CN101224763B - Crawler type running device - Google Patents
Crawler type running device Download PDFInfo
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- CN101224763B CN101224763B CN2007101629129A CN200710162912A CN101224763B CN 101224763 B CN101224763 B CN 101224763B CN 2007101629129 A CN2007101629129 A CN 2007101629129A CN 200710162912 A CN200710162912 A CN 200710162912A CN 101224763 B CN101224763 B CN 101224763B
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- 230000027455 binding Effects 0.000 claims description 45
- 238000009739 binding Methods 0.000 claims description 45
- 230000002093 peripheral effect Effects 0.000 claims description 31
- 239000002689 soil Substances 0.000 claims description 26
- 230000000694 effects Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 5
- 238000003466 welding Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005728 strengthening Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000004087 circulation Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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- 230000000717 retained effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The invention provides a crawler type running gear, wherein the crawler spanning the driving wheel, front idler, back idler and rollers to wind is driven by driving the driving wheel using wheel rotation. A swing frame comprises a front idler supporting part for supporting the front idler and a back idler supporting part for supporting the back idler, a main frame with rollers and a swing axle mounted above the main frame; the swing frame also comprises a front connection parts for connecting the swing axle with the front idler supporting part and a back connection parts for connecting the swing axle with the back idler supporting part; and an opening formed between the front and back connection parts and the main frame and opening at the right and left direction is formed.
Description
Technical field
The present invention relates to crawler type running device.
Background technology
In the past, as crawler type running device, the wheel that replaces driving vehicles such as trac. is arranged and the crawler type running device of the half-track type of installing, crawler type running device as this half-track type, the device that following such formation is arranged: possess via oscillating axle and be supported on swing frame on the support body framework of the car body side that is fixed in driving vehicle around the left and right directions axis swing freely, this swing frame upper support before and after having idle pulley and be configured in a plurality of rollers between the idle pulley of above-mentioned front and back, possess upper side that is configured in roller and the drive wheel that is supported on the car body side around the rotation of the axle center of left and right directions freely, this drive wheel rotation of axle drives by by driving vehicle makes to step up and states drive wheel, before and after idle pulley and the roller crawler belt circulation of reeling detour (with reference to TOHKEMY 2004-148872 communique).
The swing frame of above-mentioned crawler type running device in the past mainly is made of following part: the idle pulley before and after supporting and the main frame of support roller, face the stay bearing plate of direction to the left and right from top extension of the inner side direction of the left and right directions of this main frame and plate, be fixed on the upper end side of this stay bearing plate and rotate the oscillating axle that is supported on freely on the support body framework around the axle center of left and right directions, with be configured to main frame and welding from this oscillating axle side and be fixed on a pair of brace panel in front and back on the left and right directions outside face of stay bearing plate.
In above-mentioned crawler type running device in the past, because possessing from top extension of the inner side direction of the left and right directions of main frame and plate, swing frame faces the stay bearing plate of direction to the left and right, with be configured to main frame and welding from the oscillating axle that is fixed on this stay bearing plate upper end side and be fixed on a pair of brace panel in front and back on the left and right directions outside face of stay bearing plate, so be difficult for to discharge (soil accumulates on the main frame of swing frame easily) by the soil that stay bearing plate and brace panel are carried on the main frame, have the soil that accumulates on the main frame in the moving of driving vehicle, to drop on the road and it handles effort, the earth removal that will accumulate in when carwash on the main frame is fallen also than problems such as efforts.
Summary of the invention
The objective of the invention is in view of the above problems, provide the crawler type running device on the main frame that a kind of soil is difficult for accumulating in swing frame.
Crawler type running device of the present invention possesses:
Support body framework is fixed on the car body side of driving vehicle;
Swing frame is supported on the said frame supporter freely via the axis swing of oscillating axle around left and right directions;
Front idler wheel and back idle pulley are supported on the above-mentioned swing frame;
A plurality of rollers are configured between above-mentioned front idler wheel and the above-mentioned back idle pulley, are supported on the above-mentioned swing frame;
Drive wheel is configured in the upper side of above-mentioned a plurality of rollers, via axle support in above-mentioned car body side;
Here, by by the above-mentioned drive wheel rotation of above-mentioned axle drives, drive and step up the crawler belt of stating drive wheel, above-mentioned cause wheel, above-mentioned back idle pulley and above-mentioned a plurality of roller and reeling.Above-mentioned swing frame possesses front idler wheel support portion, the back idle pulley support portion of supporting above-mentioned back idle pulley of supporting above-mentioned front idler wheel, the main frame of above-mentioned a plurality of rollers is installed and be configured in the above-mentioned oscillating axle of the upper side of this main frame, and above-mentioned swing frame also possesses preceding binding parts that above-mentioned oscillating axle and above-mentioned front idler wheel support portion are linked and with the back binding parts of above-mentioned oscillating axle with the binding of idle pulley support portion, back; The binding parts and the above-mentioned main frame of above-mentioned front and back constitute, and are formed with the opening that direction is to the left and right opened wide between the binding parts of above-mentioned front and back and above-mentioned main frame.
According to structure as described above, because binding parts and the above-mentioned main frame of above-mentioned front and back constitute, between the binding parts of above-mentioned front and back and above-mentioned main frame, be formed with the unlimited opening of direction to the left and right, be difficult to accumulate in effect on the main frame so have soil.
In embodiments of the present invention, preferably, above-mentioned swing frame possesses the part of the near zone of the above-mentioned oscillating axle of the binding parts of above-mentioned front and back and the intermediate linking part spare of the fore-and-aft direction pars intermedia binding of main frame.
In embodiments of the present invention, preferably, the binding parts of above-mentioned front and back are made of tubing, and preceding binding parts are from the oscillating axle bevelled shape that descends forward towards the front idler wheel support portion, and the back links parts and is from the above-mentioned oscillating axle bevelled shape that descends backward towards idle pulley support portion, back.
In embodiments of the present invention, preferably, the above-mentioned opening lower surface that comprises at least a portion that links parts before above-mentioned to the upper surface of above-mentioned main frame at opening portion continuous on the above-below direction and the lower surface of at least a portion that links parts from above-mentioned back to the upper surface of above-mentioned main frame continuous opening portion on above-below direction.
