CN102862615B - Wheel-crawler-variable chassis - Google Patents
Wheel-crawler-variable chassis Download PDFInfo
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- CN102862615B CN102862615B CN201210324067.1A CN201210324067A CN102862615B CN 102862615 B CN102862615 B CN 102862615B CN 201210324067 A CN201210324067 A CN 201210324067A CN 102862615 B CN102862615 B CN 102862615B
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- 239000000725 suspension Substances 0.000 claims description 80
- 210000000245 forearm Anatomy 0.000 claims description 23
- 230000008602 contraction Effects 0.000 claims description 14
- 241000219098 Parthenocissus Species 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 238000010276 construction Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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Abstract
The invention provides a wheel-crawler-variable chassis which comprises a crawler belt module, a wheel type module and a support leg module, wherein the crawler belt module comprises a crawler belt walking bracket, a crawler belt walking mechanism and a rotary neck, the support leg module comprises a support leg bracket and four support legs; the wheel type module comprises a front wheel module and a back wheel module; and a front hanger bracket comprises a hanger bracket upper support, a hanger bracket lower support, a furcated ring, a leveling oil cylinder and a leveling oil cylinder installing block. According to the wheel crawler-variable chassis, the novel wheel crawler-variable chassis structure aiming at emergency rescue can be realized, so that the heavy rescue engineering machinery can realize the flexible switching between the tire type walking and the crawler belt walking according to different road conditions. According to the novel wheel crawler-variable chassis, the rescue engineering machinery can quickly hurry to the disaster field due to the quick motion capability of the tire type walking mode when disaster strikes, and can be conveniently switched into the crawler belt type walking type to carry out the rescue according to the condition of road surface in the process of rescuing, and the rescue can be carried out by unfolding the support legs when necessary.
Description
Technical field
The present invention relates to engineering machinery field, specifically a kind of wheel carried out convertible chassis.
Background technology
The running gear of the heavy engineering machineries such as hydraulic excavator is the support section of whole machinery, counter-force when it bears mechanical deadweight and equipment work, while making machine work, can stably support on the ground, can make again machinery operation and transfer building site in work-yard simultaneously, the running gear of excavating machine has concurrently and supports and operation two large functions, and the running gear of hydraulic excavator can be divided into crawler type and the large class of rubber-tyred two by structure difference at present.The feature of crawler belt industrial and commercial bank walking apparatus is, propulsive effort large (propulsive effort of every crawler belt can reach the 35%-45% that machine is heavy conventionally), connect specific pressure little (40-150kPa), thereby off-road capability and good stability, hill climbing ability (is generally 50%-80% greatly, maximum reaches 100%), and turn radius is little, and alerting ability is good.But cterpillar drive manufacturing cost is high, and running velocity is low, when moving and turning to, consumption of power is large, and parts depreciation is fast.Therefore, need be by other transport vehicles during long distance running.Rubber-tyred running gear is compared with crawler-mounted, and advantage is that running velocity is fast, manoevreability good, and during operation, tire does not damage road surface, thereby is popular in urban construction, and shortcoming is that grounding pressure is large, and hill climbing ability is little.During digging operation, need to support to guarantee with special supporting leg stability and the safety of excavating machine.
In present construction machinery and equipment, the chassis of especially rescuing in construction machinery and equipment is simple rubber-tyred chassis or caterpillar chassis, when disaster occurs, the rescue construction machinery and equipment of rubber-tyred can arrive at rapidly disaster and occur on-the-spot, but under the severe state of ground of rescue site, the disaster relief operation of the rescue construction machinery and equipment of rubber-tyred is inconvenience very; And crawler type rescue construction machinery and equipment is very strong for the severe state of ground comformability of rescue site, but can not be very fast when disaster occurs rush towards rescue site.
Summary of the invention
The technical matters solving
The present invention is directed to the pros and cons of tire and cterpillar drive, proposed a kind of wheel and carried out convertible chassis, can switch easily and efficiently walking manner according to job requirements and road surface situation, realize rapid movement.For rescue and relief work, can accomplish to rush towards rapidly scene, launch easily rescue work.
