CN103342138B - Wheel crawler belt mobile device and wheel crawler belt thereof - Google Patents
Wheel crawler belt mobile device and wheel crawler belt thereof Download PDFInfo
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- CN103342138B CN103342138B CN201310259888.6A CN201310259888A CN103342138B CN 103342138 B CN103342138 B CN 103342138B CN 201310259888 A CN201310259888 A CN 201310259888A CN 103342138 B CN103342138 B CN 103342138B
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Abstract
A kind of wheel crawler belt, comprises elastic layer, gauffer layer and footwear and carries out section; Gauffer layer is arranged at outside elastic layer, gauffer layer comprises multiple first gauffer portion and multiple first connecting portion, between multiple first gauffer portion and multiple first connecting portion, alternate intervals is arranged, and the first connecting portion is connected with the outside face of elastic layer, and the first gauffer portion can be straightened under external force; Footwear are carried out section and are arranged on the first connecting portion, and be positioned on the lateral surface of gauffer layer, the two sides that footwear carry out section and gauffer layer flush, footwear are carried out section, the two sides of gauffer layer and the bottom surface of the first connecting portion and are jointly formed frictional engagement face, frictional engagement face is used for fitting tightly with wheel hub, and wheel hub is rotated by the friction belt driving wheel crawler belt between frictional engagement face.Additionally provide simultaneously and a kind ofly use above-mentioned wheel crawler belt mobile device of taking turns crawler belt.Above-mentionedly take turns in crawler belt mobile device, its wheel hub is rotated by the friction force driven wheel crawler belt between the frictional engagement face on wheel crawler belt, more stable to make wheel crawler belt mobile device run.
Description
Technical field
The present invention relates to mechanically moving field, particularly relate to a kind of wheel crawler belt mobile device and wheel crawler belt thereof.
Background technology
Existing wheeled traveling vehicle and its walking mode of crawler travel vehicle are independent all separately.That is, vehicle or be crawler travel pattern, or be running on wheels pattern.The features such as wheeled car or mobile platform have fast passing, turn to flexibly in smooth-riding surface, resistance of motion is little, but when muddy road or the rough road surface walking in field, often occur tyre slip, be absorbed in pit and can not move ahead.Although tracklaying vehicle or mobile platform in muddy road or field rough road surface walking, can have field obstacle climbing ability, but, the defect such as resistance large, oil consumption high slow in the walking of normal road surface and being subject to certain restrictions.If two kinds of mode of motioies are combined simply, i.e. vehicle or mobile platform not only installing wheel but also install crawler belt, so vehicle or mobile platform structure will become complicated and huge, own wt also will significantly increase, this will energy ezpenditure be caused excessive so that the battery entrained by self can not work long hours, and makes whole vehicle or mobile platform inefficiency.
Traditional tracklaying vehicle or its caterpillar drive of mobile platform are wherein a kind of patterns of linked transmission, namely engage transferring power and moment of torsion by the bearing pin of caterpillar chain and the tooth between drive wheel.Be engaged transmission, so the pitch of crawler belt is certain.Because when wheel crawler belt converts between wheel is carried out, its pitch is change, and the wheel pitch of teeth on wheel hub is fixing, if carry out drive wheel crawler belt with the gear teeth on wheel hub, so will cause the situation that part mate can not engage, and causes operation not steady.
Summary of the invention
Based on this, be necessary to provide one to run comparatively pulsation-free wheel crawler belt mobile device and wheel crawler belt thereof.
