CN203806027U - Caterpillar track for tracked mobile robot - Google Patents
Caterpillar track for tracked mobile robot Download PDFInfo
- Publication number
- CN203806027U CN203806027U CN201420241303.8U CN201420241303U CN203806027U CN 203806027 U CN203806027 U CN 203806027U CN 201420241303 U CN201420241303 U CN 201420241303U CN 203806027 U CN203806027 U CN 203806027U
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- belt
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- block
- crawler
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Abstract
The utility model belongs to the field of mobile robots, in particular to a caterpillar track for a tracked mobile robot. The caterpillar track comprises a main track and an auxiliary track. The main track comprises a main synchronous track body, anti-deviation stoppers, anti-deviation guide strips, a plurality of travelling stoppers, and a plurality of main track teeth; the travelling stoppers are evenly arranged on the outer surface of the main synchronous track body in the length-wise direction thereof; the main track teeth are evenly distributed on the inner surface of the main synchronous track body in the length-wise direction thereof; the anti-deviation stoppers and the anti-deviation guide strips are mounted on each side of the inner surface of the main synchronous track body. The auxiliary track comprises an auxiliary synchronous track body, auxiliary track anti-deviation stoppers, a plurality of auxiliary track travelling stoppers, and a plurality of auxiliary track teeth; the auxiliary track travelling stoppers are evenly distributed on the outer surface of the auxiliary synchronous track body in the length-wise direction thereof; the auxiliary track teeth are evenly distributed on the inner surface of the auxiliary synchronous track body in the length-wise direction thereof; the auxiliary track anti-deviation stoppers are mounted on the inner surface of the auxiliary synchronous track body. The caterpillar track is widely applicable, well adaptive and the like, is applicable to any type of tracked mobile robots and is simple to process.
Description
Technical field
The utility model belongs to mobile robot field, specifically a kind of crawler belt of caterpillar mobile robot.
Background technology
Along with the deep development of mobile robot technology, the caterpillar mobile robot that carrying capacity is strong is widely applied.Crawler belt is the vitals of caterpillar mobile robot, and mostly traditional crawler belt is by Mold Making or mechanical connection.The crawler belt of Mold Making is applicable to special-purpose mobile robot, but cost is high, and commonality is poor; The crawler belt cost of mechanical connection is low, but poor reliability.Develop the crawler belt that a kind of applicability is strong, reliability is high, cost is low and there is very large essentiality.
Utility model content
In order to solve traditional moulds, make crawler belt or the existing the problems referred to above of mechanical connection crawler belt, the purpose of this utility model is to provide a kind of crawler belt of caterpillar mobile robot.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises main crawler belt and auxiliary crawler belt, wherein main crawler belt comprises main Timing Belt belt body, anti-deviation block, anti-deviation sliver, walking block and master tape tooth, the outside face of described main Timing Belt belt body is evenly equipped with a plurality of walking blocks along band length direction, inside face is evenly equipped with a plurality of master tape teeth along band length direction, and the both sides of described main Timing Belt belt body inside face are all provided with anti-deviation block and anti-deviation sliver; Described auxiliary crawler belt comprises assist in synchronization band belt body, the auxiliary anti-deviation block of crawler belt, auxiliary crawler travel block and auxiliary band tooth, the outside face of described assist in synchronization band belt body is evenly equipped with a plurality of auxiliary crawler travel blocks along band length direction, inside face is evenly equipped with a plurality of auxiliary band teeth along band length direction, and the anti-deviation block of described auxiliary crawler belt is arranged on the inside face of assist in synchronization band belt body.
Wherein: the anti-deviation sliver of described main Timing Belt belt body inside face both sides is parallel to each other, between the anti-deviation sliver in both sides and the outside of the anti-deviation sliver of every side be equipped with described master tape tooth; On the master tape tooth in the anti-deviation sliver of described every side outside, be equipped with described anti-deviation block; The master tape tooth both sides of described main Timing Belt belt body inside face are milled with respectively groove, are welded with described anti-deviation sliver in described groove, and the anti-deviation block in anti-deviation sliver outside, both sides is corresponding between two;
Described main Timing Belt belt body is ring-shaped synchronous belt, the block of walking described in each on its outside face is parallel to each other, described in each on inside face, master tape tooth is parallel to each other and is parallel to described walking block, and described walking block and the toothed length direction of described master and described main Timing Belt belt body axially in the same way; Each auxiliary toothed middle part of described assist in synchronization band belt body inside face is equipped with the anti-deviation block of described auxiliary crawler belt; Described assist in synchronization band belt body is ring-shaped synchronous belt, described in each on its outside face, auxiliary crawler travel block is parallel to each other, described in each on inside face, auxiliary band tooth is parallel to each other and is parallel to described auxiliary crawler travel block, and described auxiliary crawler travel block and described auxiliary toothed length direction and described auxiliary crawler belt belt body axially in the same way.
