CN107215400B - A crawler chassis and a traveling device - Google Patents

Abstract

A crawler chassis and a traveling device belong to the field of vehicles. The crawler chassis includes a crawler and a plurality of magnetic force generating members. The crawler belt is provided with a driving surface and a contact surface which are opposite, the driving surface defines a distribution space, and the distribution space is provided with at least one preset area. The magnetic force generating members are located in the distribution space and are arranged at intervals along the driving surface. The magnetic force generating members have selectable magnetic states and non-magnetic states, and the magnetic states and the non-magnetic states are controllably switched, and the plurality of magnetic force generating members can generate magnetic attraction force and apply the magnetic attraction force to the contact surface through the driving surface. The crawler chassis provided by the invention can stably crawl on the surfaces of various large metal pipelines, magnetic material structures with irregular curved surfaces and the like which form magnetic force adsorption, can crawl on the surfaces of the magnetic materials in any posture, has stable advancing, and can finish multiple functions by loading different modules.

Description

A crawler chassis and a traveling device

technical field

The invention relates to the field of vehicles, in particular to a crawler chassis and a running device.

Background technique

Many mobile devices that often need to move on rough and uneven surfaces often use track drives for maneuvering. Tracks are generally used as drives. The drive device related to the track has a frame on which the endless track is mounted together with the drive motor. The drive wheels transfer torque from the drive motor to the track to generate tractive force for moving the track frame. Tracks can be driven by a single pulley or by multiple drive pulleys.

However, on some large metal pipes and other surfaces, the form stability of the crawler drive device is poor, and it is difficult for the track to form a stable contact with the surface, so it is difficult to provide a good form experience.

Contents of the invention

In a first aspect of the invention, a tracked undercarriage is provided. The crawler chassis adopting the above-mentioned driving structure can drive on various metal pipes and magnetic irregular surfaces, and maintain a relatively stable ride. As a free-running platform, it completes multiple functions by loading different modules.

In the second aspect of the present invention, a running device is provided, which is stable in running and capable of meeting the driving requirements in complex road conditions.

The present invention is achieved like this:

A tracked chassis, comprising:

a crawler track, the crawler track has opposing driving surfaces and contact surfaces, the driving surface defines a distribution space, and the distribution space has at least one predetermined area;

A plurality of magnetic force generators located in the distribution space, the plurality of magnetic force generators are arranged at intervals along the driving surface, the magnetic force generators have an optional magnetic state and a non-magnetic state, and the magnetic state and the non-magnetic state are controllably switched, and the plurality of magnetic force generators are configured to generate a magnetic adsorption force in at least one preset area, and apply the magnetic adsorption force to the contact surface through the drive surface.

In a preferred example, the crawler chassis includes a driving wheel and a driven wheel located in the distribution space, the driving wheel and the driven wheel are arranged relatively far away, and are respectively set in frictional contact with the driving surface.

In a preferred example, both the driving wheel and the driven wheel are provided with a positioning plate, and the positioning plate is provided with a positioning groove. The crawler chassis also includes a plurality of positioning teeth, which are arranged along the driving surface.

In a preferred example, the driving wheel and the driven wheel are arranged relatively far away from each other, and are respectively set to engage with the driving surface.

In a preferred example, the magnetic force generator is an electromagnet.

In a preferred example, the electromagnet is an AC electromagnet or a DC electromagnet.

In a preferred example, the electromagnet includes a matched iron core and a wire winding, the conductive winding has a positive terminal and a negative terminal, and the crawler chassis has a conductive rail located in the distribution space, the conductive rail is configured to be in electrical contact with any one of the positive terminal and the negative terminal.

In a preferred example, one end of the iron core is connected to the drive surface.

In a preferred example, there is an active gap between the conductive rail and the driving surface.

A traveling device includes the aforementioned crawler chassis.

Beneficial effects of the above solution: the crawler chassis provided by the present invention has the advantage of being able to travel on various road surfaces, especially in a form that can be stabilized on magnetic materials or metal surfaces that can be magnetically adsorbed with magnetism. By properly adjusting the magnetic state of the magnetic force generator, the crawler chassis can be firmly in contact with the running surface. The crawler chassis is mainly designed for large metal pipes and magnetic material structures with irregular curved surfaces, and can crawl stably on any magnetic material surface with any posture. In addition, its structure is simple and compact, and complex functions can be realized by adding various modules.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without creative work.

