CN105882774B - It is a kind of that the wheeled Athey wheel mutually changed with crawler type state can be achieved - Google Patents
It is a kind of that the wheeled Athey wheel mutually changed with crawler type state can be achieved Download PDFInfo
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- CN105882774B CN105882774B CN201610292561.2A CN201610292561A CN105882774B CN 105882774 B CN105882774 B CN 105882774B CN 201610292561 A CN201610292561 A CN 201610292561A CN 105882774 B CN105882774 B CN 105882774B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/10—Bogies; Frames
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to vehicle to run technical field, discloses a kind of Athey wheel that wheeled and crawler type state can be achieved and mutually change, including：Drive brake assembly, crawler belt, retainer, inducer, bogie wheel, actuator.The present invention is provided with the driving structure combined with brake assembly, crawler belt, retainer, tensioning wheel, carrier wheel, inducer, bogie wheel, actuator, by actuator retainer can be controlled to deform, realize conversion of the running on wheels state to crawler-type traveling state, crawler-type traveling state to running on wheels state, therefore what can be travelled according to vehicle needs progress walking states conversion, on soft wet-skid road surface, it can be converted into crawler travel, so as to increase contact area, adhesive force and tractive force are improved, so as to improve passability；On flat hard road surface, running on wheels can be converted into, so as to reduce power consumption, travel speed is improved, so that the realization beneficial to high maneuverability.
Description
Technical field
The present invention is a kind of vehicle running device, belongs to vehicle to run technical field, the present invention is proposed based on retainer
Deformation, the rotation of crawler belt ring, can be achieved wheeled state and the Athey wheel of crawler type State Transferring, which not only has
The wheeled efficient feature run at high speed, and possess the characteristics of crawler travel cross-country traveling ability, thus be conducive to have given play to it is wheeled or
Caterpillar advantage, enables the traveling high speed of vehicle to be taken into account with cross-country traveling ability.
Background technology
In the history that vehicle to run component continues to develop, wheel becomes two kinds of main sides of vehicle to run with crawler belt
Formula, i.e., wheeled and crawler type.But both walking manners respectively have advantage and disadvantage.
The use of wheel is away from the history for having 6,000 years today, although the invention time neither one of wheel is clearly recorded,
But it can see the wheel on battlebus in the ancient times picture of B.C. 3200.Can certainly be before more than 3,000 years
The use of visible wheel in the pictograph of " car ".The development of wheel technology accelerates the paces of human society advance.From automobile
To armored vehicle, wheel becomes the main ground-engaging element of ground vehicle.
The major advantage of wheel is：Since wheel and ground are contacted in point type or wire type, its steering moment and friction
Coefficient is smaller；Due to being rolling friction between circular wheel and ground, its traveling power consumption is smaller.
The major defect of wheel is：Since wheel and ground are contacted in point type or wire type, the earth-catching property of wheel is poor,
Do not possess anti-depression ability；Since the mistake vertical wall ability of circular wheel is directly proportional to wheel footpath size, its cross-country power by
To the limitation of wheel body limit height.Though wheel diameter can be expanded to two meter five or so with regard to existing process technology, its is huge
The problem of wheel body has but tied up excessive vehicle body space, bigger is that the wheel of two meter five of a diameter, the car body shared by it has
It is huge to imitate space, and the steering space needed for it even more detracts the useful space of car body significantly, with the increasing of wheel footpath, car
The weight of wheel itself can also increase, and the several shortcomings of the above, directly limit the practicality of large diameter wheel.
The invention of wheel has promoted the construction of road, but industrial revolution period with using, and geography is constrained with weather conditions
Expanding economy, because many roads are impassable at the rainy season in spring and autumn.In this context, for new walking side
The exploration of formula becomes emphasis for the moment.This new walking side of crawler belt is proposed in the R.L.Edgeworth of Britain in 1770
Formula, and applied for patent of invention, there is associated description in its patent：Present disclosure is plus portable on wheeled vehicle
Track, enables wheel to be rolled all the time on sufficiently long track.The design of World War I period crawler belt is quite ripe, when west is fought
When 1915-1918 sinks into deadlock, Britain takes the lead in applying tank, becomes the favorite of battlebus from this crawler belt for field, and
Constantly developed.
The sharpest edges of crawler belt are its cross-country ability, since contact area is big, pressure dissipation, its adhesive ability and anti-depression
Ability is very high, and crawler attachment is known as the saying on " unlimited track " or " road carried ".
