CN109878584A - A kind of Athey wheel group of robot car - Google Patents
A kind of Athey wheel group of robot car Download PDFInfo
- Publication number
- CN109878584A CN109878584A CN201910121775.7A CN201910121775A CN109878584A CN 109878584 A CN109878584 A CN 109878584A CN 201910121775 A CN201910121775 A CN 201910121775A CN 109878584 A CN109878584 A CN 109878584A
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- Prior art keywords
- crawler belt
- crawler
- carrying roller
- circle
- wheel
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- 230000007717 exclusion Effects 0.000 claims description 8
- 230000007547 defect Effects 0.000 abstract description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The invention discloses a kind of Athey wheel groups of robot car, including crawler belt, crawler driving whell, carrying roller and vehicle frame, the present invention is used in three circle stopper of crawler belt inner ring setting, two circle rack gears are arranged alternately between three circle stoppers, stopper is several piece, and radially intermittently it is arranged around crawler belt inner ring, using the crawler driving whell of duplicate gear and the carrying roller of duplex idler wheel, when two circle rack gears of the duplicate gear of crawler driving whell and crawler belt are engaged, when the duplex idler wheel of carrying roller rolls on the crest top land that crawler belt two encloses rack gear, overcome the defect that crawler belt is also easy to produce axial wobble at runtime, the operation stability of trolley is caused to improve, the failure that crawler belt falls off or distorts is prevented, and when the idler wheel of carrying roller rolls on the crest top land of crawler belt rack gear, the pressure for acting on crest top land reduces, extend crawler belt uses the longevity Life.
Description
Technical field
The present invention relates to robot car technical field, the Athey wheel group of especially a kind of robot car.
Background technique
In robot assembling is built, the application of robot car is quite extensive, and the robot car of track drive is small
The important component of vehicle.Compared to the robot car of in-wheel driving, track drive has the contact area bigger with ground,
It can produce biggish frictional force, making robot during exercise has bigger road holding and climbing capacity.The machine of the prior art
Crawler belt used by people's trolley is mostly monodentate crawler belt, the problem is that, gear and the crawler belt upper rack of crawler driving whell
The field of conjugate action is narrow, and crawler belt is caused to be also easy to produce axial wobble at runtime, and the operation stability of trolley is caused to weaken, and crawler belt occurs de-
It falls, and when the idler wheel of carrying roller rolls on the crest top land of crawler belt rack gear, the pressure for acting on crest top land is big, shortens crawler belt
Service life.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art and provide a kind of robot car Athey wheel group, this hair
Bright to be arranged alternately two circle rack gears between three circle stoppers using in three circle stopper of crawler belt inner ring setting, stopper is several piece, and
Radially intermittently it is arranged around crawler belt inner ring, using the crawler driving whell of duplicate gear and the carrying roller of duplex idler wheel, when crawler belt drives
The tooth of rack gear is enclosed in crawler belt two when two circle rack gears of the duplicate gear of driving wheel and crawler belt are engaged, when the duplex idler wheel of carrying roller
When rolling on top surface, the defect that crawler belt is also easy to produce axial wobble at runtime is overcome, the operation stability of trolley is caused to improve,
The failure that crawler belt falls off or distorts is prevented, and when the idler wheel of carrying roller rolls on the crest top land of crawler belt rack gear, has made
Pressure for crest top land reduces, and extends the service life of crawler belt.
Realizing the specific technical solution of the object of the invention is:
A kind of Athey wheel group of robot car, feature include crawler belt, crawler driving whell, carrying roller and vehicle frame；
The crawler belt is the ring-shaped article that bandlet is coiled into, and two circle rack gears are radially equipped on the inner wall of ring-shaped article bandlet and three circles stop
Block；
The three circles stopper is divided into the middle part and two sides of bandlet, the two circles rack gear be disposed alternately at three circle stoppers it
Between；
Successively interval is arranged radially to form a circle along ring-shaped article the several piece stopper；
The outer wall of the crawler belt ring-shaped article bandlet is equipped with frictional groove；
The crawler driving whell is the duplicate gear equipped with wheel shaft, and crawler driving whell is pieces, is respectively used to driving wheel or passive
Wheel；
The carrying roller is the duplex idler wheel equipped with wheel shaft, and carrying roller is pieces.
Driving wheel axle bed, passive axle block and several load-bearing axle blocks, the track drive are symmetrically arranged on the vehicle frame
Wheel is respectively arranged on the driving wheel axle bed and passive axle block of vehicle frame through wheel shaft, and carrying roller is sequentially arranged in the load-bearing of vehicle frame through wheel shaft
On axle block, crawler belt is wrapped in the outside of crawler driving whell and carrying roller, and the duplicate gear of crawler driving whell respectively with crawler belt
Two circle rack gears be engaged, the duplex idler wheel of carrying roller rolls on the crest top land that crawler belt two encloses rack gear.