Fig. 1 is a schematic structural diagram of a first viewing angle of a crawler chassis provided by an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of a second viewing angle of a crawler chassis provided by an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a first viewing angle of the crawler in the crawler chassis provided in Fig. 1;

Fig. 4 is a schematic structural diagram of a second viewing angle of the crawler in the crawler chassis provided in Fig. 1;

Fig. 5 shows a schematic diagram of the mutual cooperation relationship between the crawler belt and the magnetic force generating member in the crawler chassis provided in Fig. 1;

FIG. 6 is a schematic diagram of a partially enlarged structure of part VI in FIG. 5 .

Icons: 100-track chassis; 101-main shaft; 102-motor; 103-track; 104-cage; 105-conductive rail; 106-driven wheel; 107-drive wheel; 108-preset area; 1-guide slot; 901-positive pole terminal; 902-iron core.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation , and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise specified and limited, the terms "setting", "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be an internal connection between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include that the first and second features are in direct contact, and may also include that the first and second features are not in direct contact but are in contact with another feature between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the present invention, all the embodiments, implementations and features of the present invention can be combined with each other under the condition of no contradiction or conflict. In the present invention, conventional equipment, devices, components, etc. can be purchased commercially, or can be self-made according to the content disclosed in the present invention. In the present invention, in order to highlight the key points of the present invention, some conventional operations, equipment, devices and components are omitted or simply described.

See Figures 1 through 6.

This embodiment provides a crawler chassis 100, which can be used to form smoothly on various road surfaces, especially metal or magnetic material surfaces. Wherein, the metal material or magnetic material refers to an object capable of magnetically attracting or repelling an object having magnetism, such as a magnet.

Referring to FIG. 1 and FIG. 2 , the crawler chassis 100 includes a crawler belt 103 and a magnetic force generator 109 . The magnetic force generation part 109 is arranged to cooperate with crawler belt 103, and magnetic force generation part 109 can be adsorbed by magnetic force with magnetic material (such as magnet) or metal (such as iron), and then makes crawler belt 103 produce stable and firm contact with various running surfaces, simultaneously under appropriate condition, the magnetic force of magnetic force generation part 109 can disappear partially or completely, thereby makes crawler belt 103 can be separated from aforementioned magnetic material (such as magnet) or metal (such as iron) surface, so that crawler belt 103 to walk.

In addition, various functions are accomplished by setting different modules on the aforementioned crawler chassis 100 . In other words, the crawler chassis 100 can be used as a running mechanism of various moving machinery equipments to make the moving machinery equipments run on various road surfaces. As mentioned above, the crawler chassis 100 provided by the present invention can move more smoothly on the surface of metal or magnetic materials, but this description does not exclude that the crawler chassis 100 can run normally on conventional roads, such as dirt roads. Therefore, the crawler chassis 100 proposed based on the present invention can run on various complex road surfaces or object surfaces. According to the selection of usage scenarios, the crawler chassis 100 is set to different sizes so that it can run on surfaces of various scales. For example, when its volume is large, it can run on roads of general size; when it is designed to be small, it can run in various cramped or narrow spaces (such as beams, columns, etc.) to perform more complex operations. In addition, the tracked chassis 100 can run on a level road or a road. In some cases, tracked chassis 100 may also climb or descend in a vertical direction.

The crawler belt 103 is a running member of the crawler chassis 100, which is in contact with various roads and road surfaces, and generates relative force. Referring to FIG. 3 , the crawler belt 103 is an annular structure, and the crawler belt 103 is formed by connecting a plurality of crawler shoes 302 into a ring. Two adjacent track shoes 302 are connected by track pins 304 to form a track 103 . Relative movement between two adjacent crawler shoes 302 can occur within a certain design limit, so that the crawler belt 103 has a certain stretching characteristic, so that it can adaptively walk on the road surface with better road surface curve shape.

According to different usage scenarios, the material of the track 103 can also be selectively adjusted. Usually, the track 103 is made of metal materials, such as steel plate, iron plate and so on. In other examples, the aluminum plate can be made of plastic, resin or other materials. For example, in some examples, the crawler chassis 100 is used as a running mechanism in a toy car, which can be made of plastic.