Technical scheme
Technical scheme of the present invention is:
Described a kind of wheel carried out convertible chassis, it is characterized in that: comprise track module, wheeled module and supporting leg module;
Described track module comprises crawler travel frame, creeper undercarriage and revolution neck; Two secondary creeper undercarriages respectively symmetry are arranged on the crawler travel frame left and right sides, and top, crawler travel frame middle part is fixed with revolution neck, and described revolution neck is for being connected with upper body;
Described supporting leg module comprises supporting rack and fourth officer supporting leg; There is manhole at described supporting rack center, and described manhole internal diameter is identical with revolution neck external diameter, and supporting rack is enclosed within on revolution neck, and is fixedly connected with revolution neck; Described supporting rack is square structure, and four jiaos of supporting racks have pan; Supporting leg comprises the large arm of horizontal supporting leg, horizontal supporting leg forearm, the large arm of vertical legs, vertical legs forearm and leg, laterally the large arm of supporting leg is connected with laterally supporting leg forearm is flexible, the large arm of vertical legs is connected with vertical legs forearm is flexible, the pan chain connection that horizontal supporting leg large arm end and supporting rack are one jiao, the large arm of horizontal supporting leg can be rotated around vertical direction, horizontal supporting leg forearm and vertical being fixedly connected with of the large arm of vertical legs, vertical legs forearm end is fixedly connected with leg;
Described wheeled module comprises front-wheel module and trailing wheel module; Described front-wheel module comprises that front-wheel shoe switches oil cylinder, front axle bracket, front suspension and propons; Described trailing wheel module comprises that trailing wheel shoe switches oil cylinder, rear axle stand, rear suspension and back axle; Front-wheel module and trailing wheel module are arranged on respectively the both sides, front and back of crawler travel frame; Front-wheel is carried out and is switched oil cylinder one end and supporting rack front side chain connection, and front-wheel is carried out and switched the oil cylinder other end and front axle bracket upside chain connection; Front axle bracket one end and crawler travel frame front side chain connection, the front axle bracket other end is fixedly connected with front suspension, by front-wheel, is carried out and is switched oil cylinder contraction or extend and can lift or put down front axle bracket and front suspension; Front suspension is fixedly connected with propons, propons two ends mounting tyre; Trailing wheel is carried out and is switched oil cylinder one end and supporting rack rear side chain connection, and trailing wheel is carried out and switched the oil cylinder other end and rear axle stand upside chain connection; Rear axle stand one end and crawler travel frame rear side chain connection, the rear axle stand other end is fixedly connected with rear suspension, by trailing wheel, is carried out and is switched oil cylinder contraction or extend and can lift or put down rear axle stand and rear suspension; Rear suspension is fixedly connected with back axle, back axle two ends mounting tyre;
Described front suspension comprises suspension upper bracket, suspension lower bracket, fork ring, leveling cyclinder and leveling cyclinder mounting blocks; Suspension upper bracket top and front axle bracket welding, suspension upper bracket lower central and suspension lower bracket center upper portion are hinged by bearing pin; Leveling cyclinder mounting blocks is fixed on the front axle bracket left and right sides, and leveling cyclinder is fixedly mounted on leveling cyclinder mounting blocks, and leveling cyclinder lower end is hinged by fork ring and suspension lower bracket; Suspension lower bracket bottom is fixedly connected with propons.
Beneficial effect
The present invention has the following advantages and high-lighting effect: the present invention has realized a kind of novel wheel for rescue and carried out convertible chassis structure, makes heavy rescue construction machinery and equipment can realize according to road conditions difference the flexible switching of rubber-tyred walking and crawler-type traveling.This novel take turns carry out convertible chassis can be when disaster occurs, making to rescue construction machinery and equipment uses the quick travel ability of rubber-tyred walking manner to rush towards rapidly disaster scene, in the process of the disaster relief, can switch to easily crawler-type traveling mode according to road surface situation again and launch rescue, if desired, open support leg device and carry out rescue work.
Accompanying drawing explanation
Fig. 1: front view of the present invention;
Fig. 2: front elevation of the present invention;
Fig. 3: birds-eye view of the present invention;
Fig. 4: crawler travel frame schematic diagram;
Fig. 5: supporting rack schematic diagram;
Fig. 6: supporting leg schematic diagram;
Fig. 7: horizontal supporting leg forearm schematic diagram;
Fig. 8: the large arm schematic diagram of vertical legs;
Fig. 9: front suspension structure schematic diagram;
Figure 10: rear suspension structure schematic diagram;
Figure 11: operation schematic diagram makes a jack;
Figure 12: wheel tyre walking schematic diagram;
Figure 13: crawler travel schematic diagram.
