CN210502925U

CN210502925U - Multi-support multi-roller crawler component and crawler

Info

Publication number: CN210502925U
Application number: CN201921312492.2U
Authority: CN
Inventors: 张豫南; 房远; 华俊; 刘艳华; 杨怀彬; 张传杨; 周野; 董政; 闫猛飞
Original assignee: Academy of Armored Forces of PLA
Current assignee: Academy of Armored Forces of PLA
Priority date: 2019-08-13
Filing date: 2019-08-13
Publication date: 2020-05-12
Anticipated expiration: 2029-08-13

Abstract

The utility model discloses a many support gyro wheels track component and track. The track member includes a track plate having rollers mounted thereon. The track shoe comprises a shoe body, wherein a supporting component is arranged on the shoe body, and track pins are arranged on two sides of the shoe body. The supporting member comprises two roller supports and a roller support which are coaxially and sequentially arranged in a separated mode, and the two rollers are installed on the supporting member through roller bolts. The threaded end of the roller bolt penetrates through the through holes of the two roller supports and then is in threaded connection with the locking nut, the head of the roller bolt is arranged on the positioning groove of the roller support, the roller is rotatably arranged on the screw rod of the roller bolt in a penetrating mode, the roller forms an offset angle relative to the track pin, one roller is arranged between the two roller supports, and the other roller is arranged between the roller support and the roller support. The utility model discloses track component compact structure can keep the gyro wheel to touch to earth the very first time, and the collision wear is few, and long service life has advantages such as reduction noise and vibration, all kinds of road surface strong adaptability.

Description

Multi-support multi-roller crawler component and crawler

Technical Field

The utility model relates to a track structure indicates a many gyro wheel track components of supporting suitable for crawler-type all direction movement platform, the high-efficient steering platform of crawler-type etc. especially to and the track that constitutes by many gyro wheel track components of supporting.

Background

The omni-directional mobile platform is also called as an omni-directional mobile platform, and refers to a mobile platform which can move along an X axis and a Y axis on a two-dimensional plane, can rotate around the center of the platform and can complete the compound motion. The omni-directional mobile platform can be divided into a wheeled omni-directional mobile platform and a crawler-type omni-directional mobile platform according to the difference of the appearance and the structure of the walking mechanism. The walking mechanism of the wheel type omnibearing moving platform mainly comprises a Mecanum wheel, a Transwheel, an Orthogonal wheel and the like. The walking mechanism of the Crawler-type omnibearing moving platform mainly comprises an omnibearing Free wheel Crawler (Omnidirectional Crawler with Free Rollers), a VUTON-I Crawler (VUTON-ICrawler), an omnibearing ball wheel Crawler (Omnidirectional planetary Tire Crawler) and the like.

The omnibearing mobile platform is widely applied to the engineering machinery fields of logistics, storage, cave depot operation and the like. However, in use, wheeled omni-directional mobile platforms expose a number of problems, such as: the requirement on the ground flatness is high, the slippage is serious, the obstacle crossing capability is insufficient, the bearing capability is limited, the problems of vibration and noise are prominent, the motion control accuracy is low and the like. The crawler-type all-directional mobile platform has the advantages of stable motion, strong loading capacity and strong ground adaptability of the traditional crawler platform, can complete all-directional motion in a plane, and has wide application prospect.

The crawler-type efficient steering platform is a special crawler-type platform which has excellent steering performance. The traditional crawler platform turns to by means of the speed difference of the crawler belts on the two sides in the turning process, the turning resistance is large, the power consumption is large, the turning maneuverability is poor, meanwhile, the abrasion of the crawler belt plates is serious, and the service life is short. The crawler-type efficient steering platform has the advantages that the steering principle is different from that of the traditional crawler-type platform, the steering performance is independent of the steering radius, the steering performance is good, the steering resistance and the power consumption are low, and meanwhile, the abrasion of a crawler plate can be reduced. And the surface of a track shoe in the traditional track platform is not provided with a supporting seat for installing rollers, so that the crawler-type all-directional moving platform and the crawler-type high-efficiency steering platform cannot be applied.

The technology of crawler-type all-directional moving platforms and crawler-type efficient steering platforms appears in the industry at present.