Crawler belt major defect：One is cause complete-vehicle oil consumption big.For caterpillar when turning to, crawler belt can shear ground,
Scraping phenomenon is produced, steering moment is increased suddenly.Caterpillar in the process of moving, the rough muscle of crawler belt itself
Bar, and the shoe mutually scraped admittedly with effect with rotating tape guide are perverse, all inevitably because sliding friction adds crawler belt
In-fighting power；The second is travel speed is low.When crawler unit in hard flat road surface at a relatively high speed when driving, for anti-depression
And the area that contacts to earth increased, the even more main source into running resistance, into the work(for restricting crawler unit raising speed
Consumption burden；The third is component wear is big, noise is big, and use cost is high, and supply ensures that difficulty is big.
It is wheeled with caterpillar advantage in order to balance, carry out numerous studies both at home and abroad in recent years, it was also proposed that various sides
Case, the Athey wheel announced are not suitable for heavily loaded operating mode often appropriate only to the operating mode of underloading.Athey wheel proposed by the present invention
Light duty is applicable not only to, and is suitable for severe duty.One kind proposed by the present invention can realize wheeled or crawler type two
The structure for the Athey wheel that kind walking states are mutually changed, user can carry out walking manner conversion according to road conditions, i.e., soft
On wet-skid road surface, crawler travel is converted into, so as to increase contact area, adhesive force and tractive force are improved, so as to improve passability；
On flat hard road surface, running on wheels is converted into, so as to reduce power consumption, improves travel speed, so that beneficial to high motor-driven
The realization of ability.
The content of the invention
(1) goal of the invention
The purpose of the present invention is：A kind of Athey wheel that wheeled and crawler type state can be achieved and mutually change is provided, solves wheel
The problem of formula vehicle handling capacity is not not strong high with caterpillar running efficiency, enables the compatible wheeled or crawler type of Athey wheel
Two kinds of walking manners, can carry out wheeled or two kinds of transport conditions of crawler type conversion, so as to improve car according to the road conditions of traveling
Driving through property and high maneuverability.
(2) technical solution
The wheeled shoe mutually changed with crawler type state can be achieved in order to solve the above technical problem, the present invention provides a kind of
Belt wheel, it includes：Drive brake assembly 1, crawler belt 2, retainer 3, inducer 6, bogie wheel 7, actuator 8；
The driving brake assembly 1 includes stator 101 and rotor 102, for driving crawler belt 2 to rotate, rotor 102 and crawler belt
2 sliding tooth 203 is meshed, and stator 101 and retainer 3, actuator 8 are hinged；
The crawler belt 2 realizes the contact with ground, carries car weight, passes through compressing and the ground phase separation of bogie wheel 7, there is provided
Drive the power of vehicle traveling；
The retainer 3 is link mechanism, and the support to crawler belt 2 is realized by inducer 6, the bogie wheel 7 installed thereon；
Retainer 3 includes upper component and lower member, revolute, lower revolute, side revolute in formation；Revolute on retainer 3
Hinge joint be fixed on stator 101；
The actuator 8 is used for the deformation for driving retainer 3, and realizes and treat that 3 deformed position of frame locks to guarantor；Hold
One end of row device 8 is connected on stator 101, plays the role of supporting driving brake assembly 1, and the other end is connected to retainer lower part
On component, it is used for realization and the control that wheel carries out two states conversion deformation is carried out to retainer 3；
Inducer 6, is installed in the side revolute of retainer 3, from when wheeled state is with crawler type State Transferring
Guiding role, while play stable crawler belt 2 in vehicle travel process；
Bogie wheel 7, is installed in 3 lower member of retainer, for carrying car weight, support retainer 3, driving brake assembly
Car weight, is passed to the crawler belt 2 contacted with ground, is ultimately transferred to ground by the 2nd, actuator 8；
When Athey wheel walking states are changed, the lower member of the telescopic drive retainer 3 of actuator 8, support driving braking
Assembly 1 rises or falls, and drives retainer 3 to strut or flatten, and crawler belt 2 and the contact area on ground are decreased or increased, so that real
Existing wheeled or caterpillar State Transferring；
In vehicle when driving, the tooth on rotor 102 is meshed with the sliding tooth 203 of crawler belt 2, and rotor 102 rotates, so as to drive
Dynamic crawler belt 2 rotates, and crawler belt 2 touches under the compressing of bogie wheel 7 with ground, the power that driving vehicle advances is produced, so as to drive
Forward travel.
