CN202716956U - Omnidirectional mobile crawler - Google Patents

Omnidirectional mobile crawler Download PDF

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Publication number
CN202716956U
CN202716956U CN 201220321205 CN201220321205U CN202716956U CN 202716956 U CN202716956 U CN 202716956U CN 201220321205 CN201220321205 CN 201220321205 CN 201220321205 U CN201220321205 U CN 201220321205U CN 202716956 U CN202716956 U CN 202716956U
Authority
CN
China
Prior art keywords
crawler
crawler belt
caterpillar block
road wheel
tread
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.)
Expired - Fee Related
Application number
CN 201220321205
Other languages
Chinese (zh)
Inventor
李旭
谢方平
刘大为
黄利
叶强
袁开放
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Agricultural University
Original Assignee
Hunan Agricultural University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hunan Agricultural University filed Critical Hunan Agricultural University
Priority to CN 201220321205 priority Critical patent/CN202716956U/en
Application granted granted Critical
Publication of CN202716956U publication Critical patent/CN202716956U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

Provided is an omnidirectional mobile crawler. The omnidirectional mobile crawler comprises a crawler body, wherein a drive wheel driven by a motor enables the crawler body to rotate, the crawler body is formed by a plurality of tread shoes, the end of one tread shoe is connected with the front of the other tread shoe in a mutually hinged mode, and the left and the right sides of the tread shoes are provided with traveling wheels which are capable of freely rotating around a shaft. Due to the facts that the traveling wheels are capable of rotating freely and friction with the ground is small, motion power consumption of the crawler is also small and running stability is enhanced. In addition, by means of controlling speed difference of the left crawler and the right crawler together with rotation of a hub wheel, a transverse move of the crawler is achieved and steering is flexible.

Description

A kind of omnirange moves crawler belt
Technical field
The utility model relates to a kind of track unit, and particularly a kind of omnirange moves crawler belt.
Background technology
Running gear can be divided into wheeled and crawler type two large classes.The characteristics of running gear system are low in energy consumption, and are more motor-driven, but poor by the Performance Ratio crawler type; The crawler-mounted characteristics then are large with contact area of ground, and carrying capacity is strong, and cterpillar drive can utilize the differential of crawler belt realize to turn, and turn radius is little, or even pivot turn.But there are two more serious shortcomings in track unit in the process of using at present: the one, because large with the large friction force of contact area of ground, so consumption of power is large, part is easy to wear when turning to; The 2nd, when changing sense of motion, need to adjust crawler belt towards, increased the complexity of operation.
The utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art and provides a kind of simple in structure, and consumption of power is little, part is not easy to wear, reduced the complexity that operates, and the omnirange that has improved the stability of walking moves crawler belt.
A kind of omnirange moves crawler belt, comprises the crawler belt body, and described crawler belt body drives running by motor-driven driving wheel, and described crawler belt body consists of by being hinged before and after the polylith caterpillar block, and the left and right sides of described caterpillar block is equipped with road wheel.
In the utility model, the central axis of the wheel hub of described caterpillar block both sides is parallel to each other, and the central axis of described road wheel and described crawler belt body central axis angle are 0~90 degree.
In the utility model, described road wheel is installed on the caterpillar block by axle and bearing
Adopt said structure, the running of motor-driven driving wheel drives the track link motion, when appearring in the both sides track link, speed discrepancy can produce divertical motion, owing on the caterpillar block of this device the road wheel that can freely rotate being installed, can need not to change the turning to towards the realization crawler belt of crawler belt, and because the friction on road wheel and ground is little, therefore consumption of power is also little, improved the stability of walking, and can be by the velocity contrast of control left and right sides crawler belt, realize the transverse shifting of crawler belt in conjunction with the rotation of hub wheel, turn to flexibly.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of the utility model caterpillar block.
The specific embodiment
Below in conjunction with accompanying drawing, describe the specific embodiment that a kind of omnirange moves crawler belt in detail.
As shown in Figure 1, 2, a kind of omnirange moves crawler belt, comprises the crawler belt main body, and the crawler belt main body is comprised of caterpillar block 1 and track pin, and track pin couples together the formation track link with caterpillar block 1; Porose in the middle of the caterpillar block 1, with the driving wheel engagement, a road wheel 2 is installed in every caterpillar block 1 both sides, and road wheel 2 is installed on the caterpillar block 1 by axle and bearing, can rotate flexibly.The central axis of the road wheel 2 of described caterpillar block 1 both sides is parallel to each other, and the central axis of described road wheel 2 and described crawler belt body central axis angle can be 0~90 degree.Described road wheel is rubber wheel.
During work, motor-driven driving wheel running drives the track link motion, can produce divertical motion when speed discrepancy appears in the both sides track link owing on the caterpillar block of the present utility model road wheel being installed, so this moment crawler belt turn to need not to change towards.

Claims (3)

1. an omnirange moves crawler belt, comprise the crawler belt body, described crawler belt body drives running by motor-driven driving wheel, it is characterized in that: described crawler belt body consists of by being hinged before and after the polylith caterpillar block, and the road wheel that can freely rotate around axle is installed on the described every caterpillar block.
2. omnirange according to claim 1 moves crawler belt, it is characterized in that: the road wheel that the central axis that the both sides of described caterpillar block are equipped with is parallel to each other, the central axis of described road wheel and described crawler belt body central axis angle are 0 degree~90 degree.
3. omnirange according to claim 2 moves crawler belt, it is characterized in that: described road wheel is installed on the caterpillar block by axle and bearing.
CN 201220321205 2012-07-04 2012-07-04 Omnidirectional mobile crawler Expired - Fee Related CN202716956U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220321205 CN202716956U (en) 2012-07-04 2012-07-04 Omnidirectional mobile crawler

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220321205 CN202716956U (en) 2012-07-04 2012-07-04 Omnidirectional mobile crawler

Publications (1)

Publication Number Publication Date
CN202716956U true CN202716956U (en) 2013-02-06

Family

ID=47618788

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220321205 Expired - Fee Related CN202716956U (en) 2012-07-04 2012-07-04 Omnidirectional mobile crawler

Country Status (1)

Country Link
CN (1) CN202716956U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102756764A (en) * 2012-07-04 2012-10-31 湖南农业大学 Omni-directional moving track
CN104859737A (en) * 2015-05-20 2015-08-26 潘江如 Universal caterpillar chassis
CN106515886A (en) * 2016-12-06 2017-03-22 哈工大机器人集团上海有限公司 Omni-directional moving transmission continuous track
CN109178240A (en) * 2018-08-21 2019-01-11 中国船舶重工集团公司第七〇九研究所 A kind of submarine mechanical formula sewage disposal apparatus

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102756764A (en) * 2012-07-04 2012-10-31 湖南农业大学 Omni-directional moving track
CN104859737A (en) * 2015-05-20 2015-08-26 潘江如 Universal caterpillar chassis
CN106515886A (en) * 2016-12-06 2017-03-22 哈工大机器人集团上海有限公司 Omni-directional moving transmission continuous track
CN106515886B (en) * 2016-12-06 2019-05-03 哈工大机器人集团上海有限公司 A kind of driven pedrail of omnidirectional moving
CN109178240A (en) * 2018-08-21 2019-01-11 中国船舶重工集团公司第七〇九研究所 A kind of submarine mechanical formula sewage disposal apparatus

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130206

Termination date: 20130704