For example, a crawler-type omni-directional mobile platform disclosed in chinese patent "crawler-type omni-directional mobile platform" with patent No. 201210347188.8 is mainly composed of a moving mechanism and the like, the moving mechanism is composed of a plurality of omni-directional mobile tracks, and the omni-directional mobile tracks are mainly composed of driving wheels, track shoes, rollers, bogie wheels, tow pulleys, and inducer wheels.

For another example, the chinese patent invention "a high-efficiency turning crawler and its platform" with patent No. 201410655662.2 discloses a high-efficiency turning crawler, which includes a crawler body, the crawler body is formed by hinging a plurality of crawler plates, and the outer sides of the crawler plates are crosswise provided with mounting brackets, rollers are fixedly arranged on the mounting brackets, the inner sides of the crawler plates are provided with engaging shafts at intervals, the engaging shafts are engaged with mutually matched driving wheels and inducers arranged between the crawler plates, the grounding ends of the crawler plates are provided with bogie wheels at intervals, and the opposite inner sides of the bogie wheels are provided with carrier rollers at intervals.

For another example, the chinese patent application No. 201410768994.1, entitled "a high-efficiency steering platform based on a tracked vehicle motion mode", discloses a high-efficiency steering platform based on a tracked vehicle motion mode, which includes a platform body and track bodies symmetrically arranged on both sides of the platform body, wherein the track bodies are formed by hinging a plurality of rows of track plates, mounting brackets are arranged on the outer sides of the track plates, rollers are fixedly arranged on the mounting brackets, engaging shafts are arranged on the inner sides of the track plates at intervals, the engaging shafts are engaged with driving wheels and inducing wheels which are arranged between the track plates and matched with each other, bogie wheels are arranged at intervals on the grounding ends of the track plates, carrier rollers are arranged on the inner sides of the bogie wheels at intervals, the mounting brackets arranged on the outer sides of the same row of track plates are parallel to each other, and the mounting brackets arranged on the outer sides of adjacent rows of track.

In addition, U.S. patent publication No. US 6179073B 1, "hybrid track for a Vehicle" discloses a hybrid track having a track plate provided with a roller bracket and a roller fixed to the roller bracket via a shaft, the roller being freely rotatable.

With the above document, the rollers (rollers) on the track shoes are located in the intermediate space between the two brackets and are fixed by a through shaft. This structure has the following problems: 1) the arrangement mode that the gyro wheel adopted both ends to support, the track shoe is in the motion process, before gyro wheel and ground contact or the contact in the twinkling of an eye, the gyro wheel support can bump with ground (especially on non-strict smooth road surface), produces loud noise and strong vibration, has restricted the all-round motion ability of track and constitute the platform by it, and interference operation and control increase the wearing and tearing of gyro wheel support and the wearing and tearing of whole track. 2) The quantity of the rollers is small (only 1-2 rollers are arranged on each track plate), so that in the track movement (roller grounding) process, each roller bears larger pressure, the compression degree is high, the deformation degree is large, and the rollers are not regular cylinders at the moment. One of the prerequisites for deriving the kinematics and dynamics model of the crawler-type omni-directional mobile platform is to assume that the roller is a regular cylinder. Therefore, the large deformation of the roller will influence the all-directional motion capability of the platform, increase the error of the motion track, and bring about little difficulty for precise control and operation. 3) The number of the roller wheel brackets is small. Impact force applied to the roller in the grounding process is transmitted to the support through the roller shaft, so that the roller shaft and the support are greatly abraded and deformed, and the roller shaft is broken in serious conditions, so that the service life of the track plate is influenced. 4) The roller shaft can rotate freely. During the roller grounding process, the roller shaft generates larger friction with the roller and the bracket through rotation, and causes abrasion of the inner part of the small wheel, the roller shaft and the bracket. This wear becomes extremely severe in the case of heavy platform loads, or after lightweight design of the track shoe. 5) The top end of the roller does not exceed the central line of the crawler belt pin, so that the adjacent crawler belt plates may tilt in the process of the roller moving in the ground contact, the upper surface of the ground contact section of the crawler belt becomes uneven, interference is generated on a bogie wheel moving on the ground contact section of the crawler belt (under the condition that the diameter of the bogie wheel is not far larger than the pitch of the crawler belt plates, the interference is more serious), and noise and vibration of a vehicle body are further caused.

