CN110356483B - Four-axis driving crawler wheel type forklift - Google Patents
Four-axis driving crawler wheel type forklift Download PDFInfo
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- CN110356483B CN110356483B CN201910654685.4A CN201910654685A CN110356483B CN 110356483 B CN110356483 B CN 110356483B CN 201910654685 A CN201910654685 A CN 201910654685A CN 110356483 B CN110356483 B CN 110356483B
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- 230000007246 mechanism Effects 0.000 claims description 72
- 238000013016 damping Methods 0.000 claims description 57
- 230000000712 assembly Effects 0.000 claims description 21
- 238000000429 assembly Methods 0.000 claims description 21
- 241000209140 Triticum Species 0.000 claims description 12
- 235000021307 Triticum Nutrition 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 239000000411 inducer Substances 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000035939 shock Effects 0.000 description 5
- 241000209219 Hordeum Species 0.000 description 4
- 235000007340 Hordeum vulgare Nutrition 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07554—Counterweights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Power Engineering (AREA)
- Handcart (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a four-axis driving crawler wheel type forklift, which comprises a forklift body, crawler wheel set mechanism assemblies, driving mechanisms and weight parts, wherein the four crawler wheel set mechanism assemblies are supported and arranged below the forklift body, each crawler wheel set mechanism assembly corresponds to one driving mechanism, the driving mechanisms drive the crawler wheel set assemblies, and the weight parts are arranged on the rear tail of the forklift body, which is positioned at the rear side of a cab; the gravity center of the forklift body moves backwards through the weight piece, and the four-axis driving crawler wheel type forklift provided by the invention has very good moving performance and stability.
Description
Technical Field
The invention belongs to the field of forklifts, and particularly relates to a four-shaft driving crawler wheel type forklift.
Background
The forklift is used as an industrial carrying vehicle, can carry out loading and unloading, stacking and short-distance transportation operation on finished pallet cargoes, mainly utilizes the output power of a traditional engine, works in special working occasions such as some indoor warehouses, meetings and halls, particularly in some small spaces, and has very important moving performance and stability in the transportation process.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a four-shaft driving crawler wheel type forklift which has very good moving performance and stability.
The technical scheme is as follows: in order to achieve the above purpose, the technical scheme of the invention is as follows:
the four-axis driving crawler wheel type forklift comprises a forklift body, crawler wheel group mechanism assemblies, driving mechanisms and weight parts, wherein the four crawler wheel group mechanism assemblies are supported and arranged below the forklift body, each crawler wheel group mechanism assembly corresponds to one driving mechanism, the driving mechanisms drive the crawler wheel group mechanism assemblies, and the weight parts are arranged on the rear tail of the forklift body, which is positioned at the rear side of a cab; the gravity center of the forklift body moves backwards through the weight piece.
Further, the driving mechanism is a direct current driving motor, and the counterweight comprises a battery box and a plurality of electricity storage batteries arranged in the battery box.
Further, the rear vehicle tail is arranged in a sinking mode; the rear vehicle tail comprises a rear carrier which is adjacently arranged at the rear side of the cab, the rear carrier is lower than the cab in height, and the battery box is arranged on the rear carrier.
Further, the crawler wheel set mechanism assembly comprises a driving wheel, a bogie wheel, a wheel carrier, a crawler belt and a damping mechanism, wherein the wheel carrier is supported and arranged at the bottom of the forklift body through the damping mechanism, the driving wheel is rotatably arranged at the output end of the driving mechanism, the bogie wheel is rotatably arranged on the wheel carrier, the bogie wheel is arranged through the crawler belt and the driving wheel in a transmission way, the bogie wheel is pressed and covered on the inner ring of the crawler belt, the wheel carrier is supported and arranged through the bogie wheel, and the wheel carrier is arranged on the forklift body through the damping mechanism.
Further, two groups of crawler wheel group mechanism assemblies are symmetrically arranged on two sides of the travelling direction of the forklift body respectively, driving wheels in the two groups of crawler wheel group mechanism assemblies are arranged adjacently, two groups of bogie wheels are arranged on two sides of the two driving wheels at intervals respectively, and the driving mechanisms are arranged on a machine body under the cab.
