CN107571927A - Crawler belt and walking mechanism - Google Patents
Crawler belt and walking mechanism Download PDFInfo
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- CN107571927A CN107571927A CN201710855470.XA CN201710855470A CN107571927A CN 107571927 A CN107571927 A CN 107571927A CN 201710855470 A CN201710855470 A CN 201710855470A CN 107571927 A CN107571927 A CN 107571927A
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- fixed plate
- crawler belt
- walking mechanism
- scroll wheel
- contact pin
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Abstract
The invention discloses a kind of crawler belt and walking mechanism.The crawler belt includes multiple bodies sequentially arranged and be connected, the body includes creeper tread, fixture, the contact pin being fixedly connected by the fixture with the creeper tread, two wing plates, two connectors, the jack for accommodating contact pin is offered in the plate face of two wing plates, two wing plates are fixedly connected by two connectors with the fixture respectively.The walking mechanism include the crawler belt, rotated around own axes drive gear, can be around the scroll wheel that own axes rotate；The drive gear is meshed with the crawler belt；The annular slot rolling passed through for two wing plates of the body is offered on the rolling face of the scroll wheel；Using crawler belt provided by the present invention and walking mechanism, the service life of crawler belt is effectively extended；Meanwhile the difficulty of installation and the dismounting of crawler belt is relatively low；The present invention is simple in construction, the scope of application is wider.
Description
Technical field
The present invention relates to technical field of mechanical transmission, more particularly to a kind of crawler belt and walking mechanism.
Background technology
Crawler belt is widely used in technical field of mechanical transmission, and in the prior art, crawler belt generally includes multiple creeper treads, multiple
The creeper tread head and the tail are sequentially spliced to form cyclic structure.Generally, realized and cut with scissors by jointed shaft between two adjacent creeper treads
Connect, in order to ensure stabilized structure, jointed shaft needs to be interference fitted with the two creeper treads respectively, and otherwise jointed shaft is in running
In can be separated with two creeper treads, cause the fracture of crawler belt.The on-link mode (OLM) of interference fit result in crawler belt to be made for a long time
Gluing occurs with middle creeper tread and jointed shaft, i.e., is slided because creeper tread is relative with jointed shaft, in the surface of jointed shaft and shoe
Tear rill is formed on the hinge hole hole wall of band plate, gluing result in be hinged failure, and then have impact on the service life of crawler belt；Together
When, the connected mode of interference fit, result in installation and dismounting jointed shaft difficulty it is larger.
The content of the invention
In view of this, the invention provides a kind of crawler belt and walking mechanism, it is intended to solves to hold present in prior art
The technical problem that easy fracture, service life are short, installing/dismounting difficulty is big.
Crawler belt provided by the present invention includes multiple bodies sequentially arranged and be connected, and each body includes：Crawler belt
Plate, the creeper tread have the first edge and the second edge being be arranged in parallel with first edge；Fixture, it is described solid
The plate face for determining part with the creeper tread is fixedly connected；Contact pin, the contact pin are fixed through the fixture and with the fixture
Connection, the bearing of trend of the contact pin are identical with the bearing of trend at first edge；Two perpendicular to first edge
Wing plate, two wing plates are oppositely arranged, and are connected on the fixture, and a fixed sky is formed between two wing plates
Between；Jack is offered in the plate face of two wing plates；For any one of body, the axis of the contact pin is described in
The vertical range of creeper tread is D1, and the vertical range of axis to the creeper tread of two jacks is D2, then has：D1=
D2；The distance between first edge and second edge are L1, the axle of the axis of the contact pin to two jacks
The distance of line is L2, then has：L1≤L2；It is the first noumenon and second respectively for two bodies of arbitrary neighborhood
Body, wherein, the fixture of second body is inserted in the fixed space of the first noumenon, the contact pin of second body
Both ends are inserted in two jacks of the first noumenon respectively, and gap coordinates.
