Elastic caterpillar band capable of realizing telescopic deformation

Abstract

The invention discloses an elastic caterpillar band capable of realizing telescopic deformation. The elastic caterpillar band comprises an outer layer caterpillar band (1), an inner layer caterpillar band (2) and linkage sections (3), and is formed by integrally processing a non-metallic elastic material through a die; the outer layer caterpillar band and the layer caterpillar band are both of a snakelike spring structure; the inner layer caterpillar band is narrower than the outer layer caterpillar band, and is arranged in the outer layer caterpillar band; the linkage sections are respectively arranged at middle parts of all concave segments I (6) of the outer layer caterpillar band and all concave segments II (7) of the inner layer caterpillar band; each linkage section comprises an outer tooth (8), a linkage segment (10) and an inner tooth (9); the outer teeth and the inner teeth are respectively arranged on the outer wall and the inner wall of the outer layer caterpillar band; the linkage segments are arranged between the outer layer caterpillar band and the inner layer caterpillar band and are connected with the outer layer caterpillar band and the inner layer caterpillar band; a guide slot (11) is arranged between each inner tooth and the inner layer caterpillar band. According to elastic caterpillar band disclosed by the invention, the number of layers of the inner layer caterpillar band can be reduced or increased as needed; when being in an initial state, the elastic caterpillar band disclosed by the invention becomes long after bent convex-concave segments are expanded under the action of an external supporting force; after the external force is removed, the elastic caterpillar band can be restored to the initial state, and therefore the telescopic deformation is realized.

Description

technical field [0001] The invention relates to a stretchable and deformable elastic crawler, which belongs to the research field of crawler walking mechanism for mobile platforms. Background technique [0002] The crawler-type walking mechanism has good terrain adaptability and terrain passability, and has strong obstacle surmounting ability, so it has been widely used in small mobile robots. Sometimes the scheme of actively or passively changing the shape of the track is adopted to make the tracked mobile robot obtain better obstacle-surmounting performance. At present, there are two common ways to change the track shape: joint track deformation and track self-deformation. The former uses a plurality of crawler units to articulate to form a joint crawler robot, such as a two-swing arm four-track robot (such as the crawler form in a patent application with a publication number of CN201179899), a four-swing arm six-track robot, by changing the joint track (swing arm) The a...

AI Technical Summary

Problems solved by technology

In the case of different lengths of the track, the tension force on the driving wheel is different, resulting in different friction driving force, so there is a possibility of slipping, which also brings difficulties to the design of the track and its matching track transmission mechanism

To sum up, the current stretchable and deformable elastic crawler technical solutions generally have problems such as complex structure, difficult processing, unreliable expansion and transmission, etc.

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