In embodiments of the present invention, preferably, the above-mentioned opening lower surface that comprises at least a portion that links parts before above-mentioned to the upper surface of above-mentioned main frame on above-below direction continuously and the continuous opening portion on fore-and-aft direction of the front surface from the front end area of binding parts above-mentioned before to above-mentioned intermediate linking part spare, with the lower surface of at least a portion that links parts from above-mentioned back to the upper surface of above-mentioned main frame on the above-below direction continuously and the back-end region that links parts from the rear surface of above-mentioned intermediate linking part spare to above-mentioned back continuous opening portion on fore-and-aft direction.
In embodiments of the present invention, preferably, when the side was observed, the shared area of above-mentioned intermediate linking part spare was littler than the area of above-mentioned opening.
In crawler type running device in the past, be provided with the swing limiting mechanism of the swing more than the specialized range that limits swing frame.Swing limiting mechanism one swing in the past is provided with oscillating deck freely, this oscillating deck makes plate face direction to the left and right and is configured in the oscillating axle front side of swing frame, a pair of stop component up and down is fixed on the left and right directions inner surface side of this oscillating deck, with be configured in this up and down the roller member between the stop component be installed on a pair of carriage member in the front and back be fixed on the support body framework, the confinement plate that is configured in the left and right directions inboard of above-mentioned roller member is fixed on the stop component up and down.In the swing limiting mechanism of such structure, swing frame is swung and is made roller member be connected on the next stop component, thereby the swing of swing frame is limited, roller member is fastened on the oscillating deck, thereby the swing frame motion of direction inboard to the left and right is limited, roller member is fastened on the confinement plate, thereby the swing frame motion in the direction outside to the left and right is limited.
In above-mentioned crawler type running device in the past, the swing limiting mechanism is the more and complicated structure of parts number of packages, in addition, has that structure member is big, soil accumulates between stop component up and down easily and might hinder the problem of the motion of swing frame.
In addition, soil also might enter into the inside of roller member and the action of this roller member is slowed up.
Given this, crawler type running device of the present invention possesses:
Support body framework is fixed on the car body side of driving vehicle;
Swing frame is supported on the said frame supporter freely around the axis swing of left and right directions;
Front idler wheel and back idle pulley are supported on the above-mentioned swing frame;
A plurality of rollers are configured between above-mentioned front idler wheel and the above-mentioned back idle pulley, are supported on the above-mentioned swing frame;
Drive wheel is configured in the upper side of above-mentioned a plurality of rollers, via axle support in above-mentioned car body side;
Here,, drive and step up the crawler belt of stating drive wheel, above-mentioned front idler wheel, above-mentioned back idle pulley and above-mentioned a plurality of roller and reeling by by the above-mentioned drive wheel rotation of above-mentioned axle drives,
It is characterized in that,
Have the left and right directions outside that is configured in the said frame supporter and the oscillating deck of swinging with above-mentioned swing frame one, this oscillating deck has towards the plate face of left and right directions and swing restriction opening;
Also have to be fixed on the said frame supporter and to have and be inserted into the swing restriction body of above-mentioned swing restriction with the engagement section in the opening, here, above-mentioned swing restriction is connected on the engagement section with the edge portion of the swaying direction of opening when swing frame is swung, and limits the swing of swing frame thus.
By such structure, the swing limiting mechanism of the swing more than the specialized range of restriction swing frame can be made the structure that simple structure and soil are difficult for accumulating.
In embodiments of the present invention, preferably, also possess:
Inboard restrictions is located on the above-mentioned swing restriction body, by engaging with above-mentioned oscillating deck, limits the motion of the inboard of direction to the left and right of above-mentioned swing frame;
Outside restrictions is fixed in the left and right directions outside of above-mentioned oscillating deck on the above-mentioned engagement section of above-mentioned swing restriction body, by engaging with oscillating deck, limits the motion in the direction outside to the left and right of above-mentioned swing frame.
In embodiments of the present invention, preferably, above-mentioned oscillating deck is fixed on above-mentioned preceding binding parts and above-mentioned back links on the left and right directions medial surface of parts upper side separately.
If on the field of softness, travel by the machinery that travels that has adopted crawler type running device, then earth can be positioned on the inner peripheral surface of crawler belt, thereby for example coming out from the field when laying road travels etc., have that this earth can drop on the laying road, it handles the problem of trouble and the problem that is difficult to carwash.
So,, have to possess the earth of the inner peripheral surface of crawler belt to the crawler type running device of the scraper plate of side guiding (opening flat 5-75076 communique) with reference to real as the crawler type running device that the earth that is positioned on the inner peripheral surface of crawler belt can be got rid of to the side.
In above-mentioned crawler type running device in the past, because scaler always is in the position to the soil effect of the inner peripheral surface of crawler belt, so scaler can hinder travelling in the operation on the contrary sometimes.
So the present invention is a purpose with the crawler type running device that this problem of elimination is provided also.
Given this, crawler type running device of the present invention possesses:
Support body framework is fixed on the car body side of driving vehicle;
Swing frame is supported on the said frame supporter freely around the axis swing of left and right directions, has main frame;
Front idler wheel and back idle pulley are supported on the above-mentioned swing frame;
A plurality of rollers are configured between above-mentioned front idler wheel and the above-mentioned back idle pulley, are supported on the above-mentioned main frame of above-mentioned swing frame;
Drive wheel, be configured in the upper side of above-mentioned a plurality of rollers, via axle support in above-mentioned car body side, here, by by the above-mentioned drive wheel rotation of above-mentioned axle drives, drive and step up the crawler belt of stating drive wheel, above-mentioned front idler wheel, above-mentioned back idle pulley and above-mentioned a plurality of roller and reeling;
Scaler, the soil that will be present in the inner peripheral surface side of above-mentioned crawler belt is got rid of to the side of above-mentioned crawler belt,
It is characterized in that,
Above-mentioned scaler is supported on the above-mentioned main frame, can be freely location change be use location that the soil of crawler belt inner peripheral surface is got rid of to the side and the retreating position of keeping out of the way from above-mentioned use location.
By such structure, can in operation, make scaler be positioned at retreating position, scaler can not hinder travelling in the operation, in addition, when coming on the laying road etc. coming out from field etc. necessary in, travel as long as make scaler become the use location, just the soil on the inner peripheral surface of crawler belt can be got rid of to the side, soil is for example dropped on the laying road.
