CN210822513U - Track structure of omnidirectional crawler wheel - Google Patents
Track structure of omnidirectional crawler wheel Download PDFInfo
- Publication number
- CN210822513U CN210822513U CN201921139215.6U CN201921139215U CN210822513U CN 210822513 U CN210822513 U CN 210822513U CN 201921139215 U CN201921139215 U CN 201921139215U CN 210822513 U CN210822513 U CN 210822513U
- Authority
- CN
- China
- Prior art keywords
- track
- wheel
- omnidirectional
- chain
- link
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 241000209140 Triticum Species 0.000 claims abstract description 30
- 235000021307 Triticum Nutrition 0.000 claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims 2
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000001939 inductive effect Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 125000003003 spiro group Chemical group 0.000 description 1
Images
Landscapes
- Tires In General (AREA)
Abstract
The utility model discloses a track structure of an omnidirectional crawler wheel, which comprises a plurality of track links and track connecting pin shafts, wherein the track links are sequentially hinged and connected end to end through the track connecting pin shafts to form an annular track link; the track link includes the link joint and sets up wheat wheel group on the link joint is towards track link ring outer lane wall body, wheat wheel group relative link joint rotation rotates, wheat wheel group's rotation axis direction is on a parallel with the link joint, just wheat wheel group's rotation axis direction is predetermine the contained angle setting with track link ring's rotation axis direction, combines together wheat wheel and track, can combine together wheat wheel's advantage and track's advantage, forms the omnidirectional track structure to make the tracked vehicle who uses this track structure have better omnidirectional mobility.
Description
Technical Field
The utility model belongs to the athey wheel field, in particular to track structure of omnidirectional athey wheel.
Background
The current Mecanum wheel is widely applied to robots and logistics, the unique omnibearing moving capability of the Mecanum wheel cannot be realized by a common tire, a track is a track chain ring formed by a plurality of chain plates in an end-to-end annular connection mode and is also widely applied to various fields, the design of a wheat wheel track combining a wheat wheel and the track is also provided, but the current wheat wheel track is not complete.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the not enough of existence among the prior art, the utility model provides a track structure of omnidirectional crawler wheel, it can make the tracked vehicle have better omnidirectional mobility.
The technical scheme is as follows: in order to achieve the above purpose, the technical scheme of the utility model is as follows:
a crawler belt structure of an omnidirectional crawler belt wheel comprises crawler belt links and crawler belt connecting pin shafts, wherein a plurality of sections of the crawler belt links are sequentially hinged and connected end to end through the plurality of crawler belt connecting pin shafts to form an annular crawler belt link; the crawler belt link includes the link joint and sets up wheat wheel group on the link joint is towards crawler belt link outer lane wall body, wheat wheel group is relative the link joint rotation and is rotated, wheat wheel group's rotation axis direction is on a parallel with the link joint, just wheat wheel group's rotation axis direction is preset the contained angle setting with crawler belt link's rotation axis direction.
Furthermore, the rotation axis direction of the wheat wheel set and the rotation axis direction of the crawler chain ring form an included angle of 45 degrees.
Furthermore, the wheat wheel group comprises first wheel groups, and at least two first wheel groups are arranged at intervals in the length direction of the chain plate respectively.
Furthermore, the first wheel set comprises first rotating wheels, and in the front-rear displacement direction of the rotation of the track chain ring, the contact points of the first rotating wheels of the two first wheel sets and the ground are arranged in a front-rear staggered mode.
Furthermore, the chain plate structure further comprises at least two second wheel sets, wherein the second wheel sets are arranged at intervals in the length direction of the chain plate respectively, and the second wheel sets are located between the two first wheel sets.
Furthermore, the second wheel set comprises second rotating wheels, and in the front-rear displacement direction of the rotation of the track chain ring, the contact points of the second rotating wheels of the two second wheel sets and the ground are arranged in a front-rear staggered mode.
Furthermore, the first wheel set further comprises first fixed blocks supporting the first rotating wheels to rotate, the second wheel set further comprises second fixed blocks supporting the second rotating wheels to rotate, the two first fixed blocks are respectively arranged on two sides of the two second fixed blocks, the two first fixed blocks and the two second fixed blocks are located on the same straight line path, and the straight line is parallel to the track connecting pin shaft; the first rotating wheel and the second rotating wheel are respectively spaced from the chain plate.