A kind of wheel crawler belt, for matching with wheel hub, to form running on wheels pattern or crawler-type traveling pattern, comprising:
Elastic layer, described elastic layer is cyclic structure;
Gauffer layer, be arranged at outside described elastic layer, described gauffer layer comprises multiple first gauffer portion and multiple first connecting portion, between multiple described first gauffer portion and multiple described first connecting portion, alternate intervals is arranged, described first connecting portion is connected with the outside face of described elastic layer, described first gauffer portion is the arc surfaced of evagination, forms gap between described first gauffer portion and described elastic layer, and described first gauffer portion can be straightened under external force; And
Section carried out by footwear, be arranged on described first connecting portion, and be positioned on the lateral surface of described gauffer layer, the two sides that described footwear carry out section and described gauffer layer flush, described footwear are carried out section, the two sides of described gauffer layer and the bottom surface of described first connecting portion and are jointly formed frictional engagement face, described frictional engagement face is used for fitting tightly with described wheel hub, and described wheel hub drives described crawler belt of taking turns to rotate by the friction between described frictional engagement face.
Wherein in an embodiment, described gauffer layer also comprises the support portion being arranged at described first gauffer portion inside face, and described support portion is connected with described elastic layer.
Wherein in an embodiment, the axial cross section that section carried out by described footwear is swallowtail-shaped structure.
Wherein in an embodiment, also comprise stirrup, described footwear are carried out in section and are also offered axial accepting hole, and described stirrup is arranged in described accepting hole.
Wherein in an embodiment, the outside face in described first gauffer portion is also provided with flange.
Wherein in an embodiment, described footwear are carried out between the equal and described circumferential section of taking turns crawler belt in the two sides of section and described gauffer layer and are formed angle.
Wherein in an embodiment, also comprise guide layer, described guide layer is arranged at inside described elastic layer, described guide layer comprises multiple second gauffer portion and multiple second connecting portion, between multiple described second gauffer portion and multiple described second connecting portion, alternate intervals is arranged, 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 wheel crawler belt mobile device, comprising:
Above-mentionedly take turns crawler belt;
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
Crawler belt mapping device, is arranged in described receiving space, and described crawler belt mapping device comprises the first guide wheel stretching actuating device, extending arm and be arranged at extending arm one end, and described stretching, extension actuating device is for driving described extending arm to launch or regaining;
Wherein, after described extending arm launches, described first guide wheel and described crawler belt of taking turns offset, and described crawler belt of taking turns is opened, crawler-type traveling pattern is jointly formed to make described crawler belt, two described wheel hubs and described first guide wheel of taking turns, after described extending arm is regained, described crawler belt of taking turns shrinks and is close on described wheel hub, to make describedly to take turns crawler belt and two described wheel hubs form running on wheels pattern jointly.
Wherein in an embodiment, be bent to form kink in the middle part of described extending arm, described crawler belt mobile device of taking turns also comprises the second guide wheel, and described second guide wheel is arranged on described kink.
Wherein in an embodiment, also comprise:
Frame;
Fixed mechanism, described fixed mechanism comprises:
Motor cabinet, its one end is fixed in described frame;
First adapter plate, is fixedly connected with the other end of described motor cabinet, is fixed in described frame to make described first adapter plate;
Second adapter plate and fixed link, the two ends of described fixed link are fixedly connected on described first adapter plate and described second adapter plate respectively, are fixed on the first adapter plate to make described second 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 respectively by two supporting seats rotationally; And
Supporting mechanism, is arranged in described frame, and described supporting mechanism is deployable or regain.
Above-mentioned take turns crawler belt mobile device and wheel crawler belt, compared with conventional art, at least have the following advantages:
First, above-mentionedly take turns in 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 the first connecting portion and are jointly formed frictional engagement face.Frictional engagement face and wheel hub fit tightly, and wheel hub is rotated by the friction force driven wheel crawler belt between frictional engagement face.Compared to the mode of traditional engaged transmission, the above-mentioned operation taking turns crawler belt mobile device is more stable.
