CN107878585A - A kind of electric caterpillar band wheel for the traveling that can roll - Google Patents
A kind of electric caterpillar band wheel for the traveling that can roll Download PDFInfo
- Publication number
- CN107878585A CN107878585A CN201711419266.XA CN201711419266A CN107878585A CN 107878585 A CN107878585 A CN 107878585A CN 201711419266 A CN201711419266 A CN 201711419266A CN 107878585 A CN107878585 A CN 107878585A
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- Prior art keywords
- wheel
- driving gear
- wheel hub
- gear
- traveling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The invention discloses a kind of electric caterpillar band wheel for the traveling that can roll, including wheel hub, driving gear, multiple driven gears, multiple Athey wheels and crawler belt, driving gear is installed in rotation on wheel hub, multiple driven gears are installed in rotation on wheel hub and are meshed with driving gear, multiple Athey wheels are fixedly and coaxially connected one by one with multiple driven gears, crawler belt is arranged on multiple Athey wheel excircles, under first working condition, crawler belt is rotated so as to drive whole Athey wheel to move forward, wheel hub does not rotate, under second working condition, motor drives driving gear, motor produces torque to wheel hub, wheel hub rolling movement；The electric caterpillar band wheel of the traveling that can roll proposed by the invention, it is compact-sized, it is possible to achieve stair climbing and across the function compared with high obstacle thing.
Description
Technical field
The present invention relates to Athey wheel technical field, more particularly to a kind of electric caterpillar band wheel for the traveling that can roll.
Background technology
At present, walking mechanism uses circular wheel or creeper undercarriage mostly, circular wheel although have it is motor-driven, flexibly and
The advantages that required driving force is small, that some are as small such as contact surface can also be present, contact is big, obstacle climbing ability difference etc., in face
During to complicated unstructured moving grids, on such as sand ground, mud spit of fland or soft ground, easily subside, and cause to skid and nothing
Method is walked, or has the obstacle of projection, and such as rock also can be impassable；And in structured environment, it can not cross such as step
Barriers such as (stair), although creeper undercarriage also can partly solve the problems, such as that above-mentioned circular wheel is present, and brings simultaneously
Other bigger problem is：Mechanism is huge, body is heavy and mobility is poor.
The content of the invention
To solve technical problem present in background technology, the present invention proposes a kind of electric caterpillar band for the traveling that can roll
Wheel.
A kind of electric caterpillar band wheel of traveling that can roll proposed by the present invention, including wheel hub, driving gear, multiple driven tooths
Wheel, multiple Athey wheels and crawler belt, driving gear are installed in rotation on wheel hub, and multiple driven gears are installed in rotation on wheel
It is meshed on hub and with driving gear, multiple Athey wheels are fixedly and coaxially connected one by one with multiple driven gears, and crawler belt is arranged on more
On individual Athey wheel excircle；The electric caterpillar band wheel of the traveling that can roll includes at least two working conditions, wherein：
Under first working condition, motor driving driving gear is rotated, and driving gear is rotated by multiple driven gears to be distinguished
Multiple Athey wheels are driven to rotate, multiple Athey wheels drive crawler belt to rotate simultaneously, and wheel hub is on hub plane along rectilinear movement；
Under second working condition, motor driving driving gear, motor produces torque, wheel hub rolling movement to wheel hub.
Preferably, driven gear is uniformly arranged on driving gear circumference.
Preferably, it is additionally provided with travelling gear between driving gear and driven gear, travelling gear and driving gear and driven
Gear engages.
Preferably, kidney-shaped locating slot is offered on wheel hub, the rotating shaft of driven gear is arranged in kidney-shaped locating slot, rotating shaft edge
Move to adjust the distance of driven gear and driving gear in kidney-shaped positioning groove length direction.
In the present invention, the electric caterpillar band wheel of the traveling that can roll proposed, driving gear drives its circumferential driven tooth
Synchronous axial system is taken turns, driven gear drives the crawler belt of periphery to rotate, and when Athey wheel is travelling on the road surface of no obstacle, crawler belt turns
Dynamic to promote whole Athey wheel to travel forward, wheel hub is only moved forward without rotating, when Athey wheel is travelled or met on step
During to obstacle, crawler belt acts power by resistance, and then to wheel hub, torque is produced between wheel hub and motor, motor is to actively
The torque of gear can make whole wheel hub roll, so as to cross step or obstacle, the electricity of the traveling that can roll proposed by the invention
Dynamic Athey wheel, it is compact-sized, it is possible to achieve stair climbing and across the function compared with high obstacle thing.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the electric caterpillar band wheel for the traveling that can roll proposed by the present invention；
Fig. 2 is the schematic diagram that a kind of electric caterpillar band wheel for the traveling that can roll proposed by the present invention is walked on step.
