CN105947003B - Tensioning device and caterpillar type robot - Google Patents
Tensioning device and caterpillar type robot Download PDFInfo
- Publication number
- CN105947003B CN105947003B CN201610045210.1A CN201610045210A CN105947003B CN 105947003 B CN105947003 B CN 105947003B CN 201610045210 A CN201610045210 A CN 201610045210A CN 105947003 B CN105947003 B CN 105947003B
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- unit
- sliding unit
- sliding
- tensioning device
- framework
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- 238000013016 damping Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Abstract
The present invention relates to a kind of tensioning device and caterpillar type robots.Tensioning device includes: expansion tightening wheel；First sliding unit, one end are connected to the center of the expansion tightening wheel by shaft；Second sliding unit is set in the outside of first sliding unit and is slidably matched with first sliding unit, for the tensioning device to be installed to the caterpillar type robot；First adjusts unit, the other end opposite with described one end being mounted on first sliding unit, to adjust the position of the first sliding unit；Second adjusts unit, and the first adjusting unit is threadedly coupled with the second adjusting unit；And lock cell, to lock the position of the first adjusting unit, the first sliding unit and expansion tightening wheel.Caterpillar type robot includes above-mentioned tensioning device.Tensioning device can adjust the rate of tension of crawler belt, thus caterpillar type robot even running.
Description
Technical field
The present invention relates to robot field, in particular to a kind of tensioning device and caterpillar type robot.
Background technique
With the development of national economy and robot technology, more and more fire-fighting robots are (for example, crawler type fire tower
Device people) replace fire fighter to carry out fire-fighting work.This significantly improves the extinguishing ability of fire brigade, and reduces fire fighter
Injures and deaths and economic loss.In the prior art, crawler type fire-fighting robot does not have the tensioning device for making crawler tensioning.
In this case, after a period of work due to crawler type fire-fighting robot, crawler belt (for example, rubber belt track) fatigue elongation,
Wheel body cannot be wrapped up well.When robot turning crawler belt is larger by lateral force, crawler belt is easy abjection.Therefore shoe can only be replaced
Band, so that increased costs.In addition, crawler belt can be also equally long when the compression of the damping spring of crawler type fire-fighting robot.?
In the case that damping spring compresses, since crawler belt is not adjustable, so will affect the movement effects of crawler type fire-fighting robot.
Summary of the invention
The purpose of the present invention is to provide a kind of elasticity tensioning device for adjusting crawler belt and including the tensioning device
Caterpillar type robot.
The present invention provides a kind of tensioning devices, are used for caterpillar type robot, and the tensioning device includes: expansion tightening wheel；
First sliding unit, one end are connected to the center of the expansion tightening wheel by shaft, and the expansion tightening wheel, which is constructed to be permeable to surround, to be turned
Axis is rotated and can be moved together with first sliding unit；It is single to be set in first sliding for second sliding unit
The outside of member is simultaneously slidably matched with first sliding unit, wherein second sliding unit is provided with mounting portion, to be used for
The tensioning device is installed on the caterpillar type robot；First adjusts unit, is mounted on first sliding unit
On the other end opposite with described one end and be formed with external screw thread, and it is described first adjusting unit at least partly stretch out described in
Second sliding unit, to adjust the position of first sliding unit；Second adjusts unit, is configured to sliding described second
The threaded hole formed on moving cell or its be mounted on second sliding unit and be formed with internal screw thread, described first adjusts
Section unit is threadedly coupled with the second adjusting unit；And lock cell, it is mounted on described first and adjusts outside unit simultaneously
Is threadedly coupled with the first adjusting unit, adjusts unit, first sliding unit to lock described first and described rise
The position of bearing up pulley.
According to an embodiment of the invention, second sliding unit is configured to bracket, the bracket includes framework and in institute
At least one baffle that parallel arrangement is spaced in framework is stated, described one end towards first sliding unit of the framework
Each of first framework side and at least one baffle offer accommodate first sliding unit, allow described the
One sliding unit through-hole free to slide.
