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WO2018145422A1 - Roue d'entraînement de chenille anti-vent comprenant des patins de chenille - Google Patents

Roue d'entraînement de chenille anti-vent comprenant des patins de chenille Download PDF

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Publication number
WO2018145422A1
WO2018145422A1 PCT/CN2017/095013 CN2017095013W WO2018145422A1 WO 2018145422 A1 WO2018145422 A1 WO 2018145422A1 CN 2017095013 W CN2017095013 W CN 2017095013W WO 2018145422 A1 WO2018145422 A1 WO 2018145422A1
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WO
WIPO (PCT)
Prior art keywords
shaft
chain
sleeve
card
block
Prior art date
Application number
PCT/CN2017/095013
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English (en)
Chinese (zh)
Inventor
原泉
Original Assignee
原泉
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 原泉 filed Critical 原泉
Publication of WO2018145422A1 publication Critical patent/WO2018145422A1/fr

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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
    • B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
    • B62D55/0885—Self-cleaning sprockets
    • 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
    • B62D55/12—Arrangement, location, or adaptation of driving sprockets

Definitions

  • the invention belongs to the technical field of crawler drives, and in particular relates to an anti-winding crawler drive wheel with a track block.
  • the crawler drive is used in all aspects of the engineering vehicle; the durability of the track of the engineering vehicle, the passability of any terrain and the destructiveness of the terrain are the main indicators for evaluating the quality of a crawler truck; in particular, it is driven by various plants.
  • the present invention contemplates an anti-wrap track drive wheel with a track block to solve the above problems.
  • the present invention discloses an anti-winding crawler drive wheel with a track block, which is realized by the following technical solutions.
  • Anti-winding crawler drive wheel with track block characterized in that it comprises side plate, shell, retaining sleeve, adjusting mechanism, card passage, side baffle, top shaft, top shaft side swivel sleeve, top shaft middle sleeve , anti-collision block, pressure channel, end shaft, end lug, anti-collision lug, inner shroud, inner shroud, track chain, chain bevel, chain top, chain top, wherein the middle of the casing Hollow, the outer edge is uniformly distributed with a plurality of sharp corners in the circumferential direction; side plates are respectively installed on both sides of the shell, and both ends of the sharp-pointed end are mounted with an end shaft through an end lug, and between the sharp corner and the adjacent sharp corner
  • the groove has a pressure passage, and the top end of the corner has a card passage; the end of the sleeve is provided with a groove inner groove, and the top shaft side sleeve is mounted on one side of the end of the
  • the adjusting mechanism comprises a fixing column, a first spring, a scroll spring, a card board, a rotating mechanism, an S-shaped lever, a pressure plate, a leaf spring, a leaf spring support, a card board rod, an outer fixing block, a sliding shaft, a notch, and an inner portion.
  • the scroll spring is nested outside the first spring, and the outer end of the scroll spring is mounted on the side of the S-shaped lever through the outer fixing block, and the inner end of the scroll spring is mounted on the fixed column through the inner fixing block; the top end of the pressure plate and the top shaft are rotated
  • the connecting end, the bottom end of the pressure plate is installed with a pressure plate, the bottom end of the pressure plate is provided with a pressure plate, the pressure plate passes through the pressure channel; the card passes through the card channel,
  • the sharp corner of the casing cooperates with the inclined surface of the chain, and the card passes through the card passage and passes through the top of the chain, and the top surface of the chain cooperates with the retaining sleeve, the top shaft and the inner panel.
  • the rotating mechanism includes a first annular sleeve, a second annular sleeve, a third annular sleeve, a first inner ring, and a second inner ring, wherein the S-shaped lever shaft hole passes through An inner ring is mounted with a second inner ring; the first ring sleeve slides on the sliding shaft and a third ring sleeve is mounted through the second ring sleeve; the first inner ring and the second inner ring are mounted on The cavity formed by the first annular sleeve, the second annular sleeve and the third annular sleeve is specifically matched with one side of the first annular sleeve and one side of the second inner annular ring, and the second annular sleeve is The rim surface is in contact with the outer surface of the second inner ring, and one side of the third annular sleeve is in contact with the other side of the second inner ring
  • the two anti-collision block lugs mounted on the end shafts are mounted offset from each other.
  • the first spring described above can be compressed or stretched.
  • the angle of the apex angle of the casing is between 50 degrees and 65 degrees. Meaning an angle.