The mesh regional that the duplicate gear and crawler belt two of the crawler driving whell enclose rack gear is each defined in three exclusions gear
Between block.
The scroll zones that the duplex idler wheel and crawler belt two of the carrying roller enclose rack gear crest top land are each defined in three exclusions
Between block.
The present invention is used in three circle stopper of crawler belt inner ring setting, is arranged alternately two circle rack gears between three circle stoppers, is hindered
Block is several piece, and is radially intermittently arranged around crawler belt inner ring, using the crawler driving whell of duplicate gear and holding for duplex idler wheel
Roller, when two circle rack gears of the duplicate gear of crawler driving whell and crawler belt are engaged, when the duplex idler wheel of carrying roller is being carried out
When being rolled on the crest top land with two circle rack gears, the defect that crawler belt is also easy to produce axial wobble at runtime is overcome, trolley is caused
Operation stability improves, and has prevented the failure that crawler belt falls off or distorts, and when the idler wheel of carrying roller is in the tooth of crawler belt rack gear
When rolling on top surface, the pressure for acting on crest top land reduces, and extends the service life of crawler belt.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram that crawler driving whell and carrying roller are engaged and rolled with crawler belt；
Fig. 3 is the schematic diagram of crawler belt planar development.
Specific embodiment
Refering to fig. 1, Fig. 2, Fig. 3, the present invention include crawler belt 1, crawler driving whell 2, carrying roller 3 and vehicle frame 4, the crawler belt 1
Two circle rack gears 11 and three circle stoppers 12 are radially equipped with for the ring-shaped article that bandlet is coiled into, on the inner wall of ring-shaped article bandlet；
The three circles stopper 12 is divided into the middle part and two sides of bandlet, and the two circles rack gear 11 is disposed alternately at three circle stoppers
Between 12；
Successively interval is arranged radially to form a circle along ring-shaped article the several piece stopper 12；
The outer wall of the 1 ring-shaped article bandlet of crawler belt is equipped with frictional groove 13；
The crawler driving whell 2 be the duplicate gear equipped with wheel shaft, crawler driving whell 2 be pieces, be respectively used to driving wheel or by
Driving wheel；
The carrying roller 3 is the duplex idler wheel equipped with wheel shaft, and carrying roller 3 is pieces.
Refering to fig. 1, Fig. 2 is symmetrically arranged with driving wheel axle bed, passive axle block and several load-bearing axle blocks on the vehicle frame 4,
The crawler driving whell 2 is respectively arranged on the driving wheel axle bed and passive axle block of vehicle frame 4 through wheel shaft, carrying roller 3 through wheel shaft according to
It is secondary on the load-bearing axle block of vehicle frame 4, crawler belt 1 is wrapped in the outside of crawler driving whell 2 and carrying roller 3, and crawler driving whell 2
Duplicate gear be engaged respectively with the two of crawler belt 1 circle rack gears 11, the duplex idler wheel of carrying roller 3 is in 1 liang of circle rack gear 11 of crawler belt
Crest top land on roll.
Refering to Fig. 2, Fig. 3, the mesh regional point of the duplicate gear of the crawler driving whell 2 and 1 liang of crawler belt circle rack gear 11
It is not limited between three exclusion blocks 12.
Refering to Fig. 2, Fig. 3, the scroll zones of the duplex idler wheel of the carrying roller 3 and 1 liang of crawler belt circle 11 crest top land of rack gear
It is each defined between three exclusion blocks 12.
The present invention assembles in this way
Refering to fig. 1, Fig. 2 is symmetrically arranged with driving wheel axle bed, passive axle block and several carrying rollers on the two sides of vehicle frame 4 of the present invention
Crawler driving whell 2 of the invention is respectively arranged on the driving wheel axle bed of vehicle frame 4 and passive through wheel shaft in the side of vehicle frame 4 by axle bed
On axle block, several carrying rollers 3 are sequentially arranged on the load-bearing axle block of vehicle frame 4 through wheel shaft, crawler belt 1 is finally wrapped in crawler belt
The outside of driving wheel 2 and carrying roller 3.
Equally in the other side of vehicle frame 4, the installation of crawler driving whell 2, carrying roller 3 and crawler belt 1 is completed.
Disk moves crawler driving whell 2, checks that duplicate gear is engaged state with two circle rack gears 11 of crawler belt 1 respectively, checks
Rolling condition on the crest top land that the duplex idler wheel of carrying roller 3 encloses rack gear 11 at 1 liang of crawler belt.
