CN103342138A - Wheel caterpillar band moving device and wheel caterpillar band thereof - Google Patents

Wheel caterpillar band moving device and wheel caterpillar band thereof Download PDF

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Publication number
CN103342138A
CN103342138A CN2013102598886A CN201310259888A CN103342138A CN 103342138 A CN103342138 A CN 103342138A CN 2013102598886 A CN2013102598886 A CN 2013102598886A CN 201310259888 A CN201310259888 A CN 201310259888A CN 103342138 A CN103342138 A CN 103342138A
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CN
China
Prior art keywords
crawler belt
wheel
gauffer
taking turns
layer
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Granted
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CN2013102598886A
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Chinese (zh)
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CN103342138B (en
Inventor
彭安思
欧勇盛
江国来
徐扬生
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to CN201310259888.6A priority Critical patent/CN103342138B/en
Publication of CN103342138A publication Critical patent/CN103342138A/en
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Publication of CN103342138B publication Critical patent/CN103342138B/en
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Abstract

A wheel caterpillar band comprises an elastic layer, a ruffle layer and shoe caterpillar sections, wherein the ruffle layer is arranged at the outer side of the elastic layer and comprises a plurality of first ruffle portions and a plurality of first connection portions, the first ruffle portions and the first connection portion are arranged at intervals in a staggered mode, the first connection portions are connected with the outer surface of the elastic layer, the first ruffle portions can be pulled to be straight under the action of external force, the shoe caterpillar sections are arranged on the first connection portions and located on the outer lateral face of the ruffle layer, the shoe caterpillar sections are level with two lateral faces of the ruffle layer, the shoe caterpillar sections, the two lateral faces of the ruffle layer and the bottom surfaces of the first connection portions jointly form a friction junction surface, the friction junction surface is used for being tightly attached to wheel hubs, and the wheel hubs drive the wheel caterpillar band to rotate through the friction between the wheel hubs and the friction junction surface. Meanwhile, the invention further provides a wheel caterpillar band moving device using the wheel caterpillar band. According to the wheel caterpillar band moving device, the wheel hubs drive the wheel caterpillar band to rotate through the friction between the wheel hubs and the friction junction surface, so that the wheel caterpillar band moving device is stable in operation.

Description

Wheel crawler belt mobile device and wheel crawler belt thereof
Technical field
The present invention relates to the mechanically moving field, particularly relate to a kind of crawler belt mobile device and wheel crawler belt thereof of taking turns.
Background technology
Existing running on wheels vehicle and its walking mode of crawler travel vehicle are all independent separately.That is, vehicle or be the crawler travel pattern, or be the running on wheels pattern.Wheeled car or mobile platform have fast characteristics such as pass through, turn to flexibly, resistance of motion is little in the smooth-riding surface, but when the road of mire or the walking of open-air rough road surface, tyre slip often occur, are absorbed in pit and can not move ahead.Though tracklaying vehicle or mobile platform can have open-air obstacle climbing ability in the road of mire or open-air rough road surface walking, but defective such as, resistance big, oil consumption height slow in the walking of normal road surface and be subjected to certain restriction.If two kinds of mode of motioies are combined simply, be that vehicle or mobile platform are not only installed wheel but also crawler belt is installed, vehicle or mobile platform structure will become complicated and huge so, own wt also will significantly increase, it is excessive so that the battery that self is entrained can not work long hours that this will cause energy to consume, and makes whole vehicle or mobile platform inefficiency.
Its caterpillar drive of traditional tracklaying vehicle or mobile platform is wherein a kind of pattern of linked transmission, and namely the bearing pin by caterpillar chain and the tooth between the drive wheel mesh transferring power and moment of torsion.Be engaged transmission, the pitch of crawler belt is certain so.Since the wheel crawler belt between wheel is carried out during conversion its pitch change, and the wheel pitch of teeth on the wheel hub is fixed, if come the drive wheel crawler belt with the gear teeth on the wheel hub, the situation that will cause the part mate can not mesh so, and cause operation not steady.
Summary of the invention
Based on this, be necessary to provide a kind of operation than pulsation-free wheel crawler belt mobile device and wheel crawler belt thereof.