Further, for any one of body, the fixture includes the first fixed plate and the second fixed plate, described
First fixed plate and second fixed plate are fixedly connected with the creeper tread and perpendicular to the creeper tread；The contact pin is worn
Cross first fixed plate and second fixed plate；It is connected with a wing plate in first fixed plate, described second
Also a wing plate is connected with fixed plate.
Further, the distance between first fixed plate and the second fixed plate opposite face are S1, and described first is solid
The thickness of fixed board is S2, and the thickness of second fixed plate is S3；The distance between opposite face of two wing plates is Q；Then
Have：S1+S2+S3=Q.
Further, the head end of two wing plates is connected to the tail end of first fixed plate and described second and consolidated
The tail end of fixed board；The head end of first fixed plate and the head end of second fixed plate are circular arc, two wing plates
Tail end be circular arc.
Preferably, multiple lug bosses are provided with the plate face of the fixture on each creeper tread.
Walking mechanism provided by the present invention, including the crawler belt.
Walking mechanism provided by the present invention, including the crawler belt, wherein, multiple body head and the tail are sequentially connected with to be formed
Cyclic structure；In two bodies of arbitrary neighborhood, the first fixed plate of the first noumenon, the second fixed plate, contact pin, with
And the first fixed plate of second body, the second fixed plate, contact pin limit and form socket jointly；Rotated around own axes
Drive gear, the drive gear is meshed with the crawler belt, and the tooth of the drive gear is inserted in the socket；At least one
It is individual two wing plates for the body to be offered on the rolling face of each scroll wheel around the scroll wheel that own axes rotate
The annular slot rolling passed through；The drive gear and the scroll wheel are sequentially arranged, the axis of each scroll wheel with
The diameter parallel of the drive gear is set.
Further, the walking mechanism also includes frame, the both sides of the frame be mounted on the drive gear and
At least one scroll wheel；The walking mechanism includes two crawler belts, and two crawler belts are respectively arranged at the machine
The both sides of frame, the aligned in position of two crawler belts.
Further, the walking mechanism also include can be around the connecting rod that own axes rotate；The both sides difference of the frame
Multiple scroll wheels are installed, multiple scroll wheel middle-ranges positioned at described frame the same side are offed normal in the drive of the side
Moving gear is taken turns apart from farthest scroll wheel for collaboration；The connecting rod is set through the frame, and the both ends of the connecting rod are solid respectively
Dingan County overlaps setting equipped with two collaboration wheels, the axis of two collaboration wheels with the axis of the connecting rod.
Preferably, the walking mechanism also includes multiple swing arms, and each swing arm includes：It can be rotated around own axes
Balance staff；The diameter parallel of two adjutages, two adjutages and the balance staff three are set；On two adjutages
The scroll wheel is mounted on, the axis of each scroll wheel and is overlapped with the axis of its adjutage for coordinating installation, each
The scroll wheel can rotate around the axis for the adjutage for coordinating installation with it；For by two adjutages and the balance staff
The pendulum fitting being fixedly connected；Multiple swing arms are arranged on the both sides of the frame by the balance staff.
Using crawler belt provided by the present invention, by setting the fixture, the contact pin and the jack, arbitrarily
In two adjacent bodies, the contact pin of second body coordinates with the socket gap of the first noumenon, is ensureing phase
While the body connection effect of neighbour, generation of the adjacent body in junction gluing phenomenon is avoided, so as to extend crawler belt
Service life, meanwhile, gap coordinate type of attachment reduce body installation difficulty and dismounting difficulty；By described in setting
First fixed plate and second fixed plate, the fixing intensity of the contact pin is strengthened, ensure that overall structure of the present invention is stable；
By setting lug boss, improve crawler belt grabs ground intensity.Using walking mechanism provided by the present invention, by setting the shoe
Band, the drive gear, the scroll wheel, ensure that the operation steady in a long-term of walking mechanism, reduce the walking mechanism
Installation difficulty and dismounting difficulty；By setting frame, the structural stability can of the walking mechanism is enhanced, is also achieved simultaneously
Double track drives, improve the power performance of the walking mechanism；By setting the connecting rod, it ensure that two crawler belts move
The harmony of work；By setting multiple swing arms, the walking mechanism is ensure that in the process of running, in face of hollow environment
When, by adjusting the corner of the balance staff, avoid the walking mechanism and severe turbulence occurs, so as to ensure that the vehicle with walking machine
The operation stability of structure.
