CN105620191A - Crawler wheel device - Google Patents
Crawler wheel device Download PDFInfo
- Publication number
- CN105620191A CN105620191A CN201610198569.2A CN201610198569A CN105620191A CN 105620191 A CN105620191 A CN 105620191A CN 201610198569 A CN201610198569 A CN 201610198569A CN 105620191 A CN105620191 A CN 105620191A
- Authority
- CN
- China
- Prior art keywords
- supporting
- crawler belt
- gear
- wheel
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 58
- 229910052742 iron Inorganic materials 0.000 claims abstract description 29
- 238000006243 chemical reaction Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 235000019994 cava Nutrition 0.000 claims description 7
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 abstract 1
- 230000003014 reinforcing effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 6
- 238000013016 damping Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/50—Improvement of
- B60B2900/551—Handling of obstacles or difficult terrains
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention discloses a crawler wheel device which is a divisional application of a Chinese patent application CN201410749683.0. The device comprises a crawler belt, a hydraulic support frame and three supporting wheels; the crawler belt comprises a rubber crawler belt, a reinforcing rib, iron teeth and limit blocks; the second supporting wheel is connected with the third supporting wheel through a telescopic rod; a spring is also fixed between the second supporting wheel and the third supporting wheel and sleeves the outer side of the telescopic rod; a conversion shaft sleeves a hollow hydraulic oil transportation shaft and is provided with bevel gears; a corner gear is connected with a first gear through a transmission shaft. The crawler wheel device disclosed by the invention has the benefits that the hydraulic support frame comprises a supporting hydraulic cylinder body and three hydraulic rods which form a circle; a round crawler wheel has the advantage of high driving speed and is suitable for driving on a dry pavement; when the hydraulic support frame is expanded and contracted, and meanwhile, the distance between the second supporting wheel and the third supporting wheel is extended due to spring return, a road wheel is in a triangular shape; as the crawler belt is large in contact area to the ground, the crawler wheel is suitable for driving on a muddy place.
Description
The original applying number of one's duty case application is 201410749683.0, and the applying date is on December 10th, 2014, and denomination of invention is " crawler belt wheel mechanism ".
Technical field
The present invention relates to a kind of Track wheel device.
Background technology
Crawler belt wheel be in order to better adapt to modern age various vehicle to high pass and high maneuverability etc. harshness performance requirement, the novel travelling mechanism having merged the advantage of tire and crawler travel mechanism and research and develop, current crawler belt wheel is generally the crawler belt wheel of triangle crawler belt wheel or long strip type, and current this several crawler belt wheel does not possess distortion or the feature of conversion mutually.
Summary of the invention
For above-mentioned prior art Problems existing, the present invention provides a kind of Track wheel device, and structure is simple, it is possible to be out of shape fast, is applicable to different terrain and occasion use.
In order to realize above-mentioned purpose, the technical solution used in the present invention is: a kind of Track wheel device comprises: crawler belt and hydraulic support frame and three supporting-point roller for supporting crawler belt;
Three hydraulic stems that described hydraulic support frame comprises supporting cylinder body and is arranged on supporting cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece engaged with crawler belt, circular arc gear piece and three corner gears engage with crawler belt, and form a circle, three supporting-point roller pass through rod hinge connection, wherein being connected by expansion link between the 2nd supporting-point roller with the 3rd supporting-point roller, be also fixed with spring between the 2nd supporting-point roller and the 3rd supporting-point roller, spring is placed on outside expansion link; Described crawler belt comprises rubber crawler belt, stiffening web, iron tooth and limited block, and rubber crawler belt belt body outer surface widthwise edges has protruding rubber stiffening web, and iron tooth has at least two limited blocks outstanding along rubber track length direction;
The medial center of described supporting cylinder body is provided with one and caves in cone tooth;
First gear is connected by chain gear with the 2nd gear;
2nd gear is connected by hydraulic pressure oil transportation tubular shaft with the supporting cylinder body of hydraulic support frame, and conversion axle sleeve is on hydraulic pressure oil transportation tubular shaft so that conversion axle can the flexible motion of hydraulic pressure; The center of the 2nd gear also has one and caves in cone tooth;
One end of conversion axle has can bore the intermeshing cone tooth of tooth with the 2nd gear and caving in of supporting cylinder body, and corner gear is connected with the first gear by transmission shaft.
Further improvement, the outside of the outer drive unit being made up of the first gear, the 2nd gear and chain is also provided with according to gag lever post.