In addition, above-mentionedly take turns in crawler belt mobile device, wheel crawler belt can be strutted by crawler belt mapping device, jointly forms crawler-type traveling pattern to make wheel crawler belt, two wheel hubs and the first guide wheel; After crawler belt mapping device is regained, wheel crawler belt shrinks and is close on wheel hub, to make wheel crawler belt and two wheel hubs jointly form running on wheels pattern, and then above-mentioned crawler belt mobile device of taking turns can be switched, to adapt to the demand of varying environment between two kinds of different walking modes.
Accompanying drawing explanation
Fig. 1 is the exploded view of the wheel crawler belt mobile device of present pre-ferred embodiments;
Fig. 2 is the partial exploded view of the crawler belt of wheel shown in Fig. 1 mobile device;
Fig. 3 is the concrete structure figure taking turns crawler belt in the crawler belt of wheel shown in Fig. 1 mobile device;
Fig. 4 is the local concrete structure figure taking turns crawler belt in the crawler belt of wheel shown in Fig. 1 mobile device;
Fig. 5 is the cutaway view of taking turns crawler belt in the crawler belt of wheel shown in Fig. 1 mobile device;
Fig. 6 is the concrete structure figure of wheel hub in the crawler belt of wheel shown in Fig. 1 mobile device;
Fig. 7 is another partial exploded view of the crawler belt of wheel shown in Fig. 1 mobile device;
Fig. 8 is a partial exploded view again of the crawler belt of wheel shown in Fig. 1 mobile device;
Fig. 9 is the working state schematic representation of the crawler belt of wheel shown in Fig. 1 mobile device;
Figure 10 is another working state schematic representation of the crawler belt of wheel shown in Fig. 1 mobile device;
Figure 11 is the concrete structure figure of supporting mechanism in the crawler belt of wheel shown in Fig. 1 mobile device.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.Better embodiment of the present invention is given in accompanying drawing.But the present invention can realize in many different forms, is not limited to embodiment described herein.On the contrary, provide the object of these embodiments be make to disclosure of the present invention understand more thorough comprehensively.
It should be noted that, when element is called as " being fixed on " another element, directly can there is element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be directly connected to another element or may there is centering elements simultaneously.Term as used herein " vertical ", " level ", "left", "right" and similar statement just for illustrative purposes, do not represent it is unique embodiment.
Unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present invention understand usually.The object of term used in the description of the invention herein just in order to describe concrete embodiment, is not intended to be restriction the present invention.Term as used herein " and/or " comprise arbitrary and all combinations of one or more relevant Listed Items.
Refer to Fig. 1 and Fig. 2, wheel crawler belt mobile device 10 in present pre-ferred embodiments, 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.Take turns crawler belt 100 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 sheet spring 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 outside elastic layer 110.Gauffer layer 120 comprises multiple first gauffer portion 121 and multiple first connecting portion 123, and between multiple first gauffer portion 121 and multiple first connecting portion 123, alternate intervals is arranged.First connecting portion 123 is connected with the outside face of elastic layer 110.First gauffer portion 121 is the arc surfaced of evagination, forms gap between the first gauffer portion 121 and elastic layer 110.Under external force, elastic layer 110 can expand outwardly, and then the first gauffer portion 121 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 being arranged at the first gauffer portion 121 inside face, and support portion 125 is connected with elastic layer 110.When first gauffer portion 121 is straightened, support portion 125 plays a supportive role to the first gauffer portion 121, prevents the first gauffer portion 121 after being straightened, be close to elastic layer 110 lateral surface.The outside face in the first gauffer portion 121 is also provided with flange 127, to strengthen taking turns crawler belt 100 and the friction force on road surface, prevents from skidding.
Footwear are carried out section 130 and are arranged on the first connecting portion 123, and are positioned on the lateral surface of gauffer layer 120.See also Fig. 5, footwear are carried out section 130 and are flushed with the two sides of gauffer layer 120.Footwear are carried out section 130, the two sides of gauffer layer 120 and the bottom surface of the first connecting portion 123 and are jointly formed frictional engagement face.Wheel hub 200 is two, and is arranged at respectively on the two sides of wheel crawler belt 100.Frictional engagement face is used for fitting tightly with wheel hub 200, and wheel hub 200 is rotated by the friction belt driving wheel crawler belt 100 between frictional engagement face.
The two sides that footwear carry 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 wheel hub 200.
The axial cross section that section 130 carried out by footwear is swallowtail-shaped structure, closes with the matching form of the gauffer layer 120 with its both sides.Meanwhile, because two wheel hubs 200 are arranged at the both sides of wheel crawler belt 100 respectively, between two wheel hubs 200, gap is formed.In order to strengthen whole intensity of taking turns crawler belt 100, footwear are carried out in section 130 and are also offered axial accepting hole 132.Stirrup 140 is multiple.Stirrup 140 is arranged in accepting hole 132.In the accepting hole 132 that footwear are carried out in section 130, add stirrup 140, improve 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 again consult Fig. 4, guide layer 150 is arranged at inside elastic layer 110.Guide layer 150 comprises multiple second gauffer portion 152 and multiple second connecting portion 154, and between multiple second gauffer portion 152 and multiple second connecting portion 154, alternate intervals is arranged.Second gauffer portion 152 is the arc surfaced of evagination, and the second connecting portion 154 is provided with pillar stiffener 156, and the second connecting portion 154 is connected on the inside face of elastic layer 110 by pillar stiffener 156.For matching with crawler belt mapping device 700, there is deformation to make wheel crawler belt 100 in guide layer 150.
Two wheel hubs 200 are arranged at the both sides of wheel crawler belt 100 respectively, and fit tightly with frictional engagement face, and wheel hub 200 is rotated by the friction belt driving wheel crawler belt 100 between frictional engagement face, forms 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 is made up of the material that friction coefficient between wheel crawler belt 100 is larger.Friction ring 220 and flanging 212 and protruding 214 shape suitable, friction ring 220 is sheathed on outside flanging 212 and protruding 214.Wheel crawler belt 100 comprises frictional engagement face, and flanging 212 and protruding 214 is fitted tightly mutually by friction ring 220 and frictional engagement face.Specifically in the present embodiment, friction ring 220 is made up of elastomeric material.
Trim ring 230 is fixed on main wheel body 210 1 side, and one end of pressure holding friction ring 220.External toroidal ring 240 is fixed on main wheel body 210 away from a side of trim ring 230, one end away from trim ring 230 of external toroidal ring 240 pressure holding friction ring 220, to be fixed on main wheel body 210 by trim ring 230 and external toroidal ring 240 by friction ring 220.Specifically in the present embodiment, wheel hub 200 also comprises threaded fasteners, and trim ring 230 and external toroidal ring 240 are all fixed on main wheel body 210 by threaded fasteners (not shown).
Be appreciated that in other embodiments, the connecting element of threaded fasteners also replaceable other form of one-tenth.Meanwhile, the material that friction ring 220 also can have elasticity and larger friction coefficient by other is made, and 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 for fixing the first motor 500.One end of motor cabinet 410 is fixed in frame 300.First adapter plate 420 is fixedly connected with the other end of motor cabinet 410, is fixed in frame 300 to make the first adapter plate 420.The two ends of fixed link 440 are fixedly connected on the first adapter plate 420 and the second adapter plate 430 respectively, are fixed on the first adapter plate 420 to make the second adapter plate 430.First adapter plate 420 comparatively the second adapter plate 430 closer to frame.Space is formed between first adapter plate 420 and the second adapter plate 430.
Supporting base 450 is two.Two supporting bases 450 are individually fixed on the first adapter plate 420 and the second adapter plate 430, and two wheel hubs 200 are connected on the first adapter plate 420 and the second adapter plate 430 rotationally respectively by two supporting bases 450.
First motor 500 is arranged on motor cabinet 410, and is fixed in frame 300, and the first motor 500 comprises the first motor shaft 510, first motor shaft 510 and wears wheel hub 200, supporting base 450 and the first adapter plate 420.
Transmission device 600 comprises driving wheel 610, flower wheel 620, transmission shaft 630 and gear 640.Driving wheel 610 between the first adapter plate 420 and the second adapter plate 430, and is connected with the first motor shaft 510.First motor shaft 510 can drive driving wheel 610 to rotate.Flower wheel 620 between the first adapter plate 420 and the second adapter plate 430, and is in transmission connection with driving wheel 610.Specifically in the present embodiment, transmission is carried out by driving band between driving wheel 610 and flower wheel 620.Being appreciated that in other embodiments, between driving wheel 610 with flower wheel 620, also can carrying out transmission by the mode such as engaging.
Transmission shaft 630 is connected with flower wheel 620, and flower wheel 620 can drive transmission shaft 630 to rotate.Transmission shaft 630 is fixed on the first adapter plate 420 and the second adapter plate 430 by bearing arrangement.The two ends of transmission shaft 630 wear the first adapter plate 420 and the second adapter plate 430 respectively.Gear 640 is two, is arranged at the two ends of transmission shaft 630 respectively, gear 640 be arranged at wheel hub 200 main wheel body 210 madial wall on groove 216 be meshed, gear 640 rotates under the drive of transmission shaft 630, so drive wheel hub 200 rotate.
During work, the first motor 500 drives driving wheel 610 to rotate, and then by flower wheel 620, transmission shaft 630 and two gears 640, final drive two wheel hubs 200 rotate, and after wheel hub 200 rotates, driven wheel crawler belt 100 rotates.
Crawler belt mapping device 700 is arranged in the receiving space formed between two wheel hubs 200.Crawler belt mapping device 700 comprises stretching, extension actuating device 710, extending arm 720, first guide wheel 730 and the second guide wheel 740.
Stretch actuating device 710 launch for driving extending arm 720 or regain.Specifically in the present embodiment, stretching actuating device 710 is fixed between the first adapter plate 420 and the second adapter plate 430, stretch actuating device 710 to comprise bay-lift 712 and one end and be rotationally connected with drive spindle 714 on bay-lift 712, the other end of drive spindle 714 is connected to the middle part of extending arm 720 rotationally, extending arm 720 is connected on fixed link 440 away from one end of the first guide wheel 730 rotationally, bay-lift 712 is elevated, and drives extending arm 720 launch or regain by drive spindle 714.
First guide wheel 730 be arranged at extending arm 720 away from fixed link 440 one end on.See also Fig. 9, after extending arm 720 launches, the first guide wheel 730 offsets with wheel crawler belt 100, and is opened by wheel crawler belt 100, jointly forms crawler-type traveling pattern to make wheel crawler belt 100, two wheel hubs 200 and the first guide wheel 730.See also Figure 10, after extending arm 720 is regained, wheel crawler belt 100 shrinks and is close on wheel hub 200, jointly forms running on wheels pattern to make wheel crawler belt 100 and two wheel hubs 200.
Also bent formation kink (figure do not mark) in the middle part of extending arm 720, wheel crawler belt mobile device 10 also comprises the second guide wheel 740, second guide wheel 740 and is arranged on kink.After extending arm 720 launches, its first guide wheel 730 and the second guide wheel 740 can offset with the guide layer 150 of wheel crawler belt 100, and are stretched to whole crawler belt 100 of taking turns by guide layer 150.
Second motor 800 is arranged in frame 300, and supporting mechanism 900 is arranged in frame 300, and the second motor 800 can drive supporting mechanism 900 launch or regain.Please again consult Fig. 9, when taking turns crawler belt mobile device 10 and running into obstacle, wheel crawler belt 100 opens by the extending arm 720 in crawler belt mapping device 700, make wheel crawler belt 100, two wheel hubs 200 and the first guide wheel 730 jointly form crawler-type traveling pattern, can clear the jumps to make wheel crawler belt mobile device 10.Meanwhile, supporting mechanism 900 launches, and to support whole crawler belt mobile device 10 of taking turns, prevents wheel crawler belt mobile device 10 from toppling when throwing over barrier.
Concrete, the second motor 800 comprises the second motor shaft (figure does not mark).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 the second motor shaft, and the second motor shaft can drive the other end of crank 910 to rotate.Concrete, one end of crank 910 is offered semicircle orifice 912, the second motor shaft is semicircle columnar shaft, and the second motor shaft is arranged in semicircle orifice 912, to drive crank 910.One end of main connecting rod 920 and crank 910 are rotatably connected away from one end of the second motor shaft.
Short connecting rod 930 is fixed in frame 300.One end of long connecting rod 940 is connected to one end of short connecting rod 930 rotationally, and main connecting rod 920 is connected to the middle part of long connecting rod 940 rotationally away from one end of crank 910.One end of swing arm 950 is connected to short connecting rod 930 one end away from long connecting rod 940 rotationally.
One end of strut bar 960 is provided with articulated section 962, and long connecting rod 940 and swing arm 950 are all connected on articulated section 962 away from one end of short connecting rod 930.Crank 910 rotates, and drives main connecting rod 920 to move, and then drives long connecting rod 940 to rotate relative to short connecting rod 930 by main connecting rod 920, to make articulated section 962 rotate, finally make strut bar 960 rotate.Rotated by crank 910, expansion or the withdrawal of whole supporting mechanism 900 can be controlled.
One-way rolling 970 is arranged on strut bar 960 one end away from articulated section 962.One-way rolling 970 is connected on strut bar 960 by unilateral bearing, can only single roll with the one-way rolling 970 made.When supporting mechanism 900 launches, strut bar 960 and road surface are offseted, 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 road surface, and can prevent again whole crawler belt mobile device 10 of taking turns from falling back.
Above-mentioned take turns crawler belt mobile device 10 and wheel crawler belt 100, compared with conventional art, at least have the following advantages:
First, above-mentionedly take turns in 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 the first connecting portion 123 and are jointly formed frictional engagement face.Frictional engagement face and wheel hub 200 fit tightly, and wheel hub 200 is rotated by the friction force driven wheel crawler belt 100 between frictional engagement face.Compared to the mode of traditional engaged transmission, the above-mentioned operation taking turns crawler belt mobile device 10 is more stable.
In addition, above-mentionedly take turns in crawler belt mobile device 10, wheel crawler belt 100 can be strutted by crawler belt mapping device 700, jointly forms crawler-type traveling pattern to make wheel crawler belt 100, two wheel hubs 200 and the first guide wheel 730; After crawler belt mapping device 700 is regained, wheel crawler belt 100 shrinks and is close on wheel hub 200, jointly running on wheels pattern is formed to make wheel crawler belt 100 and two wheel hubs 200, and then above-mentioned crawler belt mobile device 10 of taking turns can be switched, to adapt to the demand of varying environment between two kinds of different walking modes.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It 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. taking turns a crawler belt, for matching with wheel hub, to form running on wheels pattern or crawler-type traveling pattern, comprising elastic layer and gauffer layer; Described elastic layer is cyclic structure; Described gauffer layer is arranged at outside described elastic layer, described gauffer layer comprises multiple first gauffer portion and multiple first connecting portion, between multiple described first gauffer portion and multiple described first connecting portion, alternate intervals is arranged, described first connecting portion is connected with the outside face of described elastic layer, described first gauffer portion is the arc surfaced of evagination, it is characterized in that, form gap between described first gauffer portion and described elastic layer, described first gauffer portion can be straightened under external force;
Described crawler belt of taking turns also comprises:
Section carried out by footwear, be arranged on described first connecting portion, and be positioned on the lateral surface of described gauffer layer, the two sides that described footwear carry out section and described gauffer layer flush, described footwear are carried out section, the two sides of described gauffer layer and the bottom surface of described first connecting portion and are jointly formed frictional engagement face, described frictional engagement face is used for fitting tightly with described wheel hub, and described wheel hub drives described crawler belt of taking turns to rotate by the friction between described frictional engagement face.
2. according to claim 1ly take turns crawler belt, it is characterized in that, described gauffer layer also comprises the support portion being arranged at described first gauffer portion inside face, and described support portion is connected with described elastic layer.
3. according to claim 1ly take turns crawler belt, it is characterized in that, the axial cross section that section carried out by described footwear is swallowtail-shaped structure.
4. according to claim 1ly take turns crawler belt, it is characterized in that, also comprise stirrup, described footwear are carried out in section and are also offered axial accepting hole, and described stirrup is arranged in described accepting hole.
5. according to claim 1ly take turns crawler belt, it is characterized in that, the outside face in described first gauffer portion is also provided with flange.
6. according to claim 1ly take turns crawler belt, it is characterized in that, described footwear are carried out between the equal and described circumferential section of taking turns crawler belt in the two sides of section and described gauffer layer and are formed angle.
7. the wheel crawler belt according to claim 1 ~ 6 any one, it is characterized in that, also comprise guide layer, described guide layer is arranged at inside described elastic layer, described guide layer comprises multiple second gauffer portion and multiple second connecting portion, between multiple described second gauffer portion and multiple described second connecting portion, alternate intervals is arranged, 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. take turns a crawler belt mobile device, it is characterized in that, comprising:
Wheel crawler belt as described in claim 1 ~ 7 any one;
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
Crawler belt mapping device, is arranged in described receiving space, and described crawler belt mapping device comprises the first guide wheel stretching actuating device, extending arm and be arranged at extending arm one end, and described stretching, extension actuating device is for driving described extending arm to launch or regaining;
Wherein, after described extending arm launches, described first guide wheel and described crawler belt of taking turns offset, and described crawler belt of taking turns is opened, crawler-type traveling pattern is jointly formed to make described crawler belt, two described wheel hubs and described first guide wheel of taking turns, after described extending arm is regained, described crawler belt of taking turns shrinks and is close on described wheel hub, to make describedly to take turns crawler belt and two described wheel hubs form running on wheels pattern jointly.
9. according to claim 8ly take turns crawler belt mobile device, it is characterized in that, be bent to form kink in the middle part of described extending arm, described crawler belt mobile device of taking turns also comprises the second guide wheel, and described second guide wheel is arranged on described kink.
10. according to claim 8ly take turns crawler belt mobile device, it is characterized in that, also comprise:
Frame;
Fixed mechanism, described fixed mechanism comprises:
Motor cabinet, its one end is fixed in described frame;
First adapter plate, is fixedly connected with the other end of described motor cabinet, is fixed in described frame to make described first adapter plate;
Second adapter plate and fixed link, the two ends of described fixed link are fixedly connected on described first adapter plate and described second adapter plate respectively, are fixed on the first adapter plate to make described second 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 respectively by two supporting seats rotationally; And
Supporting mechanism, is arranged in described frame, and described supporting mechanism is deployable or regain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310259888.6A CN103342138B (en) | 2013-06-26 | 2013-06-26 | Wheel crawler belt mobile device and wheel crawler belt thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 | Publication Date |
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| CN103342138A CN103342138A (en) | 2013-10-09 |
| CN103342138B true CN103342138B (en) | 2015-11-04 |
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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 |
| CN104210570B (en) * | 2014-09-02 | 2017-02-01 | 中国矿业大学 | Elastic caterpillar band capable of realizing telescopic deformation |
| CN106809292B (en) * | 2015-11-30 | 2019-07-26 | 中国科学院沈阳自动化研究所 | A kind of deformable Lun Lv coupling driving mechanism |
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