In embodiments of the present invention, preferably, above-mentioned scaler is installed in from above-mentioned crawler belt connected to chassis part devices spaced apart on the mounting portion of above-mentioned back idle pulley.
In embodiments of the present invention, preferably, above-mentioned scaler possesses the scaler blade of the soil effect of the inner peripheral surface of above-mentioned crawler belt and supports the blade brace table of this scaler blade, above-mentioned scaler blade is supported on the blade brace table, can to respect to the approaching direction of the inner peripheral surface of crawler belt and away from direction move.
In embodiments of the present invention, preferably,
Above-mentioned scaler constitutes,
By being that rotate at the center with the fulcrum, changed to above-mentioned use location and above-mentioned retreating position;
Under the effect of application force that with above-mentioned fulcrum is the border spring that switches application of force direction, be retained as above-mentioned use location or above-mentioned retreating position;
Under the effect of the load that surpasses setting value, change to above-mentioned retreating position from above-mentioned use location.
Description of drawings
Fig. 1 is the lateral plan of crawler type running device.
Fig. 2 is the lateral plan that the trac. of crawler type running device is installed.
Fig. 3 is the lateral plan of support body framework and swing frame.
Fig. 4 is the back view of crawler type running device.
Fig. 5 is the lateral plan of swing frame.
Fig. 6 is the local section birds-eye view of swing frame.
Fig. 7 (a) is the local section back view of swing frame, and Fig. 7 (b) is the A-A line direction cutaway view of Fig. 5.
Fig. 8 (a) is the lateral plan of support body framework, and Fig. 8 (b) is the local section back view of support body framework.
Fig. 9 (a) is the figure from the observed parts of B direction of Fig. 1, and Fig. 9 (b) is the side-looking enlarged drawing of swing limiting mechanism, and Fig. 9 (c) is the section plan of swing limiting mechanism.
Figure 10 is the lateral plan with crawler type running device of scaler (scraper).
Figure 11 is the lateral plan of scaler device.
Figure 12 is the birds-eye view of scaler device.
Figure 13 is the summary construction diagram of the blade of expression scaler with respect to the configuration of crawler belt.
The specific embodiment
Below, with reference to the description of drawings embodiments of the present invention.
In Fig. 2, the 1st, replace can by the front and back wheel of pair of right and left travel 4 take turns trac. trailing wheel and about the trac. 1 (driving vehicle) of the crawler type running device 2 of half-track type (semi-crawler) is installed independently.
The car body 1A of trac. 1 mainly constitutes by via the flywheel outer cover transmission of power case 4 being installed at the rear portion of driving engine 3, transmission of power case 4 for example links change speed gear box by the rear portion at clutch housing and forms, and is built-in with to give the Poewr transmission mechanism of the axletree 5 (back axle) that drives crawler type running device 2 from the transmission of power of driving engine 3.
Above-mentioned back axle 5 from about the left and right sides that is located at car body 1A rear portion each wheel case 6 (rear wheel case) the direction outside is outstanding to the left and right, and rotation is supported on the above-mentioned rear wheel case 6 freely around the axle center of left and right directions, about the distolateral mounting flange 7 that is provided with outside the left and right directions of each rear wheel 5.
About each crawler type running device 2 as Fig. 1～shown in Figure 9, possess the support body framework 8 of the car body 1A side that is fixed on trac. 1, be supported on swing frame 9 on this support body framework 8 freely around the axis swing of left and right directions, be located at the front and back idle pulley 10 of the front and back of this swing frame 9,11, be configured in the front and back idle pulley 10 of swing frame 9, a plurality of (being 3 in the present embodiment) roller 12 between 11, be configured in the upper side of these rollers 12 and be supported on the drive wheel 13 (sprocket wheel) of car body 1A side around the rotation of the axle center of left and right directions freely, with stride drive wheel 13, front and back idle pulley 10,11 and roller 12 and the crawler belt 14 of reeling.
The back axle 5 of drive wheel 13 on the outer distolateral mounting flange 7 that is bolted to back axle 5 is supported on the back axle case 6 freely around the rotation of the axle center of left and right directions.
Outer circumferential side at this axle drive shaft 13, be provided with engaging tooth 15 with upwards separating predetermined distance week, on the other hand, on crawler belt 14, on the strip length direction, be formed with the connecting hole 16 that inserts above-mentioned engaging tooth 15 and engage, drive drive wheels 13 by back axle 5 rotations crawler belt 14 circulations are detoured by trac. 1 with predetermined distance.The left and right directions Outboard Sections of the connecting hole 16 in the crawler belt 14 forms on left and right directions more longways than left and right directions inside part.
Before and after adapter plate 17, left and right sides stay bearing plate 18 and coupling plate 19 mutual weldings, bearing sub-assembly 20 weldings about stay bearing plate 18 on.
In addition, before and after each adapter plate 17 be fixed on the back axle case 6 by the bolt that connects above-mentioned adapter plate 17 and be screwed in the tapped bore of back axle case 6, left and right sides stay bearing plate 18 is fixed on the back axle case 6 by the bolt that connects above-mentioned left and right sides stay bearing plate 18 and be screwed in the tapped bore of back axle case 6.
In addition, bearing sub-assembly 20 has the axle center of left and right directions, and above-mentioned bearing sub-assembly 20 is designed to, its axle center be positioned at back axle 5 the axle center lower side and be positioned on the fore-and-aft direction on the position identical with the axle center of back axle 5.
In addition, the stay bearing plate 18 in the left and right directions outside has the extension 21 than the stay bearing plate 18 side extension more forwards of left and right directions inboard.
In addition, about the stay bearing plate 18 in the outside of support body framework 8 link by union body shown in Figure 9 22 each other, what this union body 22 possessed the lower face side that is bolted to car body 1A is mounted plate 23.
In the swing frame 9 of said structure, before and after binding parts 28,29 and main frame 26 between (being part in the present embodiment) by binding parts 28,29, main frame 26 and 30 encirclements of intermediate linking part spare of front and back be shape in the left and right directions upper shed, form soil and be difficult for accumulating in structure on the main frame 26.