A kind of crawler belt of taking turns is used for matching with wheel hub, to form running on wheels pattern or crawler-type traveling pattern, comprising:
Elastic layer, described elastic layer are cyclic structure;
The gauffer layer, be arranged at the described elastic layer outside, described gauffer layer comprises a plurality of first gauffer portions and a plurality of first connecting portion, alternate intervals setting between a plurality of described first gauffer portions and a plurality of described first connecting portion, described first connecting portion is connected with the outside face of described elastic layer, the described first gauffer portion is the arc surfaced of evagination, forms the gap between the described first gauffer portion and the described elastic layer, and the described first gauffer portion can be straightened under external force; And
Footwear are carried out section, be arranged on described first connecting portion, and be positioned on the lateral surface of described gauffer layer, described footwear shoe section flushes with the two sides of described gauffer layer, described footwear are carried out section, the two sides of described gauffer layer and the bottom surface of described first connecting portion and are formed the frictional engagement face jointly, described frictional engagement face is used for fitting tightly with described wheel hub, described wheel hub by and described frictional engagement face between friction drive the described crawler belt of taking turns and rotate.
Among embodiment, described gauffer layer also comprises the support portion that is arranged at the described first gauffer portion inside face therein, and described support portion is connected with described elastic layer.
Among embodiment, the axial cross section that described footwear are carried out section is swallowtail-shaped structure therein.
Among embodiment, also comprise stirrup therein, described footwear are carried out on the section and are also offered axial accepting hole, and described stirrup is arranged in the described accepting hole.
Among embodiment, also be provided with flange on the outside face of the described first gauffer portion therein.
Therein among embodiment, the two sides that described footwear are carried out section and described gauffer layer all and between the described circumferential section of taking turns crawler belt form angle.
Therein among embodiment, also comprise guide layer, described guide layer is arranged at described elastic layer inboard, described guide layer comprises a plurality of second gauffer portions and a plurality of second connecting portion, alternate intervals setting between a plurality of described second gauffer portions and a plurality of described second connecting portion, the described second gauffer portion is the arc surfaced of evagination, and described second connecting portion is provided with pillar stiffener, and described second connecting portion is connected on the inside face of described elastic layer by described pillar stiffener.
A kind of crawler belt mobile device of taking turns comprises:
The above-mentioned crawler belt of taking turns;
Two wheel hubs are arranged at described both sides of taking turns crawler belt respectively, and fit tightly with described frictional engagement face, form receiving space between two described wheel hubs; And
The crawler belt mapping device is arranged in the described receiving space, and described crawler belt mapping device comprises first guide wheel that stretches actuating device, extending arm and be arranged at extending arm one end, and described stretching, extension actuating device is used for driving described extending arm expansion or regains;
Wherein, after described extending arm launches, described first guide wheel and the described crawler belt of taking turns offset, and the described crawler belt of taking turns opened, so that described crawler belt, two described wheel hubs and described first guide wheel of taking turns forms the crawler-type traveling pattern jointly, after described extending arm was regained, the described crawler belt of taking turns shrank and is close on the described wheel hub, so that describedly take turns crawler belt and two described wheel hubs form the running on wheels pattern jointly.
Among embodiment, described extending arm middle part is bent to form kink therein, and the described crawler belt mobile device of taking turns also comprises second guide wheel, and described second guide wheel is arranged on the described kink.
Among embodiment, also comprise therein:
Frame;
Fixed mechanism, described fixed mechanism comprises:
Motor cabinet, one end are fixed in the described frame;
First adapter plate is captiveed joint with the other end of described motor cabinet, so that described first adapter plate is fixed on the described frame;
Second adapter plate and fixed link, the two ends of described fixed link are fixedly connected on respectively on described first adapter plate and described second adapter plate, so that described second adapter plate is fixed on first adapter plate; And
Two supporting bases are individually fixed on described first adapter plate and described second adapter plate, and two described wheel hubs are connected on described first adapter plate and described second adapter plate rotationally by two supporting seats respectively; And
Supporting mechanism is arranged on the described frame, the deployable or withdrawal of described supporting mechanism.
Above-mentioned crawler belt mobile device and the wheel crawler belt thereof of taking turns compared with conventional art, has the following advantages at least:
At first, the above-mentioned wheel in the crawler belt mobile device, the footwear of wheel crawler belt are carried out section, the two sides of gauffer layer and the bottom surface of first connecting portion and are formed the frictional engagement face jointly.Frictional engagement face and wheel hub fit tightly, wheel hub by and the frictional engagement face between friction force driven wheel crawler belt rotate.Than the mode of traditional engaged transmission, the above-mentioned operation of taking turns the crawler belt mobile device is more stable.
In addition, the above-mentioned wheel in the crawler belt mobile device, the wheel crawler belt can be strutted by the crawler belt mapping device, so that wheel crawler belt, two wheel hubs and first guide wheel form the crawler-type traveling pattern jointly; After the crawler belt mapping device is regained, the wheel crawler belt shrinks and is close on the wheel hub, so that wheel crawler belt and two wheel hubs form the running on wheels pattern jointly, and then make the above-mentioned crawler belt mobile device of taking turns to switch between two kinds of different walking modes, to adapt to the demand of varying environment.
Description of drawings
Fig. 1 is the exploded view of the wheel crawler belt mobile device of preferred embodiment of the present invention;
Fig. 2 is partial exploded view of taking turns the crawler belt mobile device shown in Figure 1;
Fig. 3 is the concrete structure figure that takes turns wheel crawler belt in the crawler belt mobile device shown in Figure 1;
Fig. 4 is the local concrete structure figure that takes turns wheel crawler belt in the crawler belt mobile device shown in Figure 1;
Fig. 5 is cutaway view of taking turns wheel crawler belt in the crawler belt mobile device shown in Figure 1;
Fig. 6 is the concrete structure figure that takes turns wheel hub in the crawler belt mobile device shown in Figure 1;
Fig. 7 is another partial exploded view of taking turns the crawler belt mobile device shown in Figure 1;
Fig. 8 is a partial exploded view again of taking turns the crawler belt mobile device shown in Figure 1;
Fig. 9 is working state schematic representation of taking turns the crawler belt mobile device shown in Figure 1;
Figure 10 is another working state schematic representation of taking turns the crawler belt mobile device shown in Figure 1;
Figure 11 is the concrete structure figure that takes turns supporting mechanism in the crawler belt mobile device shown in Figure 1.
The specific embodiment
For the ease of understanding the present invention, with reference to relevant drawings the present invention is described more fully below.Provided preferred embodiments of the present invention in the accompanying drawing.But the present invention can realize with many different forms, be not limited to embodiment described herein.On the contrary, provide the purpose of these embodiments be make to disclosure of the present invention understand comprehensively thorough more.
Need to prove that when element is called as " being fixed in " another element, can directly can there be element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be to be directly connected to another element or may to have element placed in the middle simultaneously.Term as used herein " vertical ", " level ", " left side ", " right side " and similar statement do not represent it is unique embodiment just for illustrative purposes.
Unless otherwise defined, the employed all technology of this paper are identical with the implication that belongs to those skilled in the art's common sense of the present invention with scientific terminology.Employed term is not intended to be restriction the present invention just in order to describe the purpose of concrete embodiment in specification sheets of the present invention herein.Term as used herein " and/or " comprise one or more relevant Listed Items arbitrarily with all combinations.
See also Fig. 1 and Fig. 2, wheel crawler belt mobile device 10 in the preferred embodiment of the present invention comprises wheel crawler belt 100, wheel hub 200, frame 300, fixed mechanism 400, first motor 500, transmission device 600, crawler belt mapping device 700, second motor 800 and supporting mechanism 900.
Wheel crawler belt 100 has elasticity.Wheel crawler belt 100 is used for matching with wheel hub 200, to form running on wheels pattern or crawler-type traveling pattern.See also Fig. 3, wheel crawler belt 100 comprises elastic layer 110, gauffer layer 120, footwear shoe section 130, stirrup 140 and guide layer 150.
Elastic layer 110 is cyclic structure.Specifically in the present embodiment, elastic layer 110 is special-shaped springs structure.Be appreciated that in other embodiments elastic layer 110 also can be helical spring structure.
See also Fig. 4, gauffer layer 120 is arranged at elastic layer 110 outsides.Gauffer layer 120 comprises a plurality of first gauffer portions 121 and a plurality of first connecting portion 123, alternate intervals setting between a plurality of first gauffer portions 121 and a plurality of first connecting portion 123.First connecting portion 123 is connected with the outside face of elastic layer 110.The first gauffer portion 121 is the arc surfaced of evagination, forms the gap between the first gauffer portion 121 and the elastic layer 110.Under external force, elastic layer 110 can expand outwardly, and then the gauffer portion 121 that wins can be straightened.Withdraw from external force, elastic layer 110 shrinks, and the first gauffer portion 121 bends again.
Gauffer layer 120 also comprises the support portion 125 that is arranged at the first gauffer portion, 121 inside face, and support portion 125 is connected with elastic layer 110.When the first gauffer portion 121 was straightened, the 125 pairs of first gauffer portions 121 in support portion played a supportive role, and elastic layer 110 lateral surfaces are close to by the first gauffer portion 121 that prevents after being straightened.Also be provided with flange 127 on the outside face of the first gauffer portion 121, to strengthen the friction force on wheel crawler belt 100 and road surface, prevent from skidding.
Footwear are carried out section 130 and are arranged on first connecting portion 123, and are positioned on the lateral surface of gauffer layer 120.See also Fig. 5, the two sides that footwear are carried out section 130 and gauffer layer 120 flush.Footwear are carried out section 130, the two sides of gauffer layer 120 and the bottom surface of first connecting portion 123 and are formed the frictional engagement face jointly.Wheel hub 200 is two, and is arranged at respectively on the two sides of wheel crawler belt 100.The frictional engagement face is used for fitting tightly with wheel hub 200, wheel hub 200 by and the frictional engagement face between friction driven wheel crawler belt 100 rotate.
The two sides that footwear are carried out section 130 and gauffer layer 120 all and between the circumferential section of wheel crawler belt 100 form angle ω, to improve the friction force between wheel crawler belt 100 and the wheel hub 200.
The axial cross section that footwear are carried out section 130 is swallowtail-shaped structure, to match with the shape of the gauffer layer 120 of its both sides.Simultaneously, because two wheel hubs 200 are arranged at the both sides of taking turns crawler belt 100 respectively, form the gap between two wheel hubs 200.In order to strengthen whole intensity of taking turns crawler belt 100, footwear are carried out on the section 130 and are also offered axial accepting hole 132.Stirrup 140 is a plurality of.Stirrup 140 is arranged in the accepting hole 132.Add stirrup 140 in the accepting hole 132 on footwear shoe section 130, improved whole intensity of taking turns crawler belt 100.Be appreciated that stirrup 140 and accepting hole 132 all can save when the intensity of taking turns crawler belt 100 is enough.
Please consult Fig. 4 again, guide layer 150 is arranged at elastic layer 110 inboards.Guide layer 150 comprises a plurality of second gauffer portions 152 and a plurality of second connecting portion 154, alternate intervals setting between a plurality of second gauffer portions 152 and a plurality of second connecting portion 154.The second gauffer portion 152 is the arc surfaced of evagination, and second connecting portion 154 is provided with pillar stiffener 156, the second connecting portions 154 and is connected on the inside face of elastic layer 110 by pillar stiffener 156.Guide layer 150 is used for matching with crawler belt mapping device 700, so that deformation takes place wheel crawler belt 100.
Two wheel hubs 200 are arranged at the both sides of wheel crawler belt 100 respectively, and fit tightly with the frictional engagement face, wheel hub 200 by and the frictional engagement face between friction driven wheel crawler belt 100 rotate, form receiving space between two wheel hubs 200.See also Fig. 6, wheel hub 200 comprises main wheel body 210, friction ring 220, trim ring 230 and external toroidal ring 240.
Main wheel body 210 is disc-shaped structure, and the outer peripheral edges of main wheel body 210 are provided with flanging 212, and flanging 212 is provided with the projection 214 of ring-type.The madial wall of main wheel body 210 is provided with groove 216.
Friction ring 220 by and wheel crawler belt 100 between the bigger material of friction coefficient make.Friction ring 220 and flanging 212 and projection 214 shape suitable, friction ring 220 is sheathed on outside flanging 212 and the projection 214.Wheel crawler belt 100 comprises the frictional engagement face, and flanging 212 and protruding 214 fits tightly mutually by friction ring 220 and frictional engagement face.Specifically in the present embodiment, friction ring 220 is made by elastomeric material.
Trim ring 230 is fixed on main wheel body 210 1 sides, and an end of pressure holding friction ring 220.External toroidal ring 240 is fixed on the side of main wheel body 210 away from trim ring 230, and the end away from trim ring 230 of external toroidal ring 240 pressure holding friction rings 220 is to be fixed in friction ring 220 on the main wheel body 210 by trim ring 230 and external toroidal ring 240.Specifically in the present embodiment, wheel hub 200 also comprises threaded fasteners, and trim ring 230 and external toroidal ring 240 all are fixed on the main wheel body 210 by the threaded fasteners (not shown).
Be appreciated that in other embodiments threaded fasteners is the connecting element of replaceable other form of one-tenth also.Simultaneously, friction ring 220 also can be made by other material with elasticity and big friction coefficient, is not limited to elastomeric material.
See also Fig. 7 and Fig. 8, fixed mechanism 400 comprises motor cabinet 410, first adapter plate 420, second adapter plate 430, fixed link 440 and supporting base 450.
Motor cabinet 410 is used for fixing first motor 500.One end of motor cabinet 410 is fixed in the frame 300.First adapter plate 420 is captiveed joint with the other end of motor cabinet 410, so that first adapter plate 420 is fixed on the frame 300.The two ends of fixed link 440 are fixedly connected on respectively on first adapter plate 420 and second adapter plate 430, so that second adapter plate 430 is fixed on first adapter plate 420.First adapter plate 420 is than second adapter plate, 430 more close frames.Form the space between first adapter plate 420 and second adapter plate 430.
Supporting base 450 is two.Two supporting bases 450 are individually fixed on first adapter plate 420 and second adapter plate 430, and two wheel hubs 200 are connected on first adapter plate 420 and second adapter plate 430 rotationally by two supporting bases 450 respectively.
First motor 500 is arranged on the motor cabinet 410, and is fixed in the frame 300, and first motor 500 comprises that first motor shaft, 510, the first motor shafts 510 wear wheel hub 200, supporting base 450 and first adapter plate 420.
Transmission device 600 comprises driving wheel 610, flower wheel 620, transmission shaft 630 and gear 640.Driving wheel 610 and is connected with first motor shaft 510 between first adapter plate 420 and second adapter plate 430.First motor shaft 510 can drive driving wheel 610 and rotate.Flower wheel 620 and is in transmission connection with driving wheel 610 between first adapter plate 420 and second adapter plate 430.Specifically in the present embodiment, carry out transmission by driving band between driving wheel 610 and the flower wheel 620.Be appreciated that in other embodiments, also can carry out transmission by modes such as engagements between driving wheel 610 and the flower wheel 620.
Transmission shaft 630 is connected with flower wheel 620, and flower wheel 620 can drive transmission shaft 630 and rotate.Transmission shaft 630 is fixed on first adapter plate 420 and second adapter plate 430 by bearing arrangement.The two ends of transmission shaft 630 wear first adapter plate 420 and second adapter plate 430 respectively.Gear 640 is two, is arranged at the two ends of transmission shaft 630 respectively, and the groove 216 on the madial wall of gear 640 and the main wheel body 210 that is arranged at wheel hub 200 is meshed, and gear 640 rotates under the drive of transmission shaft 630, and then drives wheel hub 200 and rotate.
During work, first motor 500 drives driving wheel 610 and rotates, and then by flower wheel 620, transmission shaft 630 and two gears 640, finally drives two wheel hubs 200 and rotate, and after wheel hub 200 rotated, driven wheel crawler belt 100 rotated.