Further, the damping mechanism comprises a damping arm and an elastic connecting piece, a part between two ends of the damping arm is arranged on the frame in a rotating mode through a rotating shaft, a rotating surface of the damping arm is a vertical surface, one end of the damping arm is hinged to the wheel carrier, and the other end of the damping arm is connected to the frame of the forklift body through the elastic connecting piece.
Further, a rotation limiting mechanism is arranged on the frame and is positioned in the rotation plane of the damping arm, and the rotation limiting mechanism limits the rotation amplitude of the damping arm; the rotation limiting mechanism comprises a first limiting part and a second limiting part, the first limiting part and the second limiting part are respectively arranged on two sides of the shock absorption arm on the rotating direction path, the first limiting part and the second limiting part are close to one side of the elastic connecting part, and the first limiting part is located right above the rotating shaft.
Further, a wheat wheel set is arranged on the outer ring wall body of the crawler belt, the wheat wheel set rotates relative to the chain plate in a autorotation mode, the autorotation axis direction of the wheat wheel set is parallel to the chain plate, and a preset included angle is formed between the autorotation axis direction of the wheat wheel set and the rotation axis direction of the crawler belt chain ring; the wheat wheel sets comprise first wheel sets, and at least two groups of the first wheel sets are respectively arranged at intervals along the length direction of the chain plate; the first wheel sets comprise first rotating wheels, and in the front-back displacement direction of the rotation of the track chain ring, the contact points of the first rotating wheels of the two first wheel sets and the ground are arranged in a front-back dislocation mode.
Further, the chain plate further comprises a second wheel set, at least two groups of the second wheel sets are respectively arranged at intervals in the length direction of the chain plate, and the second wheel set is positioned between the two groups of the first wheel sets; the second wheel sets comprise second rotating wheels, and in the front-back displacement direction of the rotation of the track chain ring, the contact points of the second rotating wheels of the two second wheel sets and the ground are arranged in a front-back dislocation mode.
Further, driven pieces are respectively arranged at the two free end parts of each chain link in the crawler belt, the driven pieces are correspondingly arranged with the wheel surface of the driving wheel, and the driven pieces on the chain links contacted with the wheel surface of the driving wheel are driven to follow up when the driving wheel rotates; the driving gear plates are coaxially arranged at the two axial ends of the driving wheel respectively, the two driving gear plates are arranged at the outer sides of the two end faces of the chain link respectively in a clearance way, and the driven piece is correspondingly arranged in a meshed manner with the gear teeth on the driving gear plates;
the crawler belt comprises crawler belt connecting pin shafts connected with the chain links, two ends of each crawler belt connecting pin shaft extend outwards along the axial direction respectively, and shaft bodies extending to two sides outside the chain links form driven parts.
The beneficial effects are that: according to the invention, the forklift is driven by walking through the four groups of crawler wheel group mechanism assemblies, the rotation, start and stop operations of each driving motor can be respectively changed to change the rotation, start and stop operations of the crawler on the crawler wheel group mechanism assemblies, the forklift can complete multidirectional rotation and movement in a smaller space range, the control performance is greatly improved, great convenience is provided for transportation operation, the counterweight balance is carried out on the forklift body through the counterweight part, the whole gravity center of the forklift body is moved backwards, so that the forklift body can have better stability, the overturning of the forklift body is prevented, and the upper transportation load bearing limit of the forklift can be improved.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a front view of the overall structure of the present invention;
FIG. 3 is a schematic perspective view of the structure of the machine body of the invention;
FIG. 4 is a bottom view of the body structure of the present invention;
FIG. 5 is a schematic view of a crawler wheel set mechanism assembly on one side of the machine body;
FIG. 6 is an enlarged schematic view of the track wheel set mechanism assembly of the present invention;
FIG. 7 is a schematic view of the shock absorbing mechanism and wheel carrier of the present invention;
FIG. 8 is a schematic view of the assembled structure of the track and wheel carrier of the present invention;
FIG. 9 is a schematic diagram of an elastic idler assembly of the present invention;
FIG. 10 is a schematic perspective view of the track structure of the present invention;
FIG. 11 is a top view of the track structure of the present invention;
FIG. 12 is an enlarged schematic view of track segment A of the present invention;
FIG. 13 is a schematic view of a track link structure of the present invention;
fig. 14 is a schematic view of a track link structure of the present invention.
