Triangular crawler wheel device

Abstract

The invention discloses a triangular crawler wheel device comprising a triangular bracket, a driving wheel, a guide wheel, a tension wheel, a crawler belt and magnetic parts. The triangular bracket is arranged vertically. The driving wheel, the guide wheel and the tension wheel are arranged at three apexes of the triangular bracket. The magnetic parts are arranged on the outer surface of the crawler belt uniformly. A connection part is also connected to the triangular bracket. A first rotating shaft is arranged horizontally on the triangular bracket. The driving wheel is driven to rotate in the radial direction by the first rotating shaft. A second rotating shaft is arranged horizontally on the connection part. The driving wheel is driven to rotate in the axial direction by the second rotating shaft. The driving wheel is arranged above the guide wheel and the tension wheel, so that normal load directly transmitted to the driving wheel from the ground is eliminated. The driving wheel can rotate both in the radial direction and in the axial direction and is high in moving speed and flexible to control, thus the driving wheel can fit ground faces having different radians. Therefore, the triangular crawler wheel device has advantages of a wheel type device and a crawler type device at the same time, and the stable running of the driving wheel is ensured.

Description

technical field [0001] The invention belongs to the field of running mechanisms, and in particular relates to a triangular track wheel device. Background technique [0002] The wall-climbing robot has two major functions, one is adsorption and the other is free movement. Existing wall-climbing robots are mainly wheeled and crawler-type. The wheel-type wall-climbing robot has fast moving speed and flexible control, especially the steering is relatively easy to realize, but the contact area between the wheel and the wall is small, so it is difficult to maintain a certain adsorption force. The crawler-type wall-climbing robot has strong adaptability to the wall surface, large contact area, strong adsorption force, and fast movement speed, but it is not flexible enough, and the driving force required for turning is large (that is, it is not easy to turn). [0003] Therefore, need badly a kind of triangular crawler device. Contents of the invention [0004] In order to solve...

AI Technical Summary

Problems solved by technology

The wheel-type wall-climbing robot has fast moving speed and flexible control, especially the steering is relatively easy to realize, but the contact area between the wheel and the wall is small, so it is difficult to maintain a certain adsorption force

Crawler-type wall-climbing robot has strong adaptability to the wall surface, large contact area, strong adsorption force, and fast movement speed, but it is not flexible enough, and the driving force required for turning is large (that is, it is not easy to turn)

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