  • the crawler belt of the present invention is connected by the track chain through the rotating shaft, and the corner of the casing is caught in the chain slope of the track chain to drive the track to rotate, and the principle is similar to the principle of the conventional track and the driving wheel;
  • the body corner and the adjacent sharp corner are covered by the retaining sleeve, the inner panel and the side baffle to prevent the general weed or the wrap object from being wound around the sharp corner of the driving wheel, thereby causing the crawler wheel to fail; Passability.
  • the rotation of the drive wheel housing will drive the track movement through the sharp corner.
  • the top surface of the chain of the track chain exerts a downward force on the cover, the top shaft and the inner plate, and then the top axial direction Moving, at the same time driving the telescopic body composed of the baffle and the inner plate to rotate around the end shaft, and the top shaft drives the side baffle to swing downward, so that the sharp corner completely leaks out and protrudes into the chain bevel in the track chain; Acts with the chain bevel to drive the chain.
  • a structure such as a retaining sleeve is used, in which the inner panel can slide in the retaining sleeve, which belongs to the telescopic structure, and the distance between the top shaft and the end shaft in the lower axial movement.
  • this increase in distance is compensated by the extension of the inner panel from the retaining sleeve; the total length of the inner panel in the retaining sleeve is 1/2 of the total length of the retaining inner panel completely extending the retaining sleeve, and completely When the protrusion is extended, the top shaft should be at the bottom end of the groove between the sharp corner and the sharp corner.
  • the retaining sleeve and the inner panel are in contact with the sharp bevel, which requires that the distance between the adjacent sharp corners is larger than the sharp bevel.
  • the sharp corner angle in the present invention is much larger than that of the conventional driving wheel, which causes the casing to fall off when the crawler belt is driven, so that an adjustment mechanism is added to the design.
  • the adjusting mechanism uses the downward movement of the top shaft to obtain power, and relies on the power to push the card out from the card passage at the top end of the pointed corner, and the ejected card board cooperates with the chain top of the track chain to prevent the drive from falling off.
  • the S-shaped lever can rotate around the sliding shaft and can move along the axis of the sliding shaft, compressing the first spring during movement, the first spring has a reset function for the S-shaped lever, the rotating scroll spring, the scroll spring
  • the S-type lever also has a reset function; because the rotation of the S-type lever causes the first spring to rotate, and the rotation of the first spring destroys the compression performance of the first spring, a rotating mechanism is designed to eliminate the S-type lever rotational motion. The effect on the first spring; the same S-type lever movement will drive the scroll spring to move, so the designed inner fixed block can move laterally with the scroll spring, but does not affect the compression of the scroll spring.
  • the rotation of the S-shaped lever and the movement of the first spring in the rotational direction are blocked by the sliding of the first annular sleeve and the second inner ring in the rotating mechanism.
  • the S-type lever is designed to have an S-shaped lever because the distance between the pressure plate and the card plate pressed by the top shaft is small, but the amplitude of the up-and-down motion is large, in which case both It is impossible to transfer the linear lever on the lower side, which is easy to cause the lever to come off with the pressure plate and the card. Therefore, the S-type lever can be designed to prevent falling off and ensure smooth transmission.
  • the top shaft middle rotation sleeve in the middle of the top shaft is connected with the pressure plate, and the movement of the top shaft drives the pressure plate to move; when the top axial direction moves downward, the pressure plate is driven to move downward, and the pressure plate applies the concave surface to the S-shaped lever surface.
  • the S-shaped lever rotates around the sliding axis, and the S-shaped lever convex surface will jack up the card board, and the card board passes through the card channel upwards, and at the same time compresses the leaf spring, and the leaf spring is designed to reset the card board.
  • the initial pressure plate is located on the front stroke guide surface.
  • the card lever is located on the convex surface of the S-shaped lever and is located at the edge of the notch but does not completely fall off the notch.
  • the first spring is naturally telescopic. State; then, as the S-shaped lever rotates, the pressing plate rod moves along the front stroke guiding surface away from the sliding axis direction; the pressing plate rod applies a force facing the fixed column direction through the front stroke guide facing the S-shaped lever, and A spring is compressed, and the card lever moves away from the notch position on the convex surface of the S-shaped lever to ensure that the card can be smoothly jacked up by the S-type lever.