Description of the embodiments
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 4, a four-axis driving crawler forklift comprises a forklift body 1, crawler wheel set mechanism assemblies 2, driving mechanisms 5 and counterweight pieces 3, wherein four groups of crawler wheel set mechanism assemblies 2 are arranged below the forklift body 1 in a supporting manner, each crawler wheel set mechanism assembly 2 corresponds to one driving mechanism 5, the driving mechanisms are arranged on a frame of the forklift body 1, the driving mechanisms 5 are direct current driving motors, the driving mechanisms 5 drive the crawler wheel set mechanism assemblies 2 to walk on the ground, and the counterweight pieces 3 are arranged on a rear tail 4 of the forklift body 1, which is positioned at the rear side of a cab; the gravity center of the forklift body 1 moves backwards through the counterweight 3, the counterweight 3 comprises a battery box 301 and a plurality of power storage batteries arranged in the battery box 301, the power storage batteries supply power to all driving motors, the power driving of the direct current motors replaces the fuel motor, noise generated during transportation operation can be reduced, vehicle body shake is reduced, stability of transportation operation is kept, the forklift is driven in a walking mode through four groups of crawler wheel group mechanism assemblies 2, rotation and start and stop of the crawler on the crawler wheel group mechanism assemblies can be changed through operations of changing the rotation speed, start and stop and the like of all driving motors respectively, the forklift can complete multi-direction rotation and movement in a small space range, control performance is greatly improved, great convenience is provided for transportation operation, the counterweight is balanced on the forklift body through the counterweight, the whole gravity center of the forklift body moves backwards, good stability of the forklift body can be guaranteed during transportation operation, the forklift body is prevented from being covered, and the upper transportation load bearing limit of the forklift can be improved.
The rear vehicle tail 4 is arranged in a sinking mode; the rear tail 4 comprises a rear carrier 401, the rear carrier 401 is adjacently arranged at the rear side of the cab 100, the rear carrier 401 is lower than the height of the cab 100 and higher than the ground, the rear carrier 401 is provided with a mounting groove 402, the battery box 301 is arranged in the mounting groove 402, the gravity center of the battery box 301 can be downwards deflected through the sinking rear tail 4, and the whole gravity center of the forklift can be further moved backwards and downwards, so that the stability of the forklift is ensured; moreover, by placing the battery box 301 at the tail of the vehicle, not only the replacement and the disassembly are easy, but also the gravity center position of the vehicle body can be adjusted by the position layout of the vehicle body structure without adding additional weight pieces, and the structural design is ingenious and reasonable.
As shown in fig. 5 to 7, the crawler wheel set mechanism assembly 2 comprises a driving wheel 13, a bogie wheel 14, a wheel carrier 12, a crawler 20 and a shock absorption mechanism, wherein the wheel carrier 12 is supported and arranged at the bottom of the forklift body 1 through the shock absorption mechanism, the driving wheel 13 is rotatably arranged at the output end of the driving mechanism 5, the bogie wheel 14 is rotatably arranged on the wheel carrier 12, the bogie wheel 14 is in transmission arrangement with the driving wheel 13 through the crawler 20, the bogie wheel 14 is pressed on the inner ring of the crawler 20, the wheel carrier 12 is supported and arranged through the bogie wheel 14, and the wheel carrier 12 is arranged on the forklift body 1 through the shock absorption mechanism. The wheel carrier 12 and the bogie wheels 14 serve as supporting components of the forklift body to support the forklift body, the damping mechanism is used for damping the wheel carrier and the forklift body to ensure the moving stability of the forklift body, the driving wheels 13 are suspended through the supporting of the wheel carrier, the relative fixing performance of the driving motor and the driving wheels is better, and vibration damage of the forklift body to the driving motor main shaft can be reduced.
Two groups of crawler wheel set mechanism assemblies 2 are symmetrically arranged on two sides of the travelling direction of the forklift body 1 respectively, driving wheels 13 in the two groups of crawler wheel set mechanism assemblies 2 are adjacently arranged, two groups of loading wheels 14 are arranged on two sides of the two driving wheels at intervals respectively, driving mechanisms 5 are arranged on a machine body right below a cab, a car body is supported by four groups of loading wheels and wheel frames, the positions of the four groups of driving wheels 13 are adjacent and relatively close to each other, and the four groups of driving wheels and a plurality of driving motors are arranged below the cab together, so that the stress of the forklift is relatively concentrated and far away from a carrying lifting frame at the front end of the forklift, and the gravity center of the whole forklift is further moved backwards, and the stability of the forklift is enhanced.
The damping mechanism comprises a damping arm 11 and an elastic connecting piece 8, a part between two ends of the damping arm 11 is arranged on a frame in a rotating mode through a rotating shaft 10, a rotating face of the damping arm 11 is a vertical face, one end of the damping arm 11 is hinged to a wheel frame 12, the other end of the damping arm 11 is connected to the frame of the forklift body 1 through the elastic connecting piece 8, and the elastic connecting piece 8 is a spring damper.
The driving wheel 13 is directly driven and arranged on the frame of the forklift body 1, the bogie wheel 14 is indirectly arranged on the frame through the wheel frame 12 and the damping arm 11, the damping arm 11 always has supporting acting force on one side, far away from the driving wheel, of the bogie wheel, the distance between the driving wheel 13 and the bogie wheel 14 can be adjusted through rotation adjustment of the damping arm 11 on the wheel frame, and the purpose of enabling the crawler belt to be always tensioned is achieved.
The two ends of the damping arm 11 can rotate in a vertical plane, so that the gravity center of the whole frame can be finely adjusted up and down, and the stability of the vehicle body is improved; and the damping arm 11 rotates to form a rotary power arm, the damping arm 11 is inclined to the advancing direction of the vehicle body, so that the impact force received by the wheel frame 12 in the vertical direction can be decomposed into a component force F1 along the damping arm and a component force F2 perpendicular to the damping arm, and the component force F2 perpendicular to the damping arm interacts with the elastic connecting piece 8 to enable the damping arm to rotate 11, so that the ground impact force received by the vehicle body frame can be greatly reduced, and the damping effect is very good.
The damping arm 11 is arranged in the area between the driving wheel 13 and the loading wheel 14, the bottom end of the damping arm 11 is obliquely arranged to one side of the loading wheel 14, namely the damping arm 11 is obliquely arranged, the bottom end of the damping arm 11 is hinged with the wheel carrier 12 through the pin shaft 11, under the action of the self weight gravity of the vehicle body, the damping arm 11 deflects to one side of the loading wheel 14, and the loading wheel is displaced to one side far away from the driving wheel 13 on the ground, so that the crawler belt 20 is tensioned through the combined action of the driving wheel 13, the wheel carrier 12 and the loading wheel 14, and the tension degree is adjusted very simply and conveniently; when the bogie wheel 14 passes the bottom obstacle, it is slightly displaced to the driving side, and the crawler belt is tensioned by the tensioning wheel on the wheel frame 12 and the elastic idler wheel set 23.
The one end that damping arm 11 and wheel carrier 12 are connected is provided with riding wheel 22, riding wheel 22 is located the inner circle of track 20, just riding wheel 22 lifts and supports track 20 for prevent that the track from excessively sagging and influence the travelling performance, simultaneously, through damping arm 11's deflection adjustment, riding wheel 20 synchronous displacement, when can guarantee that it contacts and lifts the track all the time, further tensioning track.
As shown in fig. 6 to 9, the wheel carrier further comprises an elastic supporting pulley set 23, wherein the elastic supporting pulley set elastically supports the crawler belt on one side of the inner ring of the crawler belt, and at least one group of elastic supporting pulley sets is arranged on the wheel carrier 12 between the driving wheel and the bogie wheel; the lifting and tensioning of the crawler belt are guaranteed through a plurality of elastic lifting wheel assemblies, the elastic lifting wheel sets comprise a fixing frame 34, a guide rod 35, a spring 33, a roller seat 32 and a roller 31, the fixing frame 34 is arranged on a wheel carrier, the guide rod 35 slides up and down to penetrate through the fixing frame 34, the top end of the guide rod 35 is provided with the roller seat 32 in a U-shaped mode, the roller seat 32 is rotationally provided with the roller 31, the rotation axis of the roller 31 is parallel to a driving wheel shaft, the roller 31 contacts and lifts the crawler belt, the spring is sleeved on the guide rod 35, and two ends of the spring 33 are respectively connected with the roller seat and the fixing frame 34.
The wheel carrier 12 is rotatably arranged on the wheel carrier 12 along the advancing direction of the vehicle body, the wheel carrier 25 is pressed on the inner ring of the crawler 20, and the wheel carrier 25 and the inducer 14 are used for supporting the crawler inner ring walking on the ground. The wheel carrier 12 comprises two spaced wheel carrier plates which are fixedly arranged relatively, and the loading wheel, the inducer and the riding wheel are all positioned between the two wheel carrier plates.
The forklift truck comprises a forklift body 1, wherein a rotation limiting mechanism is arranged on a rack of the forklift body 1, the rotation limiting mechanism is located in a rotation plane of a damping arm 11, the rotation amplitude of the damping arm 11 is limited by the rotation limiting mechanism so as to prevent the damping arm 11 from excessively rotating, the rotation limiting mechanism comprises a first limiting piece 6 and a second limiting piece 7, the first limiting piece 6 and the second limiting piece 7 are respectively arranged on two sides of a rotation direction path of the damping arm 11, the first limiting piece 6 and the second limiting piece 7 are close to one side of an elastic connecting piece 8, the rotation amplitude of the damping arm 11 is limited by the first limiting piece 6 and the second limiting piece 7, the first limiting piece 6 is located above a rotation axis of the damping arm 11, the second limiting piece 7 is arranged on one side close to the elastic connecting piece 8, namely, the first limiting piece 6 and the second limiting piece 7 are respectively located at positions above wheel frames 12, the two sides of the elastic connecting piece 8 are respectively located on the rotation areas of the damping 11, the two sides of the damping arm 11 are respectively located at two sides of a front extending line 11, and the two sides of a forklift body can be enabled to be inclined to form a load-bearing position near the two-wheel frames 11, and the two-side of the forklift body can be enabled to be inclined to form a load-bearing position near the two-bearing arms, and the front-wheel frame 11 can be enabled to be always opposite to be located at two sides to the rotation positions of the front wheels 11.
As shown in fig. 10 to 14, a barley wheel set is disposed on the outer wall of the track 20, the barley wheel set rotates about a link plate 203, the rotation axis direction of the barley wheel set is parallel to the link plate 203, and the rotation axis direction of the barley wheel set and the rotation axis direction of the track link are disposed at an angle of 45 ° with respect to a preset α; the principle of the mechanism is consistent with the principle of a Mecanum wheel, and the crawler wheel can realize omnidirectional displacement by adding a wheat wheel set structure on the crawler belt, wherein the wheat wheel set comprises first wheel sets 204, and at least two groups of the first wheel sets 204 are respectively arranged at intervals along the length direction of a chain plate 203; the supporting points of the crawler belt 20 and the ground can be increased through the plurality of first wheel groups 204, so that the adjustment of the omnidirectional rotation displacement of the crawler belt on the ground is facilitated, multi-point contact is formed between the crawler belt and the ground, and the contact stability of the crawler belt and the ground is ensured.
The first wheel set 204 includes a first rotating wheel 211, and in the front-rear displacement direction of the rotation of the track link, the contact points of the first rotating wheels 211 of the two first wheel sets 204 and the ground are arranged in a front-rear dislocation manner. The first roller 204 is a cylindrical roller, so that the crawler with the crawler structure has better omnidirectional moving performance. The chain plate 203 further comprises a second wheel set 205, at least two groups of the second wheel sets 205 are respectively arranged at intervals along the length direction of the chain plate 203, and the second wheel set 205 is positioned between the two groups of the first wheel sets 204; the second wheel set 205 includes a second rotating wheel 212 in the shape of a cylindrical roller, and in the front-rear displacement direction of the rotation of the track link, the contact points of the second rotating wheels 212 of the two groups of second wheel sets 205 and the ground are arranged in a front-rear dislocation manner. The axial length of the second rotating wheels 212 is smaller than that of the first rotating wheels 211, the diameters of the second rotating wheels are the same, a plurality of second rotating wheels are arranged between the two first rotating wheels, the area on the chain plate 203 can be effectively utilized, and the stability of the contact of the crawler belt and the ground and the quick response performance of the crawler belt in steering displacement are improved through a plurality of rotating wheel structures.
The two free end parts of each chain link 201 in the crawler 20 are respectively provided with a driven member 270, the driven members 270 are correspondingly arranged with the wheel surface of the driving wheel 13, and the driven members 270 on the chain links contacted with the wheel surface of the driving wheel 13 are driven to follow when the driving wheel 13 rotates; the two axial ends of the driving wheel 13 are respectively and coaxially provided with a driving gear plate 240, the two driving gear plates 240 are respectively and interstitially arranged at the outer sides of the two end surfaces of the chain link 201, and the driven piece 270 is correspondingly meshed with the gear teeth on the driving gear plates 240; track 20 includes track link pins 202 that connect links 201, and the ends of track link pins 202 extend axially outward to form driven members 270 from the shaft extending to the outer sides of links 201. The driving gear plate 240 drives the chain links 1 to rotate in sequence, and the driving wheel 24 drives the crawler belt to rotate from the side direction, so that the current mode of forming holes on the crawler belt surface is avoided, the strength of the chain links of the crawler belt is improved, and the stress deformation of the chain links is reduced.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (8)
1. A four-axis drive crawler wheel type forklift is characterized in that: the forklift comprises a forklift body (1), crawler wheel set mechanism assemblies (2), driving mechanisms (5) and counterweight pieces (3), wherein four groups of crawler wheel set mechanism assemblies (2) are supported and arranged below the forklift body (1), the crawler wheel set mechanism assemblies (2) respectively correspond to one driving mechanism (5), the driving mechanisms (5) drive the crawler wheel set mechanism assemblies (2), and the counterweight pieces (3) are arranged on a rear tail (4) of the forklift body (1) located at the rear side of a cab; the gravity center of the forklift body (1) moves backwards through the weight piece (3);
the crawler wheel set mechanism assembly (2) comprises a driving wheel (13), an inducer (14), a wheel carrier (12), a crawler belt (20) and a damping mechanism, wherein the wheel carrier (12) is supported and arranged at the bottom of a forklift body (1) through the damping mechanism, the driving wheel (13) is rotatably arranged at the output end of a driving mechanism (5), the inducer (14) is rotatably arranged on the wheel carrier (12), the inducer (14) is in transmission arrangement with the driving wheel (13) through the crawler belt (20), the inducer (14) is pressed and covered on the inner ring of the crawler belt (20), the wheel carrier (12) is supported and arranged through the inducer (14), and the wheel carrier (12) is arranged on the forklift body (1) through the damping mechanism;
the damping mechanism comprises a damping arm (11) and an elastic connecting piece (8), a part between two ends of the damping arm (11) is arranged on a frame of the forklift body (1) in a rotating mode through a rotating shaft (10), a rotating surface of the damping arm (11) is a vertical surface, one end of the damping arm (11) is hinged to a wheel carrier (12), the other end of the damping arm (11) is connected to the frame of the forklift body (1) through the elastic connecting piece (8), and the distance between a driving wheel (13) and an inducer (14) is adjusted.
2. A four-axis drive crawler wheel type forklift as claimed in claim 1, wherein: the driving mechanism (5) is a direct current driving motor, and the counterweight (3) comprises a battery box (301) and a plurality of electricity storage batteries arranged inside the battery box (301).
3. A four-axis drive crawler wheel type forklift as claimed in claim 2, wherein: the rear vehicle tail (4) is arranged in a sinking mode; the rear vehicle tail (4) comprises a rear carrier (401), the rear carrier (401) is adjacently arranged at the rear side of the cab, the rear carrier (401) is lower than the cab in height, and the battery box (301) is arranged on the rear carrier (401).
4. A four-axis drive crawler wheel type forklift as claimed in claim 1, wherein: two groups of crawler wheel group mechanism assemblies (2) are symmetrically arranged on two sides of the travelling direction of the forklift body (1) respectively, driving wheels (13) in the two groups of crawler wheel group mechanism assemblies (2) are adjacently arranged, two groups of inducer (14) are arranged on two sides of the two driving wheels at intervals respectively, and the driving mechanisms (5) are arranged on a machine body under a cab.