According to an embodiment of the invention, the second framework side opposite with first framework side of the framework opens up permission
Described first adjusts the through-hole that unit stretches out, and the lock cell is mounted on described first and adjusts the outer of unit extension
Portion.
According to an embodiment of the invention, described first adjusts unit as screw rod, described first is allowed to adjust what unit stretched out
Setting internal screw thread or the through-hole for adjusting unit stretching with permission described first of the second framework side are corresponding in through-hole
Nut is installed to form described second and adjust unit at position, the lock cell is locking nut.
According to an embodiment of the invention, the tensioning device further includes support device, the support device be configured with against
Described one end of first sliding unit and the support portion parallel with the glide direction of first sliding unit, so that
When first sliding unit is slided relative to second sliding unit, the support device can make described one end will not
To the side deflection where the support device.
According to an embodiment of the invention, described one end of first sliding unit is provided with and first sliding unit
Axis connection and against the idler wheel of the support device, when first sliding unit is slided relative to second sliding unit
When, the idler wheel is rolled along the support portion.
According to an embodiment of the invention, the other end of first sliding unit is provided with stop part, the backstop
Outwardly protrusion of the part from first sliding unit.
According to an embodiment of the invention, assembled portion is provided in the support device, for pacifying the support device
On the caterpillar type robot.
According to an embodiment of the invention, including above-mentioned tensioning device.
Tensioning device of the invention can adjust the elasticity of crawler belt, to make caterpillar type robot even running.
Detailed description of the invention
Fig. 1 is the schematic diagram for showing a part and tensioning device of caterpillar type robot according to the present invention.
Specific embodiment
It will be described in connection with the drawings the specific embodiment of tensioning device according to the present invention and caterpillar type robot.Following
The detailed description and the accompanying drawings are for illustratively illustrating the principle of the present invention, and the present invention is not limited to described preferred embodiments, originally
The range of invention is defined by the claims.
Fig. 1 shows a part and tensioning device of caterpillar type robot according to the present invention.Caterpillar type robot includes carrying out
Band 8, main body 9 and tensioning device.Tensioning device is installed between the main body 9 of caterpillar type robot and crawler belt 8.Tensioning device includes
Expansion tightening wheel 1, the first sliding unit 2, the second sliding unit 3, first adjust unit 6, second and adjust unit 5,10 and of lock cell
Support device 7.
As shown in Figure 1, expansion tightening wheel 1 is pressed against on crawler belt, by moving expansion tightening wheel 1 to the direction of the main body far from robot
It moves to make crawler tensioning.
One end of first sliding unit 2 is connected to the center of expansion tightening wheel 1 by shaft.When robot advances, pass through shoe
Friction between band and expansion tightening wheel 1 drives expansion tightening wheel 1 to rotate around shaft.In addition, when the first sliding unit 2 is mobile, tensioner
Wheel 1 can be moved together with the first sliding unit 2.According to an embodiment of the invention, the first sliding unit 2 could be formed with cylinder
Shape outer surface.
Second sliding unit 3 is set in the outside of the first sliding unit 2, and is slidably matched with the first sliding unit 2.The
One sliding unit 2 can slide in the second sliding unit 3 relative to the second sliding unit 3, so that expansion tightening wheel 1 be driven to move together
It is dynamic.According to an embodiment of the invention, the second sliding unit 3 is configured to bracket, preferably rectangle support.Bracket include framework and
Several baffles of parallel arrangement are spaced in framework.For example, as shown in Figure 1, the quantity of baffle is one.Receiving is offered on baffle
The through-hole (for example, circular through hole) of first sliding unit 2.The first framework side of one end towards the first sliding unit 2 of framework
Also the through-hole (for example, circular through hole) for accommodating the first sliding unit 2 is offered.Preferably, through-hole is provided with baffle and the first frame
The middle and lower part on side, to ensure the rigidity of bracket.According to an embodiment of the invention, it is provided with mounting portion on the second sliding unit 3,
With the main body for tensioning device to be installed to caterpillar type robot.For example, mounting portion, which can be, is provided with the second sliding list
Through-hole in the framework of member 3, bolt pass through through-hole to be fixed to the second sliding unit 3 in the main body of robot.