  • the pressing plate rod When the S-shaped lever is rotated to the design position, the pressing plate rod will be disengaged from the end of the first track block away from the sliding axis, and the second track block is in collision contact with the first spring resetting action, and the S-type lever is A large displacement occurs in the direction away from the fixed column, so that the card lever completely falls off the S-shaped lever and enters the notch, and the card loses the role of the S-shaped lever top, and the movement is reset in time by the leaf spring to prevent The top of the card is not separated from the top of the chain and interferes with the deviation of the track chain from the sharp corner; at the design position of the S-type lever, the pressure plate is completely dropped so that the sharp corner is completely caught in the track chain, and the card protrudes to the position at this position In the top of the chain and to ensure that the sharp corners do not fall off the track chain.
  • the two anti-collision block lugs on the same end shaft are designed to provide two swivel sleeve rotations using one rotating shaft.
  • the top shaft drives the side baffle to rotate, and the side baffle moves to the lower side of the sharp side, and no interference occurs between the side baffles.
  • the invention uses the driving wheel for shielding the sharp corners, can prevent the general weeds or the entangled objects from being wound around the sharp corners on the driving wheel, causing the failure of the track wheel, improving the passability of the track wheel, and having better practical effects. .
  • Figure 1 is a schematic view of the overall component distribution.
  • FIG. 2 is a schematic view of a related shielding structure such as a retaining sleeve.
  • Figure 3 is a schematic view of the structure of the housing.
  • Figure 4 is a schematic view showing the structure of the adjustment mechanism.
  • Figure 5 is a schematic view showing the installation of the S-type lever and the rotating mechanism.
  • Figure 6 is a schematic view of the structure of the S-type lever.
  • Figure 7 is a schematic view of the installation of the scroll spring.
  • Figure 8 is a schematic view showing the installation of the retaining sleeve and the inner panel.
  • Figure 9 is a schematic view of the structure of the retaining sleeve.
  • Figure 10 is a schematic view showing the structure of the inner panel.
  • Figure 11 is a schematic view showing the installation of the pressure plate.
  • Figure 12 is a schematic view of the action of the track chain and the sharp corners.
  • Figure 13 is a schematic view of the installation of the annular sleeve.
  • FIG. 1 it includes a side plate, a casing, a retaining sleeve, an adjustment mechanism, a card passage, a side baffle, a top shaft, a top shaft side swivel sleeve, a top shaft intermediate sleeve, an anti-collision block, and a caster.
  • the end of the sleeve is provided with a groove inner groove, as shown in FIG. 2, the top shaft
  • the side turn sleeve is installed on the side of the end of the retaining sleeve that has no opening.
  • the two sides of one end of the inner panel are respectively equipped with anti-collision block lugs through the anti-collision block, as shown in FIG. Installed in the inner groove of the retaining sleeve of the retaining sleeve; as shown in Fig.
  • the adjacent sharp corners are respectively provided with a retaining inner plate through the end shaft and the anti-collision block lug, and nested on the top of the corresponding inner retaining plate
  • the shaft side rotating sleeves are connected together by the top shaft, the top shaft side rotating sleeves of the two shielding sleeves are distributed on both sides of the top shaft, the top shaft middle rotating sleeve is installed in the middle of the top shaft, and one side baffle is installed at both ends of the top shaft;
  • the adjusting mechanism is installed between the two side plates and has an adjusting mechanism between the two adjacent sharp corners; as shown in FIG.
  • the crawler belt matched with the housing is connected by a plurality of crawler chains through the rotating shaft, and the middle of the crawler chain
  • the lower side has a chain bevel and does not penetrate to the upper side of the track chain
  • the track chain has a chain top on the inclined side of the chain, the track Article chain having a top surface on both sides of the lower end.
  • the adjusting mechanism includes a fixing post, a first spring, a scroll spring, a card board, a rotating mechanism, an S-shaped lever, a pressure plate, a trigger mechanism, a leaf spring, a leaf spring support, a card board rod, and an outer Fixed block, sliding shaft, notch, inner fixed block, pressing plate rod, front stroke guide surface, first track block, rear stroke guide surface, second track block, rear stroke block surface, as shown in FIGS. 5 and 7
  • the fixing column is mounted on one side of the side plate, one end of the sliding shaft is mounted on the fixing column, the S-shaped lever slides on the sliding shaft through the shaft hole, and the rotating mechanism is installed at the shaft hole of the S-shaped lever; as shown in FIG.
  • the first spring is nested on the sliding shaft and has one end connected to the fixed column, and the other end is connected with the rotating mechanism; as shown in FIG. 7, the scroll spring is nested outside the first spring, and the outer end of the scroll spring is installed through the outer fixing block.