The present invention works in this way
Refering to fig. 1, Fig. 2, the engine in vehicle frame 4 drive crawler driving whell 2, the duplex of crawler driving whell 2 through driving wheel axle bed
Two circle rack gears 11 of gear and crawler belt 1 are engaged, and driving crawler belt 1 is rotated around crawler driving whell 2 and carrying roller 3, outside crawler belt 1
Under the action of frictional groove 13 on wall and the frictional force between ground, forward or backward of the invention is driven.
Refering to fig. 1, Fig. 2, present invention employs 1 inner ring of crawler belt setting three circle stoppers 12, three circle stoppers 12 between
Two circle rack gears 11 are arranged alternately, when two circle rack gears 11 of the duplicate gear of crawler driving whell 2 and crawler belt 1 are engaged, due to
Duplicate gear engages simultaneously with two circle rack gears 11, increases the field of conjugate action of crawler driving whell 2 Yu crawler belt 1, overcomes individual pen rack gear
Crawler belt is also easy to produce the defect of axial wobble at runtime, and the operation stability of trolley is caused to improve.
Refering to fig. 1, Fig. 2, Fig. 3, present invention employs 1 inner ring of crawler belt setting three circle stoppers 12 and two circle rack gears 11,
When duplicate gear engages simultaneously with two circle rack gears 11, when the idler wheel of carrying roller 3 rolls on the crest top land of 1 rack gear 11 of crawler belt
When, due to the setting of three circle stoppers 12, the mesh regional point of the duplicate gear of crawler driving whell 2 and 1 liang of crawler belt circle rack gear 11
It is not limited by three exclusion blocks 12, meanwhile, the scroll zones of the duplex idler wheel of carrying roller 3 and 1 liang of crawler belt circle 11 crest top land of rack gear
Also it is limited respectively by three exclusion blocks 12, for this purpose, the present invention is in the process of moving, especially during the turn, in crawler belt 1 and ground
Under the action of side-friction force between face, crawler belt 1 is forced to generate the axial displacement relative to crawler driving whell 2 and carrying roller 3,
Under the action of the pyramidal conical surface of three circle stoppers 12 limits crawler driving whell 2 and carrying roller 3, side-friction force is repaired and has forced
The axial displacement that crawler belt 1 generates, has prevented the failure that crawler belt falls off or distorts in the process of running.
In addition, carrying roller 3 is designed as duplex idler wheel, when the duplex idler wheel of carrying roller 3 encloses at 1 liang of crawler belt the tooth of rack gear 11
When rolling on top surface, the pressure for acting on crest top land reduces, and extends the service life of crawler belt 1.
Claims (3)
1. a kind of Athey wheel group of robot car, which is characterized in that it includes crawler belt (1), crawler driving whell (2), carrying roller
(3) and vehicle frame (4)；
The crawler belt (1) is the ring-shaped article that is coiled into of bandlet, be radially equipped on the inner wall of ring-shaped article bandlet two circles rack gear (11) and
Three circles stopper (12)；
Three circle stopper (12) is divided into the middle part and two sides of bandlet, and two circle rack gear (11) is disposed alternately at the resistance of three circles
Between block (12)；
The stopper (12) is in pyramidal, and successively interval is arranged radially to form a circle along ring-shaped article several piece stopper (12)；
The outer wall of crawler belt (1) the ring-shaped article bandlet is equipped with frictional groove (13)；
The crawler driving whell (2) is the duplicate gear equipped with wheel shaft, and crawler driving whell (2) is pieces, is respectively used to driving wheel
Or follower；
The carrying roller (3) is the duplex idler wheel equipped with wheel shaft, and carrying roller (3) is pieces；
Driving wheel axle bed, passive axle block and several load-bearing axle blocks, the crawler driving whell are symmetrically arranged on the vehicle frame (4)
(2) it is respectively arranged on the driving wheel axle bed and passive axle block of vehicle frame (4) through wheel shaft, carrying roller (3) is sequentially arranged in vehicle through wheel shaft
On the load-bearing axle block of frame (4), crawler belt (1) is wrapped in the outside of crawler driving whell (2) and carrying roller (3), and crawler driving whell
(2) duplicate gear is engaged with two circles rack gear (11) of crawler belt (1) respectively, and the duplex idler wheel of carrying roller (3) is in crawler belt (1)
It is rolled on the crest top land of two circles rack gear (11).
2. a kind of Athey wheel group of robot car according to claim 1, which is characterized in that crawler driving whell (2)
The mesh regional that duplicate gear and crawler belt (1) two enclose rack gear (11) is each defined between three exclusion blocks (12).
