CN113928432A - Track transmission structure, track chassis and floating robot - Google Patents
Track transmission structure, track chassis and floating robot Download PDFInfo
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- CN113928432A CN113928432A CN202111345983.9A CN202111345983A CN113928432A CN 113928432 A CN113928432 A CN 113928432A CN 202111345983 A CN202111345983 A CN 202111345983A CN 113928432 A CN113928432 A CN 113928432A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000010276 construction Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 6
- 230000002093 peripheral effect Effects 0.000 abstract 1
- 230000000903 blocking effect Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 230000002452 interceptive effect Effects 0.000 description 1
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Classifications
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- 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
- 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
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
-
- 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
- B62D55/14—Arrangement, location, or adaptation of rollers
-
- 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
- B62D55/30—Track-tensioning means
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/42—Machines for imparting a smooth finish to freshly-laid paving courses other than by rolling, tamping or vibrating
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/10—Devices for levelling, e.g. templates or boards
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a track transmission structure, track chassis and floating robot relates to construction robot technical field. The crawler wheel comprises a wheel disc and a plurality of columnar pieces arranged along the circumferential direction of the wheel disc at intervals, and the columnar pieces extend outwards from the surface of the wheel disc along the axial direction of the wheel disc. The track includes the area body and a plurality of driving gear, and the driving gear sets up along the inner peripheral surface interval of track, and the driving gear is used for with the column meshing. The crawler wheel is in meshed transmission with the transmission teeth through the columnar part so as to drive the crawler to move. The track transmission structure makes foreign matters such as concrete be difficult to cause the card at the cooperation department of column spare and driving gear and pause, ensures the smooth and easy operation of track to can discharge the foreign matter at the operation in-process, the guarantee uses this track transmission structure's crawler chassis can normally walk, and makes the floating robot who uses this crawler chassis can keep normal work in the operational environment of difference.
Description
Technical Field
The application relates to the technical field of construction robots, in particular to a track transmission structure, a track chassis and a floating robot.
Background
At the concrete initial set stage, the floating robot that uses crawler chassis walks on the concrete, if use traditional transmission connection structure, the concrete gets into the joint portion easily, leads to transmission structure to take place to block, makes the unable motion of track.
Disclosure of Invention
The utility model provides a track transmission structure, it can improve current transmission structure and take place the problem of card dun because of the entering of concrete easily.
It is a further object of the present application to provide a track chassis including the above-described track drive configuration having all of the features of the track drive configuration.
It is a further object of the present application to provide a troweling robot that includes the above-described crawler chassis, which has all of the characteristics of the crawler chassis.
The embodiment of the application is realized as follows:
an embodiment of the present application provides a track drive structure, including:
the crawler wheel comprises a wheel disc and a plurality of columnar pieces which are arranged along the circumferential direction of the wheel disc at intervals, and the columnar pieces extend outwards from the surface of the wheel disc along the axial direction of the wheel disc;
the crawler belt comprises a belt body and a plurality of transmission teeth, the transmission teeth are arranged at intervals along the inner circumferential surface of the crawler belt, the transmission teeth are used for being meshed with the columnar parts, and the crawler wheels are meshed with the transmission teeth through the columnar parts for transmission so as to drive the crawler belt to move.
The track transmission structure meshes with the driving gear through the column spare, when the rim plate rotates, a plurality of column spares can drive the driving gear and remove, and make the area body rotate, because do not connect between two adjacent column spares, do not have the tooth bottom structure that ordinary gear possesses, make the column spare can enough cooperate with the driving gear transmission, can avoid again cooperating the back concrete jam between column spare and driving gear, the area body lasts the operation in-process, make the concrete can be discharged, the card of track is dun problem has effectively been solved.
In addition, according to the track transmission structure provided by the embodiment of the application, the following additional technical characteristics can be provided:
in an alternative embodiment of the present application, the posts are provided on opposite sides of the wheel disc.
The columnar parts are arranged on the two side faces of the wheel disc, so that the stability of transmission is better, the crawler belt and the crawler wheel are not easy to slip when the load is heavier, and the normal operation can be realized.
In an alternative embodiment of the present application, the columns are symmetrically disposed on opposite sides of the wheel disc.
The symmetrical arrangement may facilitate mounting of the columns.
In an alternative embodiment of the present application, adjacent ones of the drive teeth form a gullet therebetween, the gullet having a width greater than a diameter of the post.
The width of tooth's socket is greater than the diameter of column spare further makes the column spare can enough cooperate with the driving tooth transmission, can avoid the back concrete jam again between column spare and driving tooth after the cooperation.