Further improvement, for rotating secondary mode of connection between the supporting cylinder body of hydraulic support frame and hydraulic pressure oil transportation tubular shaft, there is rubber seal inside.
Described crawler belt has on iron tooth three limited blocks, limited block in the middle of wherein is contrary with two limited block projected directions of both sides, all iron teeth are all along rubber track length direction linear array simultaneously, and after on a front iron tooth of limited block front end insertion outstanding in the middle part of the front side on an iron tooth after namely, two, side gives prominence to recessed portion in the middle of limited block backward.
The invention has the beneficial effects as follows: three hydraulic stem compositions that hydraulic support frame comprises supporting cylinder body and is arranged on supporting cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece that the internal tooth with crawler belt engages, circular arc gear piece engages with crawler belt with three corner gears, and form a circle, this kind of circular crawler track wheel construction advantage is that traveling speed is fast, it is applicable to dry road traveling, when by shrinking hydraulic support frame, 2nd supporting-point roller and the 3rd supporting-point roller are due to the distance between spring reset stretching, extension supporting-point roller simultaneously, walking is made to take turns into an obtuse triangle shape, the area that contacts to earth of the structure of this kind of crawler belt is big, it is adapted at comparatively muddy place to travel, particularly when running into concavo-convex ground or stone, horizontal impact force is bigger, due to the powerful support of spring between the 2nd supporting-point roller and the 3rd supporting-point roller, make wheel good at cross running damping performance, horizontal vibrations reduce by 70% to stress. the structure of the present invention is simple, do not need too much complicated arrangement of clutch, the Track gear of current some deformed caterpillars wheel round wheel system of unifying is that mutual inoperation coordinates, the present invention takes full advantage of Track gear round wheel system of unifying and combines, when its wheel is rounded, the support mechanism of crawler belt wheel also participates in into, common support forms circular wheel structure, the triviality of the whole wheel mechanism simplified, also save manufacturing cost simultaneously, crawler belt two edges increase certain thickness rubber stiffening web, and iron toothing is improved to successive type, with the mutual restriction strengthened between adjacent iron tooth, improve the integral rigidity of rubber crawler belt, during turning, ensure that crawler belt is without distortion to greatest extent, iron tooth slippage is avoided to bring the quality risk of derailed crawler belt. on the other hand, the centerline deformation amount of crawler belt circumferential direction reduces greatly, and crawler belt longitudinal stretching force and lateral stiffness strengthen greatly, is applicable to the distortion of crawler belt wheel.
Accompanying drawing explanation
Fig. 1 is foreign steamer structure iron of the present invention.
Fig. 2 is main structure chart of the present invention.
Fig. 3 is the main figure broken away view of the present invention.
Fig. 4 is the structure iron of conversion axle.
Fig. 5 is wheel structure iron triangular in shape.
Fig. 6 be wheel rounded time supporting-point roller state graph.
Fig. 7 is the structure iron that the present invention does not have crawler belt.
Point two dimensional structure schematic diagram in Fig. 8 rubber crawler belt.
Fig. 9 is the vertical section structural representation in Fig. 8.
In figure: 1, crawler belt, 2, circular arc gear piece, 3, hydraulic support frame, 4, conversion axle, 6, spring, 7, the first supporting-point roller, the 8, the 2nd supporting-point roller, the 9, the 3rd supporting-point roller, the 10, the 2nd gear, the 11, first gear, 12, transmission shaft, 13,14, chain, 15, gag lever post, 16, cave in cone tooth.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As depicted in figs. 1 and 2, the present invention comprises: crawler belt 1 and hydraulic support frame 3 and the first supporting-point roller 7, the 2nd supporting-point roller 8, the 3rd supporting-point roller 9 for supporting crawler belt, and described the first supporting-point roller 7, the 2nd supporting-point roller 8, the 3rd supporting-point roller 9 are rotating corner gear.