First adjusting unit 6 is mounted on the other end opposite with one end on the first sliding unit 2, and first adjusts list
The outer surface of member 6 is formed with external screw thread.Receiving second is opened up in the second framework side opposite with the first framework side of framework to adjust
The through-hole of unit 5.Setting internal screw thread is to form the corresponding with through-hole of the second adjusting unit 5 or second framework side in through-hole
Nut is installed to form the second adjusting unit 5 at position.First adjusting unit 6 is threadedly coupled with the second adjusting unit 5.Locking is single
Member 10 is mounted on 6 outside of the first adjusting unit and is threadedly coupled with the first adjusting unit 5, to lock the first adjusting unit 6, first
The position of sliding unit 2 and expansion tightening wheel 1.
Preferably, first unit 6 is adjusted as screw rod.Second adjusts unit 5 as nut, is fixedly mounted on second framework side
It is corresponding that the position of through-hole that unit stretches out is adjusted towards the side of expansion tightening wheel, with permission first.Lock cell 10 is locking screw
Mother is mounted on the periphery of screw rod, and is located at the periphery that screw rod stretches out second framework side section.
Crawler belt can be elongated after robot uses a period of time, when crawler belt is elongated slack and undisciplined, first revolves locking nut
Go to far from second framework side, then for example using spanner rotary screw, screw rod push the first sliding unit 2 and expansion tightening wheel 1 to
Sinciput crawler belt, until track tensioning to appropriate level, stop rotating screw rod, spin locking nut, until lock nut resists second
It is locked when framework side, realizes that tensioner is adjusted.
One end of the first sliding unit 2 is arranged in support device 7, and is configured with against one end of the first sliding unit 2
And the support portion parallel with the glide direction of the first sliding unit 2.When the first sliding unit 2 is relative to the second sliding unit 3
When sliding, support device 7 can make one end of the first sliding unit 2 will not be to the side deflection where support device 7.Such as Fig. 1
Shown, one end that support device 7 limits the first sliding unit 2 moves downward, so that it is guaranteed that tensioning device is firm.Support device 7
On be provided with assembled portion, with the main body for support device 7 to be mounted on to caterpillar type robot.For example, assembled portion can be
The through-hole being provided in support device 7, bolt pass through through-hole to be fixed to support device 7 in the main body of robot.
According to an embodiment of the invention, one end of the first sliding unit 2 is provided with and 2 axis connection of the first sliding unit and supports
By the idler wheel of support device 7, when the first sliding unit 2 is slided relative to the second sliding unit 3, idler wheel is rolled along support portion.
In this way, reduce the frictional force between the first sliding unit 2 and support portion, so that convenient for operation tensioning device.
According to an embodiment of the invention, the other end of the first sliding unit 2 is provided with stop part 4, stop part 4 is sliding from first
The outwardly protrusion of moving cell 2.Preferably, stop part 4 is the flattened cylindrical shape coaxial with the first sliding unit 2, and
The outer diameter of stop part 4 is greater than the outer diameter of the first sliding unit 2.In this way, it when stop part 4 and baffle contact, can hinder
It keeps off the first sliding unit 2 to continue to slide relative to the second sliding unit 3, so that it is guaranteed that the first sliding unit 2 will not be sliding from second
Deviate from moving cell 3.
As previously mentioned, although exemplary embodiment of the present invention is illustrated by reference to attached drawing in explanation,
, can also be there are many other embodiments mode the present invention is not limited to above-mentioned each specific embodiment, the scope of the present invention should be by
Claims and its equivalents limit.