Crawler belt mapping device 700 is arranged in the receiving space that forms between two wheel hubs 200.Crawler belt mapping device 700 comprises stretching, extension actuating device 710, extending arm 720, first guide wheel 730 and second guide wheel 740.
Stretch actuating device 710 and be used for driving extending arm 720 expansion or withdrawal.Specifically in the present embodiment, stretching actuating device 710 is fixed between first adapter plate 420 and second adapter plate 430, stretch actuating device 710 and comprise that bay-lift 712 and an end are rotationally connected with the drive spindle 714 on the bay-lift 712, the other end of drive spindle 714 is connected in the middle part of extending arm 720 rotationally, extending arm 720 is connected on the fixed link 440 rotationally away from an end of first guide wheel 730, bay-lift 712 liftings, and by drive spindle 714 drive extending arms, 720 expansion or withdrawal.
First guide wheel 730 be arranged at extending arm 720 away from fixed link 440 an end on.See also Fig. 9, after extending arm 720 launched, first guide wheel 730 offseted with wheel crawler belt 100, and will take turns crawler belt 100 and open, so that wheel crawler belt 100, two wheel hubs 200 and first guide wheel, 730 common formation crawler-type traveling patterns.See also Figure 10, after extending arm 720 was regained, wheel crawler belt 100 shrank and is close on the wheel hub 200, so that wheel crawler belt 100 and two wheel hub 200 common running on wheels patterns that form.
Extending arm 720 middle parts are bent formation kink (figure is mark not) also, and wheel crawler belt mobile device 10 comprises that also second guide wheel, 740, the second guide wheels 740 are arranged on the kink.After extending arm 720 launched, its first guide wheel 730 and second guide wheel 740 can offset with the guide layer 150 of wheel crawler belt 100, and stretch by 150 pairs of whole crawler belts 100 of taking turns of guide layer.
Second motor 800 is arranged in the frame 300, and supporting mechanism 900 is arranged on the frame 300, and second motor 800 can drive supporting mechanism 900 expansion or withdrawal.Please consult Fig. 9 again, when wheel crawler belt mobile device 10 runs into obstacle, extending arm 720 in the crawler belt mapping device 700 will be taken turns crawler belt 100 and be opened, wheel crawler belt mobile device 10 makes wheel crawler belt 100, two wheel hubs 200 and first guide wheel, the 730 common crawler-type traveling patterns that form, so that can clear the jumps.Simultaneously, supporting mechanism 900 launches, and so that the whole crawler belt mobile device 10 of taking turns is supported, prevents from taking turns crawler belt mobile device 10 and topples when throwing over barrier.
Concrete, second motor 800 comprises second motor shaft (figure is mark not).See also Figure 11, supporting mechanism 900 comprises crank 910, main connecting rod 920, short connecting rod 930, long connecting rod 940, swing arm 950, strut bar 960 and one-way rolling 970.
One end of crank 910 is connected with second motor shaft, and the other end that second motor shaft can drive crank 910 rotates.Concrete, offering semicircle orifice 912, the second motor shafts on the end of crank 910 is semicircle column axle, second motor shaft is arranged in the semicircle orifice 912, so that crank 910 is driven.One end of main connecting rod 920 and crank 910 are rotatably connected away from an end of second motor shaft.
Short connecting rod 930 is fixed on the frame 300.One end of long connecting rod 940 is connected in an end of short connecting rod 930 rotationally, and main connecting rod 920 is connected in the middle part of long connecting rod 940 rotationally away from an end of crank 910.One end of swing arm 950 is connected in short connecting rod 930 rotationally away from an end of long connecting rod 940.
One end of strut bar 960 is provided with articulated section 962, and long connecting rod 940 and swing arm 950 all are connected on the articulated section 962 away from an end of short connecting rod 930.Crank 910 rotates, and drives main connecting rod 920 motions, and then rotates relative to short connecting rod 930 by main connecting rod 920 drive long connecting rods 940, so that rotate articulated section 962, finally makes strut bar 960 rotate.Rotate by crank 910, can control expansion or the withdrawal of whole supporting mechanism 900.