Three hydraulic stem compositions that hydraulic support frame 3 comprises supporting cylinder body and is arranged on supporting cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece 2 that the internal tooth with crawler belt 1 engages, circular arc gear piece 2 and the first supporting-point roller 7, 2nd supporting-point roller 8, 3rd supporting-point roller 9 all engages with crawler belt, and form a circle, rod hinge connection is passed through in the middle of first supporting-point roller 7 and the 2nd supporting-point roller 8 and the first supporting-point roller 7 and the 3rd supporting-point roller 9, as shown in Figure 6, it is connected by expansion link between 2nd supporting-point roller 8 with the 3rd supporting-point roller 9, spring 6 also it is fixed with between 2nd supporting-point roller 8 and the 3rd supporting-point roller 9, spring 6 is placed on outside expansion link. as shown in Figure 8,9, described crawler belt 1 comprises rubber crawler belt 11, stiffening web 12, iron tooth 13 and limited block 14, rubber crawler belt 11 belt body outer surface widthwise edges has protruding rubber stiffening web 12, and iron tooth 13 has at least two limited blocks 14 given prominence to along rubber crawler belt 11 length direction, iron tooth 13 particularly has three limited blocks 14, limited block 14 in the middle of wherein is contrary with two limited block 14 projected directions of both sides, all iron teeth 13 are all along rubber crawler belt 11 length direction linear array simultaneously, two, the side outstanding middle recessed portion of limited block 14 backward after on a front iron tooth 13 of limited block 14 front end insertion outstanding in the middle part of the front side on an iron tooth 13 after namely. crawler belt two edges increase certain thickness rubber stiffening web, and iron toothing is improved to successive type, with the mutual restriction strengthened between adjacent iron tooth, improve the integral rigidity of rubber crawler belt, during turning, ensure that crawler belt is without distortion, avoids iron tooth slippage to bring the quality risk of derailed crawler belt to greatest extent. on the other hand, the centerline deformation amount of crawler belt circumferential direction reduces greatly, and crawler belt longitudinal stretching force and lateral stiffness strengthen greatly
The medial center of described supporting cylinder body be provided with one cave in cone tooth 16;
First gear 11 and the 2nd gear 10 are in transmission connection by chain 14;
2nd gear 10 is connected by hydraulic pressure oil transportation tubular shaft 13 with the supporting cylinder body of hydraulic support frame 3, for rotating secondary mode of connection between the supporting cylinder body of hydraulic support frame 3 and hydraulic pressure oil transportation tubular shaft 13, there is rubber seal inside, prevents the leakage of hydraulic efficiency oil.
Conversion axle 4 is placed on hydraulic pressure oil transportation tubular shaft 13 so that conversion axle 4 can the flexible motion of hydraulic pressure; The center of the 2nd gear 10 also has one and caves in cone tooth; As shown in Figure 4, the two ends of conversion axle 4 have can bore the intermeshing cone tooth of tooth 16 with the 2nd gear 10 and caving in of supporting cylinder body, and corner gear 7 is connected with the first gear 11 by transmission shaft 12;
The outside of the outer drive unit being made up of the first gear 11, the 2nd gear 10 and chain 14 is also provided with gag lever post 15. Outer drive unit position is fixed and can not produce skew.
Due to the first supporting-point roller 7, the 2nd supporting-point roller 8, the 3rd supporting-point roller 9, the circular arc gear piece 2 of three hydraulic stems supports crawler belt 1 jointly, crawler belt 1 is in tensioned state, due to the effect of power, spring 6 also fixing between 2nd supporting-point roller 8 and the 3rd supporting-point roller 9 is in compressed state, now, crawler belt 1 is in a circular state substantially. Conversion axle 4 is connected with engine, it it is the sole power source of whole wheel movement, the conversion mode realizing motion is, motion conversion axle 4 is made axially to realize moving by Controlling System control, when the conversion axle 4 that moves leans on hydraulic support frame 3, the cone gear of motion conversion axle 4 engages with the cone tooth 16 that caves in of supporting cylinder body, drives hydraulic support frame 3 to rotate, thus the structure twirl of whole wheel one circle.
By three hydraulic stems shunk on supporting cylinder body, the circular arc gear piece 2 of the end of hydraulic stem no longer contacts engagement with crawler belt, crawler belt is in lax shape, spring 6 Rapid reset fixing between 2nd supporting-point roller 8 and the 3rd supporting-point roller 9, the distance between the 2nd supporting-point roller 8 and the 3rd supporting-point roller 9 is made to become big, first supporting-point roller 7, 2nd supporting-point roller 8, 3rd supporting-point roller 9 presents an isosceles obtuse triangle, as shown in Figure 5, the wheel of whole crawler belt parcel is in an isosceles obtuse triangle, the wheel area that lands is big, particularly when running into concavo-convex ground or stone, horizontal impact force is bigger, due to the powerful support of spring between the 2nd supporting-point roller and the 3rd supporting-point roller, make wheel good at cross running damping performance, horizontal vibrations reduce by 70%. change axle 4 by hydraulic control systems force to move to the direction of the 2nd gear 10, conversion axle 4 is no longer connected with hydraulic support frame 3, hydraulic support frame 3 is in passive delivery state, the cone tooth of conversion axle 4 end can engage with the cone tooth that caves in of the 2nd gear 10, the 2nd gear 10 is driven by conversion axle 4, by chain 14, transmission first gear 11 rotates with making, and the first gear 11 has the rotation being driven the first supporting-point roller 7 by transmission shaft 12, thus realizes the rotation of crawler belt 1.