Above-mentioned main frame 26 possesses that to be formed and be configured to the thickness of slab direction by thick banded sheet material be above-below direction and the strip length direction is the mainboard 31 of fore-and-aft direction, toe lateral at this mainboard 31 is provided with front idler wheel support portion 24, idle pulley support portion 25 after the rear portion side of mainboard 31 is provided with.
Above-mentioned mainboard 31 is configured in the below of drive wheel 13, lower face side at above-mentioned mainboard 31, be mounted with roller installation bracket 32 respectively in front, rear end side and fore-and-aft direction center side, on each roller installation bracket 32, roller 12 be installed freely around the rotation of left and right directions axis.
In addition, on the lower surface of mainboard 31, be provided with the anti-crawler belt releasing part 33 that prevents that crawler belt 14 from coming off.
Above-mentioned idle pulley support portion 24 has crawler belt 14 is applied the tension applying apparatus 34 of tension force and supports the preceding Support bracket 35 of above-mentioned idle pulley 10.
The preceding Support bracket 35 that supports front idler wheel 10 is located on the front surface of antetheca 39 of tension applying apparatus 34, front idler wheel 10 around the axle center of left and right directions rotate be installed in freely be bolted to before on the installing component 42 of front face side of Support bracket 35, by front idler wheel 10 being pressed on the crawler belt 14 and crawler belt 14 is applied tension force by the effect of above-mentioned spring 41, advance and retreat on fore-and-aft direction by making spring accept body 40, can regulate the tension force of crawler belt 14.
Above-mentioned rear wall 37 is from the mainboard 31 inboard extension of direction to the left and right.
Back idle pulley support portion 25 has by being installed in the lower wall 43a on the mainboard 31 and forming the adapter plate 43 of side-looking L font and be installed in back Support bracket 44 on the longitudinal wall 43b rear surface of this adapter plate 43 from the longitudinal wall 43b that extend upward the rear end of above-mentioned lower wall 43a, on the installing component 45 of the rear surface side that is bolted to back Support bracket 44, back idle pulley 11 is installed freely around the rotation of left and right directions axis.
The rear surface side of each assembly wall 44c about above-mentioned installing component 45 is configured in, the bolt 23B that is screwed among the above-mentioned nut 23A by perforation installing component 45 and assembly wall 44c is fixed on the Support bracket 44 of back.In addition, the assembly wall 44c of back Support bracket 44 and installing component 45 are with respect to the sweptback slightly shape of above-below direction.
Before and after binding parts 28,29 constitute by tubing, particularly, constitute by square tube in the present embodiment, and be configured in the left and right directions inboard of axle drive shaft 13.
Before to link the distolateral left and right directions that is installed in oscillating axle 27 of the length direction one of parts 28 outer distolateral, another of length direction be distolateral to be installed on the above-mentioned extendible portion of rear wall 37 of front idler wheel support portion 24, is from oscillating axle 27 towards front idler wheel support portion 24 and the bevelled shape that forwards descends.
In addition, the outer side of the lower end side of preceding binding parts 28 be provided with welding mainboard 31, rear wall 37 and before strengthening part 46 on the binding parts 28.
It is outer distolateral that the back links the distolateral left and right directions that is installed in oscillating axle 27 of the length direction one of parts 29, another of length direction be distolateral to be installed on the above-mentioned extendible portion of longitudinal wall 43b of adapter plate 43 of idle pulley support portion, back 25, is from oscillating axle 27 towards idle pulley support portion 25, back and the bevelled shape that rearward descends.
In addition, link the left and right sides of the lower end side of parts 29 in the back, be provided with the strengthening part 47 of welding on adapter plate 43 and back binding parts 29.
Intermediate linking part spare 30 forms the cubic tubular that the end is arranged in the axle center with above-below direction, the rear end side lower surface and the back that link parts 28 before upper end side is installed in link on the front lower surface of parts 29, and lower end side is installed on the left and right directions medial surface of mainboard 31.
In the present embodiment, intermediate linking part spare 30 is formed by the outside parts 48 in the left and right directions outside and 49 two parts of inner part of left and right directions inboard.
The inboard extension of direction and the front and rear wall 30b, the 30c that constitute the front and rear part of intermediate linking part spare 30 form and overlook the コ font outside parts 48 to the left and right by the lateral wall 30a of the left and right directions outside portion that constitutes intermediate linking part spare 30 with from the both sides, front and back of this lateral wall 30a, the rear end side lower surface and the back that link parts 28 before the upper end of these outside parts 48 is installed in link on the front lower surface of parts 29, and the lower end side of lateral wall 30a is installed on the left and right directions medial surface of mainboard 31.
In the bottom of intermediate linking part spare 30, be provided with by the longitudinal wall 50a on the lateral surface that is installed in above-mentioned intermediate linking part spare 30 and be installed in the strengthening part 50 that lower wall 50b on the upper surface of mainboard 31 forms the L font.
Oscillating axle 27 has axle main body 51 that the cylindrical shell by the axle center with left and right directions constitutes, with the outside blocking plate 52 of the outer distolateral obstruction of left and right directions of this main body 51 with insert and be installed in inboard plug members 53 distolateral in the left and right directions of a main body 51.
On inboard plug members 53, connect the tapped bore 54 that is formed with axle center with left and right directions.
The part from the left and right directions middle part to the inner of this oscillating axle 27 is outside the left and right directions of above-mentioned bearing sub-assembly 20 the distolateral bearing sub-assembly 20 that is inserted into support body framework 8 with concentric shape, be supported on freely on the above-mentioned bearing sub-assembly 20 around the rotation of the axle center of left and right directions, thus, swing frame 9 is supported on the support body framework 8 freely around oscillating axle 27 swings.
In addition, be screwed in the tapped bore 54 of above-mentioned inboard plug members 53, can prevent that oscillating axle 27 from coming off from bearing sub-assembly 20 by making bolt 55 perforations be configured in anticreep plate 56 distolateral in the left and right directions of bearing sub-assembly 20.
In the swing frame 9 of said structure, by the binding parts 28,29 of using the front and back that constitute by square tube lattice construction (Truss Structure) is made in idle pulley support portion, front and back 24,25 connections of oscillating axle 27, main frame 26, realized guaranteeing of intensity.