The invention discloses a combined all-directional moving crawler travelling mechanism and a platform thereof, which are applied to Chinese patent application with the application number of 201810165699.5, and the combined all-directional moving crawler travelling mechanism comprises a crawler group, a driving wheel group, a main support, an inducer group, a tensioning mechanism, a load bearing wheel group and a supporting wheel group, wherein the crawler group comprises two independent outer side sub-crawlers and inner side sub-crawlers which are longitudinally and symmetrically arranged along the central axis of the crawler group, the outer side sub-crawlers and the inner side sub-crawlers are formed by hinging a plurality of crawler plates through pin shafts, and each crawler belt further comprises two Z-shaped connecting blocks, pin shafts and shafts … …. This document has the following problems in addition to the problems described in 2) to 5) above: two rollers are respectively placed on both sides of the roller bracket, thereby avoiding the problems described in 1) above, but simultaneously bringing about another problem that the roller shaft is changed from two-end support to middle support, so that the roller shaft is changed into two sections of cantilever beams, thereby greatly reducing the strength of the roller shaft, i.e., the middle support of the roller causes the cantilever beam of the roller pin shaft. At the moment of grounding the roller, the impact force applied to the roller directly acts on the cantilever end of the roller shaft, so that the roller shaft is easy to bend and deform, and the deformation is serious during heavy load, even shearing occurs. In addition, the number of small wheels on one platform or one track is large, the procedures of maintaining and replacing the roller shaft are complicated, and time and labor are wasted.

In addition, a crawler mechanism composed of rollers such as Mecanum wheels (Mecanum wheels) is proposed in the industry, and as shown in fig. 15, a platform which is reasonably applied to the crawler mechanism can complete all-directional movement in a plane. The ground-engaging portion of the track mechanism is ideally located at a point on each ground-engaging roller that is a discrete point ground. Although the 'point-to-ground' state is often deformed into a surface-to-ground state near the point due to the pressure in the actual motion, the 'surface-to-ground' state which cannot control the shape will destroy the accuracy of position positioning in the all-around motion of the platform, thereby affecting the overall working state and efficiency of the platform. Meanwhile, the landing area of the 'surface landing' is very small, so that the whole platform can still be regarded as 'point landing', which causes that the track and the platform thereof vibrate greatly and have large noise in the motion process, the roller is seriously worn, the adaptability to the ground is poor, and the reliability and the practicability are poor.

In conclusion, the technical scheme of designing the crawler belt or the platform, which can realize the function of omnidirectional motion or high-efficiency steering motion on the one hand, has strong reliability, is practical and easy to popularize on the other hand, and is a problem which needs to be solved urgently at present.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a many gyro wheels track component and tracks of many supports, track component compact structure can keep the gyro wheel to touch to earth the very first time, and the collision wear is few, and long service life has advantages such as noise and vibration reduction, all kinds of road surface strong adaptability.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a many support many gyro wheels track component which characterized in that: it includes the grip-pad, installs the gyro wheel on the grip-pad, wherein: the track shoe comprises a shoe body, wherein a support member is arranged on the shoe body, and two sides of the shoe body are provided with track pins; the supporting member comprises two roller supports and a roller support which are coaxially and sequentially arranged in a separated mode, the two rollers are installed on the supporting member through roller bolts, the threaded ends of the roller bolts penetrate through the through holes of the two roller supports and then are in threaded connection with the locking nuts, the heads of the roller bolts are arranged on the positioning grooves of the roller supports, the rollers rotatably penetrate through the screw rods of the roller bolts, the rollers form offset angles relative to the track pins, one roller is arranged between the two roller supports, and the other roller is arranged between the roller supports and the roller support.

A track, characterized by: the crawler belt comprises a plurality of multi-support multi-roller crawler belt components, and every two adjacent multi-support multi-roller crawler belt components are mutually pinned through a crawler belt pin to form a crawler belt.

Compared with the prior track shoe, the utility model has the advantages that:

1. the utility model discloses track member compact structure, but make full use of grip-pad surface space arranges many gyro wheels and many gyro wheels support.