Brief description of the drawings
Preferred embodiment in the present invention will be described in detail by accompanying drawing below, it will help understand the purpose of the present invention and excellent
Point, wherein:
Fig. 1 is the front view of body in the preferred embodiment of the present invention；
Fig. 2 is the top view of body in the preferred embodiment of the present invention；
Fig. 3 is the connection relationship diagram of body in the preferred embodiment of the present invention；
Fig. 4 is the front view of drive gear in the preferred embodiment of the present invention；
Fig. 5 is the top view of drive gear in the preferred embodiment of the present invention；
Fig. 6 is the front view of scroll wheel in the preferred embodiment of the present invention；
Fig. 7 is the top view of scroll wheel in the preferred embodiment of the present invention；
Fig. 8 is the structural representation of swing arm in the preferred embodiment of the present invention.
Embodiment
Mention in this manual or may mention up, down, left, right, before and after, front, the back side, top, bottom etc.
Orientation term is defined relative to the construction shown in each accompanying drawing, and word " interior " and " outer " refer respectively to direction or remote
From particular elements geometric center direction they be relative concept, it is therefore possible to can according to its residing diverse location, difference
Use state and correspondingly changed.So also these or other orientation terms should not be construed to restricted use
Language.
Fig. 1 is the front view of body in the preferred embodiment of the present invention；Fig. 2 is the vertical view of body in the preferred embodiment of the present invention
Figure；Fig. 3 is the connection relationship diagram of body in the preferred embodiment of the present invention.As Figure 1-3, this preferred embodiment is provided
Crawler belt include multiple sequentially arrange and connected bodies 1, each body 1 include：Creeper tread 11, the creeper tread 11 have
The second edge 112 for having the first edge 111 and being be arranged in parallel with first edge 111；Fixture 12, the fixture
12 are fixedly connected with the plate face of the creeper tread 11；Contact pin 13, the contact pin 13 through the fixture 12 and with the fixation
Part 12 is fixedly connected, and the bearing of trend of the contact pin 13 is identical with the bearing of trend at first edge 111；Two wing plates 14,
Bearing of trend of the plate face of two wing plates 14 with first edge 111 is vertically arranged, and two shown in Fig. 3 are adjacent
Body 1 in, in figure right side for the first noumenon 1a, left side for the second body 1b, two of the first noumenon 1a
The wing plate 14 is oppositely arranged the fixed space 15 to form the fixture 12 for accommodating the second body 1b；Two wings
Jack 141 is offered in the plate face of plate 14, the first noumenon is inserted at the both ends of the contact pin 13 of the second body 1b respectively
In 1a two jacks 141, the both ends of the contact pin 13 coordinate with two gaps of jack 141 respectively；Two connections
Part 16, two wing plates 14 are fixedly connected by two connectors 16 with the fixture 12 respectively；The contact pin 13
The vertical range of axis to the creeper tread 11 be D1, the axis of two jacks 141 to the vertical of the creeper tread 11
Distance is D2, then has：D1=D2；The distance between first edge 111 and second edge 112 are L1, described to insert
The distance of the axis of pin 13 to the axis of two jacks 141 is L2, then has：L1≤L2.