This crawler type running device 2 possesses the swing limiting mechanism of the swing of restriction swing frame 9 more than the specialized range of oscillating axle 27.This swing limiting mechanism possess with freely oscillating deck 57 of swing frame 9 one swings, be formed on this oscillating deck 57 the swing restriction with opening 58, be connected to this swing restriction with the 58a of edge portion of opening 58,58b is last and the swing that limits the swing more than the specialized range of oscillating deck 57 limits body 59 and be installed in this swing limits outside limiting part 60 on body 59.
Oscillating deck 57 is configured in the outer side of stay bearing plate 18 in the left and right directions outside of support body framework 8, so that its plate faces direction (opposed on left and right directions) to the left and right.
Rear portion side at this oscillating deck 57 is formed with an inserting hole 61, distolateral inserting is connected with oscillating axle 27 in its left and right directions in this inserting hole 61, and link the upper end that parts 28 and back link the inner part 49 of the left and right directions medial surface of upper side (oscillating axle 27 sides) of parts 29 and intermediate linking part spare 30 before oscillating deck 57 is connected to, above-mentioned oscillating deck 57 weldings are fixed on oscillating axle 27, preceding binding parts 28, back and link on the inner part 49 of parts 29 and intermediate linking part spare 30.
In addition, the preceding lower end side of the front of oscillating deck 57 and preceding binding parts 28 links by the strengthening part 62 that is made of angle section.
In addition, it is outer distolateral that oscillating deck 57 is connected to the left and right directions of bearing sub-assembly 20 of support body framework 8.
In addition, the toe lateral of oscillating deck 57 is from the forwards outstanding shape of oscillating axle 27, this toe lateral constitutes around oscillating axle 27 with swinging up and down, and swing restriction forms at the front side of oscillating axle 27 and on the position corresponding to the side of the extension 21 of the stay bearing plate 18 outside the left and right directions of support body framework 8 with opening 58.
59 weldings of swing restriction body be fixed on the lateral surface of extension 21 of stay bearing plate 18 in the left and right directions outside of support body framework 8 and on the left and right directions corresponding to the swing restriction with on the position of opening 58, and on above-mentioned swing restriction body 59, be formed with and be inserted into the swing restriction with the engagement section 63 in the opening 58.
Thereby, if swing frame 9 is around oscillating axle 27 swings, the then toe lateral of oscillating deck 57 one swing up and down, the swing restriction is connected on the engagement section 63 with up and down the 58a of edge portion, the 58b (the edge portion of swaying direction) of opening 58, thus the above swing of specialized range of restriction swing frame 9.
On above-mentioned engagement section 63, front and back are formed with the tapped bore 64 that forms from its left and right directions outside a pair ofly.
In addition, on swing restriction body 59, be provided with the inboard restrictions 65 of both sides, front and back that are positioned at engagement section 63 and the left and right directions medial surface that is opposite to oscillating deck 57, this inboard restrictions 65 is fastened on the oscillating deck 57, the motion of direction inboard to the left and right of restriction swing frame 9.
Outside limiting part 60 is formed by sheet material, be configured in the outer side of left and right directions of the engagement section 63 of swinging restriction body 59 and the outer side of left and right directions of oscillating deck 57, the thickness of slab direction is consistent with left and right directions, by connecting the bolt 66 that above-mentioned outside limiting part 60 is screwed in the tapped bore 64 of engagement section 63 outside limiting part 60 is fixed on the swing restriction body 59.
The front and back width of this outside limiting part 60 forms longlyer with opening 58 than the swing restriction, and the both sides, front and back of above-mentioned outside limiting part 60 are fastened on the oscillating deck 57, and restriction swing frame 9 is the motion in the direction outside to the left and right.
In the swing limiting mechanism of said structure, can form the structure of the function of the inside and outside motion of the left and right directions of the function of the above swing of specialized range with restriction swing frame 9 and swing frame 9 simply.
In addition, it is less with the possibility in the opening 58 that soil accumulates in swing restriction, because of accumulate in the soil of swinging on the limiting mechanism hinder swing frame 9 swing situation also seldom.
In addition, the binding parts 28,29 of front and back are skewed, owing to be fixed with oscillating deck 57 on the medial surface of the binding parts 28,29 of these front and back, on the lateral surface of oscillating deck 57, soil can not accumulate on the binding parts 28,29.
In addition, on swing restriction body 59, be formed with the through hole 67 that connects formation along the vertical direction, make soil be difficult to accumulate on the swing restriction body 59.
Because soil is difficult to accumulate in swing limiting mechanism and periphery thereof, so also play the effect of easy carwash.
As Figure 10～shown in Figure 13, in above-mentioned crawler type running device 2, scaler (scraper) device 161 that the soil of the inner peripheral surface 14a side that will be present in crawler belt 14 is discharged to the side of crawler belt 14 can be set also.
The outside portion of each crawler type running device 2 about scaler device 161 is located at, with about crawler type running device 2 crawler belt 14 inner peripheral surface 14a, discharge than the keep left earth in the right outside (more particularly being roller rolling surface 170 outer sides) of connecting hole 16 than the outside.
In addition, about the inside portion of each crawler type running device 2 also scaler device 161 can be set, with about each crawler type running device 2 crawler belt 14 inner peripheral surface 14a, discharge than the keep left earth of right inboard of connecting hole 16.
This scaler device 161 mainly by the erecting bed 162 on the main frame 26 that is fixed on swing frame 9, can be that use location that the soil of crawler belt inner peripheral surface 14a is discharged to the side and the mode of the retreating position of keeping out of the way from above-mentioned use location are installed in the scaler 163 on this erecting bed 162 freely with location change and can be that use location and retreating position ground keep the instability switching spring 164 of above-mentioned scaler 163 to constitute with location change.
Erecting bed 162 is formed by sheet material, possesses baseplate part 165 and is located at a pair of assembly wall 166 up and down on this baseplate part 165, in the present embodiment, is installed on the mounting portion of back idle pulley 11.
The baseplate part 165 of this erecting bed 162 is configured in the left and right directions outside of back idle pulley 11 and the rear portion side of back idle pulley 11, so that its plate face is towards left and right directions (the thickness of slab direction is consistent with left and right directions), forwardly be formed with from the above-below direction middle part of front and rearward be arranged with to dodge the recess 168 of the bearing portion 167 that supports back idle pulley 11, assembly wall 166 be positioned at baseplate part 165 front recess 168 about, extend and form in the direction outside to the left and right from the exterior region of baseplate part 165.