2. The utility model discloses the roller support design among the track component, on the one hand, avoided the gyro wheel bolt to develop into the cantilever beam, greatly increased the intensity of gyro wheel bolt, solved the fragile problem of gyro wheel bolt, on the other hand has prevented that the gyro wheel bolt from taking place the free rotation, has reduced gyro wheel bolt and gyro wheel support and has taken place the probability of touching wearing and tearing of each other at track ground connection in-process, has prolonged life.

3. The design that the rollers extend out of the track pins avoids the problems that two adjacent track shoes are tilted and the inner surfaces of the track shoes are uneven, increases the stability and continuity of the movement of the bogie wheels on the continuous inner surfaces of the track shoes, and reduces noise and vibration.

4. The utility model discloses the track ground connection section place plane that the track component formed has formed the triangle-shaped stabilizing network of a many configurations, has strengthened stability, reliability and the adaptability on many road surfaces, the practicality of "platform" greatly.

Drawings

Fig. 1 is a perspective view of a track member according to a preferred embodiment of the present invention.

Fig. 2 is a schematic view of the structure seen from the direction a in fig. 1.

Fig. 3 is a perspective view of a track shoe structure according to a preferred embodiment of the track member of the present invention.

Fig. 4 is a schematic top view of fig. 3.

Fig. 5 is a schematic diagram of the reverse bending of the non-ground-contact section of the track formed by the preferred embodiment of the track member of the present invention.

Fig. 6 is a top partial schematic view of fig. 5.

Fig. 7A is a schematic view of a projected relationship of rollers of the support members and the track pin on the track shoe body.

Fig. 7B is a schematic illustration of the arc transition angle of the roller and its edge.

Figure 8 is a schematic view of the running of the road wheels on the inner surface of the track plate of the preferred embodiment of the track member of the present invention.

Fig. 9 is a schematic view of a multi-configuration triangular stabilization network formed by the track ground-engaging sections formed by the preferred embodiment of the track member of the present invention.

Figure 10 is a schematic view of another embodiment of the track member of the present invention.

Fig. 11 is a schematic view of a still further embodiment of the track member of the present invention.

Fig. 12, 13 and 14 are schematic diagrams illustrating the shape of a shoe body of a conventional track shoe.

Figure 15 is a schematic view of a prior art crawler constructed from Mecanum wheels.

Detailed Description

As shown in fig. 1 to 9, the multi-support multi-roller crawler component of the present invention includes a crawler belt 10, and rollers 30 are mounted on the crawler belt 10, wherein: the track shoe 10 comprises a shoe body 11, a support member is arranged on the shoe body 11, and two sides of the shoe body 11 are provided with track pins 50, and the track pins 50 are used for mutually pinning two adjacent track shoes 10 together (fig. 1 only shows the condition that one shoe body 11 is connected with the track pins 50); the support member comprises two roller supports 12 and a roller support 13 which are coaxially and sequentially arranged in a separated mode, namely the roller support 13 is positioned on one side of the two roller supports 12, the two rollers 30 are installed on the support member through roller bolts 20, the threaded ends of the roller bolts 20 penetrate through holes 120 of the two roller supports 12 and then are in threaded connection with locking nuts 40, meanwhile, heads 22 of the roller bolts 20 are placed on positioning grooves 130 on the top surfaces of the roller supports 13, namely the roller bolts 20 are stably and non-rotatably erected on the roller supports 12 and the roller support 13, the rollers 30 are rotatably arranged on screw rods 21 of the roller bolts 20 in a penetrating mode, and the rollers 30 form offset angles relative to the track pins 50, wherein one roller 30 is arranged between the two roller supports 12, and the other roller 30 is arranged between the roller supports 12 and the roller support 13.

In the present invention, the roller bolt 20 and the roller 30 are coaxially disposed with the support member, and the roller 30 forms an offset angle β (0 < β < 90 ° or 90 ° < β < 180 °) with respect to the track pin 50, that is, a non-right angle is formed between the axis of the roller bolt 20 and the axis of the track pin 50, that is, the axis of the roller bolt 20 cannot be parallel to the axis of the track pin 50 and cannot be perpendicular to the axis of the track pin 50, as shown in fig. 1, the direction a shown in fig. 1 is the axial direction of the roller bolt 20.