  • the inner end of the scroll spring is mounted on the fixed column through the inner fixing block; as shown in FIG. 11, the top end of the pressure plate is connected with the top shaft intermediate sleeve, and the bottom ends of the pressure plate are respectively installed with the application.
  • the pressure plate board is provided with a pressure plate rod at the bottom end of the pressure plate, as shown in FIG.
  • the card passes through the card passage, and the lower end of the card plate is mounted with a card bar, and the lower end of the card bar is mounted with a leaf spring support; one end of the leaf spring is mounted on the inner side of the casing The other side of the cartoon hole is mounted on the leaf spring support; as shown in FIG. 4, the pressing plate rod is in contact with the S-shaped lever concave surface, and the clamping plate rod is in contact with the S-shaped lever convex surface; as shown in FIG.
  • the first track block and the second track block are mounted on the concave surface of the S-shaped lever, and the first track block has a front stroke away from the side of the fixed column
  • the guide surface has a rear stroke guide surface facing the fixed column side
  • the second track block has a rear stroke surface facing the first track block side
  • the pressing plate rod is at the front stroke guide surface, the rear stroke guide surface and the rear stroke guide surface Swipe between.
  • the sharp corner of the casing cooperates with the inclined surface of the chain, and the card passes through the chain after passing through the card passage.
  • the top of the chain, the top surface of the chain cooperates with the retaining sleeve, the top shaft and the inner panel.
  • the rotating mechanism includes a first annular sleeve, a second annular sleeve, a third annular sleeve, a first inner ring, and a second inner ring, wherein the S-shaped lever shaft hole a second inner ring is mounted through the first inner ring; the first ring sleeve slides on the sliding shaft and the third ring sleeve is mounted through the second ring sleeve; the first inner ring and the second inner circle
  • the ring is installed in a cavity formed by the first annular sleeve, the second annular sleeve and the third annular sleeve, and the first ring sleeve is partially in contact with the second inner ring side, and the second circle is The inner edge surface of the ring sleeve is in contact with the outer surface of the second inner ring, the side of the third annular ring is in contact with the other side of the second inner ring, and the inner surface
  • the two anti-collision block lugs mounted on the end shafts are mounted offset from each other.
  • the angle of the apex angle of the casing is any angle between 50 degrees and 65 degrees.
  • the crawler belts are connected by the track chain through the rotating shaft, and the corners of the casing are caught in the chain slope of the track chain to drive the track to rotate.
  • the principle is similar to the principle of the conventional track and the driving wheel; Covering with the adjacent sharp corners through the retaining sleeve, the inner panel and the side baffle to prevent the general weeds or wraps from being wound around the sharp corners on the driving wheel, causing the failure of the crawler wheel; improving the passage of the crawler wheel Sex.
  • the rotation of the drive wheel housing will drive the track movement through the sharp corner.
  • the top surface of the chain of the track chain exerts a downward force on the cover, the top shaft and the inner plate, and then the top axial direction Moving, at the same time driving the telescopic body composed of the baffle and the inner plate to rotate around the end shaft, and the top shaft drives the side baffle to swing downward, so that the sharp corner completely leaks out and protrudes into the chain bevel in the track chain; Acts with the chain bevel to drive the chain.
  • a structure such as a retaining sleeve is used, in which the inner panel can slide in the retaining sleeve, which belongs to the telescopic structure, and the distance between the top shaft and the end shaft in the lower axial movement.
  • this increase in distance is compensated by the extension of the inner panel from the retaining sleeve; the total length of the inner panel in the retaining sleeve is 1/2 of the total length of the retaining inner panel completely extending the retaining sleeve, and completely When the protrusion is extended, the top shaft should be at the bottom end of the groove between the sharp corner and the sharp corner.
  • the retaining sleeve and the inner panel are in contact with the sharp bevel, which requires that the distance between the adjacent sharp corners is larger than the sharp bevel.
  • the sharp corner angle in the present invention is much larger than that of the conventional driving wheel, which causes the casing to fall off when the crawler belt is driven, so that an adjustment mechanism is added to the design.
  • the adjusting mechanism uses the downward movement of the top shaft to obtain power, and relies on the power to push the card out from the card passage at the top end of the pointed corner, and the ejected card board cooperates with the chain top of the track chain to prevent the drive from falling off.
  • the S-shaped lever can rotate around the sliding axis and move along the axis of the sliding axis.