Advantage of the present utility model and good effect are:
1. be widely used; The utility model can be used on any a caterpillar mobile robot, and main crawler belt can be realized the main movement of caterpillar mobile robot, make caterpillar type robot can be on applicable ground steadily, motion reliably; Auxiliary crawler belt can assist main crawler belt to realize caterpillar mobile robot motion, when caterpillar mobile robot obstacle detouring, plays a significant role.
2. strong adaptability; The utility model can need to change the shape of crawler belt according to actual conditions, and processing is simple, with low cost.
3. the main Timing Belt belt body inside face of the utility model both sides are all provided with anti-deviation block and anti-deviation sliver, and caterpillar robot is moved can be steadily, reliably.
4. each auxiliary toothed middle part of the utility model assist in synchronization band belt body inside face is all provided with the auxiliary anti-deviation block of crawler belt, the caterpillar mobile robot obstacle detouring of being more convenient for.
Accompanying drawing explanation
Fig. 1 is the structural representation of the main crawler belt of the utility model;
Fig. 2 is the structural representation of the auxiliary crawler belt of the utility model;
Wherein: 1 is main crawler belt, 11 is main Timing Belt belt body, and 12 is anti-deviation block, and 13 is anti-deviation sliver, 14 is walking block, and 15 is master tape tooth, and 2 is auxiliary crawler belt, and 21 is assist in synchronization band belt body, 22 is the auxiliary anti-deviation block of crawler belt, and 23 is auxiliary crawler travel block, and 24 is auxiliary band tooth.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Crawler belt of the present utility model comprises main crawler belt 1 and auxiliary crawler belt 2, and as shown in Figure 1, main crawler belt 1 comprises main Timing Belt belt body 11, anti-deviation block 12, anti-deviation sliver 13, walking block 14 and master tape tooth 15; As shown in Figure 2, auxiliary crawler belt 2 comprises assist in synchronization band belt body 21, the auxiliary anti-deviation block 22 of crawler belt, auxiliary crawler travel block 23 and auxiliary band tooth 24.
Main Timing Belt belt body 11, anti-deviation block 12, anti-deviation sliver 13, walking block 14 and master tape tooth 15 are polyurethane material.Main Timing Belt belt body 11 is annular polyurethane synchronous belts, on its outside face, along band length direction (being annular circumferencial direction), be evenly equipped with a plurality of walking blocks 14, the shape of this walking block 14 and spacing can be selected according to the working environment of caterpillar mobile robot and the width of main Timing Belt belt body 11; The end face of walking block 14 length directions of the present embodiment is isosceles trapezoid, and two trapezoidal waists are circular-arc, and the length of walking block 14 is less than the bandwidth of main Timing Belt belt body 11; Trapezoidal upper base outwardly, when moving, caterpillar mobile robot contacts with ground or obstacle, trapezoidal go to the bottom with main Timing Belt belt body 11 between adopt existing polyurethane welding method to be connected, the block 14 of walking is melted with the connecting portion of main Timing Belt belt body 11, then merges.The block 14 of respectively walking on main Timing Belt belt body 11 outside faces is parallel to each other, and spacing equates.