In practical design, it is preferable that the track shoe 10 is provided with two support members, and the two support members are arranged on the shoe 11 in a central symmetry manner about the center point O of the shoe 11.

Further, it is more preferable that the roller 30 of the support member interposed between the roller bracket 12 and the roller support 13 is protruded beyond the track pin 50 to intersect with the track pin 50. Here, the head 22 of the roller bolt 20 is closely attached to the outside of the roller 30 protruding from the track pin 50, and since the head 22 has a flat plate structure, the head 22 does not cause a problem such as collision against the adjacent track shoe 10.

Specifically, the length of the roller 30 of the support member between the roller bracket 12 and the roller support 13 extending beyond the track pin 50 satisfies the following equation:

the value of the length of the roller 30 between the roller bracket 12 and the roller support 13 and extending out of the track pin 50 in the supporting member minus the radius of the arc transition angle 301 of the edge of the roller 30 is less than or equal to p/10,

where p is the pitch of the track plate 10, which is the distance between two adjacent track pins 50 pinned together on the track.

Referring to fig. 7A and 7B, the lower surface of the plate 11 of the track plate 10 is considered to be a plane and is referred to as the α plane, and the support member is located adjacent to the track pinThe projection of the axis segment of the roller 30 of 50 on the α plane is denoted as line segment

The projection of the axis segment of track pin 50 on the plane α is designated as segment L1, and thus L1 is visible in combination with

Intersect at point C, L1 and

the included angle is referred to as the offset angle β. the radius of the rounded transition angle 301 on the wheel face edge of the roller 30 is set to R.

Thus, the roller 30 extends the length, i.e., line segment, of the track pin 50

The following equation 1 should be satisfied):

where p is the pitch of the track shoe 10, i.e. the distance between two adjacent track pins 50 of the track that are hinged to each other.

Note the book

If k > p/10, vibration of the track plate 10 during ground contact may be caused or exacerbated.

The constraint of the above formula 1) avoids the problems of the adjacent two track shoes 10 being warped and the inner surfaces of the track shoes 10 being uneven. Such a design, as shown in fig. 8, increases the smoothness and continuity of the movement of the road wheels 80 over the continuous track shoe 10 inner surface, reducing noise and vibration.

As shown in fig. 3 and 4, the portion of the support member that extends beyond the plate body 11 is cut away, and similarly, the portion of the support member that extends beyond the plate body 11 is cut away, as indicated by the reference numeral 90 in fig. 3 and 4.

In the practical design as shown in fig. 1, it is preferable that two roller brackets 14 are coaxially and separately arranged on the plate body 11 between the two support members, the two roller brackets 14 are also symmetrically arranged on the plate body 11 at the center point O of the plate body 11, a saddle 15 extends from the lower portion of one roller bracket 14, a positioning groove 150 is formed on the top surface of the saddle 15, a roller 30 is installed between the two roller brackets 14 through a roller bolt 20, the axis of the roller bolt 20 is parallel to the axis of the support member, i.e. the included angle formed between the axis of the roller bolt 20 and the axis of the track pin 50 is the same as the included angle formed between the axis of the roller bolt 20 of the two support members and the axis of the track pin 50, i.e. the offset angle of each roller 30 on the plate body 11 relative to the track pin 50 is the same as shown in fig. 1, the roller brackets 14 and the roller bolts 20 thereon, The rollers 30 are coaxially disposed, wherein: while the threaded end of the roller bolt 20 passes through the through hole 140 of the two roller brackets 14 and is screwed with a lock nut 40, the head 22 of the roller bolt 20 is placed on the positioning groove 150 of the pallet 15, i.e., the roller bolt 20 is stably and non-rotatably erected on the two roller brackets 14 and the pallet 15, and the roller 30 is rotatably inserted on the screw 21 of the roller bolt 20.

In actual practice, the above-described pallet 15 may be replaced with the roller support 13.

In a practical design, the rollers 30 on both roller frames 14 are located on the plate body 11 without extending the track pin 50.

In the present invention, the roller bolt 20 is substantially the same as a common bolt structure, the roller bolt 20 includes a screw rod 21, one end of the screw rod 21 is provided with a thread, which is called a threaded end, and the other end of the screw rod 21 is provided with a head 22.