Referring to FIGS. 3 and 4 , track 103 has opposing drive surfaces 306 and contact surfaces 305 . For a clearer description, the driving surface 306 refers to the inner surface of the annular crawler belt 103 , which forms a continuous and closed annular curved surface. The contact surface 305 refers to the inner surface of the endless crawler belt 103 . During running, the contact surface 305 is in contact with the road surface, that is, the crawler belt 103 interacts with the ground or other various road surfaces through the contact surface 305 .

The track shoes 302 forming the track 103 define a thickness direction between the contact surface 305 and the driving surface 306 , and also define a length direction perpendicular to the thickness direction, and extend in the length direction.

Referring to FIG. 3 , in this embodiment, the track 103 is sequentially connected by 25 track shoes 302 to form a link, and the driving surface 306 defines a distribution space 301 . It should be noted that the distribution space 301 is not a fixed space, and it can be deformed under appropriate circumstances. For example, when the crawler belt 103 is deformed during the traveling process, the distribution space 301 will be deformed to a certain extent.

In addition, the distribution space 301 shown in FIG. 3 defined by the driving surface 306 of the crawler belt 103 defines at least one preset area 108 as shown in FIG. 1 . In this embodiment, one preset area 108 is taken as an example for illustration. However, the specific number of preset areas 108 can be adjusted according to actual needs, which is not limited in the present invention. When there are multiple preset areas 108 , such as two preset areas 108 or three preset areas 108 or more preset areas 108 , each preset area 108 is arranged at intervals with each other in an appropriate manner. In addition, the shape and size of the preset area 108 can also be properly adjusted to facilitate the installation of the magnetic force generating element 109 .

As shown in FIG. 1 , FIG. 3 and FIG. 5 , the plurality of magnetic force generators 109 are located in the distribution space 301 and arranged at intervals along the driving surface 306 . The magnetic force generator 109 has a selectable magnetic state and a non-magnetic state, and the magnetic state and the non-magnetic state can be switched controllably. Wherein, the controllable switching means that whether the magnetic force generating member 109 is in a magnetic state or in a non-magnetic state is selectively adjusted in a manner known to the inventor. Specifically, the switching interval and switching speed of the magnetic force generator 109 between the magnetic state and the non-magnetic state, the time in the magnetic state, the time in the non-magnetic state, etc. can be used as reference conditions for control. For example, as an optional example, when the traveling speed of the crawler chassis 100 is faster, the time interval between the magnetic state and the non-magnetic state is shorter, and the switching speed is also faster. As another optional example, when the crawler chassis 100 travels at a slower speed, the time interval between the magnetic state and the non-magnetic state is longer, and the switching speed is also slower.

It should be noted that, since there are multiple (such as two, three, etc.) magnetic force generators 109, there may be multiple magnetic force generators 109 in the same state (magnetic state and non-magnetic state), and other magnetic force generators 109 are in another identical state (magnetic state and non-magnetic state). Specifically, for example, an optional manner is: when there are 5 magnetic force generating elements 109, there are two magnetic force generating elements 109 in a magnetic state, and there are three magnetic force generating elements 109 in a non-magnetic state.

A plurality of magnetic force generators 109 are arranged in the distribution space 301 formed by the caterpillar 103 , and generate magnetic attraction force in the aforementioned at least one preset area 108 , and apply the magnetic attraction force to the contact surface 305 through the driving surface 306 . Since the magnetic force generator 109 is controlled to be in a magnetic state in the preset area 108 , the track 103 can be fixed on the surface of the moving object through the appropriate magnetic force of the magnetic force generator 109 in the preset area 108 . The crawler belt 103 in motion shifts the position of the magnetic force generating member 109 disposed on the crawler belt 103 by rotation, thereby leaving the preset position and being in a non-magnetic state, so as to adaptively adjust the magnetic characteristics of the crawler chassis 100, so that the contact position of the crawler belt 103 with the ground can be purposefully formed into a magnetic region, and then generate magnetic adsorption with magnetic materials or ferromagnetic metals.

As an example, the magnetic force generator 109 is an electromagnet. Alternative implementations of electromagnets include, but are not limited to, AC electromagnets or DC electromagnets. The electromagnet is fixed on the driving surface 306 of the crawler belt 103, and is connected to the power supply through an external wire.