This preferred embodiment in use, can be by increasing the body 1 or reducing the body 1 to adjust
State the length of crawler belt, specifically, with one body 1 of increase (increase track length, can be by increasing the institutes of different numbers
State the increase that body 1 realizes the crawler belt different length) exemplified by, if original crawler belt includes N number of body 1, then need now
The body 1 of addition is (N+1) individual body, and the right side of the body 1 shown in Fig. 1 is the head end of body 1, then needing will be described
The head end of (N+1) individual body is connected with the tail end of the n-th body in original crawler belt, two of the n-th body 1
The wing plate 14 is oppositely arranged and forms the fixed space 15 of the fixture 12 for accommodating (N+1) individual body,
And the contact pin 13 for accommodating (N+1) individual body is offered on two wing plates 14 of the n-th body
The jack 141；In installation process, the fixture 12 of (N+1) individual body is arranged on to the fixation of the n-th body
In space 15, and the both ends of the contact pin 13 of (N+1) individual body are inserted to two wing plates 14 of the n-th body respectively
On jack 141 in.Two wing plates 14 of the n-th body and jack 141 limits on two wing plates 14
The motion of (N+1) individual body, serve the firm connection effect between adjacent bodies.
This preferred embodiment is by setting the fixture 12, the contact pin 13 and the jack 141, and described second
The contact pin 13 of body coordinates with the gap of jack 141 of the first noumenon, while adjacent body connection effect is ensured, keeps away
Generation of the adjacent body due to being interference fitted in junction gluing phenomenon is exempted from, so as to extend the service life of crawler belt；Together
When, gap coordinates the installation difficulty for reducing body 1 and dismounting difficulty, also ensure that the rotation between body 1 is more flexible.
As shown in Fig. 2 in this preferred embodiment, the fixture 12 includes the first fixed plate 121 and the second fixed plate
122, first fixed plate 121 and second fixed plate 122 are fixedly connected and both with respect to institute with the creeper tread 11
Creeper tread 11 is stated to be vertically arranged；The contact pin 13 is each passed through first fixed plate 121 and second fixed plate 122；Two
The individual wing plate 14 is fixed by one in two connectors 16 and first fixed plate 121 or described second respectively
Plate 122 is connected.By setting first fixed plate 121 and second fixed plate 122, the fixation of the contact pin 13 is strengthened
Intensity, it ensure that this preferred embodiment overall structure is stable.
As shown in Fig. 2 in this preferred embodiment, first fixed plate 121 and the opposite face of the second fixed plate 122 it
Between distance be S1, the thickness of first fixed plate 121 is S2, and the thickness of second fixed plate 122 is S3；Described in two
The distance between opposite face of wing plate 14 is Q；Then have：S1+S2+S3=Q.Said structure, which is set, can realize the first noumenon
Two wing plates 14 be bonded with the more preferable of fixture 12 of second body, it is steady so as to enhance the link between adjacent bodies
Fixed degree.
As shown in Figure 1 and Figure 3, in this preferred embodiment, the head end of two wing plates 14 is respectively by described in two
Connector 16 is connected with the tail end of first fixed plate 121 or the tail end of second fixed plate 122；First fixed plate
121 head end and the head end of second fixed plate 122 are circular arc, and the tail end of two wing plates 14 is circular arc.
The structure setting of above-mentioned circular arc ensure that the space shared in rotation process of body 1 is minimum, so as to ensure that this preferably
Example structure is compacter.
In one alternate embodiment, it is provided with each creeper tread 11 in the plate face of the fixture 12
Multiple lug bosses.By setting multiple lug bosses, improve crawler belt grabs ground intensity.
In another alternative embodiment, the body 1 also includes the rubber sleeve for coating the creeper tread 11, passes through setting
The rubber sleeve, effectively the creeper tread 11 can be protected；Meanwhile increase the frictional force of the body 1 and ground.
The walking mechanism that a preferred embodiment of the invention is provided, including the crawler belt, and drive gear, the drive
Moving gear engages with the crawler belt, the caterpillar drive described in the driving gear drives.