Claims (5)
1. a Track wheel device, it is characterised in that, comprising: crawler belt (1) and hydraulic support frame (3) and three supporting-point roller (7,8,9) for supporting crawler belt;
Three hydraulic stems that described hydraulic support frame (3) comprises supporting cylinder body and is arranged on supporting cylinder body, in 120 degree of angles between two adjacent hydraulic stems, the end of hydraulic stem is all equipped with the circular arc gear piece (2) engaged with crawler belt (1), circular arc gear piece (2) and three corner gears (7, 8, 9) engage with crawler belt, and form a circle, three supporting-point roller (7, 8, 9) rod hinge connection is passed through, wherein it is connected by expansion link between the 2nd supporting-point roller (8) with the 3rd supporting-point roller (9), spring (6) also it is fixed with between 2nd supporting-point roller (8) and the 3rd supporting-point roller (9), spring (6) is placed on outside expansion link, described crawler belt (1) comprises rubber crawler belt (11), stiffening web (12), iron tooth (13) and limited block (14), rubber crawler belt (11) belt body outer surface widthwise edges has protruding rubber stiffening web (12), and iron tooth (13) has at least two limited blocks (14) given prominence to along rubber crawler belt (11) length direction.
2. a kind of Track wheel device according to claim 1, it is characterised in that, the medial center of described supporting cylinder body is provided with one and caves in cone tooth (16);
First gear (11) and the 2nd gear (10) are in transmission connection by chain (14);
The supporting cylinder body of the 2nd gear (10) and hydraulic support frame (3) is connected by hydraulic pressure oil transportation tubular shaft (13), and conversion axle (4) is placed on hydraulic pressure oil transportation tubular shaft (13) so that conversion axle (4) can hydraulic pressure be flexible moves; The center of the 2nd gear (10) also has one and caves in cone tooth;
The two of conversion axle (4) all hold to be had and can bore tooth (16) intermeshing cone tooth with the 2nd gear (10) and caving in of supporting cylinder body, and corner gear (7) is connected with the first gear (11) by transmission shaft (12).
3. a kind of Track wheel device according to claim 2, it is characterised in that, the outside of the outer drive unit being made up of the first gear (11), the 2nd gear (10) and chain (14) is also provided with a gag lever post (15).
4. a kind of crawler belt wheel mechanism according to claim 1, it is characterised in that, for rotating secondary mode of connection between the supporting cylinder body of hydraulic support frame (3) and hydraulic pressure oil transportation tubular shaft (13), there is rubber seal inside.