Furthermore, the wall body of the chain plate, which faces the inner ring of the track chain ring, is provided with inducing teeth, and the inducing teeth are of block structures.
Has the advantages that: the utility model discloses combine together wheat wheel and track, can combine together the advantage of wheat wheel and the advantage of track, form omnidirectional track structure to make the tracked vehicle who uses this track structure have better omnidirectional mobility ability.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a perspective view of the overall structure of the present invention;
FIG. 3 is a top view of the overall structure of the present invention;
FIG. 4 is an enlarged schematic view of a part A of the present invention;
FIG. 5 is a schematic structural view of a track link according to the present invention;
figure 6 is the utility model discloses a runner mounting structure explosion diagram.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 5, a track structure of an omnidirectional track wheel comprises a track link 1 and a track connecting pin shaft 2, wherein a plurality of sections of the track link 1 are sequentially hinged end to end through the track connecting pin shaft 2 to form an annular track chain ring, the track link 1 comprises a chain plate 3 and a wheat wheel set arranged on the wall body of an outer ring of the track chain ring, facing the chain plate 3, of the chain plate 3, the wheat wheel set rotates in an autorotation mode relative to the chain plate 3, the rotation axis direction of the wheat wheel set is parallel to the chain plate 3, a preset included angle is formed between the rotation axis direction of the wheat wheel set and the rotation axis direction of the track chain ring, and an α included angle formed between the rotation axis direction of the wheat wheel set and the rotation axis direction of the track chain ring is 45 degrees.
Referring to fig. 4 and 5, the wheel sets of the wheat wheels include first wheel sets 4 in the shape of cylindrical rollers, at least two first wheel sets 4 are respectively arranged at intervals in the length direction of the chain plates 3, if only one rotating wheel is arranged on one chain plate, the contact area between the rotating wheel and the ground is reduced on an uneven road surface, and the phenomenon of local vibration and bump is caused, and the contact point between the chain plate and the ground can be increased by arranging two or more rotating wheels on one chain plate 3, so that the stability performance is improved. The first wheel set 4 comprises a first rotating wheel 11, and in the front-back displacement direction of the rotation of the track chain ring, the contact points of the first rotating wheels 11 of the first wheel set 4 and the ground are arranged in a front-back staggered mode, namely the contact points of the two first rotating wheels 11 and the ground are in a front-back direction, so that the moment of a single chain plate 3 relative to the ground is prolonged, and the stability of the chain plate 3 supported on the ground can be increased.
The wheat wheel set further comprises second wheel sets 5, at least two sets of the second wheel sets 5 are arranged at intervals in the length direction of the chain plates 3 respectively, and two or more rotating wheels are arranged on one chain plate 3, so that contact points of the chain plate and the ground can be increased, and stability performance is improved. And the second wheel set 5 is positioned between the two groups of first wheel sets 4, the second wheel set 5 comprises a second rotating wheel 12 in the shape of a cylindrical roller, in the front and rear displacement directions of the rotation of the track chain ring, the contact points of the second rotating wheels 12 of the two groups of second wheel sets 5 and the ground are arranged in a front and rear staggered manner, namely the contact points of the two groups of second rotating wheels 12 and the ground are in the front and rear directions, so that the moment of a single chain plate 3 relative to the ground is prolonged, the stability of the chain plate 3 supported on the ground can be increased, and a four-point contact point in a plane can be formed by the contact points of the two first rotating wheels 11 and the two second rotating wheels 12 with the ground, so that the integral support stability of the single chain plate is increased, and when the chain plate is turned, even if the contact surface is uneven, any contact point, namely any rotating wheel is in contact with the contact surface, and the rotating wheel can rotate to realize the steering displacement of the vehicle body.