Wherein, the Athey wheel further includes：Tensioning wheel 4, is installed on the upper component of retainer 3, for ensureing crawler belt
Rate of tension, so as to be beneficial to prevent crawler belt from loosening.
Wherein, the Athey wheel further includes：Carrier wheel 5, is installed on the upper component of retainer 3, is used to support crawler belt
2, suppress the Oscillation Amplitude of crawler belt 2 in the process of moving.
Wherein, prevent crawler belt 2 from coming off, in the both sides of crawler belt 2, equipped with convex edge 202 outside convex edge in anticreep 201 and anticreep.
Wherein, to prevent Athey wheel, 2 ground plane of crawler belt is recessed in the process of moving, and reinforcing bar 204 is embedded in crawler belt.
Wherein, to realize preferably vibration damping, leaf spring 9 is equipped between bogie wheel 7 and retainer 3.
Wherein, the retainer 3 is single, double or multiple rows of.
Wherein, the retainer 3 is four-bar linkage structure.
Wherein, the quantity of the actuator 8 is directly proportional to the loading weight that it is carried.
Wherein, the actuator 8 is internally provided with accumulator and hydraulic damping damper valve, so as in motion, make driving system
Dynamic assembly 1 isolates dither, plays cushioning effect.
(3) beneficial effect
The achievable wheeled Athey wheel mutually changed with crawler type state that above-mentioned technical proposal is provided, there is provided driving
Combined structure, Neng Goutong with brake assembly, crawler belt, retainer, tensioning wheel, carrier wheel, inducer, bogie wheel, actuator
Actuator control retainer deformation is crossed, realizes running on wheels state to crawler-type traveling state, crawler-type traveling state to wheeled
The conversion of walking states, therefore what can be travelled according to vehicle needs progress walking states conversion, can on soft wet-skid road surface
To be converted into crawler travel, so as to increase contact area, adhesive force and tractive force are improved, so as to improve passability；Flat hard
On matter road surface, running on wheels can be converted into, so as to reduce power consumption, travel speed is improved, so as to be beneficial to high maneuverability
Realization.
Brief description of the drawings
Fig. 1 is Athey wheel structure principle chart；
Fig. 2 is diagram of the Athey wheel when being converted into crawler travel state；
Fig. 3 is diagram of the Athey wheel when being converted into running on wheels state；
Fig. 4 is that the form of Athey wheel retainer when being converted into crawler travel state illustrates；
Fig. 5 is form diagram when Athey wheel retainer when being converted into crawler travel state installs train；
Fig. 6 is that the form of Athey wheel retainer when being converted into running on wheels state illustrates；
Fig. 7 is form diagram when Athey wheel retainer when being converted into running on wheels state installs train；
Fig. 8 is that the anti-crawler belt of Athey wheel comes off the diagram of design；
Fig. 9 is the crawler belt and the diagram of ground contact surface anti-depression design of Athey wheel；
Figure 10 is the diagram of the bogie wheel Vibration Absorption Designing of Athey wheel.
In figure：1. drive brake assembly；2. crawler belt；3. retainer；4. tensioning wheel；5. carrier wheel；6. inducer；7. bear a heavy burden
Wheel；8. actuator；9. leaf spring；101. stator；102. rotor；103. brake；Convex edge in 201. anticreeps；202. anticreep evaginations
Edge；203. sliding tooth；204. reinforcing bar；301. bogie wheel shaft mounting holes.
Embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the tool of the present invention
Body embodiment is described in further detail.
In the description of the present invention, it is necessary to explanation, term " on ", " under ", "left", "right", " top ", " bottom ", " interior ",
The orientation or position relationship of instructions such as " outer " are based on orientation shown in the drawings or position relationship, are for only for ease of and describe this hair
It is bright and simplify description, rather than instruction or imply that signified device or element must have specific orientation, with specific orientation
Construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are only used for description purpose,
And it is not intended that instruction or hint relative importance.
In the description of the present invention, it is necessary to which explanation, unless otherwise clearly defined and limited, term " installation ", " connect
Connect " it should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or it is integrally connected；It can be machine
Tool is connected or is electrically connected；Can be directly connected to or be indirectly connected with by intermediary, can be two
Connection inside element.For the ordinary skill in the art, can regard concrete condition understands above-mentioned term in this hair
Concrete meaning in bright.
In addition, in the description of the present invention, unless otherwise indicated, " multiple " are meant that two or more.