In an alternative embodiment of the present application, adjacent ones of the columns form a gap therebetween, the gap having a width greater than a tooth thickness of the drive tooth.
Because the clearance of adjacent column spare is greater than the tooth thickness of driving tooth for the concrete between two adjacent column spares and the driving tooth of establishing of card can be discharged, prevents to block up.
In an optional embodiment of the present application, the track wheel further includes a plurality of connecting members, the connecting members extend in an axial direction of the wheel disc, and the connecting members are used for fixing two of the column members located on both sides of the wheel disc to the wheel disc.
The connecting piece can once only fix two column spares of rim plate both sides, improves assembly efficiency.
An embodiment of the present application provides a crawler chassis, including:
a chassis;
a tension wheel mounted on the base frame; and
the track transmission structure according to any one of the above claims, wherein the track wheel is mounted on the undercarriage, and the track is sleeved on the tension wheel and the track wheel.
The crawler chassis can be used as a walking foundation in a construction environment with concrete by using the crawler transmission structure, and equipment mounted on the chassis is convenient to construct.
In an alternative embodiment of the present application, the tension wheel includes a plurality of flanges, and a wheel groove is formed between two adjacent flanges, the flanges being configured to contact an inner circumferential surface of the belt body, and the wheel groove being configured to allow the transmission gear to pass through.
The flange can satisfy the demand of tensioning, and the driving tooth then can be avoided to the race, prevents that driving tooth and take place to interfere with the take-up pulley.
In an alternative embodiment of the present application, the track chassis further includes a drive assembly secured to the undercarriage for driving rotation of the wheel.
Through with drive assembly and rim plate cooperation for whole crawler chassis can walk by oneself, so that remove at the construction environment.
An embodiment of the present application provides a floating robot, including:
a troweling mechanism; and
the crawler chassis according to any of the preceding claims, wherein the trowelling mechanism is arranged on the undercarriage.
The floating robot can work on the ground containing the unset concrete by using the crawler base, and the robot does not have to worry about the difficulty in traveling due to the concrete.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic view of a troweling robot provided by an embodiment of the present application;
FIG. 2 is a schematic illustration of a track undercarriage provided in an embodiment of the present application;
FIG. 3 is a partial exploded view of FIG. 2;
FIG. 4 is a side view of FIG. 2;
FIG. 5 is a schematic view of a track wheel;
FIG. 6 is a schematic view of the track.
Icon: 1000-a troweling robot; 100-a troweling mechanism; 200-a crawler chassis; 210-a chassis; 221-a tensioning wheel; 2211-flange; 2212-wheel groove; 230-a track wheel; 231-a wheel disc; 233-column; 235-a connector; 240-track; 241-a belt body; 243-gear teeth; 251-a load-bearing wheel; 2511-a groove; 260-a drive assembly; 261-a drive member; 263-drive shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the product conventionally places when used, and are only used for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Examples
Referring to fig. 1, an embodiment of the present application provides a troweling robot 1000, including:
a troweling mechanism 100; and
the track chassis 200, the troweling mechanism 100 is disposed on an undercarriage 210 (shown in fig. 2) of the track chassis 200.
The troweling robot 1000 can perform work on the ground containing unset concrete without worrying about difficulty in traveling due to concrete by using the following crawler chassis 200. For example, the troweling robot 1000 may be a floor troweling robot, and is provided with a blade or the like for troweling as the troweling mechanism 100. The specific troweling mechanism 100 may be selected according to actual operation requirements.
As to the crawler chassis 200, specifically, referring to fig. 2, 3 and 4, the crawler chassis 200 includes:
a chassis 210;
a tension pulley 221; and
the track transmission structure, the tension wheel 221 and the track wheel 230 (mentioned below) are disposed on the base frame 210, and the track 240 (mentioned below) is sleeved on the tension wheel 221 and the track wheel 230.
In brief, the crawler chassis 200 may be used as a walking foundation in a construction environment with concrete by using a crawler transmission structure, so as to facilitate construction of equipment installed on the bottom frame 210.
As to the track transmission structure, specifically, referring to fig. 3 to 6, the track transmission structure of the present embodiment includes:
the crawler wheel 230, the crawler wheel 230 includes a wheel disc 231 and a plurality of columns 233 arranged at intervals along the circumferential direction of the wheel disc 231, the columns 233 extend outwards from the surface of the wheel disc 231 along the axial direction of the wheel disc 231;
the crawler 240, the crawler 240 comprises a belt body 241 and a plurality of transmission teeth 243, the transmission teeth 243 are arranged at intervals along the inner circumferential surface of the crawler 240, the transmission teeth 243 are used for being meshed with the column members 233, and the crawler wheel 230 is meshed with the transmission teeth 243 through the column members 233 for transmission, so as to drive the crawler 240 to move.