One-way rolling 970 is arranged on the end of strut bar 960 away from articulated section 962.One-way rolling 970 is connected on the strut bar 960 by unilateral bearing so that one-way rolling 970 can only single roll.When supporting mechanism 900 launches, make strut bar 960 and road surface offset, to play a supportive role.One-way rolling 970 can only roll to the working direction of wheel crawler belt mobile device 10, both can reduce the friction force between strut bar 960 and the road surface, can prevent that again the whole crawler belt mobile device 10 of taking turns from falling back.
Above-mentioned crawler belt mobile device 10 and the wheel crawler belt 100 thereof of taking turns compared with conventional art, has the following advantages at least:
At first, the above-mentioned wheel in the crawler belt mobile device 10, the footwear of wheel crawler belt 100 are carried out section 130, the two sides of gauffer layer 120 and the bottom surface of first connecting portion 123 and are formed the frictional engagement face jointly.Frictional engagement face and wheel hub 200 fit tightly, wheel hub 200 by and the frictional engagement face between friction force driven wheel crawler belt 100 rotate.Than the mode of traditional engaged transmission, the above-mentioned operation of taking turns crawler belt mobile device 10 is more stable.
In addition, the above-mentioned wheel in the crawler belt mobile device 10, wheel crawler belt 100 can be strutted by crawler belt mapping device 700, so that wheel crawler belt 100, two wheel hubs 200 and first guide wheel, the 730 common crawler-type traveling patterns that form; After crawler belt mapping device 700 is regained, wheel crawler belt 100 shrinks and is close on the wheel hub 200, so that wheel crawler belt 100 and two wheel hub 200 common running on wheels patterns that form, and then make the above-mentioned crawler belt mobile device 10 of taking turns between two kinds of different walking modes, to switch, to adapt to the demand of varying environment.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (10)

1. a wheel crawler belt is used for matching with wheel hub, to form running on wheels pattern or crawler-type traveling pattern, it is characterized in that, comprising:
Elastic layer, described elastic layer are cyclic structure;
The gauffer layer, be arranged at the described elastic layer outside, described gauffer layer comprises a plurality of first gauffer portions and a plurality of first connecting portion, alternate intervals setting between a plurality of described first gauffer portions and a plurality of described first connecting portion, described first connecting portion is connected with the outside face of described elastic layer, the described first gauffer portion is the arc surfaced of evagination, forms the gap between the described first gauffer portion and the described elastic layer, and the described first gauffer portion can be straightened under external force; And
Footwear are carried out section, be arranged on described first connecting portion, and be positioned on the lateral surface of described gauffer layer, described footwear shoe section flushes with the two sides of described gauffer layer, described footwear are carried out section, the two sides of described gauffer layer and the bottom surface of described first connecting portion and are formed the frictional engagement face jointly, described frictional engagement face is used for fitting tightly with described wheel hub, described wheel hub by and described frictional engagement face between friction drive the described crawler belt of taking turns and rotate.
2. the crawler belt of taking turns according to claim 1 is characterized in that, described gauffer layer also comprises the support portion that is arranged at the described first gauffer portion inside face, and described support portion is connected with described elastic layer.
3. the crawler belt of taking turns according to claim 1 is characterized in that, the axial cross section that described footwear are carried out section is swallowtail-shaped structure.
4. the crawler belt of taking turns according to claim 1 is characterized in that, also comprises stirrup, and described footwear are carried out on the section and also offered axial accepting hole, and described stirrup is arranged in the described accepting hole.
5. the crawler belt of taking turns according to claim 1 is characterized in that, also is provided with flange on the outside face of the described first gauffer portion.
6. the crawler belt of taking turns according to claim 1 is characterized in that, the two sides that described footwear are carried out section and described gauffer layer all and between the described circumferential section of taking turns crawler belt form angle.
7. according to any described crawler belt of taking turns of claim 1~6, it is characterized in that, also comprise guide layer, described guide layer is arranged at described elastic layer inboard, described guide layer comprises a plurality of second gauffer portions and a plurality of second connecting portion, alternate intervals setting between a plurality of described second gauffer portions and a plurality of described second connecting portion, the described second gauffer portion is the arc surfaced of evagination, described second connecting portion is provided with pillar stiffener, and described second connecting portion is connected on the inside face of described elastic layer by described pillar stiffener.