The first wheel set 4 further comprises a first fixed block 10 supporting the first rotating wheel 10 to rotate, the second wheel set 5 further comprises a second fixed block 13 supporting the second rotating wheel 12 to rotate, the two first fixed blocks 10 are respectively arranged on two sides of the two second fixed blocks 13, the two first fixed blocks 10 and the two second fixed blocks 13 are located on the same straight line path, and the straight line is parallel to the track connecting pin shaft 2; the first rotating wheel 10 and the second rotating wheel 12 are respectively spaced from the chain plate 3 to ensure the normal rotation of the rotating wheels. The structure composition is the same except that the sizes of the first wheel set 4 and the second wheel set 5 are different, the size and the structure of the first fixing block 10 are the same as those of the second fixing block 13, the two groups of first rotating wheels and the two groups of second rotating wheels are respectively arranged in a rotational symmetry mode by taking the geometric center of the chain plate 3 as the circle center, the axial length of the second rotating wheel 12 is smaller than that of the first rotating wheel, but the diameters of the first rotating wheels and the second rotating wheels are equal, one first rotating wheel 11 and one second rotating wheel 12 far away from the first rotating wheel are located on one side of a fixing block connecting path, the other first rotating wheel 1 and the other second rotating wheel 12 far away from the first rotating wheel are located on the other side of the fixing block connecting path, a plurality of mutually-dispersed and relatively-balanced stress contact points on the chain plate 3 can be guaranteed, and the stability.
And through the runner structure of a plurality of less volumes, can make the processing of runner simpler easy, also do benefit to it and install on track link chain, make simplely, even there is the runner damage, only need to change the runner of part damage, the maintenance is simple, and is with low costs.
The wall body of the chain plate 3 facing the inner ring of the track chain ring is provided with inducing teeth 6, the inducing teeth 6 are of block structures, and grooves corresponding to the inducing teeth 6 are annularly arranged on hubs of the driving wheel and the driven wheel and used for limiting and guiding the track chain ring.
Taking the connection of first runner 11 and first fixed block 11 as an example, first wheelset 4 still includes dabber 101, rotates cover 103, child cover 104 and fixing bolt 105, first fixed block 10 is the massive structure, and its rotation direction along first runner, also link up with track connecting pin axle 2 and has seted up the fixed orifices in the direction that is 45 degrees contained angles, dabber 101 is the T type pole of polished rod formula, it establishes on dabber 101 to rotate cover 103 clearance cover, the tight cover of child cover 104 is established and is rotated the cover 103 outer lane, it passes through the dabber butt in one side of first fixed block to rotate cover 103, the tip of dabber 101 is along the concave internal thread hole that is equipped with of axial, and this tip wears into the fixed orifices, and the opposite side that is located first fixed block is provided with fixing bolt 105, and the spiro union is on dabber 101, and this structural fixing mode is simple, easily installation dismantlement.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (8)
1. The utility model provides a track structure of omnidirectional crawler wheel which characterized in that: the crawler belt chain comprises crawler belt chain links (1) and crawler belt connecting pin shafts (2), wherein a plurality of sections of the crawler belt chain links (1) are sequentially hinged and connected end to end through the plurality of crawler belt connecting pin shafts (2) to form an annular crawler belt chain link; track chain link (1) is in including link joint (3) and setting link joint (3) are towards wheat wheel group on the track chain link outer lane wall body, wheat wheel group is relative link joint (3) rotation and is rotated, wheat wheel group's rotation axis direction is on a parallel with link joint (3), just wheat wheel group's rotation axis direction is preset the contained angle setting with track chain link's rotation axis direction.
2. The track structure of an omnidirectional track wheel according to claim 1, wherein: the rotation axis direction of the wheat wheel set and the rotation axis direction of the crawler chain ring form an included angle of 45 degrees.
3. The track structure of an omnidirectional track wheel according to claim 1, wherein: the wheat wheel set comprises first wheel sets (4), and at least two first wheel sets (4) are arranged in the length direction of the chain plate (3) at intervals.
4. The track structure of an omnidirectional track wheel according to claim 3, wherein: the first wheel set (4) comprises first rotating wheels (11), and in the front-rear displacement direction of the rotation of the track chain ring, the contact points of the first rotating wheels (11) of the first wheel set (4) and the ground are arranged in a front-rear staggered mode.
5. The track structure of an omnidirectional track wheel according to claim 3, wherein: the chain plate structure is characterized by further comprising at least two second wheel sets (5), wherein the second wheel sets (5) are arranged in the length direction of the chain plate (3) at intervals, and the second wheel sets (5) are located between the two first wheel sets (4).