The magnetic state of the electromagnet can be controlled by whether it is energized or not. Therefore, the power supply of the electromagnet can be controlled by selecting an appropriate control circuit, so that the electromagnet can be powered on under appropriate conditions, or the electromagnet can be disconnected from the power supply under other conditions.

The electromagnet includes a matched iron core 902 and a wire winding. One end of the iron core 902 is connected to the drive face 306 . The conductive winding has a positive terminal 901 and a negative terminal.

In the embodiment of the present invention, based on the need for convenient control or other considerations, the control mode of the electromagnet is realized by the following means.

The crawler chassis 100 has a conductive rail 105 located in the distribution space 301 , and the conductive rail 105 is arranged in a predetermined area 108 in the distribution space 301 . The installation method of the conductive rail 105 may be fixed by means of the cage 104 or a column, which is not limited in the present invention. Preferably, there is an active gap between the conductive rail 105 and the driving surface 306 .

The conductive track 105 may be in electrical contact with either the positive terminal 901 or the negative terminal of the electromagnet. The conductive rail 105 is provided with a guide groove 501. When the electromagnet moves to a position corresponding to the preset area 108, the terminal of the electromagnet, such as the positive pole terminal 901, is located in the guide groove 501, is in electrical contact with the groove wall, and can slide along the guide groove 501 while maintaining electrical contact. When sliding a sufficient distance, the positive terminal 901 can be disengaged from the guide groove 501.

When the conductive rail 105 is connected to the positive pole of the power supply, the positive terminal 901 of the electromagnet is in electrical contact with the conductive rail 105 . For example, when the conductive rail 105 is connected to the negative pole of the power supply, the negative terminal of the electromagnet is in electrical contact with the conductive rail 105 . When there are multiple preset areas 108 in the distribution space 301 of the crawler belt 103 , the polarity of the power supply connected to each conductive rail 105 may be the same, or may be set in different specific ways as required. Correspondingly, corresponding to the conductive rails 105 having different polarities for connecting the power supply, the positive terminal 901 and the negative terminal of the corresponding electromagnet (magnetic force generator 109) should also be adjusted accordingly, so that the matching between the positive terminal and the positive terminal 901 and the matching between the negative terminal and the negative terminal should be limited.

Further, referring to FIG. 1 again, the crawler chassis 100 further includes a driving wheel 107 and a driven wheel 106 located in the distribution space 301 . The driving wheel 107 and the driven wheel 106 are arranged relatively far away, and are respectively set in frictional contact with the driving surface 306 . As an optional implementation manner, the driving wheel 107 and the driven wheel 106 are arranged relatively far away, and are respectively configured to engage with the driving surface 306 .

Preferably, the preset area 108 is located between the driving wheel 107 and the driven wheel 106 . The driving wheel 107 and the driven wheel 106 can receive the rotational torque transmitted by the upper computer, and drive the crawler belt 103 to move through the rotation, so as to realize the walking of the crawler chassis 100 .

Furthermore, both the driving wheel 107 and the driven wheel 106 are provided with positioning plates (not shown).

The driving wheel 107 and the positioning plate cooperate to form a group to form a driving assembly, and the driving wheel 107 and the positioning plate rotate synchronously. The positioning plate corresponding to the driving wheel 107 is a pie-shaped structure, and the diameter of the outer edge is smaller than the maximum diameter of the driving wheel 107 , and forms a gap with the driving surface 306 of the track 103 .

The driven wheel 106 and the positioning plate cooperate to form a set to form a driven assembly, and the driven wheel 106 and the positioning plate rotate synchronously. The positioning plate corresponding to the driven wheel 106 is also a pie-shaped structure, and the diameter of the outer edge is smaller than the maximum diameter of the driven wheel 106 , and forms a gap with the driving surface 306 of the track 103 .

The positioning plate has a positioning function, which can keep the crawler belt 103 relatively stable during operation and reduce the occurrence of large-scale deviation. The positioning function of the positioning plate is realized in the following manner: the positioning plate is provided with positioning grooves, and the crawler chassis 100 also includes a plurality of positioning teeth 303 arranged along the driving surface 306, and the positioning teeth 303 have a connecting portion connected to the driving surface 306, and a positioning portion that is away from the driving surface 306 and matches the positioning groove.

Wherein, the circular pie-shaped positioning plate is provided with positioning grooves along the circumferential direction, and the positioning grooves are radially recessed from their outer edges. When the driving wheel 107 and the positioning plate are assembled to the crawler belt 103 , the positioning tooth 303 provided on the crawler belt 103 is inserted into the positioning groove, and rotates in the positioning groove with the running of the crawler belt 103 . Therefore, the rotation posture of the positioning teeth 303 arranged on the drive surface 306 of the crawler belt 103 is limited, and thus the running posture of the track shoes 302 constituting the crawler belt 103 is limited.

Of course, the crawler chassis 100 in the present invention can be further provided with a driving device (such as an engine or an electric motor 102, etc.), a main shaft 101, and the like.

The mode of operation of the crawler chassis 100 provided in the present embodiment is briefly described as follows:

1. The motor starts to drive the driving wheel; 2. The driving wheel drives the track 103 and the driven wheel 106 to run; 3. The energized guide rail: taking into account the introduction of the coil power supply and the support force applied to the track 103 and the chassis structure; 4. The coil runs to the bottom of the track 103, enters the energized guide rail, and the coil is energized to generate electromagnetic attraction;

By adopting the above-mentioned structural design, the present invention realizes that the crawler chassis 100 crawls freely on the metal pipe wall and any electromagnetic material surface by using the magnetic force, and has more working environments than the traditional maintenance mechanism. By installing a controllable electromagnet on the crawler belt 103 for adsorption, the free movement is completed. Compared with the traditional mechanism, its flexibility and controllability are higher.

In addition, the crawler chassis 100 also has the following advantages:

(1) The working environment is diverse; (2) The operation is more stable; (3) The module can be replaced to achieve more functions; (4) The degree of automation is high; (5) The controllability is strong; (6) The structure is simple, the raw materials for equipment production are easy to obtain, and it can be mass-produced; (7) The market is large.

Based on the aforementioned crawler chassis 100, this embodiment also provides a traveling device. As an example, the formal device is a crawler 103 excavator. The crawler type 103 excavator mainly includes traveling mechanism, working device, slewing platform and so on. Wherein, the running mechanism mainly includes a crawler chassis 100 and the like. Working devices include booms, sticks, buckets, etc. The rotary platform includes a rotary table, hydraulic transmission device, servo control device, cab and so on. Wherein, the cooperation, installation and connection of various mechanisms, devices and components can be completed and realized by means known to the inventor, and the middle part of this embodiment will be described in detail.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (8)

1. A crawler chassis, comprising:

a track having opposed drive and contact surfaces, the drive surfaces defining a distribution space having at least one predetermined area;

a plurality of magnetic force generating members located within the distribution space, the plurality of magnetic force generating members being arranged at intervals along the driving surface, the magnetic force generating members having selectable magnetic states and non-magnetic states, and the magnetic states and the non-magnetic states being controllably switched, the plurality of magnetic force generating members being configured to generate magnetic attraction force at the at least one preset region and to apply the magnetic attraction force to the contact surface through the driving surface;

the crawler chassis further comprises a driving wheel and a driven wheel which are positioned in the distribution space, wherein the driving wheel and the driven wheel are relatively far away from each other and are respectively in friction contact with the driving surface;

the crawler chassis further comprises a plurality of positioning teeth which are arranged along the driving surface, and each positioning tooth is provided with a connecting part connected with the driving surface and a positioning part far away from the driving surface and matched with the positioning groove;

the outer edge diameter of the locating plate is smaller than the maximum diameter of the driving wheel and forms a gap with the driving surface of the caterpillar band.

2. A crawler chassis as in claim 1 wherein the drive wheel, the driven wheel are disposed relatively remotely and are each configured to engage the drive surface.

3. A crawler chassis according to claim 1 or 2, wherein the magnetic force generating member is an electromagnet.

4. A crawler chassis according to claim 3, wherein the electromagnet is an ac electromagnet or a dc electromagnet.

5. A crawler chassis according to claim 3 wherein the electromagnet comprises a matching iron core and wire windings having positive and negative terminals, the crawler chassis having conductive tracks within the distribution space configured to be in electrical contact with either of the positive and negative terminals.

6. The crawler chassis of claim 5, wherein one end of the iron core is connected to the drive surface.

7. The crawler chassis of claim 5, wherein the conductor rail has a clearance gap with the drive surface.

8. A running apparatus comprising the crawler chassis according to any one of claims 1 to 7.