cylinder 110 may be disposed within a limit that does not interfere with the vehicle body 10 . The cylinder 110 may include a first connection part 111 connected to the vehicle body 10 and a second connection part 112 connected to the frame 160 at both ends. The first connection part 111 and the second connection part 112 may be connected to be rotatable about the connection point.

Here, the driving of the cylinder 110 can be explained by setting an interval between arbitrary positions of the following three points. The first interval B1 from the first connection part 111 of the cylinder 110 to the rotation center of the drive shaft 150, the second connection part 112 of the cylinder 110 from the first connection part 111 of the cylinder 110 ) to the second interval (B2) and the third interval (B3) from the rotation center of the drive shaft 150 to the second connection part 112 of the cylinder 110 is formed. When each interval is connected to each other, a triangular separation shape (B) is formed. Here, only the distance of the second interval (B2) can be increased or decreased by drawing out and retracting the cylinder 110 .

Meanwhile, in order for the power transmitted from the drive shaft 150 to be transmitted to the track 101 , the track 101 may correspond to the sprocket 140 connected to the drive shaft 150 . In addition, a plurality of wheels 120 in contact with the track 101 are included in addition to the sprocket 140 . For example, the crawler 100 of this example may include a first wheel 121 , a driven wheel 122 , and a second wheel 123 . In the case of the first wheel 121, the wheel 120 is positioned in the front of the moving direction, and the driven wheel 122 has a relatively small diameter among the wheels 120. can be arranged accordingly. In addition, the second wheel 123 is the wheel 120 provided at the rearmost side with respect to the moving direction.

Here, in the case of the first wheel 121, as described above, it may be disposed to be spaced upward from the ground 1 to form an approach angle. Also, the first wheel 121 may provide tension to the track 101 . Here, the tension is continuously provided to prevent deviation from the arrangement of the wheels 120 so that the track 101 is constrained by the wheels 120 and rotates in the direction in which the wheels 120 are arranged, in this example In this case, the first wheel 121 may be generated by pressing the track 101 through the tension maintaining unit 130 . A detailed description in this regard will be described later with reference to FIG. 4 .

3 is a view showing that the crawler 100 according to an embodiment of the present invention is rotated with respect to the drive shaft 150 by drawing out the cylinder 110 .

Referring to FIG. 3 , the crawler 100 may be rotated downward by a predetermined angle by drawing out the cylinder 110 . Here, the rotation may be centered on the drive shaft 150 as described above. In addition, the above-described separation form (B) may be changed (from B2 to B2') as the second interval B2 is increased. That is, the second connection part ( 112) Only the location can be changed. The increase degree of the second interval B2, which is the distance between the first connection part 111 and the second connection part 112 of the cylinder 110, means a greater rate of change of the inclination. Here, the rate of change means the degree to which the inclination is reduced, and the cylinder 110 may be selectively controlled in withdrawal or inlet so as to correspond to the state of the ground 1 on the front side of the moving direction of the track 101 .

4 is a view showing a perspective view in which the track 101 is omitted from the crawler 100 according to an embodiment of the present invention.

Referring to FIG. 4 , the sprocket 140 may be connected to a drive shaft 150 providing power to rotate the track 101 and rotated, and the rotating track 101 is rotated by interlocking the wheels 120 . can be For example, when the sprocket 140 is rotated counterclockwise, a tensile force positioned in the section between the second wheel 123 and the sprocket 140 is generated to form tension, but the sprocket 140 and the first wheel ( 121) The track 101 located in the interval may lose tension. Accordingly, the first wheel 121 may continuously press the track 101 to form tension. According to this example, the first wheel 121 may be connected to the tension maintaining unit 130 .

Specifically, the tension maintaining unit 130 and the first wheel 121 may be connected through the wheel supporting unit 121a. The wheel support part 121a may have one end connected to the centrifugal side of the wheel 120 from both sides of the wheel 120 so that the wheel 120 is rotatable, and the other end may be connected to the piston-type tension maintaining unit 130 . Here, the piston-shaped tension maintaining unit 130 may be in a compressed state to be pressurized toward the first wheel 121 through hydraulic pressure or electric power. Accordingly, the piston in a compressed state may continuously push the first wheel 121 to expand, and the first wheel 121 in contact with the track 101 may press the track 101 . Accordingly, tension of the track 101 may be formed between the first wheel 121 and the sprocket 140 .