The utility model discloses in, roller support 13 is different from roller support 12, and roller support 13's volume, appearance are all small and exquisite than roller support 12, and occupation space is little. The main functions of the roller support 13 are: first, the end of the roller bolt 20 where the head 22 is located is supported, and the end where the head 22 is located and its adjacent portion are prevented from being formed into a cantilever beam. Second, the positioning groove 130 of the roller support 13 can prevent the roller bolt 20 from rotating well, and reduce the probability that the roller bolt 20, the roller 30 and the roller bracket 12 will be worn by touching each other during the track grounding process.

The purpose of the design and function of the pallet 15 of the roller bracket 14 is the same as the roller support 13 and therefore will not be described in detail.

The shapes of the positioning groove 150 of the saddle 15 of the roller bracket 14 and the positioning groove 130 of the roller support 13 are adapted to the shape of the head 22 of the roller bolt 20, and the specific shapes are not limited. For example, the head 22 may be designed as a regular hexagon, and the positioning recesses 150, 130 may be designed accordingly as a V-shape, as shown in fig. 2.

In addition, the compact structure of the roller support 13 combined with the reasonable layout on the plate 11 can be achieved without interfering with the normal reverse bending of the two adjacent track shoes 10, for example, the non-ground-contact section of the track may be subjected to normal reverse bending under the condition of incomplete tensioning, that is, when the two adjacent track shoes 10 are reversely bent to the limit position (at this time, the rollers 30 on the two adjacent track shoes 10 may contact and press, so as to limit the track shoes 10 from further bending, which is a normal phenomenon), the roller support 13 may not contact and collide with the adjacent track shoes 10. When two rollers 30 in the dotted circle in fig. 6 contact, and the two adjacent track shoes 10 are bent reversely to the maximum angle, the roller support 13 and the adjacent track shoes 10 still do not contact and collide with each other, and a certain gap still remains between the two, as shown by the dotted circle in fig. 6. The beneficial effect that this kind of structural design brought is: whether the crawler moves forward or reversely, the contact moment of the crawler board 10 is the contact with the ground of the roller 30 supported on the roller support 13 for the first time, thus avoiding the problem of vibration and noise caused by the contact with the ground of the roller support 12, and not only keeping the advantages of multiple rollers, multiple supports and stress dispersion, but also avoiding the problem of collision caused by the contact with the ground of the roller support.

Similarly, as shown in fig. 3 and 4, the portion of the roller bracket 14 between the two support members that extends beyond the plate body 11 is cut away, as indicated by reference numeral 100 in fig. 3 and 4.

The following description will be made of a preferred embodiment of the present invention shown in fig. 1. As shown in figure 9 of the drawings,the design of the support members with the rollers 30 extending beyond the track pins 50 between the roller frame 12 and the roller support 13 allows the rollers 30 to form a multi-configuration triangular stabilizing network in the plane of the track ground-engaging section, i.e., a stabilizing network consisting of several triangles of different shapes. A stable triangular shape may be formed for the roller 30 on a single track shoe 10, such as Δ A₁A₂B and Δ C₁C₂B, and the like. A stable triangular shape may also be formed between rollers 30 on adjacent track shoes 10, such as Δ C₂FE、ΔD₂GE、ΔC₁C₂F and Δ D₂D₁A₂And the like.

During the track movement, the rollers 30 of the track ground-engaging section contact the ground in a line segment manner under an ideal (theoretical) state, but during the actual movement, the rollers 30 are pressed and often contact the ground in a surface manner. Although the surface contact of the roller 30 increases the contact area compared with the line contact, the contact area is still smaller than the volume (ground projection area) of the whole platform, so that the stability of the platform during the movement is poor, the vibration is large and the noise is large under the condition that the platform is under heavy load or the ground is not strictly flat.

Therefore, a multi-configuration triangular stable network is designed based on the theorem of determining a plane by three points in geometry, so that a stable triangle is provided as a supporting surface for a grounding section formed between a single track shoe 10 and an adjacent track shoe 10 during grounding, and therefore, when a platform moves on a heavy-load or non-strict flat road, the stability and the reliability are greatly improved, and meanwhile, vibration and noise are reduced.