Embodiment
As shown in figure 1, Fig. 1 is a kind of structural representation of the electric caterpillar band wheel for the traveling that can roll proposed by the present invention,
Fig. 2 is the schematic diagram that a kind of electric caterpillar band wheel for the traveling that can roll proposed by the present invention is walked on step.
Reference picture 1, a kind of electric caterpillar band wheel for the traveling that can roll proposed by the present invention, including wheel hub 1, driving gear 2,
Four driven gears, 3, four Athey wheels 4 and crawler belt 5, wheel hub 1 are in X-shaped, and driving gear 2 is installed in rotation among wheel hub 1
Position, four travelling gears 6 are installed in rotation on four supports of wheel hub 1, and are meshed with driving gear 2 respectively, and four
Individual driven gear 3 is installed in rotation on four travelling gears and mutually nibbled away from the side of driving gear 2, and with travelling gear respectively
Close, four Athey wheels 4 are fixedly and coaxially connected one by one with four driven gears 3, and the diameter of Athey wheel 4 is more than driven gear diameter, are carried out
Band 5 is arranged on four excircles of Athey wheel 4, and crawler belt 5 is square structure after being tensioned, and four travelling gear sizes are identical, four from
Moving teeth size of wheel is identical, and the axle center of driving gear 2, travelling gear 6 and driven gear 3 on each support is located at same straight line
On direction, four sizes of Athey wheel 4 are identical, and motor is connected driving driving gear 2 with driving gear 2 and rotated, and driving gear 2 passes through
Travelling gear and driven gear drive four Athey wheels to rotate synchronous axial system, and four Athey wheels 4 drive the crawler belt of periphery to rotate.
The electric caterpillar band wheel of the traveling that can roll includes at least two working conditions, wherein：
For Athey wheel 4 when being walked on smooth road surface, Athey wheel 4 is in the first working condition, motor driving driving gear 2
Rotate, driving gear 2 is rotated by four driven gears 3 drives four Athey wheels 4 to rotate respectively, four Athey wheels 4 while band
Dynamic crawler belt 5 rotates, and crawler belt 5, which rotates, drives whole Athey wheel 4 to move forward, and now wheel hub 1 does not rotate, and wheel hub 1 only moves along straight line
It is dynamic；
For Athey wheel 4 when being walked on step or running into obstacle, Athey wheel 4 is in the second working condition, and crawler belt 5 is hindered
Power, motor driving driving gear 2, motor produce torque to wheel hub 1, and the rolling of wheel hub 1 moves across obstacle.
Offer kidney-shaped locating slot 7 on wheel hub 1, the rotating shaft of driven gear 3 is arranged in kidney-shaped locating slot 7, and rotating shaft is along waist
The length direction of shape locating slot 7 is moved to adjust the distance of driven gear 3 and driving gear 2, so as to reach regulation track tension
Purpose, adapt to the road surfaces of different flatness.
In the specific work process of the electric caterpillar band wheel of the traveling that can roll of the present embodiment, reference picture 1, when Athey wheel 4
When being travelled on the road surface of no obstacle, crawler belt 5, which rotates, promotes whole Athey wheel 4 to travel forward, and wheel hub 1 is moved forward and sent out
Raw to rotate, reference picture 2, when Athey wheel 4 is travelling on step or running into obstacle, crawler belt 5 produces by resistance, and then to wheel hub 1
Raw active force, produces torque, motor can make whole wheel hub 1 roll to the torque of driving gear 2, crawler belt between wheel hub 1 and motor
Barrier was rolled, so as to cross step or obstacle, and by adjusting the rate of tension of crawler belt, Athey wheel is across step or barrier
When hindering, height of C.G. is constant, and the stationarity of Athey wheel is preferable, the electric caterpillar band wheel of the traveling that can roll proposed by the invention,
It is compact-sized, realize stair climbing and across the function compared with high obstacle thing.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (4)
1. a kind of electric caterpillar band wheel for the traveling that can roll, it is characterised in that including wheel hub (1), driving gear (2), Duo Gecong
Moving gear (3), multiple Athey wheels (4) and crawler belt (5), driving gear (2) is installed in rotation on wheel hub (1), multiple driven
Gear (3) is installed in rotation on wheel hub (1) and is meshed with driving gear (2), multiple Athey wheels (4) and multiple driven tooths
Wheel (3) is fixedly and coaxially connected one by one, and crawler belt (5) is arranged on multiple Athey wheels (4) excircle；The electricity of the traveling that can roll
Dynamic Athey wheel includes at least two working conditions, wherein：
Under first working condition, motor driving driving gear (2) is rotated, and driving gear (2) is rotated by multiple driven gears (3)
Drive multiple Athey wheels (4) to rotate respectively, multiple Athey wheels (4) while drive crawler belt (5) to rotate, wheel hub (1) is flat in wheel hub (1)
Along rectilinear movement on face；
Under second working condition, motor driving driving gear (2), motor produces torque, wheel hub (1) rolling movement to wheel hub (1).