In addition, assembly wall 166 up and down overlaps on the installing component 45 of idle pulley after the support 11 from rear side, by be used for above-mentioned installing component 45 be installed in the back Support bracket 44 assembly wall 44c on bolt 23B link together, thus, with erecting bed 162 be installed in the back Support bracket 44 on.
Rear end side in the left and right directions outside face side of the baseplate part 165 of erecting bed 162 is provided with a pair of supporting blade 171 up and down, on tilting member 169, be provided with via fulcrum 172 and be supported on above-mentioned each supporting blade 171 supported 173 freely around the axis swing of above-mentioned fulcrum 172, the axle center of above-mentioned fulcrum 172 is along with preceding and then that rearward move skewed upward, and does not tilt with respect to left and right directions.
This tilting member 169 constitutes, when being positioned at the use location, scaler 163 is positioned at the rear side of the baseplate part 165 of erecting bed 162, the thickness of slab direction is consistent with left and right directions, its front end face is connected on the aft end face of baseplate part 165, the rotation of 11 sides of idle pulley backward of tilting member 169 is restricted, and can be from the side oscillation forwards of above-mentioned position, by making this tilting member 169 side oscillation forwards, scaler 163 changes to retreating position under the state of above-mentioned back idle pulley 11 in the outside location of back idle pulley 11, thereby, scaler 163 is use location and retreating position by being that rotate at the center with fulcrum 172 by location change.
The scaler blade 174 and the blade brace table 175 of this scaler 163 constitute, the direction outside is outstanding to the left and right from tilting member 169 on the use location, the distolateral top that is fixed on the lateral surface of tilting member 169 by welding etc. in the left and right directions of blade brace table 175, scaler 163 partly floats from crawler belt 14 connected to chassiss, make that on the use location scaler 163 can not be subjected to the concavo-convex influence of crawler belt 14 connected to chassis ground planes.
In addition, scaler 163 is configured on the use location, the 174a of edge portion alongst of scaler blade 174 is roughly parallel to the inner peripheral surface 14a of crawler belt 14, and the above-mentioned edge 174a of portion is configured to shown in Figure 13 (a) like that, along with the A of direction foreign side to the left and right (from the left and right directions central portion of crawler belt 14 direction towards the end of left and right directions) advances and to advancing of crawler belt 14 skewed that direction B moves that detour, by crawler belt 14 is detoured so that trac. 1 advances to the arrow B direction, and by scaler blade 174 with the side guiding and discharging outside the direction to the left and right of the soil of mounting on the inner peripheral surface 14a of crawler belt 14.
In addition, on the use location, the 174a of edge portion corresponding to the side of the inner peripheral surface 14a of crawler belt 14 of scaler blade 174 can be configured to butt (moving contact) on the inner peripheral surface 14a of crawler belt 14, perhaps also can be configured to not butt (moving contact) on the inner peripheral surface 14a of crawler belt 14.
Blade brace table 175 is configured to length direction and the thickness of slab direction is consistent with scaler blade 174, and overlap upper surface side at above-mentioned scaler blade 174, and be configured to, the 174a of edge portion corresponding to the side of crawler belt inner peripheral surface 14a of scaler blade 174 extends (stretching out) from blade brace table 175 to crawler belt inner peripheral surface 14a side.
In addition, scaler blade 174 is fixed on the blade brace table 175 by the fastener that is made of a pair of bolt of length direction, nut, and the bolt insertion hole 177 that is formed on the blade brace table 175 is made of slotted hole, so that scaler blade 174 is with respect to the inner peripheral surface 14a of crawler belt 14 can advance and retreat (can approaching, away from).
By scaler blade 174 is regulated with respect to the inner peripheral surface 14a advance and retreat of crawler belt 14, can make scaler blade 174 be in only position with respect to crawler belt 14, and when causing crawler belt 14 to approach scaler blade 174 in the outer peripheral face wearing and tearing of back idle pulley 11, by scaler blade 174 is carried out position adjustments to the direction of keeping out of the way with respect to crawler belt 14, scaler blade 174 can be adjusted to only position with respect to crawler belt 14.
In addition, scaler blade 174 in the present embodiment, be depicted as Figure 13 (b) skewed, along with to the inner peripheral surface 14a that is orthogonal to crawler belt 14 and from crawler belt 14 away from direction advance, and the direction B (top) that detours of marching forward moves.
In addition, be not limited to this, also can on the use location, the inner peripheral surface 14a of scaler blade 174 with respect to crawler belt 14 be disposed orthogonally.
The unstable spring 164 of switching is made of extension spring, one distolateral being fastened in the spring hook portion 178 distolateral outside the left and right directions of the blade brace table 175 that is secured on the use location, another is distolateral to be fastened in the spring hook portion 179 of upper rear end of the baseplate part 165 that is secured to erecting bed 162, at this moment, because unstable axle center of switching spring 164 is positioned at the rear side in fulcrum 172 axle center, so the unstable spring 164 that switches is to making the scaler 163 direction application of force of (crawler belt inner peripheral surface 14a side) rotation rearward, and because thereby the front end face of tilting member 169 is connected to rotate on the aft end face of baseplate part 165 is limited, so scaler 163 rotation rearward is limited, thus, scaler 163 is maintained on the use location.
In addition, scaler 163 is rotated and when becoming retreating position to the front side from above-mentioned use location around fulcrum 172, if unstable axle center of switching spring 164 surpasses the axle center of fulcrum 172, (axle center with fulcrum 172 is the border in the application of force direction switching of then unstable switching spring 164, the unstable application of force direction of switching spring 164 is switched), instability is switched spring 164 application of forces so that scaler 163 rotates to the direction that approaches back idle pulley 11.
In the case, scaler 163 (the perhaps unstable spring 164 that switches) is connected on the abutting part of erecting bed 162 sides, thereby as shown in phantom in Figure 12, the swing of scaler 163 is limited, scaler 163 is maintained at retreating position (at this moment, scaler 163 and the unstable spring 164 that switches do not contact with back idle pulley 11).
