Crawler belt suitable for crawling robot

Abstract

The utility model discloses a crawler belt suitable for crawling a robot, which is used for being installed on a driving wheel set of the robot to crawl and comprises a crawler belt main body, the crawler belt main body is provided with an outer crawler belt surface and an inner crawler belt surface, and the inner crawler belt surface is provided with driving teeth suitable for being meshed with an outer ring of the driving wheel set. A plurality of guide limiting blocks are distributed on at least one side of the inner crawler belt face at equal intervals in the circumferential direction, and a plurality of crawling protrusions are distributed on the outer crawler belt face at preset intervals in the circumferential direction of the crawler belt. According to the utility model, the stability in a wet and slippery environment can be improved, and lateral deviation or derailing can be prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to a caterpillar suitable for crawling robot belongs to caterpillar technical field. BACKGROUND

[0002] At present, pool robots are widely used for cleaning and maintaining swimming pools, which mainly rely on caterpillar drive system to travel on the pool bottom or pool wall surface to realize dirt cleaning and water circulation optimization. The performance of the caterpillar directly affects the adhesion and driving stability of the robot on the pool wall and pool bottom surface of different materials and states.

[0003] The Chinese patent with publication number CN208149472U discloses a caterpillar which realizes disassembly and replacement. However, it is found in actual use that the caterpillar is prone to slipping off in a wet and slippery environment, causing unstable driving of the pool robot and easy lateral deviation or derailment, affecting the normal operation of the robot. SUMMARY

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide a caterpillar suitable for crawling robot, which can improve stability in a wet and slippery environment and prevent lateral deviation or derailment.

[0005] To solve the above technical problems, the technical scheme of the utility model is as follows: a caterpillar suitable for crawling robot, used for crawling on the driving wheel set of the robot, comprising:

[0006] The caterpillar body has an outer caterpillar surface and an inner caterpillar surface, wherein the inner caterpillar surface is provided with driving teeth suitable for engaging with the outer ring of the driving wheel set, and at least one side of the inner caterpillar surface is distributed with a plurality of guide limiting blocks along the circumference at equal intervals, and the outer caterpillar surface is arranged with a plurality of crawling protrusions along the circumference of the caterpillar at a predetermined interval.

[0007] Further, the guide limiting blocks of the inner caterpillar surface of the caterpillar body are trapezoidal column structures which gradually narrow from the bottom to the top.

[0008] Further, the edges formed by the intersection of the top surface and the two side surfaces along the circumference of the guide limiting blocks are each provided with a circular arc transition structure.

[0009] Further, the middle part of the crawling protrusion is provided with a groove penetrating along the axis direction, and the bottom surface of the groove is higher than the outer caterpillar surface of the caterpillar body.

[0010] Further, the width of the crawling protrusion along the axis direction of the caterpillar body is the same as the width of the caterpillar body.

[0011] Further, the crawling protrusions on the outer track surface are provided with inclined transition surfaces at both sides of the axis.

[0012] Further, the crawling protrusions on the outer track surface are provided with circular arc transitions at both sides of the axis.

[0013] Further, the guide limiting blocks of the inner track surface of the track body correspond one-to-one to the drive teeth of the inner track surface on the track body.

[0014] Further, the track body comprises at least one of the following materials: rubber, nylon fiber, polyurethane, and polyvinyl chloride.

[0015] With the above technical scheme, the utility model has the following beneficial effects:

[0016] In the utility model, the track body is used for being installed on the drive wheel set and crawling in the swimming pool. The inner track surface of the track body is provided with drive teeth, which can be engaged with the outer ring of the drive wheel set to realize power transmission. In addition, one side of the inner track surface is provided with a ring of guide limiting blocks in the circumferential direction. These guide limiting blocks cooperate with the drive wheel set during track operation to prevent lateral deviation or derailment. The outer track surface of the track body is provided with a plurality of crawling protrusions to enhance the adhesion of the track to the contact surface.

[0017] In addition, the guide limiting blocks adopt a trapezoidal column structure and are provided with a circular arc transition structure at the junction of the top surface and the circumferential side surface. The guide limiting blocks avoid mutual extrusion at the end during track bending, thereby ensuring the adaptability of the track on different curvature tracks. The middle part of the crawling protrusion is provided with a groove penetrating in the axial direction and is provided with inclined transition surfaces at both sides in the circumferential direction and circular arc transition structures at the edges in the axial direction. The crawling protrusion can further enhance the adhesion of the track on different angles and surfaces and improve the crawling ability. In addition, the track body is made of rubber and other materials with good water resistance, wear resistance, and corrosion resistance, thereby prolonging the service life.

[0018] In summary, the utility model improves the engagement stability of the track and the drive wheel, enhances the adhesion and guiding performance of the track in a wet and slippery environment, and prevents lateral deviation or derailment. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a three-dimensional structure diagram of the track suitable for the crawling robot of the utility model Figure 1 ;

[0020] Figure 2 It is a partial enlarged view of part A Figure 1 ;

[0021] Figure 3The utility model discloses a three-dimensional structure diagram of crawler suitable for crawling robot Figure 2 ;

[0022] Figure 4 For Figure 3 The partial close -up drawing of B part in figure 3. Specific embodiment

[0023] In order to make the content of the utility model more easily be clearly understood, the following according to specific embodiment and combining with the drawings, the utility model is further detailed.

[0024] As Figures 1-4 The utility model discloses a crawler suitable for crawling robot, is used to install on the drive wheel group of robot and crawl, comprising:

[0025] Crawler main part 1, crawler main part 1 has outer crawler face 11 and inner crawler face 12, wherein inner crawler face 12 is equipped with the drive tooth 121 suitable with the engagement of drive wheel group outer ring, and the at least one side of inner crawler face 12 is distributed with a plurality of guide limit blocks 2 along the circumference, and outer crawler face 11 is arranged with a plurality of crawling protrusions 111 along the circumference of crawler at predetermined interval.

[0026] In the embodiment, as Figures 1-3 The crawler main part 1 is used to install on the drive wheel group and crawl in swimming pool, as shown in the figure, the inner crawler face 12 of crawler main part 1 is equipped with drive tooth 121, can be engaged with the outer ring of drive wheel group, realizes power transmission, in addition, the one side of inner crawler face 12 is equipped with a circle of guide limit block 2 along the circumference, these guide limit block 2 is mutually matched with drive wheel group when crawler operation, prevents lateral deviation or derailment, the outer crawler face 11 of crawler main part 1 is equipped with a plurality of crawling protrusions 111, to enhance the adhesion of crawler and contact surface, and the crawling robot can be specifically swimming pool robot.

[0027] Specifically, as Figure 1 The guide limit block 2 of the inner crawler face 12 of crawler main part 1 is trapezoidal column structure, and the trapezoidal column structure gradually narrows from the bottom to the top.

[0028] In the embodiment, as Figure 2 The feature that the trapezoidal column structure gradually narrows from the bottom to the top enables adjacent guide limit blocks 2 to maintain appropriate spacing when the crawler is bent, avoiding extrusion between each other. When the crawler is running on the drive wheel group, this structure allows the crawler to adapt to tracks of different curvatures, ensuring the walking stability of the swimming pool robot in a complex pool surface environment.

[0029] The top surface of the guide limiting block 2 is provided with a circular arc transition structure at the intersection with the circumferential two side surfaces, which can reduce stress concentration in the track bending process, and avoid wear caused by contact. When the track passes around the drive wheel set, the circular arc transition structure makes the relative movement between adjacent guide limiting blocks 2 more smooth, reduces friction and prolongs the service life of the track.

[0030] Specifically, as shown in Figure 1 and Figure 3-4 , the middle part of the crawling protrusion 111 is provided with a groove 112 penetrating along the axis direction, and the bottom surface of the groove 112 is higher than the outer track surface 11 of the track body 1.

[0031] Specifically, as shown in Figure 1 and Figure 3 , the width of the crawling protrusion 111 along the axis direction of the track body 1 is the same as the width of the track body 1.

[0032] Specifically, as shown in Figures 1-2 , the guide limiting block 2 of the inner track surface 12 of the track body 1 corresponds to the drive tooth 121 on the inner track surface 12 of the track body 1.

[0033] In this embodiment, as shown in Figure 1 and Figure 4 , the bottom surface of the groove 112 is higher than the outer track surface 11 of the track body 1. The groove 112 forms a drainage channel when the pool robot works, and when the track contacts the pool wall or pool bottom, water flow can flow through the groove, reducing water resistance and increasing the adsorption effect between the contact surface. In the process of track operation, the groove 112 can also drain the water between the track and the pool wall or pool bottom, enhancing the friction.

[0034] Specifically, as shown in Figure 2 , the edge line formed at the intersection of the top surface of the guide limiting block 2 and the circumferential two side surfaces is provided with a circular arc transition structure.

[0035] Specifically, as shown in Figure 1 and Figure 3 , the crawling protrusion 111 is provided with an inclined transition surface connected with the outer track surface 11 of the track body 1 at the left and right circumferential edge of the track body 1.

[0036] Specifically, as shown in Figure 1 and Figure 3 , the crawling protrusion 111 on the outer track surface 11 is provided with a circular arc transition at the two side edges along the axis.

[0037] In this embodiment, as shown in Figure 1 and Figure 3As shown, the inclined transition surface of the crawling protrusion 111 at the circumferential left and right side edges of the track body 1 makes the connection with the outer track surface 11 more natural, avoiding the stress concentration that may be caused.

[0038] Specifically, as shown in the drawings, Figure 1 The track body 1 is made of a composite material of rubber and polyvinyl chloride.

[0039] In some embodiments, the track body 1 can be made of one or more of rubber, nylon fiber, polyurethane and polyvinyl chloride in a specific proportion.

[0040] The above specific embodiments further illustrate the technical problems, technical solutions and beneficial effects solved by the present application. It should be understood that the above description is only for specific embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A track suitable for a crawling robot for installation on a set of drive wheels of the robot for crawling, characterized in that, The track body (1) has an outer track surface (11) and an inner track surface (12), wherein the inner track surface (12) is provided with driving teeth (121) adapted to engage with the outer ring of the driving wheel set, and at least one side of the inner track surface (12) is distributed with a plurality of guide limit blocks (2) at equal intervals in the circumferential direction, and the outer track surface (11) is arranged with a plurality of crawling protrusions (111) at a predetermined interval in the circumferential direction of the track.

2. The track suitable for the crawling robot according to claim 1, wherein the guide limit block (2) of the inner track surface (12) of the track body (1) is a trapezoidal column structure that gradually narrows from the bottom to the top.

3. The track suitable for the crawling robot according to claim 1, wherein the edge lines formed at the intersections of the top surface and the two side surfaces in the circumferential direction of the guide limit block (2) are each provided with a circular arc transition structure.

4. The track suitable for the crawling robot according to claim 1, wherein the middle part of the crawling protrusion (111) is provided with a groove (112) penetrating in the axial direction, and the bottom surface of the groove (112) is higher than the outer track surface (11) of the track body (1).

5. The track suitable for the crawling robot according to claim 1, wherein the width of the crawling protrusion (111) in the axial direction of the track body (1) is the same as the width of the track body (1).

6. The track suitable for the crawling robot according to claim 5, wherein the crawling protrusion (111) is provided with an inclined transition surface connected with the outer track surface (11) of the track body (1) at the left and right side edges of the track body (1) in the circumferential direction.

7. The track suitable for the crawling robot according to claim 1, wherein the crawling protrusion (111) on the outer track surface (11) is provided with a circular arc transition at the two side edges in the axial direction.

8. The track suitable for the crawling robot according to claim 1, wherein the guide limit block (2) of the inner track surface (12) of the track body (1) corresponds to the driving tooth (121) of the inner track surface (12) on the track body (1) one-to-one.

9. The track suitable for the crawling robot according to claim 1, wherein the track body (1) comprises at least one of the following materials: rubber, nylon fiber, polyurethane, and polyvinyl chloride. ​ ​ ​ ​ ​ ​ ​ ​ ​

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