The present invention provides a kind of Athey wheel that wheeled and crawler type state can be achieved and mutually change, by controlling actuator
It is flexible, deform retainer, so as to fulfill the mutual conversion of Athey wheel two states.It is with reference to shown in Fig. 1, it can be achieved that wheeled with carrying out
The Athey wheel that belt state is mutually changed includes：Drive brake assembly 1, crawler belt 2, retainer 3, tensioning wheel 4, carrier wheel 5, induction
Wheel 6, bogie wheel 7, actuator 8.
Wherein, driving brake assembly 1 includes stator 101 and rotor 102, the sliding tooth of rotor 102 and the sliding tooth of crawler belt 2
203 engagements, for driving the rotation of crawler belt 2, and realize the braking stalling of crawler belt 2.Crawler belt 2 realizes the contact with ground, holds
Carrier vehicle weight, by with ground phase separation, there is provided driving vehicle traveling power.Retainer 3 is link mechanism, for installing tensioning wheel
4th, carrier wheel 5, inducer 6, bogie wheel 7, realize the support to crawler belt 2.In the present embodiment, retainer 3 uses four-bar linkage structure,
It is made of upper component AC, AD and lower member BC, BD, forms four revolutes, upper revolute A, lower revolute B, sidespin altogether
Turn secondary C and D；It is apparent that the link mechanism that retainer 3 can also take other form, is both realized to crawler belt 2 as long as disclosure satisfy that
Support, and can realize that Athey wheel is changed between wheeled state and crawler type state.The upper revolute A of retainer 3
Hinge joint be fixed on driving brake assembly 1 stator 101 on.Actuator 8 is used for the deformation for driving retainer 3, and realizes
3 deformed position of frame, which locks, is treated to guarantor.In the present embodiment, actuator 8 has two, and one end E of two actuators 8 is connected with F
In on the stator 101 of driving brake assembly 1, playing the role of supporting driving brake assembly 1, the other end G and H of actuator 8 connect
BC, BD sections of retainer member lower component is connected to, is used for realization and the control that wheel carries out two states conversion deformation is carried out to retainer 3
System.Tensioning wheel 4, is installed on retainer upper component AC, AD, for ensureing suitable track tension, so as to be beneficial to prevent
Crawler belt loosens.Carrier wheel 5, is installed on retainer 3 upper component AC, AD, is used to support crawler belt 2, suppresses crawler belt 2 and is running over
Oscillation Amplitude in journey.Inducer 6, is installed in side revolute C, D of retainer 3, in wheeled state and crawler type shape
State plays guiding role when changing, beneficial to the completion of conversion；At the same time in vehicle travel process, inducer 6, which also arrives, stablizes crawler belt 2
Effect.Bogie wheel 7, is installed in lower member BC, BD of retainer 3, for carrying car weight, support retainer 3, driving system
Car weight, is passed to the crawler belt 2 contacted with ground, car weight is passed to ground by crawler belt 2 by dynamic assembly 2, actuator 8 etc..
Structure based on above-described embodiment, can also draw other different Athey wheel distressed structures, be specially：According to not
With situation, tensioning wheel 4 can save, and can increase at this time by the diameter of rotor 102 is opposite, thus increase rotor 102 with
The cornerite of crawler belt, in this case, tensioning wheel 4 and moping pulley 5 can save, and inducer 6 can play tensioning at the same time
Effect.
As shown in Figure 1, the process that Athey wheel is converted into wheeled state from crawler belt state is：Actuator 8 passes through oil-filled or electric
Dynamic uphold is adjusted, and makes length elongation, so that the lower member BC and BD of retainer 3 are driven, in the feelings that lower member BC, BD is born a heavy burden
Under condition, actuator is set to support driving brake assembly 1 to rise by hinge joint E, F.In 1 uphill process of brake assembly is driven, lead to
The hinge joint of revolute A is crossed, drives retainer 3 to deform, struts retainer.Drive in 3 deformation process of retainer and pacify thereon
Tensioning wheel 4, carrier wheel 5, inducer 6, the bogie wheel 7 of dress, so that crawler belt 2 and the contact area on ground constantly reduce, finally
Athey wheel is set to be converted into the wheeled state of subcircular.Metamorphosis of the retainer 3 in deformation process is as shown in FIG. 4,5,6, 7.