In the scaler device 161 of said structure, because location change is use location and retreating position freely, so in the operation in the field, by making scaler 163 become retreating position, scaler 163 can not become the resistance that travels in the operation, and, when come out in the field, make crawler belt more than 14 circles that detour that advance by making scaler 163 become the use location, to automatically scrape by scaler 163 attached to the earth on the inner peripheral surface 14a of crawler belt 14, and not need above-mentioned earth is scraped with staff to the outer side guiding of crawler belt 14.
In addition, owing to constitute, scaler 163 is on each position that is maintained at use location and retreating position under the effort of instability switching spring 164 (being switched to use location and retreating position by unstable switching mechanism instability), so scaler 163 is become under the state of use location, when trac. 1 is retreated, when crawler belt 14 is met some object and scaler 163 has been applied impulsive force (excessive power), scaler 163 can overcome the application force of unstable switching spring 164 and avoid to keeping out of the way external rotation, can avoid the damage of scaler 163 and crawler belt 14.
In addition, when crossing the protuberance in field, owing to rise on the front side of crawler belt 14, so mounting drops to a certain degree in the earth of the toe lateral of the bottom of crawler belt 14, but the earth of rear portion side that is positioned in the bottom of crawler belt 14 is difficult for dropping, and the scaler of sidepiece that can be by being located at back idle pulley 11 163 is removed it effectively.
In addition because scaler 163 forwards rotates around the axle center of hypsokinesis shape, be retreating position with location change from the use location, so keep out of the way the higher position of distance ground plane, think keep out of the way external on earth be difficult to be attached to scaler 163 from one's body.
In addition, scaler device 161 also can adopt in the crawler type running device of full caterpillar type.
In addition, as employing the driving vehicle of the crawler type running device 2 of invention being arranged, also can be the vehicle beyond the trac. 1, and in addition, crawler type running device 2 also can replace front-wheel and be provided with.
Claims (13)
1. crawler type running device possesses:
Support body framework (8) is fixed on car body (1A) side of driving vehicle (1);
Swing frame (9) is supported on the said frame supporter (8) freely via the axis swing of oscillating axle (27) around left and right directions;
Front idler wheel (10) and back idle pulley (11) are supported on the above-mentioned swing frame (9);
A plurality of rollers (12) are configured between above-mentioned front idler wheel (10) and the above-mentioned back idle pulley (11), are supported on the above-mentioned swing frame (9);
Drive wheel (13) is configured in the upper side of above-mentioned a plurality of roller (12), is supported on above-mentioned car body (1A) side via axletree (5);
Wherein, state drive wheel (13), above-mentioned front idler wheel (10), above-mentioned back idle pulley (11) and above-mentioned a plurality of roller (12) and the crawler belt (14) of coiling by driving above-mentioned drive wheel (13) rotation by above-mentioned axletree (5), drive to step up;
It is characterized in that,
Above-mentioned oscillating axle (27) is arranged with above-mentioned axletree (5) branch, and above-mentioned oscillating axle (27) is positioned at the lower side of above-mentioned axletree (5),
Above-mentioned swing frame (9) possesses the main frame (26) of the front idler wheel support portion (24) of the above-mentioned front idler wheel of support (10), the back idle pulley support portion (25) of supporting above-mentioned back idle pulley (11), the above-mentioned a plurality of rollers of installation (12) and is configured in the above-mentioned oscillating axle (27) of the upper side of this main frame (26), and above-mentioned swing frame (9) also possesses above-mentioned oscillating axle (27) with the preceding binding parts (28) of above-mentioned front idler wheel support portion (24) binding with the back binding parts (29) of above-mentioned oscillating axle (27) with idle pulley support portion, back (25) binding;
The binding parts of above-mentioned front and back (28,29) and above-mentioned main frame (26) constitute, and form the unlimited opening of direction to the left and right between the binding parts (28,29) of above-mentioned front and back and above-mentioned main frame (26).
2. crawler type running device as claimed in claim 1 is characterized in that,
Above-mentioned swing frame (9) possesses the part of the near zone of the above-mentioned oscillating axle (27) of the binding parts of above-mentioned front and back (28,29) and the intermediate linking part spare (30) of the fore-and-aft direction pars intermedia binding of main frame (26).
3. crawler type running device as claimed in claim 1 or 2 is characterized in that,
The binding parts of above-mentioned front and back (28,29) are made of tubing, before link parts (28) and be from oscillating axle (27) towards front idler wheel support portion (24) the bevelled shape that descends forward, the back links parts (29) and is from above-mentioned oscillating axle (27) the bevelled shape that descends backward towards idle pulley support portion, back (25).
4. crawler type running device as claimed in claim 1 or 2 is characterized in that,
The lower surface that above-mentioned opening comprises at least a portion that links parts (28) before above-mentioned to the upper surface of above-mentioned main frame (26) at opening portion continuous on the above-below direction and upper surface continuous opening portion on above-below direction from the lower surface of at least a portion of above-mentioned back binding parts (29) to above-mentioned main frame (26).
5. crawler type running device as claimed in claim 2 is characterized in that,
Above-mentioned opening comprise from the lower surface of at least a portion of above-mentioned front connecting member (28) to above-mentioned main frame (26) upper surface on the above-below direction continuously and the front surface from the front end area of above-mentioned front connecting member (28) to above-mentioned intermediate linking part spare (30) at opening portion continuous on the fore-and-aft direction and the upper surface from the lower surface of at least a portion of rear connecting member (29) to above-mentioned main frame (26) continuous on the above-below direction and from the rear surface of above-mentioned intermediate linking part spare (30) to the back-end region of above-mentioned rear connecting member (29) continuous opening portion on fore-and-aft direction.
6. crawler type running device as claimed in claim 2 is characterized in that,
When the side was observed, the shared area of above-mentioned intermediate linking part spare (30) was littler than the area of above-mentioned opening.
7. crawler type running device as claimed in claim 1 is characterized in that,
Have the left and right directions outside that is configured in said frame supporter (8) and the oscillating deck of swinging with above-mentioned swing frame (9) one (57), this oscillating deck (57) has towards the plate face of left and right directions and swings and limit with opening (58);
Also have and be fixed on said frame supporter (8) and go up and have and be inserted into the swing restriction body (59) of above-mentioned swing restriction with the engagement section (63) in the opening (58), wherein, when swing frame (9) is swung, the above-mentioned swing restriction that forms above-mentioned oscillating deck (57) is connected on the engagement section (63) with the edge portion (58a, 58b) of opening (58), limits the swing of swing frame (9) thus.