Wherein: 1, crawler travel frame; 2, revolution neck; 3, supporting rack; 4, supporting leg; 5, front-wheel is carried out and is switched oil cylinder; 6, front axle bracket; 7, front suspension; 8, propons; 9, trailing wheel is carried out and is switched oil cylinder; 10, rear axle stand; 11, rear suspension; 12, back axle; 13, front axle bracket hinge; 14, rear axle stand hinge; 15, through hole; 16, supporting leg hinge; 17, front-wheel is carried out and is switched oil cylinder hinge; 18, trailing wheel is carried out and is switched oil cylinder hinge; 19, the horizontal large arm of supporting leg; 20, horizontal supporting leg forearm; 21, the large arm of vertical legs; 22, vertical legs forearm; 23, leg; 24, leveling cyclinder mounting blocks; 25, leveling cyclinder; 26, fork ring; 27, suspension upper bracket; 28, suspension lower bracket; 29, Connection Block.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described:
Embodiment:
A kind of wheel in the present embodiment carried out convertible chassis, is symmetrical structure, includes track module, wheeled module and supporting leg module.
With reference to accompanying drawing 1, to accompanying drawing 3, track module comprises crawler travel frame 1, creeper undercarriage and revolution neck 2; Supporting leg module comprises supporting rack 3 and fourth officer supporting leg 4; Wheeled module comprises front-wheel module and trailing wheel module, and front-wheel module comprises that front-wheel shoe switches oil cylinder 5, front axle bracket 6, front suspension 7 and propons 8, and trailing wheel module comprises that trailing wheel shoe switches oil cylinder 9, rear axle stand 10, rear suspension 11 and back axle 12.
With reference to accompanying drawing 4, crawler travel frame 1 is panel beating single piece, by the four-wheel one of track frame and standard, is with and is formed.Revolution neck 2 is the connecting device with upper body as crawler travel frame 1, is weldingly fixed on top, crawler travel frame middle part.Two secondary creeper undercarriages respectively symmetry are arranged on the crawler travel frame left and right sides.
Different from common Integral underframe, crawler travel frame middle part X-type plate portion is for convenient layout front axle bracket hinge 13 and rear axle stand hinge 14, and the front and rear part of X-type plate lengthens.And turn round neck 2 simultaneously, than common revolution neck, will grow, for welding supporting rack 3, before making, (afterwards) wheel carry out to switch oil cylinder hinge and increases with the distance of front (afterwards) crane span structure hinge, and before making, (afterwards) to take turns the force-bearing situation of shoe switching oil cylinder better.
With reference to accompanying drawing 5, supporting rack 3 integral body are square box, and inside is provided with reinforced rib, and there is manhole 15 at supporting rack center, and manhole internal diameter is identical with revolution neck external diameter, and by this manhole, supporting rack is enclosed within on revolution neck, and is welded and fixed with revolution neck.
On supporting rack, there are 8 pans, wherein 4 supporting leg hinges 16 are distributed in four jiaos of square support legs frame, be connected with supporting leg 4 respectively, 2 front-wheels are carried out switching oil cylinder hinge 17 and are positioned at supporting rack front side, carrying out switching oil cylinder with 1 front-wheel is respectively connected, 2 trailing wheels are carried out switching oil cylinder hinge 18 and are positioned at supporting rack rear side, carry out switching oil cylinder be respectively connected with 1 trailing wheel.
With reference to accompanying drawing 6, supporting leg comprises the large arm 19 of horizontal supporting leg, horizontal supporting leg forearm 20, vertical legs large arm 21, vertical legs forearm 22 and leg 23.Wherein laterally the large arm of supporting leg is connected with laterally supporting leg forearm is flexible, and the large arm of vertical legs is connected with vertical legs forearm is flexible.The horizontal supporting leg forearm 20 transversely inner bin of the large arm 19 of supporting leg is done transversal stretching motion, vertical legs forearm 22 can be done vertical fore and aft motion along the inner bin of the large arm 21 of vertical legs, laterally supporting leg forearm 20 is realized Bolt Connection by flanged plate and the large arm 21 of vertical legs, and leg 23 connects with vertical legs forearm 22 by bearing pin.The supporting leg chain connection that horizontal supporting leg large arm end and supporting rack are one jiao, can rotate around vertical direction the large arm of horizontal supporting leg.Each supporting leg 4 has respectively 3 degree of freedom, is respectively the transversal stretching motion of supporting leg, the vertical fore and aft motion of supporting leg, and whole supporting leg is around the rotational motion of vertical direction.