  • the first spring is compressed in motion, the first spring has a reset function on the S-type lever, and the rotary scroll spring is compressed, and the scroll spring also has a reset function for the S-type lever; since the first spring is driven by the rotary motion of the S-type lever Rotation, the rotation of the first spring destroys the compression performance of the first spring, so a rotating mechanism is designed to eliminate the influence of the S-shaped lever rotational motion on the first spring; likewise, the S-shaped lever movement will drive the scroll spring to move, so the design
  • the inner fixed block can move laterally with the scroll spring, but does not affect the compression of the scroll spring. As shown in FIG.
  • the rotation of the first ring sleeve and the second inner ring is used to isolate the rotation of the S-type lever and the movement of the first spring in the rotational direction.
  • the S-type lever is designed to have an S-shaped lever because the distance between the pressure plate and the card plate pressed by the top shaft is small, but the amplitude of the up-and-down motion is large. In this case, a straight line is installed on the lower side of the both sides. It is impossible to transmit the lever, which is easy to cause the lever and the pressure plate and the card to fall off. Therefore, the S-type lever is designed to prevent falling off and ensure smooth transmission.
  • the top shaft middle rotation sleeve in the middle of the top shaft is connected with the pressure plate, and the movement of the top shaft drives the pressure plate to move; when the top axial direction moves downward, the pressure plate is driven to move downward, and the pressure plate applies the concave surface to the S-shaped lever surface.
  • the lower force, the S-shaped lever rotates around the sliding axis.
  • the S-shaped lever convex surface will jack up the card board, and the card plate will pass through the card channel upwards, and at the same time compress the leaf spring, the leaf spring design is reset.
  • the role of the card board During the S-type lever rotary motion, the initial pressure plate is located on the front stroke guide surface.
  • the card lever is located on the convex surface of the S-shaped lever and is located at the edge of the notch but does not completely fall off the notch.
  • the first spring is naturally telescopic. State; then, as the S-shaped lever rotates, the pressing plate rod moves along the front stroke guiding surface away from the sliding axis direction; the pressing plate rod applies a force facing the fixed column direction through the front stroke guide facing the S-shaped lever, and A spring is compressed, and the card lever moves away from the notch position on the convex surface of the S-shaped lever to ensure that the card can be smoothly jacked up by the S-type lever.
  • the pressing plate rod When the S-shaped lever is rotated to the design position, the pressing plate rod will be disengaged from the end of the first track block away from the sliding axis, and the second track block is in collision contact with the first spring resetting action, and the S-type lever is A large displacement occurs in the direction away from the fixed column, so that the card lever completely falls off the S-shaped lever and enters the notch, and the card loses the role of the S-shaped lever top, and the movement is reset in time by the leaf spring to prevent The top of the card is not separated from the top of the chain and interferes with the deviation of the track chain from the sharp corner; at the design position of the S-type lever, the pressure plate is completely dropped so that the sharp corner is completely caught in the track chain, and the card protrudes to the position at this position In the top of the chain and to ensure that the sharp corners do not fall off the track chain.
  • the S-shaped lever When the S-shaped lever rotates past the design position, it starts to rotate in the opposite direction under the action of the scroll spring. During this process, the pressing plate rod moves along the rear stroke guide surface and the rear stroke stop toward the sliding axis. During the movement, the S-type lever continues to move away from the fixed column, and the first spring is stretched. When the S-shaped lever is rotated to the original position, the pressure plate is completely ejected and the card is fully retracted. After moving to the end of the first track block facing the sliding shaft, under the action of the first spring, the pressing plate rod quickly jumps from the end of the first track block facing the sliding axis to the front travel guide surface of the first track block, that is, the completion is completed. A loop.
  • top-shaft side swivel sleeves on both sides of the same top shaft are staggered from each other, and the two anti-collision block lugs are designed to provide two swivel sleeve rotations by using one rotating shaft.
  • the top shaft drives the side baffle to rotate, and the side baffle moves to the lower side of the sharp side, and no interference occurs between the side baffles.
  • the invention uses the driving wheel for shielding the sharp corners, can prevent the general weeds or the entangled objects from being wound around the sharp corners on the driving wheel, causing the failure of the track wheel, improving the passability of the track wheel, and having better practical effects. .