The caterpillar track transmission structure is meshed with the transmission teeth 243 through the column-shaped parts 233, when the wheel disc 231 rotates, the plurality of column-shaped parts 233 can drive the transmission teeth 243 to move, the belt body 241 rotates, and no corresponding entity transversely spans between the adjacent column-shaped parts 233 due to the fact that the column-shaped parts 233 are not connected with the column-shaped parts 233, the transmission gear is not similar to a transmission gear which generally has a tooth bottom structure, and the transmission is not influenced by the fact that concrete is accumulated at the tooth bottom of the tooth. Tooth grooves are formed between two adjacent transmission teeth 243 in each row of transmission teeth 243, the width of each tooth groove is larger than the diameter of each columnar part 233, the columnar parts 233 can be in transmission fit with the transmission teeth 243, concrete can be prevented from being blocked between the columnar parts 233 and the transmission teeth 243 after the columnar parts 233 are matched, and in the continuous operation process of the belt body 241, the concrete can be discharged, and the blocking problem of the crawler belt 240 is effectively solved.
Referring to fig. 4, the gap between two adjacent pillars 233 is larger than the tooth thickness of the transmission teeth 243.
Because the clearance of the adjacent column parts 233 is larger than the tooth thickness of the transmission teeth 243, the concrete between the adjacent two column parts 233 and the clamped transmission teeth 243 can be discharged, and the blockage is prevented.
Referring to fig. 5 and fig. 6, the wheel disc 231 of the present embodiment has two side surfaces provided with the column-shaped members 233, the belt body 241 has transmission teeth 243 spaced in the width direction, and the transmission teeth 243 are engaged with the corresponding column-shaped members 233. The column 233 is provided on both side surfaces of the wheel 231, so that the stability of the transmission is improved, and the crawler 240 and the crawler wheel 230 are not easily slipped when the load is heavy, and can be normally operated.
Further, the column 233 of the present embodiment is symmetrically disposed at opposite sides of the wheel disc 231. The two side columns 233 are symmetrically distributed and can be fixedly connected with the wheel disc by using the same connecting shaft as the connecting piece 235, and the connecting piece 235 extends along the axial direction of the wheel disc. Further, in the embodiment, the pins are fixed on the wheel disc 231, and the positions are in one-to-one correspondence, so that whether the fixation meets the one-to-one correspondence requirement can be conveniently determined. Alternatively, the columns 233 on both sides of the wheel disc 231 may not correspond to each other one by one, that is, the number of the columns is not necessarily the same, the distribution positions are not necessarily completely overlapped in the axial projection of the wheel disc 231, and the outer diameters and the outer shapes of the columns 233 on both sides may also be different. Correspondingly, the number of the transmission teeth 243 of the crawler 240 is correspondingly adjusted, the gap between the transmission teeth 243 and the transmission teeth 243 of the same circle is correspondingly adjusted, the gap between the transmission teeth 243 and the outline of the transmission teeth 243 can be changed corresponding to the corresponding column-shaped part 233, as long as the transmission requirements can be met, the concrete entering the space between the column-shaped part 233 and the transmission teeth 243 can be smoothly discharged, the normal transmission requirements of the crawler chassis 200 or the trowelling robot 1000 are guaranteed, and the crawler chassis is not blocked or even cannot move due to the blockage of the concrete when moving.
As for the columnar member 233, the columnar member 233 of the present embodiment has a columnar outer periphery. The periphery of the column 233 is designed to be cylindrical, so that concrete can be discharged more conveniently, and concrete is not easy to remain in dead corners. In this embodiment, the corresponding driving teeth 243 have a step-like shape. It can be understood that the outer circumference of the column 233 can be designed to be a shape with continuous concave-convex change in sequence, the concave and convex portions are arc-shaped, the curvature radius is large, and the arc-shaped wall is in smooth transition, so that although the column is not cylindrical, the concrete is not accumulated in the concave portion, the corresponding transmission teeth 243 can be in the shape of the step, or the concave and convex portions can be designed to be in the shape of the slope to match the outer circumference of the column 233, so that the sufficient contact area is ensured, the meshing with the transmission teeth 243 can be ensured, and the concrete can be discharged normally. In addition, it should be noted that the outer diameter of the column 233 is smaller than the gap between the transmission teeth 243 in the above-mentioned embodiment, which means that not only the column 233 is cylindrical, but also the widest part of the outer profile of the column 233 has a smaller width than the gap between the transmission teeth 243 in other shapes capable of transmitting.