The utility model discloses in, the outline of plate body 11 is the rectangle, designs for the rectangle usually, and plate body 11 both sides are the sawtooth structure, and each outstanding tooth 111 correspondence of sawtooth structure offers the pinhole 112 that is used for running through track round pin 50, and track round pin 50 runs through the pinhole 112 installation on each outstanding tooth 111 of sawtooth structure, wherein:

when the track shoe 10 is connected to a power transmission mechanism (e.g., a gear) by the track pin 50, in addition to the function of pinning the adjacent two track shoes 10, if the track pin 50 is moved into a gap between the adjacent two gears when the track pin 50 is moved into the gear, a limiting tooth 60 is provided on the inner surface of the track shoe 10, the limiting tooth 60 is used for movably engaging the track shoe 10 with the power transmission mechanism so that the track shoe 10 does not disengage when touching the power transmission mechanism, and the limiting tooth 60 is a known part in the art.

When the track pin 50 has only a function of pinning the adjacent two track shoes 10, and the track shoes 10 do not transmit power through the track pin 50 and are not connected to a power transmission mechanism (e.g., a gear), as shown in fig. 10, a bracket 70 is provided on an inner surface of the track shoes 10, and the bracket 70 connects the track shoes 10 to the power transmission mechanism (e.g., the gear), and generally, the number of the brackets 70 may be 1 or 2, and the bracket 70 is a known part in the art.

In the present invention, the outer surface of the track shoe 10 is an outward surface, and is used for mounting a support member and the like on the outer surface, for grounding. While the inner surface of the track plate 10 is an inwardly facing surface, facing the wheel.

In the present invention, the shape of the plate body 11 of the track shoe 10 is different from the shape of the plate body of the existing track shoe. Fig. 12 to 14 show the shape of the shoe body of each conventional track shoe. Fig. 12 shows a rectangular plate body, with no serrations on both sides of the plate body. Fig. 13 and 14 show the plate body with the side edges in a saw tooth structure but with the saw teeth arranged on the plate body in an axisymmetric manner.

However, as shown in fig. 4 and 11, in the present invention, both sides of the plate body 11 are saw-toothed structures, and the protruding teeth 111 of the saw-toothed structures of both sides of the plate body 11 are arranged on the plate body 11 in a central symmetry. Fig. 4 shows a case where 3 protruding teeth 111 are provided on both sides of the plate body 11, and fig. 11 shows a case where 2 protruding teeth 111, which are wider and narrower, are provided on both sides of the plate body 11.

In actual design, the protruding teeth 111 on the side of the plate body 11 and the notches appear in pairs, and the number of the protruding teeth 111 on the two sides of the plate body 11 and the distance between two adjacent protruding teeth 111 can be designed reasonably according to actual requirements without limitation.

The design of the plate body 11 with the central symmetrical sawtooth structure has the advantages that ① can provide space for the layout of the multi-roller and multi-roller bracket and optimize the layout, ② can satisfy the above formula 1).

For the rectangular plate shown in fig. 12, it is obvious that the requirements of the above formula 1) cannot be satisfied if the roller 30, the

roller holders

12, 14, the roller support 13, etc. are placed on the plate.

The plate body is axisymmetrical to the zigzag structure shown in fig. 13 and 14. If the roller 30, the

roller brackets

12, 14, the roller support 13, etc. are placed on the board, it is obvious that the board shown in fig. 13 cannot meet the requirement of the above formula 1), and the board shown in fig. 14 wastes a lot of space. Moreover, the arrangement shown in fig. 13 and 14 makes the track shoe unbalanced, which causes serious problems of vibration, noise, abrasion and the like during use.

Additionally, the utility model discloses still provide a track, it includes the aforesaid the utility model discloses support many gyro wheels track component more, adjacent two the utility model discloses support many gyro wheels track component more and pin joint mutually through track round pin 50 and constitute the track, can refer to fig. 8, fig. 9 and understand.

Because the track is based on the utility model discloses support many gyro wheels track component more and realize, therefore it has the utility model discloses support many gyro wheels track component more and have characteristics, no longer describe here.

In the art, "rollers" may also be referred to as "rollers," rollers, "or" wheels. In the fields of crawler-type omnibearing moving platforms and crawler-type efficient steering platforms, "idler wheels", "running wheels", "rollers" and "small wheels" are different designations of the same object and can be used in a mixed manner.