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
  • Soil Working Implements (AREA)

Abstract

L'invention concerne une roue d'entraînement de chenille anti-vent comprenant des patins de chenille comportant une plaque latérale (1), une coque (2), un manchon de retenue (4), un mécanisme de réglage (5), un canal de serrage (6), un déflecteur latéral (7), un arbre supérieur (8), un manchon rotatif côté arbre supérieur (9), un manchon rotatif intermédiaire d'arbre supérieur (10), un patin anti-collision (11), un canal de pression (12), un arbre d'extrémité (13), une patte d'extrémité (14), une patte de patin anti-collision (61), une rainure interne de manchon de retenue (62), un déflecteur interne (63), des chaînes de chenille (65), des plans inclinés de chaîne (66) et des ouvertures supérieures de chaîne (67), les chaînes de chenille (65) sont raccordées au moyen d'arbres rotatifs pour former une courroie de chenille, des coins pointus de la coque sont serrés dans les plans inclinés de chaîne (66) des chaînes de chenille (65) pour entraîner la courroie de chenille en rotation ; le mécanisme de réglage (5) comprend une colonne de fixation (15), un premier ressort (16), un ressort en spirale (17), un panneau d'encliquetage (18), un mécanisme rotatif (19), un levier en forme de S (20), une plaque de pression (21), un ressort de plaque (49), un support de ressort de plaque (50), une tige de panneau d'encliquetage (51), un patin de fixation externe (53), un arbre coulissant (55), une encoche (59), un patin de fixation interne (60), une tige de plaque de pression (64), un plan de guidage de course avant (70), un premier patin de chenille (71), un plan de guidage de course arrière (72), un second patin de chenille (73) et un plan de retenue de course arrière (74) ; le manchon de retenue (4), le déflecteur interne (63) et le déflecteur latéral (7) recouvrent des espaces parmi les coins pointus de la coque et des coins pointus adjacents, et le phénomène selon lequel la roue de chenille perd de l'efficacité en raison de l'enroulement de mauvaises herbes ou d'enchevêtrements autour des coins pointus des roues d'entraînement peut généralement être évité ; la passabilité de la roue à chenilles est améliorée.
PCT/CN2017/095013 2017-02-09 2017-07-28 Roue d'entraînement de chenille anti-vent comprenant des patins de chenille WO2018145422A1 (fr)

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CN201710070062.3 2017-02-09
CN201710070062.3A CN106828637B (zh) 2017-02-09 2017-02-09 一种带轨迹块的防缠绕履带驱动轮

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CN116767367A (zh) * 2023-08-24 2023-09-19 上海郦天智能科技有限公司 自动清理装置及履带行走机构

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CN106828637B (zh) * 2017-02-09 2019-08-23 绍兴市亿跃智能科技有限公司 一种带轨迹块的防缠绕履带驱动轮
CN106828638B (zh) * 2017-02-09 2019-08-27 绍兴市亿跃智能科技有限公司 一种带触发机构的防缠绕履带驱动轮
CN115817661B (zh) * 2023-01-10 2025-08-22 泉州市泉航工程机械有限公司 一种防卡死稳定性驱动轮安装结构

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