Further, the column 233 of the present embodiment is fixedly attached to the disc 231. By fixing the column 233 to the wheel 231, the transmission efficiency can be further improved, and the crawler 240 and the crawler wheel 230 are not easily slipped. For the floating robot, the column 233 is fixed relative to the wheel disc 231, and the rigid connection is maintained, so that the transmission can be ensured, and the slipping between the crawler 240 and the crawler wheel 230 caused by the rotation of the column 233 can be avoided.
Referring to fig. 3, the tension wheel 221 of this embodiment includes a plurality of flanges 2211, a wheel groove 2212 is formed between two adjacent flanges 2211, the flanges 2211 are used for contacting with the inner circumferential surface of the belt body 241, and the wheel groove 2212 is used for passing the driving teeth 243. The flange 2211 can meet the requirement of tensioning, and the wheel groove 2212 can avoid the transmission teeth 243 to prevent the transmission teeth 243 from interfering with the tensioning wheel 221.
The left and right sides of the crawler chassis 200 in this embodiment are respectively provided with a crawler transmission structure and a matched tensioning wheel. By providing two track drive structures, the stability of the entire tracked chassis 200 is better. In order to improve the bearing capacity, the crawler chassis 200 of the present embodiment is further provided with a bearing wheel assembly, the bearing wheel assembly is rotatably connected to the base frame 210, and the bearing wheel 251 of the bearing wheel assembly is also provided with a groove 2511 similar to the wheel groove 2212 of the tensioning wheel 221 so as to avoid the transmission teeth 243. The number of the bearing wheels 251 on one side of the base frame 210 is two, and the bearing wheels are arranged between the crawler wheels 230 and the tensioning wheels 221, so that the effect of improving the bearing capacity of the whole crawler chassis 200 is achieved, and the floating mechanism 100 is reliably supported. It is understood that the number of the specific load-bearing wheel assemblies can be selected according to actual load-bearing requirements, and will not be described herein.
Of course, the crawler chassis 200 of this embodiment further includes a driving assembly 260, and the driving assembly 260 is fixed to the undercarriage 210 and drives the wheel disc 231 to rotate. In detail, the driving assembly 260 includes a driving member 261 and a driving shaft 263, the driving shaft 263 is connected to the disc 231, and the driving member 261 drives the disc 231 to rotate through the driving shaft 263. By engaging drive assembly 260 with wheel disc 231, the entire track chassis 200 is able to walk on its own for movement in a construction environment. As the driving member 261, a general motor and a speed reducer can be referred to.
The principle of the embodiment is as follows:
the track transmission structure of this embodiment, through the external diameter design to column 233 of athey wheel 230 to the pitch between transmission tooth 243 and the transmission tooth 243 designs, makes each have specific value, and ensures that the pitch is greater than the external diameter of column 233, thereby makes column 233 and transmission tooth 243 meshing transmission in-process, has sufficient clearance, makes the concrete be difficult to the card at the coupling part, thereby has effectively solved the card problem of dunning.
The concrete is only an example, the factor causing blocking during the operation of the floating robot is usually the accumulation of the concrete, but the track transmission structure of the embodiment is adopted, so that the blocking of the concrete can be avoided, and in other floating robots, foreign matters such as stones and mud encountered in the construction environment are not easily blocked, the walking of the track chassis 200 using the track transmission structure is not influenced, and in the walking process, the foreign matters can be discharged, the accumulation cannot influence the subsequent transmission, and the smooth running of the track 240 is ensured.
Further, because the tooth thickness of driving tooth 243 is less than the clearance of two adjacent column 233, can also further promote the ability that prevents foreign matters such as concrete from causing the card pause, in time arrange the foreign matter, further solve the card pause problem, make things convenient for floating robot 1000 to remove at the job site.
To sum up, the crawler transmission structure of this application carries out meshing transmission through column 233 of crawler wheel 230 and the driving tooth 243 of track 240, and design the clearance of driving tooth 243 into and be greater than the external diameter of column 233, make foreign matters such as concrete be difficult to cause the card pause in the cooperation department of column 233 and driving tooth 243, guarantee the smooth and easy operation of track 240, and can discharge the foreign matter at the operation in-process, the guarantee uses this crawler chassis 200 of crawler transmission structure can normally walk, and make the floating robot 1000 who uses this crawler chassis 200 can keep normal work in the operational environment of difference.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A track drive structure, comprising:
the crawler wheel comprises a wheel disc and a plurality of columnar pieces which are arranged along the circumferential direction of the wheel disc at intervals, and the columnar pieces extend outwards from the surface of the wheel disc along the axial direction of the wheel disc;
the crawler belt comprises a belt body and a plurality of transmission teeth, the transmission teeth are arranged at intervals along the inner circumferential surface of the crawler belt, the transmission teeth are used for being meshed with the columnar parts, and the crawler wheels are meshed with the transmission teeth through the columnar parts for transmission so as to drive the crawler belt to move.