3. a kind of Athey wheel group of robot car according to claim 1, which is characterized in that the duplex of carrying roller (3)
The scroll zones that idler wheel and crawler belt (1) two enclose rack gear (11) crest top land are each defined between three exclusion blocks (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910121775.7A CN109878584A (en) | 2019-02-19 | 2019-02-19 | A kind of Athey wheel group of robot car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910121775.7A CN109878584A (en) | 2019-02-19 | 2019-02-19 | A kind of Athey wheel group of robot car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109878584A true CN109878584A (en) | 2019-06-14 |
Family
ID=66928376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910121775.7A Pending CN109878584A (en) | 2019-02-19 | 2019-02-19 | A kind of Athey wheel group of robot car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109878584A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111942488A (en) * | 2020-08-24 | 2020-11-17 | 中国人民解放军陆军装甲兵学院 | Adopt driven distributed electric drive track advancing device of meshing |
| CN114104233A (en) * | 2021-12-27 | 2022-03-01 | 广东智能无人系统研究院 | Underwater leg-track composite crawling chassis and underwater robot applying same |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003320967A (en) * | 2002-04-26 | 2003-11-11 | Komatsu Ltd | Travel driving device for crawler vehicle |
| JP2005041243A (en) * | 2003-07-22 | 2005-02-17 | Seirei Ind Co Ltd | Elastic endless crawler belt travel device |
| JP2007076533A (en) * | 2005-09-15 | 2007-03-29 | Hidekazu Teramoto | Driving wheel of crawler driving mechanism |
| JP2007118712A (en) * | 2005-10-26 | 2007-05-17 | Yanmar Co Ltd | Crawler type tractor |
| CN101380977A (en) * | 2007-09-04 | 2009-03-11 | 株式会社普利司通 | Rubber track and chain wheel suitable for rubber track and core iron for rubber track |
| CA2708515A1 (en) * | 2009-06-29 | 2010-12-29 | Camoplast Inc. | Frictionally drivable endless track for traction of a snowmobile or all-terrain vehicle (atv) |
| DE202011003360U1 (en) * | 2011-03-01 | 2011-05-12 | Bucyrus Hex Gmbh | crawler track |
| CN102358360A (en) * | 2011-07-28 | 2012-02-22 | 贵州詹阳动力重工有限公司 | Crawler-type dual vehicle bodies |
| CN205059775U (en) * | 2015-08-24 | 2016-03-02 | 刘刚 | Crawler frame people running gear |
| US9505454B1 (en) * | 2011-06-13 | 2016-11-29 | Camso Inc. | Track assembly for traction of an off-road vehicle |
| WO2018039927A1 (en) * | 2016-08-30 | 2018-03-08 | 许琴琴 | Crawler vehicle |
| CN209904901U (en) * | 2019-02-19 | 2020-01-07 | 华东师范大学 | Track wheel set of robot trolley |
-
2019
- 2019-02-19 CN CN201910121775.7A patent/CN109878584A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003320967A (en) * | 2002-04-26 | 2003-11-11 | Komatsu Ltd | Travel driving device for crawler vehicle |
| JP2005041243A (en) * | 2003-07-22 | 2005-02-17 | Seirei Ind Co Ltd | Elastic endless crawler belt travel device |
| JP2007076533A (en) * | 2005-09-15 | 2007-03-29 | Hidekazu Teramoto | Driving wheel of crawler driving mechanism |
| JP2007118712A (en) * | 2005-10-26 | 2007-05-17 | Yanmar Co Ltd | Crawler type tractor |
| CN101380977A (en) * | 2007-09-04 | 2009-03-11 | 株式会社普利司通 | Rubber track and chain wheel suitable for rubber track and core iron for rubber track |
| CA2708515A1 (en) * | 2009-06-29 | 2010-12-29 | Camoplast Inc. | Frictionally drivable endless track for traction of a snowmobile or all-terrain vehicle (atv) |
| DE202011003360U1 (en) * | 2011-03-01 | 2011-05-12 | Bucyrus Hex Gmbh | crawler track |
| US9505454B1 (en) * | 2011-06-13 | 2016-11-29 | Camso Inc. | Track assembly for traction of an off-road vehicle |
| CN102358360A (en) * | 2011-07-28 | 2012-02-22 | 贵州詹阳动力重工有限公司 | Crawler-type dual vehicle bodies |
| CN205059775U (en) * | 2015-08-24 | 2016-03-02 | 刘刚 | Crawler frame people running gear |
| WO2018039927A1 (en) * | 2016-08-30 | 2018-03-08 | 许琴琴 | Crawler vehicle |
| CN209904901U (en) * | 2019-02-19 | 2020-01-07 | 华东师范大学 | Track wheel set of robot trolley |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111942488A (en) * | 2020-08-24 | 2020-11-17 | 中国人民解放军陆军装甲兵学院 | Adopt driven distributed electric drive track advancing device of meshing |
| CN114104233A (en) * | 2021-12-27 | 2022-03-01 | 广东智能无人系统研究院 | Underwater leg-track composite crawling chassis and underwater robot applying same |
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