CN104002884A - Reconfigurable rubber track belt - Google Patents
Reconfigurable rubber track belt Download PDFInfo
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- CN104002884A CN104002884A CN201410201774.0A CN201410201774A CN104002884A CN 104002884 A CN104002884 A CN 104002884A CN 201410201774 A CN201410201774 A CN 201410201774A CN 104002884 A CN104002884 A CN 104002884A
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- track belt
- wheel
- crawler belt
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Abstract
The invention relates to a reconfigurable rubber track belt. The reconfigurable rubber track belt is used in cooperation with a track belt wheel, teeth are evenly distributed on the outer ring of a wheel body of the track belt wheel, and the track belt is characterized in that a plurality of segments of circular protrusions (1) are evenly distributed on the outer surface of a track belt body, a certain gap exists between every two adjacent circular protrusions (1), the reserved length is provided for extending of the track belt, each circular protrusion (1) is named as a track belt joint, an inner ring spring (3) for providing elastic force for extending and taking back of the track belt is fixedly arranged on the inner side of the track belt body through a spring fixing block (5), side protrusions (6) are arranged on the two sides of the inner side of each track belt joint, and are used for being matched with grooves between the teeth of the outer ring of the wheel body of the track belt wheel, a pin (8) is arranged every a certain number of the track belt joints, the two ends of each pin (8) are respectively connected with a bearing (4), the bearings are used for being meshed with the track belt wheel, and in the transmission process of the track belt, pull force is provided. According to the track belt, the adaptation of a robot to the road surface can be improved, and therefore the rubber track belt has the advantages of both a wheel type and a track belt type.
Description
Technical field
The invention belongs to small scale robot field, be specifically related to the rubber belt track that a kind of robot is used.
Background technology
Mobile robot is as an important branch of robot, in scouting, tour, warning, clearance such as get rid of the danger at danger and the harsh environment, has broad application prospects.Small-scale terrestrial robot is little with its volume, cost is low, viability is strong, the feature such as flexible of moving, and becomes the another focus of research.Generally speaking, the machine moving structure that has three types: wheeled, crawler type and leg formula, that wheeled robot has is simple in structure, it is convenient to control, speed is high, motion is flexible and the advantage such as low energy consumption, but it is not suitable for leap as obstacles such as ditch person of outstanding talent, step, stair, and obstacle climbing ability is poor.The robot that the robot of track structure is compared wheeled construction has stronger landform adaptive capacity, under precipitous landform, complex environment, there are higher obstacle climbing ability and good compatible with environment, but owing to there is larger friction drag, its energy consumption is very high and kinematic velocity is low.Theoretically, legged mobile robot is kinematic mechanism the most flexibly, and still, legged mobile robot conventionally has complicated physical construction and controls complicatedly, wants to realize stable walking at a high speed, also has many difficult problems to need to solve.
Summary of the invention
In order to improve the comformability of robot road pavement, make its wheeled and crawler-mounted advantage that can get both, the invention provides a kind of restructural rubber belt track.The robot moving mechanism that this kind of crawler belt has been installed can have different walking manners.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of restructural rubber belt track, be used in conjunction with Athey wheel, the wheel body outer ring of Athey wheel is evenly distributed with tooth, it is characterized in that, the outside face of described crawler belt main body is evenly distributed with the circular projection (1) of more piece, between adjacent circular projection (1), be provided with certain gap, for crawler belt stretches, provide length reserved, every pitch circle shape projection (1) is called a track section; Inner side in crawler belt main body is stretched and is regained the interior coil spring (3) that elastic force is provided by the fixing promising crawler belt of spring fixed block (5), both sides in each track section inner side are provided with side projection (6), in order to the between cog groove of the wheel body outer ring with Athey wheel, cooperatively interact; Track section every some is provided with a pin (8), at the two ends of pin (8), is connected with respectively a bearing (4), in order to mesh with Athey wheel, in crawler haulage process, provides pulling force.
As preferred implementation, described restructural rubber belt track is provided with T shape projection (2) between adjacent circular projection (1), between adjacent circular projection (1) and T shape projection (2), is provided with certain gap; Two ends at pin (8) are connected with a bearing (4) by jump ring (7) respectively.