Wheeled module comprises front-wheel module and trailing wheel module, and front-wheel module comprises that front-wheel shoe switches oil cylinder 5, front axle bracket 6, front suspension 7 and propons 8, and trailing wheel module comprises that trailing wheel shoe switches oil cylinder 9, rear axle stand 10, rear suspension 11 and back axle 12.Front-wheel module and trailing wheel module are arranged on respectively the both sides, front and back of crawler travel frame.
Front-wheel shoe switching oil cylinder 5, front axle bracket 6, trailing wheel are carried out switching oil cylinder 9, rear axle stand 10 is major parts that rubber-tyred traveling gear and crawler type walking mechanism switch mutually, suspension is crane span structure and the link of taking turns bridge, take front suspension 7 as example, front suspension 7 is connected with front axle bracket 6 by welding, front suspension 7 is bolted with propons 8 and is connected, and plays the effect of leveling and bumper and absorbing shock simultaneously.Propons 8 is support sections of rubber-tyred walking with back axle 12.
Front-rear axle shelf structure is identical, take front axle bracket 6 as example, front axle bracket 6 integral body are square chest structure, front axle bracket is hinged by self round tube hole at rear portion and the front axle bracket hinge 13 of crawler travel frame, the cylinder rod that front axle bracket is carried out switching oil cylinder 5 by the hinge from body and front-wheel is hinged, front-wheel is carried out the switching oil cylinder other end and is connected with the front-wheel shoe switching oil cylinder hinge 17 of supporting rack front side, form a spandrel frame, by front-wheel, carry out the fore and aft motion of switching oil cylinder 5 and realize front axle bracket 6 around the swing of front axle bracket hinge 13, the front axle bracket other end is fixedly connected with front suspension, front suspension is fixedly connected with propons, propons two ends mounting tyre.When front axle bracket 6 is during around the swing of front axle bracket hinge 13, front axle bracket drives propons 8 up-and-down movements, thereby realizes the switching of running on wheels and crawler travel mode.
The key distinction of front-wheel module and trailing wheel module is front suspension and rear suspension.
As shown in Figure 9, front suspension is half elasticity independent suspension.Structure is symmetrical, and described front suspension comprises 25,4 leveling cyclinder mounting blocks 24 of 26,2 leveling cyclinders of 28,2 fork rings of 27,1 suspension lower brackets of 1 suspension upper bracket.Suspension upper bracket top and front axle bracket welding, suspension upper bracket lower central and suspension lower bracket center upper portion are hinged by bearing pin; Leveling cyclinder mounting blocks is fixed on the front axle bracket left and right sides, and leveling cyclinder is fixedly mounted on leveling cyclinder mounting blocks, and leveling cyclinder lower end is hinged by the hinge ear on fork ring and suspension lower bracket 28; Suspension lower bracket bottom is fixedly connected with propons bolt.
Concrete, leveling cyclinder mounting blocks 24 is by 2 otic placodes in left side, and 2 triangle fixed plates on middle 1 connecting panel and right side form.Otic placode is for being connected with leveling cyclinder 25, and connecting panel is used for being connected with front axle bracket 6 with triangle brace panel.The through hole on fork ring 26 tops is for being connected with leveling cyclinder 25 cylinder rods, and the hinge of the fork-shaped of bottom is for being connected with the hinge ear of suspension lower bracket.Suspension upper bracket 27 is comprised of the rectangular connecting panel on top and two leg-of-mutton risers of bottom, and the rectangular slab on suspension upper bracket 27 tops is for welding with front axle bracket 6, and two risers of bottom are for hinged with suspension lower bracket 28.Suspension lower bracket 28 is by two leg-of-mutton risers on top, two otic placodes of the rectangular connecting panel of bottom and both sides, middle part form, wherein two triangle risers on suspension lower bracket 28 tops are for hinged with suspension upper bracket 27, the oblong connecting panel of bottom each side has four bolts hole, for being connected with propons bolt, two hinge ears of the left and right sides, middle part are respectively used to be connected with fork ring 26.
During running on wheels, wheel runs into and jolts, due to the hinged effect of suspension upper bracket 27 with suspension lower bracket 28, propons and suspension lower bracket rotate around suspension upper bracket, the leveling cyclinder compression of the wheel homonymy of raising, the oil cylinder of opposite side extends simultaneously, because leveling cyclinder has to a certain degree played the effect of bumper and absorbing shock, thereby has guaranteed the stability that car load moves.
With reference to accompanying drawing 10, rear suspension is rigidity independent suspension.Be used for connecting rear axle stand and back axle.Rear suspension is comprised of two symmetrical two Connection Blocks 29, and Connection Block is comprised of the triangle contiguous block on top and the oblique contiguous block of bottom, and tiltedly contiguous block is welded by three blocks of diagonal bar plates at upper and lower two block length square plates and middle part.
With reference to accompanying drawing 11, machinery is in supporting leg support works state, now, front-wheel is carried out and is switched oil cylinder 5 contractions, by front axle bracket 6 and front suspension 7, drive propons 8 to make front-wheel in the collapsed state that makes progress, trailing wheel is carried out and is switched oil cylinder 9 contractions, by rear axle stand 10, rear suspension 11, drives back axle 12 to make trailing wheel in the collapsed state that makes progress.Meanwhile, 4 supporting legs are showed, and each leg section is extended outwards, downwards according to operating environment condition, and supporting leg distributes radially.Be convenient to the machinery operation of being correlated with.
With reference to accompanying drawing 12, machinery is in tire walking states, now, front-wheel is carried out and is switched oil cylinder 5 elongations, by front axle bracket 6 and front suspension 7, drive propons 8 to make front-wheel in downward holding state, trailing wheel is carried out and is switched oil cylinder 9 elongations, by rear axle stand 10, rear suspension 11, drives back axle 12 to make trailing wheel in downward holding state.Meanwhile, 4 each leg sections of supporting leg are in contraction state, and 4 supporting legs draw in respectively in the middle of crawler travel frame 1 and front-wheel module and trailing wheel module.Make that whole mechanical movement speed is fast, manoevreability good, during operation, tire does not damage road surface.
With reference to accompanying drawing 13, machinery is in crawler travel state, now, front-wheel is carried out and is switched oil cylinder 5 contractions, by front axle bracket 6 and front suspension 7, drive propons 8 to make front-wheel in the collapsed state that makes progress, trailing wheel is carried out and is switched oil cylinder 9 contractions, by rear axle stand 10, rear suspension 11, drives back axle 12 to make trailing wheel in the collapsed state that makes progress.Meanwhile, 4 each leg sections of supporting leg are in contraction state, and 4 supporting legs draw in respectively in the middle of crawler travel frame 1 and front-wheel module and trailing wheel module.Crawler belt ground connection, compact conformation, stability and good cross-country ability.
Wheeled and the concrete scheme of switching crawler-type traveling mode is, when crawler travel switches to wheel tyre walking, first, in 2 front-wheels of contraction state, carry out to switch under the promotion of oil cylinder at hydraulic pressure and extend, pass through front axle bracket, promotion propons moves down, and makes crawler belt front end liftoff, and crawler belt rear end and front-wheel are in holding state; Then, in 2 trailing wheels of contraction state, carry out to switch under the promotion of oil cylinder at hydraulic pressure and extend, pass through rear axle stand, promotion back axle moves down, make crawler belt rear end liftoff, front-wheel and trailing wheel be in holding state, thereby complete the switching to rubber-tyred walking by crawler-type traveling.When wheel tyre walking switches to crawler travel, first, in 2 trailing wheels of elongation state, carry out and switch oil cylinder pressure release, under Action of Gravity Field, whole mechanical latter half moves down, until crawler belt rear end kiss the earth, now, crawler belt rear end and front-wheel are in holding state, 2 trailing wheels are carried out and are switched oil cylinder continuation contraction, by rear axle stand, pull back axle to move up, make 2 trailing wheels finally in collapsed state; Then, in 2 front-wheels of elongation state, carry out and switch oil cylinder pressure release, under Action of Gravity Field, whole mechanical first half moves down, until crawler belt front end kiss the earth, now, whole crawler belt is in holding state, and 2 front-wheels are carried out and switched oil cylinder continuation contraction, pass through front axle bracket, pull propons to move up, thereby make 2 front-wheels finally in collapsed state, complete the switching to crawler-type traveling by rubber-tyred walking.
