CN104760628A - Triangular crawler wheel device - Google Patents
Triangular crawler wheel device Download PDFInfo
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- CN104760628A CN104760628A CN201510164757.9A CN201510164757A CN104760628A CN 104760628 A CN104760628 A CN 104760628A CN 201510164757 A CN201510164757 A CN 201510164757A CN 104760628 A CN104760628 A CN 104760628A
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- Prior art keywords
- wheel
- triangle
- triangular supports
- rotating shaft
- drive wheel
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000009194 climbing Effects 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
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Abstract
The invention discloses a triangular crawler wheel device which comprises a triangular support, a driving wheel, a guide wheel, a tensioning wheel, a crawler and a magnetic part, wherein the triangular support is vertically arranged, the driving wheel, the guide wheel and the tensioning wheel are respectively arranged on three vertex angles of the triangular support, the magnetic part is uniformly arranged on the outer surface of the crawler, the triangular support is also connected with a connecting part, a first rotating shaft is horizontally arranged on the triangular support, the first rotating shaft drives the driving wheel to rotate in the radial direction of the triangular support, a second rotating shaft is horizontally arranged on the connecting part, and the second rotating shaft drives the driving wheel to rotate in the axial direction of the connecting part. The driving wheel is arranged above the guide wheel and the tension wheel, so that the vertical load directly transmitted to the driving wheel from the ground is eliminated, the driving wheel can rotate in the radial direction and the axial direction, the moving speed is high, the control is flexible, the driving wheel is attached to the ground with different radians, the advantages of a wheel type and a crawler type are combined, and the stable running of the driving wheel is ensured.
Description
Technical field
The invention belongs to traveling gear field, be specifically related to a kind of triangle Track wheel device.
Background technology
The large function of climbing robot two, one is absorption, and two is move freely.Existing climbing robot is mainly wheeled and crawler type.Wheel type climbing robot, moving velocity is fast, control flexibly, and especially turning rate is easier to realize, but wheel and wall area of contact little, thus maintain certain adsorption affinity more difficult.Crawler-type wall climbing robot, to the strong adaptability of wall, area of contact is large, and adsorption affinity is strong, and kinematic velocity is very fast, but underaction, and turn to required propulsive effort large (namely not easily turning to).
Therefore, a kind of triangle Track wheel device is needed badly.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of triangle Track wheel device.
In order to achieve the above object, technical scheme of the present invention is as follows:
The invention provides a kind of triangle Track wheel device, comprise triangular supports, drive wheel, track adjusting wheel, tension wheel, crawler belt and multiple magnetic part, triangular supports is vertically arranged, drive wheel, track adjusting wheel, on three drift angles that tension wheel is arranged at triangular supports respectively and drive wheel is positioned at track adjusting wheel, the top of tension wheel, crawler belt is around described drive wheel, track adjusting wheel, the periphery of tension wheel is also in transmission connection with it, magnetic part is evenly arranged at the outside face of crawler belt, wherein, magnetic part is cylindrical or centrum shape, triangular supports is also connected with attaching parts, triangular supports is horizontally disposed with the first rotating shaft, the length direction of the first rotating shaft and the axial consistent of drive wheel drive its point of connection around triangular supports and attaching parts to arrange at drive wheel radial rotary, attaching parts is horizontally disposed with the second rotating shaft, the length direction of the second rotating shaft is consistent with the radial direction of drive wheel drives drive wheel axially rotary setting.
In the present invention, drive wheel is arranged at track adjusting wheel, the top of tension wheel eliminates ground and be directly delivered to vertical load on drive wheel, drive wheel both can at its radial rotary, can axially rotate again, moving velocity is fast, control flexibly, make drive wheel be attached at the ground of different radian, have both wheeled and both crawler types advantage, ensure the stable traveling of drive wheel.
On the basis of technique scheme, also can do following improvement:
As preferred scheme, above-mentioned magnetic part is diameter by the cylindrical of large gradually little setting and its major diameter one end is arranged in crawler belt.
Adopt above-mentioned preferred scheme, what magnetic part was diameter by large gradually little setting is cylindrical, make magnetic part stable be arranged in crawler belt, avoid it to drop, ensure the adsorption power of robot.