Athey wheel is from wheeled State Transferring into the process of crawler belt state, as shown in Figure 1：Actuator 8 by drain the oil or electricity
Dynamic shrink is adjusted, and makes length reduction, driving brake assembly 1 is under the effect of gravity by hinge joint E, F, with the length of actuator
Shorten and decline.During driving brake assembly 1 declines, by the hinge joint of upper revolute A, drive retainer 3 to deform, make
Retainer flattens.The tensioning wheel 4 installed thereon, carrier wheel 5, inducer 6, bogie wheel 7 are driven in 3 deformation process of retainer, from
And crawler belt 2 and the contact area on ground is constantly increased, Athey wheel is converted into the crawler type state of hexagon.Retainer
3 metamorphosis in deformation process is as shown in FIG. 4,5,6, 7.
Athey wheel is in the process that crawler type state is walked, as shown in Figure 1：Athey wheel is by driving determining for brake assembly 1
Son 101 is connected with the rocking arm of vehicle suspension transverse arm or rocking arm type suspension to realize the carrying and driving to vehicle.
If making vehicle advance, the tooth on the rotor 102 of brake assembly 1 is driven to be meshed with the sliding tooth 203 of crawler belt 2,
Rotor 102 rotates counterclockwise, so as to drive crawler belt 2 to rotate, crawler belt 2 touches under the compressing of bogie wheel 7 with ground, produces drive
The power that motor-car advances, so as to drive forward travel.
If making vehicle rollback, the tooth on the rotor 102 of brake assembly 1 is driven to be meshed with the sliding tooth 203 of crawler belt 2,
Rotor 102 rotates clockwise, so as to drive crawler belt 2 to rotate, crawler belt 2 touches under the compressing of bogie wheel 7 with ground, produces drive
The power of dynamic vehicle rollback, so as to drive vehicle travel backwards.
As shown in Fig. 2, the brake 103 set on driving brake assembly 1, can select disk brake or drum brake
Device；Drive brake assembly 1 to be realized by motor with planetary gear speed reducing mechanism, imparted power to by the engaging tooth of rotor 102
Crawler belt 2.
As shown in Figure 2,3, can according to actual use situation, adjust carrier wheel 5 number, if install tensioning wheel 4 with
After inducer 6, crawler belt 2 has obtained excellent support, then can save carrier wheel 5；Otherwise, the number of carrier wheel 5 can be increased.
As shown in Figure 2,3, 4, during actual design and use, retainer 3 can by it is single be changed to it is double or more
Arrange, two-row structure be designed in the present embodiment, and be quadric chain, form tetra- rotation axis of A1A2, B1B2, C1C2, D1D2,
The quantity of actuator 8 can be designed to 4, so as to fulfill the carrying born a heavy burden to bigger by original 2 at this time.
As shown in figure 8, to prevent crawler belt 2 from coming off, in the both sides of crawler belt 2, equipped with convex edge outside convex edge in anticreep 201 and anticreep
202。
As shown in figure 9, to prevent Athey wheel, 2 ground plane of crawler belt is recessed in the process of moving, and reinforcing bar is embedded in crawler belt
204。
As shown in Figure 10, bogie wheel 7 is installed in 3 mounting hole 301 of retainer by axis, to realize preferably vibration damping, is born
Leaf spring 9 can be increased between roller 7 and retainer 3.When car weight is different, the quantity of bogie wheel 7 may also be different, and particular number will
It is designed according to actual use situation.
The inside of actuator 8 can be equipped with accumulator and hydraulic damping damper valve, so as in motion, make driving brake assembly 1
Isolate dither, play cushioning effect.Actuator 8 can be hydraulic cylinder, electric cylinder or pneumatic linear actuator, and other can stretch
The actuator of contracting.
The above example of the present invention is only that the explanation of method is preferable to carry out to the present invention, and not the present invention is limited
Fixed, the various modifications made on the premise of design spirit of the present invention is not departed to technical solution of the present invention and improvement, should all fall
Enter in the protection domain that claims of the present invention determines.