The plurality of driven wheels 122 positioned on the ground 1 side may be fixed by the frame 160 . Specifically, the frame 160 includes a support frame 161 , a body frame 162 , and a connection frame 163 . The body frame 162 secures the plurality of driven wheels 122 and the second wheel 123 from both sides and is connected through the tension maintaining part 130 and the fixing part 131, so that the tension maintaining part 130 is attached to the frame ( 160) can be fixed. Accordingly, continuous pressing can be performed in the direction of the first wheel 121 with respect to the frame 160 . In addition, the body frame 162 is provided on both sides of the driven wheel 122 and the second wheel 123, respectively, and includes a connection frame 163 connecting these body frames 162 to each other. Of course, both ends of the rotation shaft of the driven wave wheel and the second wheel 123 may be connected to and fixed to each of the body frames 162 located on both side surfaces, but by fixing between the body frames 162 by the connecting frame 163, more A rigid frame 160 may be constructed.

The support frame 161 coupled to the body frame 162 may extend upward and be connected to the rotation shaft of the sprocket 140 . Here, the rotational axis of the sprocket 140 may be located on the same axis as the rotational center of the driving shaft 150 .

5 is a cross-sectional view of the drive shaft 150 according to an embodiment of the present invention.

Referring to FIG. 5 , the driving shaft 150 may be connected to the shaft 11 extending from the vehicle body 10 . The drive shaft 150 includes a connection shaft 151 to which the shaft 11 is inserted and fixed, a separation prevention part 152 for preventing the shaft 11 from being separated from the vehicle body 10 from the vehicle body 10 side of the connection shaft 151, and a crawler. A cover portion 153 provided to cover at least a portion of an end portion of the crawler 100 side from the (100) side is included. Here, the connecting shaft 151 is formed so that both ends of the crawler 100 side and the vehicle body 10 side are extended, respectively, and the separation preventing part 152 may be fixed to the vehicle body 10 while surrounding the expanded part. Accordingly, it is possible to prevent the connecting shaft 151 from being separated from the vehicle body 10 . On the other hand, the shaft 11 is inserted into the rotation core side of the connecting shaft 151, the insertion portion may further include an optional configuration such as a DU bush.

Hereinafter, another embodiment of the present invention will be described, and differences from the above-described embodiment will be mainly described. That is, it can be said that the part where a separate description is omitted is applicable to the following other embodiments.

6 is a view showing a crawler 200 according to another embodiment of the present invention, and FIG. 7 is a view showing a side view according to another embodiment of the present invention.

6 and 7 , in the crawler 200 , the sprocket 240 provided with a rotating shaft coaxial with the driving shaft 250 may be disposed at the rearmost side with respect to the moving direction. In addition, the first wheel 221 may be positioned on the front side with respect to the moving direction, and the driven wheel 222 may be provided between the sprocket 240 and the first wheel 221 . The first wheel 221 may be disposed to be spaced upward by a predetermined distance from the ground to secure an entry angle.

In addition, the crawler 200 may be rotated downward by a predetermined angle by drawing out the cylinder 210 . Here, the rotation may be centered on the drive shaft 250 as described above. In addition, the above-described separation form (C) may be changed as the second interval (C2) is increased. That is, the position of the first connection part 212 and the position of the center of the driving shaft 250 with respect to the vehicle body are not changed and the cylinder 210 is drawn out and the length is increased, so that the position of the second connection part 212 of the cylinder 210 is increased. only can be changed. The degree of increase in the second interval C2, which is the distance between the first connection part 212 and the second connection part 212 of the cylinder 210, means a greater rate of change of the inclination. Here, the rate of change means the degree to which the inclination is reduced, and the cylinder 210 may be selectively controlled to be drawn out or drawn in so as to correspond thereto by sensing the state of the ground on the front side of the moving direction of the track 201 .

Also in this embodiment, the cylinder 210 is positioned in front of the sprocket 240 based on the moving direction, so that it can be rotated by a compensation angle by driving the cylinder 210 .

8 is a view showing a perspective view of the crawler 200 omitting the track 201 according to another embodiment of the present invention. Referring to FIG. 8 , the driven wheel 222 is disposed along the extending direction of the track 201 from the inside of the track 201 adjacent to the ground side, and may further include a wheel provided on the upper side of the track 201 . . In addition, the frame 260 may fix the driven wheel 222 , the first wheel 221 , and the sprocket 240 .