8. a wheel crawler belt mobile device is characterized in that, comprising:
As any described crawler belt of taking turns of claim 1~7;
Two wheel hubs are arranged at described both sides of taking turns crawler belt respectively, and fit tightly with described frictional engagement face, form receiving space between two described wheel hubs; And
The crawler belt mapping device is arranged in the described receiving space, and described crawler belt mapping device comprises first guide wheel that stretches actuating device, extending arm and be arranged at extending arm one end, and described stretching, extension actuating device is used for driving described extending arm expansion or regains;
Wherein, after described extending arm launches, described first guide wheel and the described crawler belt of taking turns offset, and the described crawler belt of taking turns opened, so that described crawler belt, two described wheel hubs and described first guide wheel of taking turns forms the crawler-type traveling pattern jointly, after described extending arm was regained, the described crawler belt of taking turns shrank and is close on the described wheel hub, so that describedly take turns crawler belt and two described wheel hubs form the running on wheels pattern jointly.
9. the crawler belt mobile device of taking turns according to claim 8 is characterized in that, described extending arm middle part is bent to form kink, and the described crawler belt mobile device of taking turns also comprises second guide wheel, and described second guide wheel is arranged on the described kink.
10. the crawler belt mobile device of taking turns according to claim 8 is characterized in that, also comprises:
Frame;
Fixed mechanism, described fixed mechanism comprises:
Motor cabinet, one end are fixed in the described frame;
First adapter plate is captiveed joint with the other end of described motor cabinet, so that described first adapter plate is fixed on the described frame;
Second adapter plate and fixed link, the two ends of described fixed link are fixedly connected on respectively on described first adapter plate and described second adapter plate, so that described second adapter plate is fixed on first adapter plate; And
Two supporting bases are individually fixed on described first adapter plate and described second adapter plate, and two described wheel hubs are connected on described first adapter plate and described second adapter plate rotationally by two supporting seats respectively; And
Supporting mechanism is arranged on the described frame, the deployable or withdrawal of described supporting mechanism.
CN201310259888.6A 2013-06-26 2013-06-26 Wheel crawler belt mobile device and wheel crawler belt thereof Active CN103342138B (en)

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CN201310259888.6A CN103342138B (en) 2013-06-26 2013-06-26 Wheel crawler belt mobile device and wheel crawler belt thereof

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Publication number Priority date Publication date Assignee Title
CN104002884A (en) * 2014-05-13 2014-08-27 中国人民解放军军事交通学院 Reconfigurable rubber track belt
CN104210570A (en) * 2014-09-02 2014-12-17 中国矿业大学 Elastic caterpillar band capable of realizing telescopic deformation
CN106809292A (en) * 2015-11-30 2017-06-09 中国科学院沈阳自动化研究所 A kind of deformable Lun Lv coupling drivings mechanism

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EP2529999A2 (en) * 2010-01-26 2012-12-05 Dong-Il Rubber Belt Co., Ltd. Rubber crawler having metal core for improvement of wheel separation and durability
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JPH04244489A (en) * 1991-01-31 1992-09-01 Suzuki Motor Corp Crawler running device
PL172023B1 (en) * 1992-12-11 1997-07-31 Intertractor Ag Crawler chain for tracklaying vehicles
JP2008126749A (en) * 2006-11-17 2008-06-05 Bridgestone Corp Rubber crawler
KR100991041B1 (en) * 2009-01-30 2010-10-29 엘에스엠트론 주식회사 Rubber Track with Multi Steps Sprocket
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CN104002884A (en) * 2014-05-13 2014-08-27 中国人民解放军军事交通学院 Reconfigurable rubber track belt
CN104210570A (en) * 2014-09-02 2014-12-17 中国矿业大学 Elastic caterpillar band capable of realizing telescopic deformation
CN106809292A (en) * 2015-11-30 2017-06-09 中国科学院沈阳自动化研究所 A kind of deformable Lun Lv coupling drivings mechanism

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