The inside face of main Timing Belt belt body 11 is evenly equipped with a plurality of master tape teeth 15 along band length direction (being annular circumferencial direction), and the profile of tooth of this master tape tooth 15, pitch, length and width can be selected as required.Each master tape tooth 15 is parallel to each other and is parallel to walking block 14, and the length direction of walking block 14 and master tape tooth 15 and main Timing Belt belt body 11 axially in the same way.Master tape tooth 15 both sides of main Timing Belt belt body 11 inside faces, by the method (milling) of machine up, fall the tooth that need to weld anti-deviation sliver 13 positions, the both sides that are master tape tooth 15 respectively process a groove, and anti-deviation sliver 13 is welded on anodontia position, master tape tooth 15 both sides (being in described groove).The anti-deviation sliver 13 of main Timing Belt belt body 11 inside face both sides is parallel to each other, and on the master tape tooth 15 in the anti-deviation sliver of every side 13 outsides, is equipped with anti-deviation block 12, and the anti-deviation block 12 in anti-deviation sliver 13 outsides, both sides is corresponding between two.The shape of anti-deviation block 12 and anti-deviation sliver 13 can be selected as required, and the spacing between each anti-deviation block 12 also can be determined as required; The anti-deviation block 12 of the present embodiment be shaped as quadrntnt, wherein a square edge and anti-master tape tooth 15 welding with local derviation bar 13 outsides, another square edge is towards the corresponding anti-deviation block 12 of opposite side (being that circular arc arranges outwardly).
Assist in synchronization band belt body 21, the auxiliary anti-deviation block 22 of crawler belt, auxiliary crawler travel block 23 and auxiliary band tooth 24 are polyurethane material.Assist in synchronization band belt body 21 is ring-shaped synchronous belt, on its outside face, along band length direction (being annular circumferencial direction), be evenly equipped with a plurality of auxiliary crawler travel blocks 23, the shape of this auxiliary crawler travel block 23 and spacing can be selected according to the working environment of caterpillar mobile robot and the width of assist in synchronization band belt body 21; The end face of auxiliary crawler travel block 23 length directions of the present embodiment is isosceles trapezoid, and two trapezoidal waists are circular-arc, and the length of auxiliary crawler travel block 23 is less than the bandwidth of assist in synchronization band belt body 21; Trapezoidal upper base outwardly, when moving, caterpillar mobile robot contacts with ground or obstacle, trapezoidal go to the bottom with assist in synchronization band belt body 21 between adopt existing polyurethane welding method to be connected, auxiliary crawler travel block 23 is melted with the connecting portion of assist in synchronization band belt body 21, then merges.Each auxiliary crawler travel block 23 on assist in synchronization band belt body 21 outside faces is parallel to each other, and spacing equates.
The inside face of assist in synchronization band belt body 21 is evenly equipped with a plurality of auxiliary band teeth 24 along band length direction (being annular circumferencial direction), and this auxiliary profile of tooth with tooth 24, pitch, length and width can be selected as required.Each auxiliary band tooth 24 is parallel to each other and is parallel to auxiliary crawler travel block 23, and auxiliary crawler travel block 23 and the auxiliary length direction with tooth 24 and assist in synchronization band belt body 21 axially in the same way.Each auxiliary middle part with tooth 24 of assist in synchronization band belt body 21 inside faces is equipped with the auxiliary anti-deviation block 22 of crawler belt, and shape and the spacing of the anti-deviation block 22 of this auxiliary crawler belt can be selected as required; The anti-deviation block 22 of auxiliary crawler belt of the present embodiment be shaped as oblong, rectangular one side is welded on auxiliary band tooth 24, two angle rounding ofves of the one side relative with this face.
Main crawler belt 1 of the present utility model can be realized the main movement of caterpillar mobile robot, make caterpillar type robot can be on applicable ground steadily, motion reliably; Auxiliary crawler belt 2 can assist main crawler belt 1 to realize caterpillar mobile robot motion, when caterpillar mobile robot obstacle detouring, plays a significant role.
Claims (7)
1. the crawler belt of a caterpillar mobile robot, it is characterized in that: comprise main crawler belt (1) and auxiliary crawler belt (2), wherein main crawler belt (1) comprises main Timing Belt belt body (11), anti-deviation block (12), anti-deviation sliver (13), walking block (14) and master tape tooth (15), the outside face of described main Timing Belt belt body (11) is evenly equipped with a plurality of walking blocks (14) along band length direction, inside face is evenly equipped with a plurality of master tape teeth (15) along band length direction, the both sides of described main Timing Belt belt body (11) inside face are all provided with anti-deviation block (12) and anti-deviation sliver (13), described auxiliary crawler belt (2) comprises assist in synchronization band belt body (21), the auxiliary anti-deviation block of crawler belt (22), auxiliary crawler travel block (23) and auxiliary band tooth (24), the outside face of described assist in synchronization band belt body (21) is evenly equipped with a plurality of auxiliary crawler travel blocks (23) along band length direction, inside face is evenly equipped with a plurality of auxiliary band teeth (24) along band length direction, and the anti-deviation block of described auxiliary crawler belt (22) is arranged on the inside face of assist in synchronization band belt body (21).
