CN203920957U - A kind of restructural rubber belt track - Google Patents
A kind of restructural rubber belt track Download PDFInfo
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- CN203920957U CN203920957U CN201420244855.4U CN201420244855U CN203920957U CN 203920957 U CN203920957 U CN 203920957U CN 201420244855 U CN201420244855 U CN 201420244855U CN 203920957 U CN203920957 U CN 203920957U
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- crawler belt
- projection
- athey wheel
- wheel
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Abstract
The utility model relates to a kind of restructural rubber belt track, be used in conjunction with Athey wheel, the wheel body outer ring of Athey wheel is evenly distributed with tooth, it is characterized in that, the outside face of described crawler belt main body is evenly distributed with the circular projection of more piece (1), between adjacent circular projection (1), be provided with certain gap, provide length reserved for crawler belt stretches, every pitch circle shape projection (1) is called a track section; Inner side in crawler belt main body is stretched and is regained the interior coil spring (3) that elastic force is provided by the fixing promising crawler belt of spring fixed block (5), both sides in each track section inner side are provided with side projection (6), in order to cooperatively interact with the between cog groove of the wheel body outer ring of Athey wheel; Be provided with a pin (8) every the track section of some, be connected with respectively a bearing (4) at the two ends of pin (8), in order to engage with Athey wheel.Crawler belt of the present utility model can improve the comformability of robot road pavement, makes its wheeled and crawler-mounted advantage that can get both.
Description
Technical field
The utility model belongs to small scale robot field, is specifically related to the rubber belt track that a kind of robot is used.
Background technology
Mobile robot is as an important branch of robot, in scouting, tour, warning, clearance such as get rid of the danger at danger and the harsh environment, has broad application prospects.Small-scale terrestrial robot is little with its volume, cost is low, viability is strong, the feature such as flexible of moving, and becomes the another focus of research.Generally speaking, there is the machine moving structure of three types: wheeled, crawler type and leg formula, that wheeled robot has is simple in structure, it is convenient to control, speed is high, motion is flexible and the advantage such as low energy consumption, but it is not suitable for leap as obstacles such as ditch person of outstanding talent, step, stair, and obstacle climbing ability is poor.The robot that the robot of track structure is compared wheeled construction has stronger landform adaptive capacity, under precipitous landform, complex environment, there are higher obstacle climbing ability and good compatible with environment, but owing to there is larger friction drag, its energy consumption is very high and kinematic velocity is low.Theoretically, legged mobile robot is kinematic mechanism the most flexibly, and still, legged mobile robot conventionally has complicated physical construction and controls complicatedly, wants to realize stable walking at a high speed, also has many difficult problems to need to solve.
Utility model content
In order to improve the comformability of robot road pavement, make its wheeled and crawler-mounted advantage that can get both, the utility model provides a kind of restructural rubber belt track.The robot moving mechanism that this kind of crawler belt has been installed can have different walking manners.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of restructural rubber belt track, be used in conjunction with Athey wheel, the wheel body outer ring of Athey wheel is evenly distributed with tooth, it is characterized in that, the outside face of described crawler belt main body is evenly distributed with the circular projection of more piece (1), between adjacent circular projection (1), be provided with certain gap, provide length reserved for crawler belt stretches, every pitch circle shape projection (1) is called a track section; Inner side in crawler belt main body is stretched and is regained the interior coil spring (3) that elastic force is provided by the fixing promising crawler belt of spring fixed block (5), both sides in each track section inner side are provided with side projection (6), in order to cooperatively interact with the between cog groove of the wheel body outer ring of Athey wheel; Be provided with a pin (8) every the track section of some, be connected with respectively a bearing (4) at the two ends of pin (8), in order to engage with Athey wheel.
As preferred implementation, described restructural rubber belt track, between adjacent circular projection (1), be provided with T shape projection (2), between adjacent circular projection (1) and T shape projection (2), be provided with certain gap; Two ends at pin (8) are connected with a bearing (4) by jump ring (7) respectively.
Crawler belt of the present utility model is used in conjunction with corresponding Athey wheel, the ability that makes the robot that this kind of deformable crawler belt is installed can take turns-carry out according to different condition of road surfaces conversion, in the time that it runs into the road surface of bad situation, robot can advance in crawler belt mode, in the time that it runs into the road surface of good condition, robot adopts wheeled mode to move ahead.
Brief description of the drawings
Fig. 1 is the front view of the circular state of crawler belt of the present utility model.
Fig. 2 is the oblique drawing of the circular state of crawler belt of the present utility model.
Fig. 3 is the front view of the triangle state of crawler belt of the present utility model.
Fig. 4 is the oblique drawing of the triangle state of crawler belt of the present utility model.
Fig. 5 is the oblique drawing of crawler belt and the intermeshing circular state of Athey wheel.
Fig. 6 is the oblique drawing of crawler belt and the intermeshing circular state of Athey wheel.
Fig. 1 in Fig. 4,1 circular projection, 2T shape projection, 3 interior coil springs, 4 bearings, 5 spring fixed blocks, 6 side projections, 7 jump rings, 8 pin.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Restructural rubber belt track of the present utility model can be divided into 36 trifles, each trifle is made up of the side projections 6 of coil spring 3, spring fixed block 5 and both sides in circular projection 1, T shape projection 2, two joints, and every four trifles are provided with a pin 8, two bearings 4 and two jump rings 7.Circular projection 1 and T shape projection 2 also come the outermost of crawler belt, have certain interval between them, can increase the friction while also can ensure that crawler belt has enough elongations in stretching process in the time contact with ground.Inner ring spring fitting, at crawler belt bosom position, can provide crawler belt to stretch and regain needed larger elastic force.The friction that side projection 6 increases crawler belt and drive wheel reduces the possibility that crawler belt skids.Bearing 4 is fixing with jump ring 7 by pin 8, and it engages the transmission that ensures crawler belt with the external tooth of drive wheel.