Fig. 4 is the front view of drive gear in the preferred embodiment of the present invention；Fig. 5 is sliding tooth in the preferred embodiment of the present invention
The top view of wheel；Fig. 6 is the front view of scroll wheel in the preferred embodiment of the present invention；Fig. 7 is rolled in the preferred embodiment of the present invention
The top view of wheel.As shown in figs. 1-7, the walking mechanism that this preferred embodiment is provided includes：The crawler belt, in the crawler belt
The both ends of the contact pin 13 of one body are inserted in two jacks 141 of last body respectively, crawler belt structure in a ring；
In the adjacent body 1 of any two, the first fixed plate 121 of the first noumenon, the second fixed plate 122, contact pin 13, with
And the first fixed plate 121 of second body 1, the second fixed plate 122, contact pin 13 6 limit and form socket jointly；Around certainly
The drive gear 2 of body axis rotation；The tooth of the drive gear 2 is inserted in the socket, the drive gear 2 and the crawler belt
It is meshed；It is at least one to be offered for institute on the rolling face of each scroll wheel 3 around the scroll wheel 3 that own axes rotate
State the annular slot rolling 31 of two wing plates 14 motion on body 1；The drive gear 2 and the scroll wheel 3 are sequentially arranged,
The axis of each scroll wheel 3 is set with the diameter parallel of the drive gear 2.
This preferred embodiment is during assembling process and use, first body and last described body
Mutual snapping, forms the crawler belt of ring-type, and the drive gear 2 is nibbled by multiple sockets on the crawler belt with the crawler belt
Conjunction is connected, the rotation by the drive gear 2 around own axes, on the tooth and the crawler belt on the drive gear 2
Multiple sockets sequentially engage, so as to drive the crawler belt to roll；This preferred embodiment also include multiple axis with it is described
The parallel scroll wheel 3 of the axis of drive gear 2, multiple scroll wheels 3 support the shoe jointly with the drive gear 2
Band, annular slot rolling 31 is offered on multiple scroll wheels 3, the annular slot rolling 31 is in the mistake around own axis
Cheng Zhong, two wing plates 14 on multiple bodies 1 sequentially pass through the slot rolling 31.
This preferred embodiment, by using the crawler belt, and the drive gear 2 and multiple scroll wheels 3 are set,
On the one hand, the service life of the crawler belt is longer, rotate flexible, installation and dismounting is more convenient；On the other hand, using described
The socket formed in crawler belt between two of the arbitrary neighborhood bodies 1, it ensure that the drive gear 2 and the crawler belt
Engagement, simplify the setting structure of this preferred embodiment；Multiple scroll wheels 3 ensure that in the process of running simultaneously, all the time
At least two wing plates 14 are connected in the slot rolling 31, it is therefore prevented that the crawler belt sideslip, ensure that the steady of walking mechanism
Fixed operation.
In this preferred embodiment, the walking mechanism also includes frame, and the both sides of the frame are mounted on the driving
Gear 2 and at least one scroll wheel 3；The walking mechanism includes two crawler belts, and two crawler belts are set respectively
It is placed in the both sides of the frame, the aligned in position of two crawler belts；Positioned at the frame both sides crawler belt respectively with the side
Drive gear 2 and multiple scroll wheels 3 are connected.By setting the frame, the structure for enhancing the walking mechanism is steady
Qualitative energy；Double track drives are also achieved simultaneously, improve the power performance of the walking mechanism.
In this preferred embodiment, the walking mechanism includes two motors, and two motors are installed in
In the frame；The output shaft of two motors respectively with two drive connections of drive gear 2.By setting the drive
Dynamic motor, it ensure that the dynamical stability output to this preferred embodiment；The motor is two, can drive two respectively
The drive gear 2, not only ensure that strong impetus, also achieve the turning function of this preferred embodiment, specifically, work as side
Motor carries out power output, and when the motor of opposite side is out of service, the walking mechanism turns to；Or pass through tune
The slewing rate of whole two motors, can also realize the steering of walking mechanism；When two motors are synchronized
During rotation, the walking mechanism is along straight ahead or retrogressing.
In this preferred embodiment, the walking mechanism also includes can be around the connecting rod that own axes rotate；The two of the frame
Side is separately installed with multiple scroll wheels 3, and multiple middle-ranges of scroll wheel 3 positioned at described frame the same side are offed normal in the side
The drive gear 2 apart from farthest scroll wheel 3 for collaboration take turns；The connecting rod is set through the frame, the connecting rod
Both ends are installed with two collaboration wheels respectively, and the axis of two collaboration wheels overlaps setting with the axis of the connecting rod.
By setting the connecting rod, the Movement consistency of the crawler belt ensure that, it is therefore prevented that crawler belt is in the process of running because of the rotation of both sides
Turn the crawler belt caused by being out of step to peel off with the scroll wheel 3 or drive gear 2.
Fig. 8 is the structural representation of swing arm in the preferred embodiment of the present invention.As shown in figure 8, in this preferred embodiment, it is described
Walking mechanism also includes multiple swing arms 4, and each swing arm 4 includes：Can be around the balance staff 41 that own axes rotate；Two extensions
The diameter parallel of arm 42, two adjutages 42 and the three of the balance staff 41 are set；It is respectively mounted on two adjutages 42
There is the scroll wheel 3, the axis of each scroll wheel 3 and overlapped with the axis of its adjutage 42 for coordinating installation, often
The individual scroll wheel 3 can rotate around the axis for the adjutage 42 for coordinating installation with it；For by two adjutages
The 42 pendulum fittings 43 being fixedly connected with the balance staff 41；Multiple swing arms 4 are arranged on the frame by the balance staff 41
Both sides.
In installation process, the balance staff 41 is connected with the frame, then two scroll wheels 3 are arranged on correspondingly
On two adjutages 42.In running, the scroll wheel 3 on the adjutage 42 is around the adjutage 42
Axis rotation, when ground rises and falls, on the basis of above-mentioned rotation, by the rotation of the balance staff 41, ensure that institute
Ground can be fitted in all the time by stating crawler belt, it is achieved thereby that the stable operation of this preferred embodiment.
In one alternate embodiment, the height on the axial line distance ground of the balance staff 41 is less than the drive gear 2
The height on axial line distance ground, meanwhile, again smaller than the height on the axial line distance ground of the collaboration wheel；Set by said structure
Put, can prevent in walking mechanism running, the crawler belt positioned at upside contacts with the scroll wheel 3, so as to reduce fortune
Row resistance, meanwhile, the contact wear of the scroll wheel 3 is avoided, extends the service life of the scroll wheel 3, reduces this
The operating cost of preferred embodiment.
Using crawler belt provided by the present invention, by setting the fixture 12, the contact pin 13 and the jack
141, the gap of jack 141 of the 1b of second body contact pin 13 and the first noumenon 1a coordinates, and is ensureing adjacent sheet
While 1 connection effect of body, generation of the adjacent body 1 in junction gluing phenomenon is avoided, so as to extend making for crawler belt
With the life-span, meanwhile, the type of attachment that gap coordinates reduces the installation difficulty and dismounting difficulty of the body 1；By setting
The first fixed plate 121 and second fixed plate 122 are stated, strengthens the fixing intensity of the contact pin 13, ensure that the present invention is whole
Body Stability Analysis of Structures；By setting lug boss, improve crawler belt grabs ground intensity.Using walking mechanism provided by the present invention, lead to
Cross and the crawler belt, the drive gear 2, the scroll wheel 3 are set, ensure that the operation steady in a long-term of walking mechanism, reduce
The installation difficulty and dismounting difficulty of the walking mechanism；By setting frame, the structural stability of the walking mechanism is enhanced
Can, while double track drives are also achieved, improve the power performance of the walking mechanism；Two motors set
Provided for the walking mechanism compared with strong power, while realize the steering operation function of the walking mechanism；By setting
Connecting rod is stated, ensure that the harmony of two crawler belt actions；By setting multiple swing arms 4, the vehicle with walking machine ensure that
Structure in the process of running, during in face of hollow environment, by adjusting the corner of the balance staff 41, avoids the walking mechanism and occurred
Severe turbulence, so as to ensure that the operation stability of the walking mechanism.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modifications or replacement, the essence of appropriate technical solution is departed from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of crawler belt, it is characterised in that including multiple bodies sequentially arranged and be connected, each body includes：
Creeper tread, the creeper tread have the first edge and the second edge being be arranged in parallel with first edge；
Fixture, the fixture are fixedly connected with the plate face of the creeper tread；
Contact pin, the contact pin is through the fixture and is fixedly connected with the fixture, the bearing of trend of the contact pin and institute
The bearing of trend for stating the first edge is identical；
Two wing plates perpendicular to first edge, two wing plates are oppositely arranged, and are connected on the fixture, two
A fixed space is formed between the individual wing plate；Jack is offered in the plate face of two wing plates；
For any one of body, the vertical range of axis to the creeper tread of the contact pin is D1, and two described slotting
The vertical range of the axis in hole to the creeper tread is D2, then has：D1=D2；First edge and second edge it
Between distance be L1, the distance of axis to the axis of two jacks of the contact pin is L2, then has：L1≤L2；
It is the first noumenon and the second body respectively for two bodies of arbitrary neighborhood, wherein, second body is consolidated
Determine part to be inserted in the fixed space of the first noumenon, the first noumenon is inserted at the both ends of the contact pin of second body respectively
Two jacks in, and gap coordinate.
2. crawler belt according to claim 1, it is characterised in that for any one of body, the fixture includes
First fixed plate and the second fixed plate, first fixed plate and second fixed plate are fixedly connected simultaneously with the creeper tread
Perpendicular to the creeper tread；The contact pin passes through first fixed plate and second fixed plate；In first fixed plate
A wing plate is connected with, a wing plate is also connected with second fixed plate.
3. crawler belt according to claim 2, it is characterised in that first fixed plate and the second fixed plate opposite face
The distance between be S1, the thickness of first fixed plate is S2, and the thickness of second fixed plate is S3；Two wing plates
The distance between opposite face be Q；Then have：S1+S2+S3=Q.
4. crawler belt according to claim 3, it is characterised in that the head end of two wing plates is connected to described first
The tail end of the tail end of fixed plate and second fixed plate；The head end of the head end of first fixed plate and second fixed plate
It is circular arc, the tail end of two wing plates is circular arc.
5. according to the crawler belt described in any one in claim 1-4, it is characterised in that backwards to described on each creeper tread
Multiple lug bosses are provided with the plate face of fixture.
6. a kind of walking mechanism, it is characterised in that including the crawler belt as described in any one in claim 1-5.
A kind of 7. walking mechanism, it is characterised in that including：
Crawler belt as described in any one in claim 2-4, wherein, multiple body head and the tail are sequentially connected with to form ring-type knot
Structure；In two bodies of arbitrary neighborhood, the first fixed plate of the first noumenon, the second fixed plate, contact pin and described
First fixed plate of the second body, the second fixed plate, contact pin limit jointly forms socket；
The drive gear rotated around own axes, the drive gear are meshed with the crawler belt, and the tooth of the drive gear is inserted
Enter in the socket；
It is at least one to be offered for the body on the rolling face of each scroll wheel around the scroll wheel that own axes rotate
The annular slot rolling that passes through of two wing plates；The drive gear and the scroll wheel are sequentially arranged, each scroll wheel
Axis set with the diameter parallel of the drive gear.