6. The track structure of an omnidirectional track wheel according to claim 5, wherein: the second wheel set (5) comprises second rotating wheels (12), and in the front-rear displacement direction of the rotation of the track chain ring, the contact points of the second rotating wheels (12) of the second wheel set (5) and the ground are arranged in a front-rear staggered mode.
7. The track structure of an omnidirectional track wheel according to claim 6, wherein: the first wheel set (4) further comprises first fixed blocks (10) supporting the first rotating wheels (11) to rotate, the second wheel set (5) further comprises second fixed blocks (13) supporting the second rotating wheels (12) to rotate, the two first fixed blocks (10) are respectively arranged on two sides of the two second fixed blocks (13), the two first fixed blocks (10) and the two second fixed blocks (13) are located on the same straight line path, and the straight line is parallel to the track connecting pin shaft (2); the first rotating wheel (11) and the second rotating wheel (12) are respectively spaced from the chain plate (3).
8. The track structure of an omnidirectional track wheel according to claim 1, wherein: the wall body of the chain plate (3) facing the inner ring of the track chain ring is provided with induction teeth (6), and the induction teeth (6) are of block structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921139215.6U CN210822513U (en) | 2019-07-19 | 2019-07-19 | Track structure of omnidirectional crawler wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921139215.6U CN210822513U (en) | 2019-07-19 | 2019-07-19 | Track structure of omnidirectional crawler wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210822513U true CN210822513U (en) | 2020-06-23 |
Family
ID=71251366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921139215.6U Expired - Fee Related CN210822513U (en) | 2019-07-19 | 2019-07-19 | Track structure of omnidirectional crawler wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210822513U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113200096A (en) * | 2021-04-06 | 2021-08-03 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
-
2019
- 2019-07-19 CN CN201921139215.6U patent/CN210822513U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113200096A (en) * | 2021-04-06 | 2021-08-03 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
| CN113200096B (en) * | 2021-04-06 | 2023-02-21 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6712549B2 (en) | Double-axis oscillating bogie wheels | |
| FI56651C (en) | ANORDNING VID STYRBART KURSSTABILT SJAELVGAOENDE FORDON | |
| US8783795B2 (en) | Frameless track assembly | |
| CN109263718B (en) | Pull rod steering, balance suspension and inclination angle adjustable unitized running gear | |
| CN105073567A (en) | Rubber track unit for vehicle | |
| CN202623788U (en) | Multi-row omnibearing wheel | |
| CN102245397A (en) | Friction-type drive device and omnidirectional movable body using same | |
| CN106470893A (en) | There is the vehicle track assembly of taper cone pulley | |
| CN210822513U (en) | Track structure of omnidirectional crawler wheel | |
| FR2808491B1 (en) | A SELF-PROPELLED TROLLEY CAPABLE OF MOVING IN A CYLINDRICAL GALLERY | |
| US20100176225A1 (en) | Self-propelled irrigation system with articulated drive tower | |
| CN206327459U (en) | A kind of driven pedrail of omnidirectional moving | |
| CN106696598B (en) | Omnidirectional wheel without lateral swing | |
| CN110626133A (en) | Omnidirectional driving wheel set with elastic suspension function | |
| CN101722845A (en) | Swinging and steering four-wheel driving mechanism with single-bolt hinge | |
| SU1300780A1 (en) | Wheel for displacement to any directions | |
| CN211196348U (en) | Vehicle body steering structure | |
| CN209722689U (en) | A kind of automatically walk tunnel trestle by rotating axle steer | |
| US6030058A (en) | Mobile construction vehicle driven by track assemblies using continuous elastomeric belts | |
| CN106515886A (en) | Omni-directional moving transmission continuous track | |
| CN206327460U (en) | A kind of robot transmission crawler belt of omnidirectional moving | |
| CN104494720A (en) | Tracked vehicle movement mode-based high-efficiency steering platform | |
| US20080053717A1 (en) | Utility vehicle with multiple axle steering | |
| CN104386154A (en) | High-efficiency steering crawler belt and platform thereof | |
| CN218788966U (en) | Steering mechanism and four-wheel miniature tillage equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200623 |