2. the electric caterpillar band wheel of the traveling according to claim 1 that can roll, it is characterised in that multiple driven gears (3)
It is circumferential to be uniformly arranged on driving gear (2).
3. the electric caterpillar band wheel of the traveling according to claim 1 that can roll, it is characterised in that driving gear (2) and from
Travelling gear (6) is additionally provided between moving gear (3), travelling gear (6) engages with driving gear (2) and driven gear (3).
4. the electric caterpillar band wheel of the traveling that can roll according to claim 1-3, it is characterised in that wheel hub opens up on (1)
There is kidney-shaped locating slot (7), the rotating shaft of driven gear (3) is arranged in kidney-shaped locating slot (7), and rotating shaft is long along kidney-shaped locating slot (7)
Move to adjust the distance of driven gear (3) and driving gear (2) in degree direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419266.XA CN107878585A (en) | 2017-12-25 | 2017-12-25 | A kind of electric caterpillar band wheel for the traveling that can roll |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419266.XA CN107878585A (en) | 2017-12-25 | 2017-12-25 | A kind of electric caterpillar band wheel for the traveling that can roll |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107878585A true CN107878585A (en) | 2018-04-06 |
Family
ID=61772239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711419266.XA Pending CN107878585A (en) | 2017-12-25 | 2017-12-25 | A kind of electric caterpillar band wheel for the traveling that can roll |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107878585A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515539A (en) * | 2018-10-11 | 2019-03-26 | 安徽工程大学 | Climb building loading equipment and its control method |
| CN110215165A (en) * | 2019-06-24 | 2019-09-10 | 广西科技大学 | It is a kind of to cross crawler belt clean robot automatically |
| CN114644206A (en) * | 2022-03-31 | 2022-06-21 | 华能上海石洞口发电有限责任公司 | Crawling ladder type cleaning device for conveying belt |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785716A (en) * | 2012-08-03 | 2012-11-21 | 中国科学技术大学 | Special-shaped wheel and caterpillar track combined walking mechanism |
| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
| CN205930965U (en) * | 2016-08-10 | 2017-02-08 | 北京京能恒星能源科技有限公司 | But platform structure of robot of multidimension walking |
| CN106428268A (en) * | 2016-11-14 | 2017-02-22 | 中国人民解放军陆军军官学院 | All-terrain composite walking mechanism |
-
2017
- 2017-12-25 CN CN201711419266.XA patent/CN107878585A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785716A (en) * | 2012-08-03 | 2012-11-21 | 中国科学技术大学 | Special-shaped wheel and caterpillar track combined walking mechanism |
| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
| CN205930965U (en) * | 2016-08-10 | 2017-02-08 | 北京京能恒星能源科技有限公司 | But platform structure of robot of multidimension walking |
| CN106428268A (en) * | 2016-11-14 | 2017-02-22 | 中国人民解放军陆军军官学院 | All-terrain composite walking mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515539A (en) * | 2018-10-11 | 2019-03-26 | 安徽工程大学 | Climb building loading equipment and its control method |
| CN109515539B (en) * | 2018-10-11 | 2024-02-27 | 安徽工程大学 | Stair climbing cargo equipment and control method thereof |
| CN110215165A (en) * | 2019-06-24 | 2019-09-10 | 广西科技大学 | It is a kind of to cross crawler belt clean robot automatically |
| CN114644206A (en) * | 2022-03-31 | 2022-06-21 | 华能上海石洞口发电有限责任公司 | Crawling ladder type cleaning device for conveying belt |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180406 |