2. by the crawler belt of caterpillar mobile robot described in claim 1, it is characterized in that: the anti-deviation sliver (13) of described main Timing Belt belt body (11) inside face both sides is parallel to each other, between the anti-deviation slivers in both sides (13) and the outside of the anti-deviation sliver of every side (13) be equipped with described master tape tooth (15).
3. by the crawler belt of caterpillar mobile robot described in claim 2, it is characterized in that: on the master tape tooth (15) in the anti-deviation sliver of described every side (13) outside, be equipped with described anti-deviation block (12).
4. by the crawler belt of caterpillar mobile robot described in claim 2, it is characterized in that: master tape tooth (15) both sides of described main Timing Belt belt body (11) inside face are milled with respectively groove, in described groove, be welded with described anti-deviation sliver (13), the anti-deviation block (12) in the anti-deviation slivers in both sides (13) outside is corresponding between two.
5. by the crawler belt of caterpillar mobile robot described in the arbitrary claim of claim 1 to 4, it is characterized in that: described main Timing Belt belt body (11) is ring-shaped synchronous belt, the block (14) of walking described in each on its outside face is parallel to each other, described in each on inside face, master tape tooth (15) is parallel to each other and is parallel to described walking block (14), and the length direction of described walking block (14) and described master tape tooth (15) and described main Timing Belt belt body (11) axially in the same way.
6. by the crawler belt of caterpillar mobile robot described in claim 1, it is characterized in that: the middle part of each auxiliary band tooth (24) of described assist in synchronization band belt body (21) inside face is equipped with the anti-deviation block of described auxiliary crawler belt (22).
7. by the crawler belt of caterpillar mobile robot described in claim 6, it is characterized in that: described assist in synchronization band belt body (21) is ring-shaped synchronous belt, described in each on its outside face, auxiliary crawler travel block (23) is parallel to each other, described in each on inside face, auxiliary band tooth (24) is parallel to each other and is parallel to described auxiliary crawler travel block (23), and the length direction of described auxiliary crawler travel block (23) and described auxiliary band tooth (24) and described auxiliary crawler belt belt body (21) axially in the same way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420241303.8U CN203806027U (en) | 2014-05-12 | 2014-05-12 | Caterpillar track for tracked mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420241303.8U CN203806027U (en) | 2014-05-12 | 2014-05-12 | Caterpillar track for tracked mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203806027U true CN203806027U (en) | 2014-09-03 |
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ID=51444823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420241303.8U Expired - Fee Related CN203806027U (en) | 2014-05-12 | 2014-05-12 | Caterpillar track for tracked mobile robot |
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| Country | Link |
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| CN (1) | CN203806027U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002883A (en) * | 2014-05-12 | 2014-08-27 | 中国科学院沈阳自动化研究所 | Crawler belt of crawler belt type mobile robot |
| CN108583706A (en) * | 2018-04-16 | 2018-09-28 | 北京海风智能科技有限责任公司 | A kind of synchronous belt type rubber belt track anticreep design |
| CN113734309A (en) * | 2021-09-26 | 2021-12-03 | 北京凌天智能装备集团股份有限公司 | Crawler system and crawler processing technology |
-
2014
- 2014-05-12 CN CN201420241303.8U patent/CN203806027U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002883A (en) * | 2014-05-12 | 2014-08-27 | 中国科学院沈阳自动化研究所 | Crawler belt of crawler belt type mobile robot |
| CN104002883B (en) * | 2014-05-12 | 2016-06-29 | 中国科学院沈阳自动化研究所 | A kind of crawler belt of caterpillar mobile robot |
| CN108583706A (en) * | 2018-04-16 | 2018-09-28 | 北京海风智能科技有限责任公司 | A kind of synchronous belt type rubber belt track anticreep design |
| CN113734309A (en) * | 2021-09-26 | 2021-12-03 | 北京凌天智能装备集团股份有限公司 | Crawler system and crawler processing technology |
| CN113734309B (en) * | 2021-09-26 | 2024-02-09 | 北京凌天智能装备集团股份有限公司 | Track system and track processing technology |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140903 Termination date: 20170512 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |