Crawler belt structure and crawler belt type moving device

Abstract

The utility model relates to a caterpillar band structure and a caterpillar band type moving device, the caterpillar band structure comprises an annular band-shaped caterpillar band main body, a plurality of caterpillar band teeth are arranged on the outer side surface of the caterpillar band main body in a protruding mode, and the caterpillar band teeth are arranged at intervals in the extending direction of the caterpillar band main body; the end face of the side, away from the track body, of each track tooth is an outer end face, the two sides of the track body are a first side edge and a second side edge respectively, and the outer end faces are planes and extend from the first side edge to the second side edge. A gap groove is formed in the interval portion between every two adjacent crawler teeth, and the groove face and the outer end face of each gap groove are in curved surface smooth transition. The crawler teeth of the crawler are arranged to be in the planar tooth shape, the contact area of the crawler teeth and the lawn is increased, therefore, the pressure of the crawler teeth on the lawn is reduced, the pressure damage degree on the lawn can be effectively reduced, and due to the fact that curved surface smooth transition is adopted between the groove faces of the gap grooves and the outer end faces, the peripheral edges of the crawler teeth are softer, and the service life of the crawler teeth is prolonged. The edge of the crawler teeth cannot cut grass bodies, and damage to the appearance of a lawn is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of garden robots, in particular to a crawler structure and a crawler-type mobile device. Background Art

[0002] In the related art, garden robots such as lawn mowing robots usually use wheel sets to support the body and move. The wheel sets of the garden robots moving in this way will leave wheel marks on the lawn, damaging the beauty of the lawn. And when encountering complex road conditions, they cannot move freely, affecting the normal operation of the lawn mower. The use of crawler movement can better alleviate the above situation. However, the crawler teeth in the related art are relatively sharp. Although it is beneficial for walking, when the garden robot is walking, especially when turning, the crawler teeth still crush the lawn, affecting the beauty of the lawn and unable to meet the user's demand for maintaining the beauty of the lawn, so it needs to be improved. Summary of the Utility Model

[0003] In view of this, the utility model provides a crawler structure and a crawler-type mobile device, which are used to solve the problem that the crawler teeth in the related art are relatively sharp. When the garden robot is walking, especially when turning, the crawler teeth crush the lawn, affecting the beauty of the lawn and unable to meet the user's demand for maintaining the beauty of the lawn.

[0004] To achieve one or part or all of the above purposes or other purposes, the utility model provides a crawler structure, including an annular crawler body, and a plurality of crawler teeth protrude from the outer surface of the crawler body. The crawler teeth are arranged at intervals along the extending direction of the crawler body;

[0005] The end surface of the crawler tooth facing away from the crawler body is the outer end surface. The two sides of the crawler body are the first side edge and the second side edge respectively. The outer end surface is a plane and extends from the first side edge towards the second side edge;

[0006] The interval part between two adjacent crawler teeth is a gap groove, and the groove surface of the gap groove is smoothly curved with the outer end surface.

[0007] In some alternative embodiments, the gap groove is bent, and the shape of the outer end surface is adapted to the shape of the gap groove.

[0008] In some alternative embodiments, a plurality of anti-slip grooves are concavely formed on the outer end surface. The depth of the anti-slip grooves is less than the depth of the gap groove, and the groove surface of the anti-slip grooves is smoothly curved with the outer end surface.

[0009] In some alternative embodiments, the anti-slip grooves are wavy.

[0010] In some alternative embodiments, the width of the tread teeth in the extending direction of the crawler body is w1, and the width of the anti-slip grooves in the extending direction of the crawler body is w3, then 1:8 ≤ w3:w1 ≤ 1:28.

[0011] In some alternative embodiments, the width of the tread teeth in the extending direction of the crawler body is w1, and the width of the clearance grooves in the extending direction of the crawler body is w2, then 1:4 ≤ w2:w1 ≤ 1:8.

[0012] In some alternative embodiments, the outer end face and the first side edge are smoothly transitioned by a curved surface, and the outer end face and the second side edge are smoothly transitioned by a curved surface.

[0013] In some alternative embodiments, a first internal gear ring and a second internal gear ring are arranged side by side on the inner ring surface of the crawler body, and a wheel groove is reserved between the first internal gear ring and the second internal gear ring;

[0014] The first internal gear ring includes a plurality of first internal gear bodies, and the first internal gear bodies are arranged at intervals along the extending direction of the crawler body;

[0015] The second internal gear ring includes a plurality of second internal gear bodies, and the second internal gear bodies are arranged at intervals along the extending direction of the crawler body.

[0016] The present utility model further provides a crawler-type mobile device, which includes the above-mentioned crawler structure, and further includes a driving structure, a bracket structure, a driving wheel and a driven wheel,

[0017] Both the driving wheel and the driven wheel are rotatably connected to the bracket structure;

[0018] The crawler structure is sleeved on the outer circumferences of the driving wheel and the driven wheel, and both the driving wheel and the driven wheel are located in the wheel groove;

[0019] A plurality of wheel teeth arranged at circumferential intervals are provided on both side end faces of the driving wheel, and the wheel teeth are used to push against the first internal gear body and the second internal gear body;

[0020] The driving structure is arranged on the bracket structure, and the driving structure is connected to and drives the driving wheel to rotate.

[0021] In some alternative embodiments, a tensioning mechanism is arranged on the bracket structure, the tensioning mechanism is connected to the driven wheel, and the tensioning mechanism is used to adjust the distance between the driven wheel and the driving wheel.

[0022] Implementing the embodiments of the present utility model will have the following beneficial effects:

[0023] In the present utility model, the tread teeth of the crawler are set to have a flat tooth shape. Since the outer end face is flat and has a large extension area, the contact area between the tread teeth and the lawn is increased, so that the pressure of the tread teeth on the lawn is reduced, and the damage to the lawn can be effectively reduced. On the other hand, since the groove surface of the clearance groove and the outer end face are smoothly transitioned by a curved surface, the outer peripheral edge of the tread teeth is softer. When the courtyard robot is walking, especially when turning, the edge of the tread teeth will not cut the grass body, effectively reducing the damage to the appearance of the lawn.

[0024] It solves the problem that in the related art, the tread teeth on the crawler are relatively sharp. When the courtyard robot is walking, especially when turning, the tread teeth will crush and damage the lawn, affecting the beauty of the lawn and unable to meet the user's requirement for maintaining the beauty of the lawn. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Among them:

[0027] Figure 1 is a perspective view of the crawler structure of an optional embodiment of the present utility model;

[0028] Figure 2 is a top view of the crawler structure of an optional embodiment of the present utility model;

[0029] Figure 3 is a perspective view of the crawler-type mobile device of an optional embodiment of the present utility model;

[0030] Figure 4 is a perspective view of the crawler-type mobile device of an optional embodiment of the present utility model from another perspective;

[0031] Figure 5 is a perspective view of the internal structure of the crawler-type mobile device of an optional embodiment of the present utility model.

[0032] The description of the reference numerals in the drawings is as follows: 1 - crawler body; 11 - first side; 12 - second side; 2 - crawler teeth; 21 - outer end face; 211 - anti-slip groove; 3 - clearance groove; 41 - first internal gear ring; 411 - first internal gear body; 42 - second internal gear ring; 421 - second internal gear body; 43 - wheel groove; 5 - drive structure; 6 - support structure; 61 - first frame body; 62 - second frame body; 63 - assembly groove; 71 - driving wheel; 712 - gear teeth; 72 - driven wheel; 81 - first shaft body; 82 - second shaft body; 9 - tensioning mechanism; 91 - fixing part; 92 - suspension; 93 - tensioning part. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0034] The crawler structure of the present invention is used as the crawler of a crawler mobile device to reduce the damage to the lawn when the crawler mobile device moves and turns on the lawn, so as to maintain the beauty of the lawn.

[0035] Please refer comprehensively to Figure 1 and Figure 2 As shown in, an embodiment of a crawler structure of the present invention includes an annular crawler body 1, and a plurality of crawler teeth 2 protrude from the outer surface of the crawler body 1. The crawler teeth 2 are arranged at intervals along the extending direction of the crawler body 1. It should be noted that since the crawler body 1 is annular, the extending direction of the crawler body 1 can be understood as the circumferential direction of the annular belt.

[0036] The end face of the crawler tooth 2 facing away from the crawler body 1 is the outer end face 21. The two sides of the crawler body 1 are respectively the first side 11 and the second side 12. The outer end face 21 is a plane, and the outer end face 21 extends from the first side 11 towards the second side 12.

[0037] The interval part between two adjacent crawler teeth 2 is the clearance groove 3, and the groove surface of the clearance groove 3 is smoothly transitioned with the outer end face 21 by a curved surface. The way of smoothly transitioning with a curved surface can include but is not limited to ways such as filleting.

[0038] In this embodiment, the grouser 2 of the crawler is set to a planar tooth shape. Since the outer end surface 21 is a plane and has a large extension area, the contact area between the grouser 2 and the lawn is increased, thereby reducing the pressure of the grouser 2 on the lawn, which can effectively reduce the degree of pressure loss on the lawn. On the other hand, since the groove surface of the gap groove 3 and the outer end surface 21 adopt a curved surface to smoothly transition, the outer peripheral edge of the grouser 2 is softer. When the garden robot is walking, especially when turning, the edge of the grouser 2 will not cut the grass, effectively reducing the damage to the appearance of the lawn.

[0039] It should be noted that when the grass is bent, it can restore itself to an upright state after a period of time. However, when the grass is cut, the probability of restoring its upright state is low. Therefore, a curved surface smooth transition is adopted between the groove surface of the gap groove 3 and the outer end surface 21 to avoid cutting the grass as much as possible, so as to ensure that the grass can restore its upright state by itself.

[0040] The problem that the teeth on the crawler track in the related art are relatively sharp, and when the garden robot is walking, especially turning, the crawler track will crush the lawn, affecting the aesthetics of the lawn and failing to meet the user's needs for maintaining the beauty of the lawn is solved.

[0041] Optionally, the track body 1 and the grouser 2 are integrally formed.

[0042] In some optional embodiments, please refer to Figure 1 and Figure 2 , the gap groove 3 is bent, and the shape of the outer end surface 21 is adapted to the shape of the gap groove 3. The groove surface of the gap groove 3 still adopts a curved surface smooth transition with the outer end surface 21. In this way, the crawler structure can reduce the slippage when turning. As an optional example, the gap groove 3 is "Z" shaped, such as Figure 1 as shown in .

[0043] In some optional embodiments, the outer end surface 21 is concave to form a plurality of anti-skid grooves 211, the depth of the anti-skid grooves 211 is less than the depth of the gap grooves 3, and a curved surface smooth transition is adopted between the groove surface of the anti-skid grooves 211 and the outer end surface 21. The curved surface smooth transition may be implemented by, but not limited to, rounded corners. The provision of the anti-skid grooves 211 can increase the friction between the grouser 2 and the lawn to facilitate the movement of the crawler structure. At the same time, since the anti-skid grooves 211 are narrow and shallow, the use of a curved surface smooth transition makes the edge of the anti-skid grooves 211 softer, which can increase the friction while reducing damage to the lawn.

[0044] As an optional example, Figure 1 and Figure 2 As shown in , the anti-slip groove 211 is wavy.

[0045] The number and shape of the anti-slip grooves 211 can be set according to actual needs and will not be described in detail here.

[0046] In some alternative embodiments, as shown in Figure 2 , the width of the tread teeth 2 in the extending direction of the track body 1 is w 1 , and the width of the anti-slip grooves 211 in the extending direction of the track body 1 is w 3 , then 1:8 ≤ w 3 :w 1 ≤ 1:28. Within this range, on the premise of preventing the track structure from slipping as much as possible and not affecting the rotation of the track structure, the width of the tread teeth 2 is increased to increase the area of the outer end face 21, so as to increase the contact area with the lawn ground and reduce the pressure on the lawn.

[0047] In some alternative embodiments, as shown in Figure 2 , the width of the tread teeth 2 in the extending direction of the track body 1 is w 1 , and the width of the clearance grooves 3 in the extending direction of the track body 1 is w 2 , then 1:4 ≤ w 2 :w 1 ≤ 1:8.

[0048] As an alternative example, the dimension of w 1 is 50 - 54 mm, the dimension of w 2 is 6 - 10 mm, and the dimension of w 3 is 4 - 5 mm. This example is for reference only and not a dimension limitation.

[0049] Since if the edges of the tread teeth 2 near the second side edge 12 and near the first side edge 11 are relatively sharp, there may also be a situation of cutting the grass body. To reduce this situation, in some alternative embodiments, as shown in Figure 1 , a curved surface is used for smooth transition between the outer end face 21 and the first side edge 11, and a curved surface is used for smooth transition between the outer end face 21 and the second side edge 12. The way of using a curved surface for smooth transition may include but is not limited to methods such as filleting.

[0050] In some alternative embodiments, please refer to Figure 1 and Figure 2 comprehensively. The inner ring surface of the track body 1 is provided with a first inner gear ring 41 and a second inner gear ring 42 arranged side by side, and a wheel groove 43 is reserved between the first inner gear ring 41 and the second inner gear ring 42. The wheel groove 43 is used to accommodate the driving wheel 71 and the driven wheel 72.

[0051] The first inner gear ring 41 includes a plurality of first inner gear bodies 411, and the first inner gear bodies 411 are arranged at intervals along the extending direction of the track body 1.

[0052] The second internal gear ring 42 includes a plurality of second internal gear bodies 421, and the second internal gear bodies 421 are arranged at intervals along the extension direction of the crawler body 1.

[0053] The first internal gear body 411 and the second internal gear body 421 are used to cooperate with the driving wheel 71 and / or the driven wheel 72 to realize the rotation of the crawler structure and its moving function.

[0054] Please refer to comprehensively Figures 3 to 5 For a crawler-type mobile device according to an embodiment of the present invention, it includes the above-mentioned crawler structure, and further includes a driving structure 5, a bracket structure 6, a driving wheel 71 and a driven wheel 72.

[0055] Both the driving wheel 71 and the driven wheel 72 are rotatably connected to the bracket structure 6.

[0056] The crawler structure is sleeved on the outer circumferences of the driving wheel 71 and the driven wheel 72, and both the driving wheel 71 and the driven wheel 72 are located in the wheel groove 43.

[0057] On both side end faces of the driving wheel 71, a plurality of teeth 712 arranged at circumferential intervals are provided, and the teeth 712 are used to push against the first internal gear body 411 and the second internal gear body 421.

[0058] The driving structure 5 is arranged on the bracket structure 6, and the driving structure 5 is connected to and drives the driving wheel 71 to rotate.

[0059] The driving wheel 71 and the driven wheel 72 are arranged along the front-rear direction.

[0060] Optionally, on both side end faces of the driven wheel 72, a plurality of teeth 712 arranged at circumferential intervals are provided (not shown in the figure).

[0061] In some alternative embodiments, please refer to comprehensively Figures 3 to 5 For, the bracket structure 6 includes a first frame body 61 and a second frame body 62. The first frame body 61 and the second frame body 62 are arranged side by side. A first shaft body 81 is passed through the axis of the driving wheel 71, and both ends of the shaft body of the first shaft body 81 are respectively passed through the first frame body 61 and the second frame body 62. The driving structure 5 is connected to and controls the rotation of the first shaft body 81, and the first shaft body 81 rotates synchronously with the driving wheel 71. A second shaft body 82 is passed through the axis of the driven wheel 72, and both ends of the second shaft body 82 are respectively passed through the first frame body 61 and the second frame body 62.

[0062] In some alternative embodiments, please refer to comprehensively Figures 3 to 5 For, a tensioning mechanism 9 is arranged on the bracket structure 6. The tensioning mechanism 9 is connected to the driven wheel 72, and the tensioning mechanism 9 is used to adjust the distance between the driven wheel 72 and the driving wheel 71.

[0063] In some alternative embodiments, please refer to Figures 3 to 5 , the tensioning mechanism 9 includes a fixing member 91, a suspension 92 and a tensioning member 93. The two ends of the fixing member 91 are respectively arranged on the first frame body 61 and the second frame body 62. The tensioning member 93 is threadedly connected to the fixing member 91. The tensioning member 93 can move relative to the fixing member 91, and one end of the tensioning member 93 is connected to the suspension 92.

[0064] The suspension 92 is in a "U" shape and is sleeved on the second shaft body 82. The driven wheel 72 is rotatably connected to the second shaft body 82 through a bearing. The driven wheel 72 is located inside the suspension 92. When the tensioning member 93 moves, it can drive the suspension 92 and the driven wheel 72 to move.

[0065] Assembly grooves 63 are provided on both the first frame body 61 and the second frame body 62. The assembly grooves 63 extend in the front-rear direction. One end of the second shaft body 82 is located inside the assembly grooves 63 and can move along the assembly grooves 63. In this way, the distance between the driven wheel 72 and the driving wheel 71 can be adjusted to achieve tensioning.

[0066] The above is only the preferred embodiment of the present application, and it does not impose any form of limitation on the present application. Although the present application has been disclosed above in the preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to equivalent embodiments with equivalent changes within the scope of the technical solution of the present application. However, as long as it does not depart from the technical content of the present application, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A crawler structure, characterized in that: It comprises an annular crawler body (1), a plurality of grousers (2) protruding from the outer surface of the crawler body (1), and the grousers (2) are arranged at intervals along the extension direction of the crawler body (1); The end surface of the grouser (2) facing away from the crawler body (1) is an outer end surface (21), the two sides of the crawler body (1) are respectively a first side edge (11) and a second side edge (12), the outer end surface (21) is a plane, and the outer end surface (21) extends from the first side edge (11) toward the second side edge (12); The interval between two adjacent grousers (2) is a gap groove (3), and a groove surface of the gap groove (3) and the outer end surface (21) have a smooth transition in curved surface.

2. The crawler structure according to claim 1, characterized in that: The gap groove (3) is in a bent shape, and the shape of the outer end surface (21) is adapted to the shape of the gap groove (3).

3. The crawler structure according to claim 1, characterized in that: The outer end surface (21) is concavely formed with a plurality of anti-skid grooves (211), the depth of the anti-skid grooves (211) is less than the depth of the gap grooves (3), and the groove surfaces of the anti-skid grooves (211) and the outer end surface (21) have a smooth curved transition.

4. The crawler structure according to claim 3, characterized in that: The anti-slip groove (211) is wavy.

5. The crawler structure according to claim 3, characterized in that: The width of the grouser (2) in the extension direction of the crawler body (1) is w1, and the width of the anti-skid groove (211) in the extension direction of the crawler body (1) is w3, then 1:8≤w3:w1≤1:

28.

6. The crawler structure according to claim 1, characterized in that: The width of the grouser (2) in the extension direction of the crawler body (1) is w1, and the width of the gap groove (3) in the extension direction of the crawler body (1) is w2, then 1:4≤w2:w1≤1:

8.

7. The crawler structure according to claim 1, characterized in that: The curved surface between the outer end surface (21) and the first side edge (11) transitions smoothly, and the curved surface between the outer end surface (21) and the second side edge (12) transitions smoothly.

8. The crawler structure according to any one of claims 1 to 7, characterized in that: The inner ring surface of the crawler body (1) is provided with a first inner gear ring (41) and a second inner gear ring (42) side by side, and a wheel groove (43) is reserved between the first inner gear ring (41) and the second inner gear ring (42); The first inner gear ring (41) comprises a plurality of first inner gear bodies (411), and the first inner gear bodies (411) are arranged at intervals along the extension direction of the crawler body (1); The second inner gear ring (42) comprises a plurality of second inner gear bodies (421), and the second inner gear bodies (421) are arranged at intervals along the extension direction of the crawler body (1).

9. A crawler type mobile device, characterized in that: The crawler structure according to claim 8 further comprises a driving structure (5), a support structure (6), a driving wheel (71) and a driven wheel (72), The driving wheel (71) and the driven wheel (72) are both rotatably connected to the support structure (6); The crawler structure is sleeved on the outer circumference of the driving wheel (71) and the driven wheel (72), and the driving wheel (71) and the driven wheel (72) are both located in the wheel groove (43); Both side end surfaces of the driving wheel (71) are provided with a plurality of gear teeth (712) arranged at circumferential intervals, and the gear teeth (712) are used to push the first inner tooth body (411) and the second inner tooth body (421); The driving structure (5) is arranged on the support structure (6), and the driving structure (5) is connected to and drives the driving wheel (71) to rotate.

10. The crawler type moving device according to claim 9, characterized in that: The support structure (6) is provided with a tensioning mechanism (9), the tensioning mechanism (9) is connected to the driven wheel (72), and the tensioning mechanism (9) is used to adjust the distance between the driven wheel (72) and the driving wheel (71).

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