Claims (1)
1. wheel is carried out a convertible chassis, it is characterized in that: comprise track module, wheeled module and supporting leg module;
Described track module comprises crawler travel frame, creeper undercarriage and revolution neck; Two secondary creeper undercarriages respectively symmetry are arranged on the crawler travel frame left and right sides, and top, crawler travel frame middle part is fixed with revolution neck, and described revolution neck is for being connected with upper body;
Described supporting leg module comprises supporting rack and fourth officer supporting leg; There is manhole at described supporting rack center, and described manhole internal diameter is identical with revolution neck external diameter, and supporting rack is enclosed within on revolution neck, and is fixedly connected with revolution neck; Described supporting rack is square structure, and four jiaos of supporting racks have pan; Supporting leg comprises the large arm of horizontal supporting leg, horizontal supporting leg forearm, the large arm of vertical legs, vertical legs forearm and leg, laterally the large arm of supporting leg is connected with laterally supporting leg forearm is flexible, the large arm of vertical legs is connected with vertical legs forearm is flexible, the pan chain connection that horizontal supporting leg large arm end and supporting rack are one jiao, the large arm of horizontal supporting leg can be rotated around vertical direction, horizontal supporting leg forearm and vertical being fixedly connected with of the large arm of vertical legs, vertical legs forearm end is fixedly connected with leg;
Described wheeled module comprises front-wheel module and trailing wheel module; Described front-wheel module comprises that front-wheel shoe switches oil cylinder, front axle bracket, front suspension and propons; Described trailing wheel module comprises that trailing wheel shoe switches oil cylinder, rear axle stand, rear suspension and back axle; Front-wheel module and trailing wheel module are arranged on respectively the both sides, front and back of crawler travel frame; Front-wheel is carried out and is switched oil cylinder one end and supporting rack front side chain connection, and front-wheel is carried out and switched the oil cylinder other end and front axle bracket upside chain connection; Front axle bracket one end and crawler travel frame front side chain connection, the front axle bracket other end is fixedly connected with front suspension, by front-wheel, is carried out and is switched oil cylinder contraction or extend and can lift or put down front axle bracket and front suspension; Front suspension is fixedly connected with propons, propons two ends mounting tyre; Trailing wheel is carried out and is switched oil cylinder one end and supporting rack rear side chain connection, and trailing wheel is carried out and switched the oil cylinder other end and rear axle stand upside chain connection; Rear axle stand one end and crawler travel frame rear side chain connection, the rear axle stand other end is fixedly connected with rear suspension, by trailing wheel, is carried out and is switched oil cylinder contraction or extend and can lift or put down rear axle stand and rear suspension; Rear suspension is fixedly connected with back axle, back axle two ends mounting tyre;
Described front suspension comprises suspension upper bracket, suspension lower bracket, fork ring, leveling cyclinder and leveling cyclinder mounting blocks; Suspension upper bracket top and front axle bracket welding, suspension upper bracket lower central and suspension lower bracket center upper portion are hinged by bearing pin; Leveling cyclinder mounting blocks is fixed on the front axle bracket left and right sides, and leveling cyclinder is fixedly mounted on leveling cyclinder mounting blocks, and leveling cyclinder lower end is hinged by fork ring and suspension lower bracket; Suspension lower bracket bottom is fixedly connected with propons.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210324067.1A CN102862615B (en) | 2012-09-05 | 2012-09-05 | Wheel-crawler-variable chassis |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210324067.1A CN102862615B (en) | 2012-09-05 | 2012-09-05 | Wheel-crawler-variable chassis |
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| CN102862615A CN102862615A (en) | 2013-01-09 |
| CN102862615B true CN102862615B (en) | 2014-10-29 |
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| CN201210324067.1A Expired - Fee Related CN102862615B (en) | 2012-09-05 | 2012-09-05 | Wheel-crawler-variable chassis |
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| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN101058320A (en) * | 2007-05-18 | 2007-10-24 | 姚实现 | Transmission and control system for wheel-pedrail machinery and walking mechanism, wheel and pedrail walking mechanism, supporting device and engineering machinery |
| US7673711B1 (en) * | 2002-06-04 | 2010-03-09 | Polaris Industries Inc. | Tracked vehicle |
| CN202847852U (en) * | 2012-09-05 | 2013-04-03 | 西北工业大学 | Wheel-tracked variable chassis |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102005013692B4 (en) * | 2005-03-22 | 2011-03-31 | Grobler, Hendrik, Dr., Clyde Park | Motor vehicle with additional crawler undercarriage |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7673711B1 (en) * | 2002-06-04 | 2010-03-09 | Polaris Industries Inc. | Tracked vehicle |
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN101058320A (en) * | 2007-05-18 | 2007-10-24 | 姚实现 | Transmission and control system for wheel-pedrail machinery and walking mechanism, wheel and pedrail walking mechanism, supporting device and engineering machinery |
| CN202847852U (en) * | 2012-09-05 | 2013-04-03 | 西北工业大学 | Wheel-tracked variable chassis |
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| CN102862615A (en) | 2013-01-09 |
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