As preferred scheme, be also provided with support wheel and triangle support frame, a drift angle of triangle support frame is articulated with in triangular supports, and support wheel is arranged on other two drift angles of triangle support frame.
Adopt above-mentioned preferred scheme, the further support drive wheel of support wheel, improves the stability of structure, thus ensures the stable of robot crawling.
As preferred scheme, between above-mentioned support wheel and triangle support frame, be provided with elastic component.
Adopt above-mentioned preferred scheme, elastic component plays the effect of buffering, avoids producing hard collision between support wheel and triangle support frame, extends the service life of part.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the present invention.
Fig. 2 is the birds-eye view of one embodiment of the present invention.
Fig. 3 is the structural representation of another embodiment of the present invention.
Wherein, 10. triangular supports, 11. first rotating shafts, 20. drive wheels, 30. track adjusting wheels, 40. tension wheels, 50. crawler belts, 60. magnetic parts, 70. triangle support frames, 80. attaching partss, 81. second rotating shafts, 90. support wheels.
Detailed description of the invention
The preferred embodiment of the present invention is described in detail below in conjunction with accompanying drawing.
In order to reach object of the present invention, as shown in Figure 1 to Figure 2, a kind of triangle Track wheel device is provided in wherein a kind of embodiment of the present invention, comprise triangular supports 10, drive wheel 20, track adjusting wheel 30, tension wheel 40, crawler belt 50 and multiple magnetic part 60, triangular supports 10 is vertically arranged, drive wheel 20, track adjusting wheel 30, on three drift angles that tension wheel 40 is arranged at triangular supports 10 respectively and drive wheel 20 is positioned at track adjusting wheel 30, the top of tension wheel 40, crawler belt 50 is around drive wheel 20, track adjusting wheel 30, the periphery of tension wheel 40 is also in transmission connection with it, magnetic part 60 is evenly arranged at the outside face of crawler belt 50, wherein, magnetic part 60 is cylindrical, triangular supports 10 is also connected with attaching parts 80, triangular supports 10 is horizontally disposed with the first rotating shaft 11, the length direction of the first rotating shaft 11 and the axial consistent of drive wheel 20 drive it to arrange at the radial rotary of drive wheel 20 around the point of connection of triangular supports 10 with attaching parts 80, attaching parts 80 is horizontally disposed with the second rotating shaft 81, the length direction of the second rotating shaft 81 is consistent with the radial direction of drive wheel 20 drives drive wheel 20 axially rotary setting.
In present embodiment, drive wheel 20 is arranged at track adjusting wheel 30, the top of tension wheel 40 eliminates ground and be directly delivered to vertical load on drive wheel 20, drive wheel 20 both can at its radial rotary, can axially rotate again, moving velocity is fast, control flexibly, make drive wheel 20 be attached at the ground of different radian, have both wheeled and both crawler types advantage, ensure the stable traveling of drive wheel 20.
In order to optimize implementation result of the present invention further, in another embodiment of the invention, on the basis of foregoing teachings, above-mentioned magnetic part 60 for diameter by the cylindrical of large gradually little setting and its major diameter one end be arranged in crawler belt 50.
Adopt above-mentioned preferred scheme, what magnetic part 60 was diameter by large gradually little setting is cylindrical, makes stable being arranged in crawler belt 50 of magnetic part 60, avoids it to drop, ensure the adsorption power of robot.
As shown in Figure 3, in order to optimize implementation result of the present invention further, in another embodiment of the invention, on the basis of foregoing teachings, also be provided with support wheel 90 and triangle support frame 70, a drift angle of triangle support frame 70 is articulated with in triangular supports 10, and support wheel 90 is arranged on other two drift angles of triangle support frame 70.
Adopt above-mentioned preferred scheme, support wheel 90 is support drive wheel 20 further, improves the stability of structure, thus ensures the stable of robot crawling.
In order to optimize implementation result of the present invention further, in another embodiment of the invention, on the basis of foregoing teachings, between above-mentioned support wheel 90 and triangle support frame 70, be provided with elastic component.