Crawler belt of the present invention is used in conjunction with corresponding Athey wheel, make the robot that this kind of deformable crawler belt is installed can take turns-carry out according to different condition of road surfaces the ability of conversion, when it runs into the road surface of bad situation, robot can advance in crawler belt mode, when it runs into the road surface of good condition, robot adopts wheeled mode to move ahead.
Accompanying drawing explanation
Fig. 1 is the front view of the circular state of crawler belt of the present invention.
Fig. 2 is the oblique drawing of the circular state of crawler belt of the present invention.
Fig. 3 is the front view of the triangle state of crawler belt of the present invention.
Fig. 4 is the oblique drawing of the triangle state of crawler belt of the present invention.
Fig. 5 is the oblique drawing of crawler belt and the intermeshing circular state of Athey wheel.
Fig. 6 is the oblique drawing of crawler belt and the intermeshing circular state of Athey wheel.
Fig. 1 in Fig. 4,1 circular projection, 2T shape projection, 3 interior coil springs, 4 bearings, 5 spring fixed blocks, 6 side projections, 7 jump rings, 8 pin.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Restructural rubber belt track of the present invention can be divided into 36 trifles, each trifle is comprised of the side projection 6 of coil spring 3, spring fixed block 5 and both sides in circular projection 1, T shape projection 2, two joints, and every four trifles are provided with 8, two bearings 4 of pin and two jump rings 7.Circular projection 1 and T shape projection 2 also come the outermost of crawler belt, have certain interval between them, can increase the friction while also can guarantee that crawler belt has enough elongations in stretching process when contact with ground.Inner ring spring fitting, at crawler belt bosom position, can provide crawler belt to stretch and regain needed larger elastic force.The friction that side projection 6 increases crawler belt and drive wheel reduces the possibility that crawler belt skids.Bearing 4 is fixing with jump ring 7 by pin 8, it and the transmission of the external tooth engagement assurance crawler belt of drive wheel.
Restructural rubber belt track of the present invention adopts natural rubber to make as material monolithic moulding, can make it have good contractibility, its surperficial circular projection 1 form alternate with T shape projection 2, between circular projection, there is the recessed of certain distance, be provided with certain gap, for crawler belt stretches reserved spread length.Middle part at track section is provided with two row's extension springs by spring fixed block 5, and its effect is to regain elastic force is provided for the stretching, extension of crawler belt, can stretch rapidly and regain.Two sides at track section are separately installed with 9 bearings, and it is fixed by the pin 8 of moulding together with crawler belt and outside jump ring 7, and effect is and track sprocket engagement, in crawler haulage process, provides pulling force.On the both sides of track section, have side projection 6, circular groove engagement on it and track sprocket, to prevent that crawler belt from skidding.
Crawler belt of the present invention and the Athey wheel that matches with it oblique drawing under circular state and triangle state is as Fig. 5 and Fig. 6, the drive form of Athey wheel and crawler belt adopts tooth mesh type of belt drive, bearing on crawler belt matches with the tooth of wheel body outer ring, can there is not skidding in crawler belt and drive wheel, can transmit very large power.The reason that adopts bearing is because crawler belt needs to stretch, and bearing need to be in the between cog motion of drive wheel, and bearing is flexible, can be comparatively submissive so that stretch withdrawal process.
The present embodiment is most preferred embodiment, is provided with T-shaped projection between two circular projections, and T-shaped projection plays to be increased friction and increase weight capacity.The present invention also has other embodiment, for example, T-shaped projection is not set, or makes pyramidal projections into, and pyramidal projections also can play the effect that increases friction force.
Claims (3)
1. a restructural rubber belt track, be used in conjunction with Athey wheel, the wheel body outer ring of Athey wheel is evenly distributed with tooth, it is characterized in that, the outside face of described crawler belt main body is evenly distributed with the circular projection (1) of more piece, between adjacent circular projection (1), be provided with certain gap, for crawler belt stretches, provide length reserved, every pitch circle shape projection (1) is called a track section; Inner side in crawler belt main body is stretched and is regained the interior coil spring (3) that elastic force is provided by the fixing promising crawler belt of spring fixed block (5), both sides in each track section inner side are provided with side projection (6), in order to the between cog groove of the wheel body outer ring with Athey wheel, cooperatively interact; Track section every some is provided with a pin (8), at the two ends of pin (8), is connected with respectively a bearing (4), in order to mesh with Athey wheel, in crawler haulage process, provides pulling force.