8. walking mechanism according to claim 7, it is characterised in that the walking mechanism also includes frame, the frame
Both sides be mounted on the drive gear and at least one scroll wheel；The walking mechanism includes two shoes
Band, two crawler belts are respectively arranged at the both sides of the frame, the aligned in position of two crawler belts.
9. walking mechanism according to claim 8, it is characterised in that the walking mechanism also includes to revolve around own axes
The connecting rod turned；The both sides of the frame are separately installed with multiple scroll wheels, positioned at the multiple described of described frame the same side
The drive gear that scroll wheel middle-range is offed normal in the side is taken turns apart from farthest scroll wheel for collaboration；The connecting rod passes through the machine
Frame is set, and the both ends of the connecting rod are installed with two collaboration wheels respectively, and the axis of two collaboration wheels is and institute
The axis for stating connecting rod overlaps setting.
10. walking mechanism according to claim 9, it is characterised in that the walking mechanism also includes multiple swing arms, each
The swing arm includes：
Can be around the balance staff that own axes rotate；
The diameter parallel of two adjutages, two adjutages and the balance staff three are set；On two adjutages
The scroll wheel is installed, the axis of each scroll wheel and overlapped with the axis of its adjutage for coordinating installation, Mei Gesuo
Stating scroll wheel can rotate around the axis for the adjutage for coordinating installation with it；
For the pendulum fitting for being fixedly connected with two adjutages with the balance staff；
Multiple swing arms are arranged on the both sides of the frame by the balance staff.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710855470.XA CN107571927A (en) | 2017-09-20 | 2017-09-20 | Crawler belt and walking mechanism |
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| CN201710855470.XA CN107571927A (en) | 2017-09-20 | 2017-09-20 | Crawler belt and walking mechanism |
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| CN107571927A true CN107571927A (en) | 2018-01-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11021196B2 (en) | 2018-06-26 | 2021-06-01 | Caterpillar Inc. | Track assembly for a machine |
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| US4099794A (en) * | 1976-03-22 | 1978-07-11 | Hoffart Ronald J | Track pad |
| JPH11240471A (en) * | 1998-02-24 | 1999-09-07 | Komatsu Ltd | Crawler unit |
| CN101432185A (en) * | 2006-04-25 | 2009-05-13 | 株式会社小松制作所 | Track belt assembly |
| CN106275115A (en) * | 2016-08-23 | 2017-01-04 | 西安科技大学 | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof |
| CN206086952U (en) * | 2016-10-26 | 2017-04-12 | 哈尔滨奥松机器人科技股份有限公司 | Have rack and transport function's sectional track concurrently |
| CN206155604U (en) * | 2016-08-24 | 2017-05-10 | 山东国兴智能科技有限公司 | Asymmetric upper block is from tensioning formula crawler attachment |
| CN207274805U (en) * | 2017-09-20 | 2018-04-27 | 淏祺教育科技（北京）有限公司 | Crawler belt and walking mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4099794A (en) * | 1976-03-22 | 1978-07-11 | Hoffart Ronald J | Track pad |
| JPH11240471A (en) * | 1998-02-24 | 1999-09-07 | Komatsu Ltd | Crawler unit |
| CN101432185A (en) * | 2006-04-25 | 2009-05-13 | 株式会社小松制作所 | Track belt assembly |
| CN106275115A (en) * | 2016-08-23 | 2017-01-04 | 西安科技大学 | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof |
| CN206155604U (en) * | 2016-08-24 | 2017-05-10 | 山东国兴智能科技有限公司 | Asymmetric upper block is from tensioning formula crawler attachment |
| CN206086952U (en) * | 2016-10-26 | 2017-04-12 | 哈尔滨奥松机器人科技股份有限公司 | Have rack and transport function's sectional track concurrently |
| CN207274805U (en) * | 2017-09-20 | 2018-04-27 | 淏祺教育科技（北京）有限公司 | Crawler belt and walking mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11021196B2 (en) | 2018-06-26 | 2021-06-01 | Caterpillar Inc. | Track assembly for a machine |
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