The track-type omni-directional mobile platform and the track-type high-efficiency steering platform are collectively referred to as "platforms" in the description of the present invention, and they both include a power transmission mechanism (e.g., a gear).

Compared with the prior track shoe, the utility model has the advantages that:

The above description is the preferred embodiment of the present invention and the technical principle applied by the preferred embodiment, and for those skilled in the art, without departing from the spirit and scope of the present invention, any obvious changes based on the equivalent transformation, simple replacement, etc. of the technical solution of the present invention all belong to the protection scope of the present invention.

Claims

1. The utility model provides a many support many gyro wheels track component which characterized in that: it includes the grip-pad, installs the gyro wheel on the grip-pad, wherein: the track shoe comprises a shoe body, wherein a support member is arranged on the shoe body, and two sides of the shoe body are provided with track pins; the supporting member comprises two roller supports and a roller support which are coaxially and sequentially arranged in a separated mode, the two rollers are installed on the supporting member through roller bolts, the threaded ends of the roller bolts penetrate through the through holes of the two roller supports and then are in threaded connection with the locking nuts, the heads of the roller bolts are arranged on the positioning grooves of the roller supports, the rollers rotatably penetrate through the screw rods of the roller bolts, the rollers form offset angles relative to the track pins, one roller is arranged between the two roller supports, and the other roller is arranged between the roller supports and the roller support.

2. The multi-support multi-roller track member of claim 1, wherein:

the crawler board is provided with two support members, and the two support members are arranged on the board body in a central symmetry mode.

3. The multi-support multi-roller track member of claim 2, wherein:

the roller of the support member between the roller bracket and the roller support extends beyond the track pin.

4. The multi-support multi-roller track member of claim 3, wherein:

the length of the support member over which the roller between the roller bracket and the roller support protrudes beyond the track pin satisfies the formula:

the numerical value of the length of the roller extending out of the track pin minus the arc transition angle radius of the edge of the roller is more than 0 and less than or equal to p/10,

wherein p is the pitch of the track shoe.

5. The multi-support multi-roller track member of any one of claims 2 to 4, wherein:

the part of the roller bracket in the supporting member, which exceeds the plate body, is cut off, and the part of the roller support in the supporting member, which exceeds the plate body, is cut off.

6. The multi-support multi-roller track member of any one of claims 2 to 4, wherein:

the plate body on between two supporting members still be equipped with two gyro wheel supports that coaxial separation set up, these two gyro wheel supports are in central symmetry sets up on the plate body, the lower part of one of them gyro wheel support extends there is the saddle, is equipped with positioning groove on the saddle, and a gyro wheel is installed between these two gyro wheel supports through a gyro wheel bolt, the axis of this gyro wheel bolt with supporting member's axis is parallel, wherein: the threaded end of the roller bolt penetrates through the through holes of the two roller supports and then is in threaded connection with a locking nut, the head of the roller bolt is arranged on the positioning groove of the supporting table, and the roller is rotatably arranged on the screw rod of the roller bolt in a penetrating mode.

7. The multi-support multi-roller track member of claim 6, wherein:

the saddle is replaced with the roller support.

8. The multi-support multi-roller track member of claim 6, wherein:

the portion of the roller bracket between the two support members that extends beyond the plate body is cut away.

9. The multi-support multi-roller track member of claim 1, wherein:

the plate body both sides are the sawtooth structure, the pinhole installation on each outstanding tooth that the track round pin runs through the sawtooth structure, wherein:

when the track shoe is connected with the power transmission mechanism by the power transmitted by the track pin, the inner surface of the track shoe is provided with limiting teeth;

when the track shoe does not transmit power through the track pin and is not connected with the power transmission mechanism, a bracket is arranged on the inner surface of the track shoe, and the bracket connects the track shoe with the power transmission mechanism.

10. The multi-support multi-roller track member of claim 9, wherein:

the plate body both sides are the sawtooth structure, and the protruding tooth of the sawtooth structure of plate body both sides is in the central symmetry sets up on the plate body.

11. A track, characterized by: comprising a plurality of multi-support multi-roller track members as claimed in any one of claims 1 to 10, adjacent two of said multi-support multi-roller track members being pinned to one another by said track pins to form a track.