5. a kind of Track wheel device according to claim 1, it is characterized in that, described crawler belt (1) has on iron tooth (13) three limited blocks (14), limited block (14) in the middle of wherein is contrary with two limited block (14) projected directions of both sides, all iron teeth (13) are all along rubber crawler belt (11) length direction linear array simultaneously, two, the side middle recessed portion of outstanding limited block (14) backward after limited block (14) the front end front iron tooth (13) of insertion given prominence in the middle part of the front side on an iron tooth (13) after namely is upper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610198569.2A CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749683.0A CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
| CN201610198569.2A CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410749683.0A Division CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105620191A true CN105620191A (en) | 2016-06-01 |
| CN105620191B CN105620191B (en) | 2017-12-08 |
Family
ID=52890026
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610198569.2A Active CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
| CN201410749683.0A Expired - Fee Related CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410749683.0A Expired - Fee Related CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN105620191B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106817926A (en) * | 2016-12-30 | 2017-06-13 | 重庆市永川区望城机械厂 | The mini-tiller that a kind of convenience is travelled on land |
| CN110182272A (en) * | 2019-05-17 | 2019-08-30 | 西安理工大学 | A kind of crawler type triangle based on internal gear/circular deformation wheel mechanism |
| CN110228540A (en) * | 2019-05-17 | 2019-09-13 | 西安理工大学 | A kind of crawler type triangle based on profile modified gear/circular deformation wheel mechanism |
| CN110550842A (en) * | 2019-09-26 | 2019-12-10 | 华南理工大学 | Crawler transmission mechanism for continuous supercharging belt type dewatering machine and application thereof |
| CN114043818A (en) * | 2021-11-15 | 2022-02-15 | 长春工业大学 | Variable-diameter wheel based on two-rod three-cable tensioning integral structure |
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| CN105564148B (en) * | 2016-01-19 | 2017-12-15 | 中国人民解放军国防科学技术大学 | A kind of deformation type wheel carries out leg composite machine people |
| US20180154972A1 (en) * | 2016-11-08 | 2018-06-07 | Shane Chen | Suspension friction drive and auto-balancing transporation device having same |
| FR3084325B1 (en) * | 2018-07-27 | 2020-07-31 | Michelin & Cie | TRANSFORMABLE TRACK CARRIER |
| WO2020223298A1 (en) * | 2019-04-29 | 2020-11-05 | Carnegie Mellon University | Reconfigurable wheel-track assembly with bowtie configuration |
| CN110450868B (en) * | 2019-09-18 | 2024-07-12 | 中国科学院合肥物质科学研究院 | Reconfigurable wheel |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN111959192B (en) * | 2020-09-01 | 2021-10-01 | 燕山大学 | Crawler-type reconfigurable deformation wheel |
| CN112429102A (en) * | 2020-11-09 | 2021-03-02 | 安徽中亚钢结构工程有限公司 | Wall climbing mechanism of wall climbing rust cleaning robot |
| CN113895531B (en) * | 2021-11-17 | 2024-05-03 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler robot |
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| JP2006096199A (en) * | 2004-09-29 | 2006-04-13 | Kubota Corp | Crawler type traveling device |
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| SU1039787A1 (en) * | 1980-12-29 | 1983-09-07 | Белорусский Ордена Трудового Красного Знамени Политехнический Институт | Roller truck propeller |
| US7192034B2 (en) * | 2004-11-29 | 2007-03-20 | Deere & Company | Load based suspension motion limiting |
| CN102673306B (en) * | 2011-03-07 | 2015-06-10 | 北京理工大学 | Triangular caterpillar wheel |
| CN102785716B (en) * | 2012-08-03 | 2014-12-10 | 中国科学技术大学 | Special-shaped wheel and caterpillar track combined walking mechanism |
| 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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- 2014-12-10 CN CN201410749683.0A patent/CN104443088B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006096199A (en) * | 2004-09-29 | 2006-04-13 | Kubota Corp | Crawler type traveling device |
| CN101966797A (en) * | 2010-09-17 | 2011-02-09 | 广东工业大学 | Wheel-tracked freely switching gear train device |
| CN101954836A (en) * | 2010-09-21 | 2011-01-26 | 中国矿业大学 | Diameter-variable wheel for automatically adapting to road surface |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
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| CN203753265U (en) * | 2014-03-21 | 2014-08-06 | 上海华向橡胶履带有限公司 | Anti-deforming improved derailing-resisting rubber track |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106817926A (en) * | 2016-12-30 | 2017-06-13 | 重庆市永川区望城机械厂 | The mini-tiller that a kind of convenience is travelled on land |
| CN110182272A (en) * | 2019-05-17 | 2019-08-30 | 西安理工大学 | A kind of crawler type triangle based on internal gear/circular deformation wheel mechanism |
| CN110228540A (en) * | 2019-05-17 | 2019-09-13 | 西安理工大学 | A kind of crawler type triangle based on profile modified gear/circular deformation wheel mechanism |
| CN110550842A (en) * | 2019-09-26 | 2019-12-10 | 华南理工大学 | Crawler transmission mechanism for continuous supercharging belt type dewatering machine and application thereof |
| CN114043818A (en) * | 2021-11-15 | 2022-02-15 | 长春工业大学 | Variable-diameter wheel based on two-rod three-cable tensioning integral structure |
| CN114043818B (en) * | 2021-11-15 | 2023-10-24 | 长春工业大学 | Diameter-variable wheel based on two-rod three-cable tensioning integral structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104443088B (en) | 2016-09-21 |
| CN104443088A (en) | 2015-03-25 |
| CN105620191B (en) | 2017-12-08 |
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