8. crawler type running device as claimed in claim 7 is characterized in that also possessing:
Inboard restrictions (65) is located on the above-mentioned swing restriction body (59), by engaging with above-mentioned oscillating deck (57), limits above-mentioned swing frame (9) motion of direction inboard to the left and right;
Outside limiting part (60), the left and right directions outside at above-mentioned oscillating deck (57) is fixed on the above-mentioned engagement section (63) of above-mentioned swing restriction body (59), by engaging, limit above-mentioned swing frame (9) motion in the direction outside to the left and right with oscillating deck (57).
9. as claim 7 or 8 described crawler type running devices, it is characterized in that,
Above-mentioned swing frame (9) possesses the main frame (26) of the front idler wheel support portion (24) of the above-mentioned front idler wheel of support (10), the back idle pulley support portion (25) of supporting above-mentioned back idle pulley (11), the above-mentioned a plurality of rollers of installation (12) and is configured in the above-mentioned oscillating axle (27) of the upper side of this main frame (26), and above-mentioned swing frame (9) also possesses above-mentioned oscillating axle (27) with the preceding binding parts (28) of above-mentioned front idler wheel support portion (24) binding with the back binding parts (29) of above-mentioned oscillating axle (27) with idle pulley support portion, back (25) binding;
Above-mentioned oscillating deck (57) is fixed on above-mentioned preceding binding parts (28) and above-mentioned back links on the left and right directions medial surface of parts (29) upper side separately.
10. crawler type running device as claimed in claim 1 is characterized in that, possesses scaler (163), and the soil that will be present in inner peripheral surface (14a) side of above-mentioned crawler belt (14) is got rid of to the side of above-mentioned crawler belt (14);
Above-mentioned scaler (163) is supported on the above-mentioned main frame (26), can be freely location change be use location that the soil of crawler belt inner peripheral surface (14a) is got rid of to the side and the retreating position of keeping out of the way from above-mentioned use location.
11. crawler type running device as claimed in claim 10 is characterized in that,
Above-mentioned scaler (163) is installed in from above-mentioned crawler belt (14) connected to chassis part devices spaced apart on the mounting portion of above-mentioned back idle pulley (11).
12. as claim 10 or 11 described crawler type running devices, it is characterized in that,
Above-mentioned scaler (163) possesses the scaler blade (174) of the soil effect of the inner peripheral surface (14a) of above-mentioned crawler belt (14) and supports the blade brace table (175) of this scaler blade (174), above-mentioned scaler blade (174) is supported on the blade brace table (175), can to respect to the approaching direction of the inner peripheral surface (14a) of crawler belt (14) and away from direction move.
13. as claim 10 or 11 described crawler type running devices, it is characterized in that,
Above-mentioned scaler (163) constitutes,
By being that rotate at the center with fulcrum (172), changed to above-mentioned use location and above-mentioned retreating position;
Under the effect of application force that with above-mentioned fulcrum (172) is the border spring (164) that switches application of force direction, be maintained at above-mentioned use location or above-mentioned retreating position;
Under the effect of the load that surpasses setting value, change to above-mentioned retreating position from above-mentioned use location.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007-009245 | 2007-01-18 | ||
| JP2007009245A JP4597148B2 (en) | 2007-01-18 | 2007-01-18 | Crawler type traveling device |
| JP2007-009244 | 2007-01-18 | ||
| JP2007009244A JP4597147B2 (en) | 2007-01-18 | 2007-01-18 | Crawler type traveling device |
| JP2007009244 | 2007-01-18 | ||
| JP2007009245 | 2007-01-18 | ||
| JP2007077511A JP4597158B2 (en) | 2007-03-23 | 2007-03-23 | Crawler type traveling device |
| JP2007-077511 | 2007-03-23 | ||
| JP2007077511 | 2007-03-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101224763A CN101224763A (en) | 2008-07-23 |
| CN101224763B true CN101224763B (en) | 2010-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101629129A Active CN101224763B (en) | 2007-01-18 | 2007-09-27 | Crawler type running device |
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| JP (1) | JP4597147B2 (en) |
| CN (1) | CN101224763B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101783285B1 (en) * | 2010-08-31 | 2017-09-29 | 얀마 가부시키가이샤 | Working vehicle |
| WO2013001845A1 (en) * | 2011-06-30 | 2013-01-03 | ヤンマー株式会社 | Working vehicle |
| WO2013029165A1 (en) | 2011-08-31 | 2013-03-07 | Rolic Invest Sarl | Tracked vehicle |
| JP5951452B2 (en) * | 2012-11-14 | 2016-07-13 | 株式会社クボタ | Crawler travel device |
| GB2522474A (en) * | 2014-01-28 | 2015-07-29 | Caterpillar Inc | Idler assembly for a track roller frame |
| CN104369722B (en) * | 2014-11-11 | 2016-08-17 | 泉州市永茂电子科技有限公司 | A kind of high ferro motor-car roof cleaning machine running gear |
| CN108994814A (en) * | 2018-09-07 | 2018-12-14 | 浙江树人学院 | It is a kind of to adapt to complicated ground anthropomorphic robot mobile device |
| CN111096113B (en) * | 2020-03-10 | 2025-02-25 | 江西赣发机械制造有限公司 | A crawler tractor |
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| JP2000006857A (en) * | 1998-06-18 | 2000-01-11 | Toyota Autom Loom Works Ltd | Vehicle crawlers |
| JP2003023819A (en) * | 2001-07-12 | 2003-01-28 | Kubota Corp | Sulky type implement for paddy field |
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| CN2292051Y (en) * | 1996-06-28 | 1998-09-23 | 昆明市手扶拖拉机厂二分厂 | Walking caterpillar device for multi-function walking tractor |
| CN2326498Y (en) * | 1998-04-13 | 1999-06-30 | 宋德安 | Anti-skid fall-proof caterpillar-track device |
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Also Published As
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| JP4597147B2 (en) | 2010-12-15 |
| JP2008174087A (en) | 2008-07-31 |
| CN101224763A (en) | 2008-07-23 |
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