一种可变形履带行走装置的设计

针对微型履带车辆在丘陵山区崎岖路面和坡地作业时存在稳定性减弱、爬坡性能变差等问题,提出了一种采用三连杆运动变形机构,由固定在行走架上的液压缸驱动变形机构变形,使得行走架在一定角度范围内处于水平的可变形履带行走装置设计方案。通过对变形机构的自由度计算和可变形履带行走装置的数学建模,分析了平衡状态下变形杆件的受力情况和机构的变形性能,确定了变形角度与构件之间的相对关系,以及坡地行驶过程中,变形与未变形状态下履带车辆的垂直越障和爬坡性能。结果表明:可变形履带行走装置可实现28°以下坡度自适应;变形后,能够提升车辆在坡地作业时3°左右的爬坡性能,但减弱了垂直越障能力。

Research on the Thermal Imaging of the Continuous Casting Mold

In order to improve the stability and climbing performance of crawler mini-vehicle working on rugged roads and slope lands, a deformable crawler travelling unit was designed by using a three-linkages mechanism, driving by a hydraulic cylinder fixed on walking frame to achieve the horizontal position of walking frame within a certain range by deformation of the crawler. The force of links at equilibrium position and motion ability of mechanism were analyzed by the degree of freedom calculating and the mathematical modeling of the unit. The relationship between the angles of deformation and the position of the components in the mechanism was determined. The vertical obstacle surmounting and climbing performances of the unit operating in deformable and un-deformable mode were compared. It is shown that the unit working on deformable mode can self-adaptive climbing the slope below 28°, and improved 3° climbing ability while decreasing the ability of vertical obstacle surmounting.