Restructural rubber belt track of the present utility model adopts natural rubber to make as material monolithic moulding, can make it have good contractibility, its surperficial circular projection 1 form alternate with T shape projection 2, between circular projection, there is the recessed of certain distance, be provided with certain gap, for crawler belt stretches reserved spread length.Middle part at track section is provided with two row's extension springs by spring fixed block 5, and its effect is to regain elastic force is provided for the stretching, extension of crawler belt, can stretch rapidly and regain.Two sides at track section are separately installed with 9 bearings, and it is fixed by the pin 8 of moulding together with crawler belt and outside jump ring 7, and effect is to engage with track sprocket, in crawler haulage process, provides pulling force.Have side projection 6 on the both sides of track section, it engages with circular groove on track sprocket, to prevent that crawler belt from skidding.
Crawler belt of the present utility model and the Athey wheel that matches with it oblique drawing under circular state and triangle state is as Fig. 5 and Fig. 6, the drive form of Athey wheel and crawler belt adopts tooth mesh type of belt drive, bearing on crawler belt matches with the tooth of wheel body outer ring, can there is not skidding in crawler belt and drive wheel, can transmit very large power.The reason that adopts bearing is because crawler belt needs to stretch, and bearing need to be in the between cog motion of drive wheel, and bearing is flexible, can make to stretch withdrawal process comparatively submissive.
The present embodiment is most preferred embodiment, is provided with T-shaped projection between two circular projections, and T-shaped projection plays to be increased friction and increase weight capacity.The utility model also has other embodiment, for example, T-shaped projection is not set, or makes pyramidal projections into, and pyramidal projections also can play the effect that increases friction force.
Claims (3)
1. a restructural rubber belt track, be used in conjunction with Athey wheel, the wheel body outer ring of Athey wheel is evenly distributed with tooth, it is characterized in that, the outside face of described crawler belt main body is evenly distributed with the circular projection of more piece (1), between adjacent circular projection (1), be provided with certain gap, provide length reserved for crawler belt stretches, every pitch circle shape projection (1) is called a track section; Inner side in crawler belt main body is stretched and is regained the interior coil spring (3) that elastic force is provided by the fixing promising crawler belt of spring fixed block (5), both sides in each track section inner side are provided with side projection (6), in order to cooperatively interact with the between cog groove of the wheel body outer ring of Athey wheel; Be provided with a pin (8) every the track section of some, be connected with respectively a bearing (4) at the two ends of pin (8), in order to engage with Athey wheel.
2. restructural rubber belt track according to claim 1, it is characterized in that, between adjacent circular projection (1), be provided with T shape projection (2), between adjacent circular projection (1) and T shape projection (2), be provided with certain gap.
3. restructural rubber belt track according to claim 1, is characterized in that, is connected with a bearing (4) respectively at the two ends of pin (8) by jump ring (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420244855.4U CN203920957U (en) | 2014-05-13 | 2014-05-13 | A kind of restructural rubber belt track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420244855.4U CN203920957U (en) | 2014-05-13 | 2014-05-13 | A kind of restructural rubber belt track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203920957U true CN203920957U (en) | 2014-11-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420244855.4U Expired - Fee Related CN203920957U (en) | 2014-05-13 | 2014-05-13 | A kind of restructural rubber belt track |
Country Status (1)
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| CN (1) | CN203920957U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002884A (en) * | 2014-05-13 | 2014-08-27 | 中国人民解放军军事交通学院 | Reconfigurable rubber track belt |
| CN104443088A (en) * | 2014-12-10 | 2015-03-25 | 孙欣 | Track wheel mechanism |
| CN104443086A (en) * | 2014-12-10 | 2015-03-25 | 中国矿业大学 | Hydraulic telescopic transformable crawler wheel |
| CN104943759A (en) * | 2015-06-24 | 2015-09-30 | 中国人民解放军63908部队 | Rubber belt track wheel train design method |
| CN104443090B (en) * | 2014-12-10 | 2016-09-21 | 湖南省农广农业装备有限公司 | A kind of Athey wheel of changeable pattern |
| CN110803229A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Obstacle-crossing walking device |
-
2014
- 2014-05-13 CN CN201420244855.4U patent/CN203920957U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002884A (en) * | 2014-05-13 | 2014-08-27 | 中国人民解放军军事交通学院 | Reconfigurable rubber track belt |
| CN104443088A (en) * | 2014-12-10 | 2015-03-25 | 孙欣 | Track wheel mechanism |
| CN104443086A (en) * | 2014-12-10 | 2015-03-25 | 中国矿业大学 | Hydraulic telescopic transformable crawler wheel |
| CN104443088B (en) * | 2014-12-10 | 2016-09-21 | 湖南省农广农业装备有限公司 | Athey wheel mechanism |
| CN104443090B (en) * | 2014-12-10 | 2016-09-21 | 湖南省农广农业装备有限公司 | A kind of Athey wheel of changeable pattern |
| CN104943759A (en) * | 2015-06-24 | 2015-09-30 | 中国人民解放军63908部队 | Rubber belt track wheel train design method |
| CN110803229A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Obstacle-crossing walking device |
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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: 20141105 Termination date: 20150513 |
|
| EXPY | Termination of patent right or utility model |