5. A four-axis drive crawler wheel type forklift as claimed in claim 1, wherein: the frame is provided with a rotation limiting mechanism, the rotation limiting mechanism is positioned in the rotation plane of the damping arm (11), and the rotation limiting mechanism limits the rotation amplitude of the damping arm (11); the rotation limiting mechanism comprises a first limiting part (6) and a second limiting part (7), the first limiting part (6) and the second limiting part (7) are respectively arranged on two sides of a rotation direction path of the damping arm (11), the first limiting part (6) and the second limiting part (7) are close to one side of the elastic connecting part (8), and the first limiting part (6) is located right above the rotating shaft (10).
6. A four-axis drive crawler wheel type forklift as claimed in claim 1, wherein: the outer ring wall body of the crawler belt (20) is provided with a wheat wheel set, the wheat wheel set rotates in a autorotation manner relative to the chain plate (203), the autorotation axis direction of the wheat wheel set is parallel to the chain plate (203), and a preset included angle is formed between the autorotation axis direction of the wheat wheel set and the rotation axis direction of the crawler belt chain ring; the wheat wheel sets comprise first wheel sets (204), and at least two groups of the first wheel sets (204) are respectively arranged at intervals in the length direction of the chain plate (203); the first wheel sets (204) comprise first rotating wheels (211), and in the front-back displacement direction of the rotation of the track chain ring, the contact points of the first rotating wheels (211) of the two groups of first wheel sets (204) and the ground are arranged in a front-back dislocation mode.
7. A four-axis drive crawler wheel type forklift as claimed in claim 6, wherein: the chain plate also comprises second wheel groups (205), at least two groups of the second wheel groups (205) are respectively arranged at intervals in the length direction of the chain plate (203), and the second wheel groups (205) are positioned between the two groups of the first wheel groups (204); the second wheel sets (205) comprise second rotating wheels (212), and in the front-back displacement direction of the rotation of the track chain ring, the contact points of the second rotating wheels (212) of the two second wheel sets (205) and the ground are arranged in a front-back dislocation mode.
8. A four-axis drive crawler wheel type forklift as claimed in claim 6, wherein: the two free end parts of each chain link (201) in the crawler belt (20) are respectively provided with a driven piece (270), the driven pieces (270) are correspondingly arranged with the tread of the driving wheel (13), and the driven pieces (270) on the chain links contacted with the tread of the driving wheel (13) are driven to follow when the driving wheel (13) rotates; the two axial ends of the driving wheel (13) are respectively and coaxially provided with a driving gear disc (240), the two driving gear discs (240) are respectively and intermittently arranged on the outer sides of the two end surfaces of the chain link (201), and the driven piece (270) is correspondingly arranged in a meshing manner with the gear teeth on the driving gear disc (240);
the crawler belt (20) comprises crawler belt connecting pin shafts (202) connected with the chain links (201), two ends of each crawler belt connecting pin shaft (202) extend outwards along the axial direction respectively, and shaft bodies extending to two outer sides of the chain links (201) form driven parts (270).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910654685.4A CN110356483B (en) | 2019-07-19 | 2019-07-19 | Four-axis driving crawler wheel type forklift |
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| CN201910654685.4A CN110356483B (en) | 2019-07-19 | 2019-07-19 | Four-axis driving crawler wheel type forklift |
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| CN110356483A CN110356483A (en) | 2019-10-22 |
| CN110356483B true CN110356483B (en) | 2023-08-25 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110329375B (en) * | 2019-07-04 | 2024-04-30 | 中国人民解放军陆军装甲兵学院 | Caterpillar type swing arm suspension type travelling mechanism and tracked vehicle |
| CN212074243U (en) * | 2019-11-19 | 2020-12-04 | 马鸿绪 | Low-loss crawler belt with transverse roller |
| CN113264125A (en) * | 2021-05-18 | 2021-08-17 | 重庆科技学院 | Wheel-track composite omnidirectional walking device |
| CN115092276B (en) * | 2022-08-10 | 2024-10-29 | 苏州瑞奇安机电科技有限公司 | Fire control water supply robot and fire control vehicle |
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| CN110356483A (en) | 2019-10-22 |
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Effective date of registration: 20201020 Address after: 214000 Donggang Science and Technology Pioneering Park, Donggang Town, Xishan District, Wuxi City, Jiangsu Province Applicant after: WUXI HSLT ELECTRIC DRIVE SYSTEM Co.,Ltd. Address before: 214000 No.30 yaodunba, Houcun village, huishanyanqiao Town, Wuxi City, Jiangsu Province Applicant before: Hua Jun |
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