2. The track drive of claim 1, wherein the posts are disposed on opposite sides of the wheel.
3. A track drive according to claim 2, wherein the posts are symmetrically arranged on opposite sides of the wheel disc.
4. The track drive of claim 1, wherein adjacent ones of the drive teeth define a gullet therebetween, the gullet having a width greater than a diameter of the post.
5. The track drive of claim 1, wherein adjacent ones of the columns form a gap therebetween, the gap having a width greater than a tooth thickness of the drive teeth.
6. The track drive of claim 1, wherein the track wheel further comprises a plurality of links extending in an axial direction of the wheel disc, the links being configured to secure two of the posts on either side of the wheel disc to the wheel disc.
7. A track chassis, comprising:
a chassis;
a tension wheel mounted on the base frame; and
the track drive structure according to any one of claims 1 to 6, wherein the track roller is attached to the undercarriage, and the track is fitted over the tension roller and the track roller.
8. The track chassis of claim 7, wherein the idler includes a plurality of flanges, and a wheel groove is formed between two adjacent flanges, the flanges being configured to contact an inner circumferential surface of the belt body, and the wheel groove being configured to allow the driving teeth to pass through.
9. The track chassis of claim 7, further comprising a drive assembly secured to the undercarriage for driving rotation of the wheel.
10. A troweling robot, characterized by comprising:
a troweling mechanism; and
a crawler chassis according to any one of claims 7 to 9 wherein the trowelling mechanism is provided to the undercarriage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111345983.9A CN113928432A (en) | 2021-11-15 | 2021-11-15 | Track transmission structure, track chassis and floating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111345983.9A CN113928432A (en) | 2021-11-15 | 2021-11-15 | Track transmission structure, track chassis and floating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113928432A true CN113928432A (en) | 2022-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111345983.9A Pending CN113928432A (en) | 2021-11-15 | 2021-11-15 | Track transmission structure, track chassis and floating robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113928432A (en) |
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| US20040070273A1 (en) * | 2002-06-28 | 2004-04-15 | Cary Safe | Track and drive mechanism for a vehicle |
| CN103935411A (en) * | 2014-04-03 | 2014-07-23 | 芦维强 | Track wheel assembly |
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| CN205059775U (en) * | 2015-08-24 | 2016-03-02 | 刘刚 | Crawler frame people running gear |
| US20160214664A1 (en) * | 2013-11-05 | 2016-07-28 | Npc Robotics Corporation | Low-resistance slip drive of endless track |
| CN105882779A (en) * | 2016-05-14 | 2016-08-24 | 上海大学 | Wall-climbing flaw detection robot |
| CN206218041U (en) * | 2016-12-07 | 2017-06-06 | 北京中联电科技术有限公司 | One kind wheel carries out composite deformation wheel |
| CN211543722U (en) * | 2019-09-24 | 2020-09-22 | 履地科技(天津)有限公司 | Driving wheel with guiding function of rubber crawler traveling system |
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2021
- 2021-11-15 CN CN202111345983.9A patent/CN113928432A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040070273A1 (en) * | 2002-06-28 | 2004-04-15 | Cary Safe | Track and drive mechanism for a vehicle |
| US20160214664A1 (en) * | 2013-11-05 | 2016-07-28 | Npc Robotics Corporation | Low-resistance slip drive of endless track |
| CN103935411A (en) * | 2014-04-03 | 2014-07-23 | 芦维强 | Track wheel assembly |
| CN203766921U (en) * | 2014-04-03 | 2014-08-13 | 栾俭新 | Track wheel assembly |
| CN205059775U (en) * | 2015-08-24 | 2016-03-02 | 刘刚 | Crawler frame people running gear |
| CN105882779A (en) * | 2016-05-14 | 2016-08-24 | 上海大学 | Wall-climbing flaw detection robot |
| CN206218041U (en) * | 2016-12-07 | 2017-06-06 | 北京中联电科技术有限公司 | One kind wheel carries out composite deformation wheel |
| CN211543722U (en) * | 2019-09-24 | 2020-09-22 | 履地科技(天津)有限公司 | Driving wheel with guiding function of rubber crawler traveling system |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220114 |
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| RJ01 | Rejection of invention patent application after publication |