9 is an exploded perspective view of the crawler 200 omitting the track 201 and the cylinder 210 according to another embodiment of the present invention.

Referring to FIG. 9 , the arrangement of each wheel may be configured by fixing the sprocket 240 , the first wheel 221 , and the driven wheel 222 through the frame 260 . Here, the frame 260 may be connected to the elastic body 230 . The elastic body 230 may be formed to extend from one side of the frame 260 toward the first wheel 221 , and the other side may be coupled to the connection part 221a. The connection part 221a is configured to be coupled to the rotation shaft of the first wheel 221 , and the elasticity of the elastic body 230 may be transmitted to the first wheel 221 while the elastic body 230 is coupled to the connection part 221a.

That is, while the elastic force generated from the elastic body 230 is transmitted to the track 201 through the first wheel 221 , it is possible to press the track 201 . Accordingly, tension may occur in the orbit 201 . Of course, for this purpose, the elastic body 230 may be coupled to the frame 260 while constantly pressing the connecting portion 221a. Accordingly, the elastic body 230 may be coupled in a compressed state to transmit the elastic restoring force to the first wheel 221 side.

Although representative embodiments of the present invention have been described in detail above, those of ordinary skill in the art to which the present invention pertains will understand that various modifications are possible within the limits without departing from the scope of the present invention with respect to the above-described embodiments. . Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims described below as well as the claims and equivalents.

1: ground
10: body
11: shaft
100: crawler
101: orbit
110: cylinder
111: first connection part
112: second connection part
120: roller unit
121: first wheel
121a: wheel support
122: driven wheel
123: second wheel
130: tension maintaining part
131: fixed part
140: sprocket
150: drive shaft
151: connecting shaft
151a: extension
152: escape prevention part
153: cover part
160: frame
161: support frame
162: body frame
163: connection frame
A: compensation angle
B: spaced type
B1: 1st interval
B2, B2': 2nd interval
B3: 3rd interval
200: crawler
201 : Orbit
210: cylinder
211: first connection part
212: second connection part
221: first wheel
222: driven wheel
230: elastic body
240: sprocket
250: drive shaft
260: frame
C: spaced form
C1: first interval
C2, C2': second interval
C3: 3rd interval

Claims (8)

a drive shaft that generates a rotational force;
Orbit rotated through the rotational force of the drive shaft;
a plurality of wheels assisting the track to be rotated by the rotational force;
a frame for fixing the driving shaft and the plurality of wheels; and
A crawler comprising a; cylinder having one end fixed to the frame and the other end fixed to the vehicle body to be drawn out and drawn in.
The method according to claim 1,
The cylinder is provided on the front side based on the moving direction moved through the driving of the drive shaft, a crawler.
The method according to claim 1,
A triangle formed by a first interval from the other end of the cylinder to the center of rotation of the drive shaft, a second interval from the other end of the cylinder to one end of the cylinder, and a third interval from the center of rotation of the drive shaft to one end of the cylinder In the phosphorus spaced form, only the distance of the second interval is increased or decreased by drawing out and drawing in of the cylinder, a crawler.
The method according to claim 1,
Further comprising a sensing unit for detecting the shape of the ground toward the moving direction in the crawler,
When the ground sensed by the sensing unit is spaced downward by a predetermined angle or more from the moving direction, the crawler is rotated from the vehicle body about the drive shaft to correspond to the inclination angle.
The method according to claim 1,
The plurality of wheels,
A crawler comprising: a first wheel located on the front side of a moving direction and a driven wheel consisting of a plurality of wheels arranged along the inner side of the track on the ground side.
6. The method of claim 5,
The plurality of wheels further include a second wheel disposed at the rear side of the moving direction, and the first wheel is spaced upward from the ground when moving in the moving direction in a horizontal state to form an entry angle of the track, crawler.
6. The method of claim 5,
The crawler further includes a tension maintaining part fixed to the frame and pressing the track in a moving direction, wherein the tension maintaining part is connected to the first wheel to press the track through the first wheel.

car body; and
Including; a plurality of crawlers independently connected to the vehicle body;
The crawler is
a drive shaft that generates a rotational force;
Orbit rotated through the rotational force of the drive shaft;
a plurality of wheels assisting the track to be rotated by the rotational force;
a frame for fixing the driving shaft and the plurality of wheels; and
A vehicle including a crawler capable of independently driving, including a cylinder having one end fixed to the frame and the other end fixed to the vehicle body to be drawn out and drawn in.

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