Claims (10)
1. a kind of can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that including：Drive brake assembly
(1), crawler belt (2), retainer (3), inducer (6), bogie wheel (7), actuator (8)；
The driving brake assembly (1) includes stator (101) and rotor (102), for driving crawler belt (2) to rotate, rotor (102)
It is meshed with the sliding tooth (203) of crawler belt (2), stator (101) and retainer (3), actuator (8) are hinged；
The crawler belt (2) realizes the contact with ground, carries car weight, passes through compressing and the ground phase separation of bogie wheel (7), there is provided
Drive the power of vehicle traveling；
The retainer (3) is link mechanism, is realized by inducer (6), the bogie wheel (7) installed thereon to crawler belt (2)
Support；Retainer (3) includes upper component and lower member, revolute, lower revolute, side revolute in formation；Retainer (3)
The hinge joint of upper revolute is fixed on stator (101)；
The actuator (8) is used for the deformation for driving retainer (3), and realizes and the deformed position of retainer (3) is locked；
One end of actuator (8) is connected on stator (101), plays the role of supporting driving brake assembly (1), and the other end is connected to guarantor
Hold in frame lower member, be used for realization and the control that wheel carries out two states conversion deformation is carried out to retainer (3)；
Inducer (6), is installed in the side revolute of retainer (3), from when wheeled state is with crawler type State Transferring
Guiding role, while play stable crawler belt (2) in vehicle travel process；
Bogie wheel (7), is installed in retainer (3) lower member, and for carrying car weight, support retainer (3), driving braking are total
Into (1), actuator (8), car weight is passed to the crawler belt (2) contacted with ground, is ultimately transferred to ground；
When Athey wheel walking states are changed, the lower member of the telescopic drive retainer (3) of actuator (8), support driving braking
Assembly (1) rises or falls, and drives retainer (3) to strut or flatten, and crawler belt (2) and the contact area on ground are decreased or increased,
So as to fulfill wheeled or caterpillar State Transferring；
In vehicle when driving, the tooth on rotor (102) is meshed with the sliding tooth (203) of crawler belt (2), rotor (102) rotation, from
And driving crawler belt (2) to rotate, crawler belt (2) touches under the compressing of bogie wheel (7) with ground, produces what driving vehicle advanced
Power, so as to drive forward travel.
2. according to claim 1 can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that also
Including：Tensioning wheel (4), is installed on the upper component of retainer (3), for ensureing track tension, so as to be beneficial to prevent from carrying out
Band loosens.
3. according to claim 1 or 2 can be achieved the wheeled Athey wheel mutually changed with crawler type state, its feature exists
In further including：Carrier wheel (5), is installed on the upper component of retainer (3), is used to support crawler belt (2), suppresses crawler belt (2) and exists
Oscillation Amplitude during traveling.
4. according to claim 3 can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that be
Prevent crawler belt (2) from coming off, in the both sides of crawler belt (2), equipped with convex edge in anticreep (201) and the outer convex edge (202) of anticreep.
5. according to claim 3 can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that be
Preventing Athey wheel, crawler belt (2) ground plane is recessed in the process of moving, and reinforcing bar (204) is embedded in crawler belt.
6. according to claim 3 can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that be
Realize preferably vibration damping, leaf spring (9) is equipped between bogie wheel (7) and retainer (3).
7. according to claim 3 can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that institute
It is single, double or multiple rows of to state retainer (3).
8. according to claim 7 can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that institute
It is four-bar linkage structure to state retainer (3).
9. according to claim 3 can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that institute
The quantity for stating actuator (8) is directly proportional to the loading weight that it is carried.
10. according to claim 3 can be achieved the wheeled Athey wheel mutually changed with crawler type state, it is characterised in that
The actuator (8) is internally provided with accumulator and hydraulic damping damper valve so that in motion, make driving brake assembly (1) every
From dither, cushioning effect is played.
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| CN201610292561.2A CN105882774B (en) | 2016-05-05 | 2016-05-05 | It is a kind of that the wheeled Athey wheel mutually changed with crawler type state can be achieved |
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| CN201610292561.2A CN105882774B (en) | 2016-05-05 | 2016-05-05 | It is a kind of that the wheeled Athey wheel mutually changed with crawler type state can be achieved |
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| CN106494521B (en) * | 2016-11-11 | 2019-03-01 | 中国人民解放军国防科学技术大学 | A kind of crawler belt Deformable walking mechanism |
| CN107215400B (en) * | 2017-07-14 | 2023-07-21 | 贵州理工学院 | Caterpillar chassis and running device |
| CN108639170B (en) * | 2018-03-30 | 2022-03-18 | 中国北方车辆研究所 | Automatic supplement formula athey wheel running gear |
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Effective date of registration: 20180614 Address after: No. 4, Huai Shu Ling, Beijing, Beijing Co-patentee after: China North Industry Co., Ltd. Patentee after: Beifang Vehicles Research Inst., China Address before: No. 4, Huai Shu Ling, Beijing, Beijing Patentee before: Beifang Vehicles Research Inst., China |