2. restructural rubber belt track according to claim 1, is characterized in that, between adjacent circular projection (1), is provided with T shape projection (2), between adjacent circular projection (1) and T shape projection (2), is provided with certain gap.
3. restructural rubber belt track according to claim 1, is characterized in that, at the two ends of pin (8), is connected with a bearing (4) respectively by jump ring (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410201774.0A CN104002884A (en) | 2014-05-13 | 2014-05-13 | Reconfigurable rubber track belt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410201774.0A CN104002884A (en) | 2014-05-13 | 2014-05-13 | Reconfigurable rubber track belt |
Publications (1)
| Publication Number | Publication Date |
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| CN104002884A true CN104002884A (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410201774.0A Pending CN104002884A (en) | 2014-05-13 | 2014-05-13 | Reconfigurable rubber track belt |
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| CN (1) | CN104002884A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210570A (en) * | 2014-09-02 | 2014-12-17 | 中国矿业大学 | Elastic caterpillar band capable of realizing telescopic deformation |
| CN104386152A (en) * | 2014-11-18 | 2015-03-04 | 上海交通大学 | Caterpillar band type mobile robot wheel band structure adaptive to complicated road conditions |
| CN110803227A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Use method of obstacle-crossing walking device |
| CN110803229A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Obstacle-crossing walking device |
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| EP0614430A4 (en) * | 1991-12-06 | 1995-05-24 | Deere & Co | Track laying vehicles. |
| CN101570216A (en) * | 2009-01-20 | 2009-11-04 | 北京理工大学 | Minitype wheel/caterpillar structure-variable mobile-search reconnaissance robot |
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| CN202765126U (en) * | 2012-09-05 | 2013-03-06 | 环球履带（扬州）有限公司 | Rubber track |
| CN102991596A (en) * | 2012-12-13 | 2013-03-27 | 北京理工大学 | Stretchable track and travelling wheel positioning mechanism for movable robot with wheel-track conversion structure |
| CN203032787U (en) * | 2013-01-06 | 2013-07-03 | 石家庄飞翔材料技术有限公司 | Rubber track |
| CN103342138A (en) * | 2013-06-26 | 2013-10-09 | 中国科学院深圳先进技术研究院 | Wheel caterpillar band moving device and wheel caterpillar band thereof |
| CN203920957U (en) * | 2014-05-13 | 2014-11-05 | 中国人民解放军军事交通学院 | A kind of restructural rubber belt track |
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2014
- 2014-05-13 CN CN201410201774.0A patent/CN104002884A/en active Pending
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| EP0614430A4 (en) * | 1991-12-06 | 1995-05-24 | Deere & Co | Track laying vehicles. |
| CN101570216A (en) * | 2009-01-20 | 2009-11-04 | 北京理工大学 | Minitype wheel/caterpillar structure-variable mobile-search reconnaissance robot |
| CN201405350Y (en) * | 2009-01-20 | 2010-02-17 | 北京理工大学 | Moving searching reconnaissance robot with mini-wheel/crawler-changing structure |
| CN202765126U (en) * | 2012-09-05 | 2013-03-06 | 环球履带（扬州）有限公司 | Rubber track |
| CN102991596A (en) * | 2012-12-13 | 2013-03-27 | 北京理工大学 | Stretchable track and travelling wheel positioning mechanism for movable robot with wheel-track conversion structure |
| CN203032787U (en) * | 2013-01-06 | 2013-07-03 | 石家庄飞翔材料技术有限公司 | Rubber track |
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| 刘宗豪: "多姿态轮履复合机器人移动机构设计与分析", 《机械设计与制造》, no. 4, 30 April 2014 (2014-04-30) * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210570A (en) * | 2014-09-02 | 2014-12-17 | 中国矿业大学 | Elastic caterpillar band capable of realizing telescopic deformation |
| CN104386152A (en) * | 2014-11-18 | 2015-03-04 | 上海交通大学 | Caterpillar band type mobile robot wheel band structure adaptive to complicated road conditions |
| CN104386152B (en) * | 2014-11-18 | 2017-11-28 | 上海交通大学 | Adapt to the caterpillar mobile robot wheel band structure of complex road condition |
| CN110803227A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Use method of obstacle-crossing walking device |
| CN110803229A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Obstacle-crossing walking device |
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Application publication date: 20140827 |