Adopt above-mentioned preferred scheme, elastic component plays the effect of buffering, avoids producing hard collision between support wheel 90 and triangle support frame 70, extends the service life of part.
Above-described is only the preferred embodiment of the present invention, it should be pointed out that for the person of ordinary skill of the art, and without departing from the concept of the premise of the invention, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (5)
1. triangle Track wheel device, is characterized in that, comprises triangular supports, drive wheel, track adjusting wheel, tension wheel, support wheel, triangle support frame, crawler belt and multiple magnetic part, described triangular supports is vertically arranged, described drive wheel, track adjusting wheel, on three drift angles that tension wheel is arranged at described triangular supports respectively and described drive wheel is positioned at described track adjusting wheel, the top of tension wheel, described crawler belt is around described drive wheel, track adjusting wheel, the periphery of tension wheel is also in transmission connection with it, described magnetic part is evenly arranged at the outside face of described crawler belt, described triangular supports is also connected with attaching parts, described triangular supports is horizontally disposed with the first rotating shaft, the length direction of described first rotating shaft and the axial consistent of drive wheel drive its point of connection around triangular supports and attaching parts to arrange at drive wheel radial rotary, described attaching parts has been horizontally disposed with the second rotating shaft, the length direction of described second rotating shaft is consistent with the radial direction of drive wheel drives drive wheel axially rotary setting.
2. triangle Track wheel device according to claim 1, is characterized in that, described magnetic part is cylindrical or centrum shape.
3. triangle Track wheel device according to claim 1, is characterized in that, described magnetic part is diameter by the cylindrical of large gradually little setting and its major diameter one end is arranged in described crawler belt.
4. triangle Track wheel device according to claim 1, is characterized in that, be also provided with and, a drift angle of described triangle support frame is articulated with in described triangular supports, and described support wheel is arranged on other two drift angles of described triangle support frame.
5. triangle Track wheel device according to claim 4, is characterized in that, is provided with elastic component between described support wheel and described triangle support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164757.9A CN104760628A (en) | 2015-04-08 | 2015-04-08 | Triangular crawler wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164757.9A CN104760628A (en) | 2015-04-08 | 2015-04-08 | Triangular crawler wheel device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104760628A true CN104760628A (en) | 2015-07-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164757.9A Pending CN104760628A (en) | 2015-04-08 | 2015-04-08 | Triangular crawler wheel device |
Country Status (1)
| Country | Link |
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| CN (1) | CN104760628A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105453746A (en) * | 2015-12-18 | 2016-04-06 | 重庆鑫源农机股份有限公司 | Mini-tiller crawler belt assembly convenient to assemble and disassemble |
| CN109625107A (en) * | 2017-10-09 | 2019-04-16 | 杜煜祺 | Crawler-type all-terrain carrying platform |
| CN114620155A (en) * | 2022-04-02 | 2022-06-14 | 浙江水利水电学院 | Steel gate panel components of a whole that can function independently robot of crawling |
| CN115384617A (en) * | 2022-09-30 | 2022-11-25 | 南通理工学院 | Omnidirectional crawler traveling device with adjustable wheel track |
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2015
- 2015-04-08 CN CN201510164757.9A patent/CN104760628A/en active Pending
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| CN2296280Y (en) * | 1997-03-05 | 1998-11-04 | 田德生 | Triangle composite caterpillar wheel |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105453746A (en) * | 2015-12-18 | 2016-04-06 | 重庆鑫源农机股份有限公司 | Mini-tiller crawler belt assembly convenient to assemble and disassemble |
| CN109625107A (en) * | 2017-10-09 | 2019-04-16 | 杜煜祺 | Crawler-type all-terrain carrying platform |
| CN114620155A (en) * | 2022-04-02 | 2022-06-14 | 浙江水利水电学院 | Steel gate panel components of a whole that can function independently robot of crawling |
| CN115384617A (en) * | 2022-09-30 | 2022-11-25 | 南通理工学院 | Omnidirectional crawler traveling device with adjustable wheel track |
| CN115384617B (en) * | 2022-09-30 | 2023-06-27 | 南通理工学院 | Omnidirectional crawler running gear with adjustable wheel track |
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| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150708 |
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| RJ01 | Rejection of invention patent application after publication |