Claims (8)
1. a kind of tensioning device, is used for caterpillar type robot, which is characterized in that the tensioning device includes:
Expansion tightening wheel；
First sliding unit, one end are connected to the center of the expansion tightening wheel by shaft, and the expansion tightening wheel is constructed to be permeable to enclose
It rotates and can be moved together with first sliding unit around the shaft；
Second sliding unit is set in the outside of first sliding unit and is slidably matched with first sliding unit,
Wherein, second sliding unit is provided with mounting portion, for the tensioning device to be installed to the caterpillar type robot
On；
First adjusts unit, the other end opposite with described one end being mounted on first sliding unit and is formed with
External screw thread, and the first adjusting unit at least partly stretches out second sliding unit, it is single to adjust first sliding
The position of member；
Second adjusts unit, is configured to the threaded hole formed on second sliding unit or it is mounted on described second
On sliding unit and it is formed with internal screw thread, the first adjusting unit is threadedly coupled with the second adjusting unit；And
Lock cell is mounted on outside the first adjusting unit and is threadedly coupled with the first adjusting unit, to lock
Fixed described first adjusts the position of unit, first sliding unit and the expansion tightening wheel；
Support device, the support device are configured with described one end against first sliding unit and slide with described first
The parallel support portion of the glide direction of moving cell, so that when first sliding unit is sliding relative to second sliding unit
When dynamic, the support device can make described one end will not be to the side deflection where the support device.
2. tensioning device according to claim 1, which is characterized in that second sliding unit is configured to bracket, described
Bracket includes framework and is spaced at least one baffle of parallel arrangement in the framework, and the framework is slided towards described first
It is sliding that each of the first framework side of described one end of moving cell and at least one baffle offer receiving described first
Moving cell, the through-hole that allows first sliding unit free to slide.
3. tensioning device according to claim 2, which is characterized in that the framework it is opposite with first framework side
Second framework side, which opens up, allows described first to adjust the through-hole that unit stretches out, and the lock cell is mounted on described first and adjusts
Save the outside of unit extension.
4. tensioning device according to claim 3, which is characterized in that described first adjusts unit for screw rod, described in permission
First adjust unit stretch out through-hole in setting internal screw thread or the second framework side with allow it is described first adjust unit
Nut is installed at the corresponding position of the through-hole of stretching to form described second and adjust unit, the lock cell is locking screw
It is female.
5. tensioning device according to claim 1 to 4, which is characterized in that described one end of first sliding unit
It is provided with the first sliding unit axis connection and against the idler wheel of the support device, when first sliding unit is opposite
When second sliding unit sliding, the idler wheel is rolled along the support portion.
6. tensioning device according to claim 5, which is characterized in that the other end of first sliding unit is arranged
There are stop part, outwardly protrusion of the stop part from first sliding unit.
7. tensioning device according to claim 1, which is characterized in that be provided with assembled portion in the support device, with
It is mounted on the caterpillar type robot in by the support device.
8. a kind of caterpillar type robot, which is characterized in that including tensioning device according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610045210.1A CN105947003B (en) | 2016-01-25 | 2016-01-25 | Tensioning device and caterpillar type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610045210.1A CN105947003B (en) | 2016-01-25 | 2016-01-25 | Tensioning device and caterpillar type robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105947003A CN105947003A (en) | 2016-09-21 |
| CN105947003B true CN105947003B (en) | 2019-04-02 |
Family
ID=56917144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610045210.1A Active CN105947003B (en) | 2016-01-25 | 2016-01-25 | Tensioning device and caterpillar type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105947003B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2801594Y (en) * | 2005-06-29 | 2006-08-02 | 陶亚平 | Tensioning device of harvestor caterpillar walking system |
| ITTO20070364A1 (en) * | 2007-05-23 | 2008-11-24 | Cnh Italia Spa | TRACTION TRACTION DEVICE |
| EP2088065B1 (en) * | 2008-02-11 | 2011-07-13 | Manitowoc Crane Companies, LLC | Track tensioning system for mobile vehicles, including lift cranes |
| CN202295048U (en) * | 2011-08-22 | 2012-07-04 | 广西玉柴重工有限公司 | Caterpillar track tensioning mechanism of excavator |
| CN203958365U (en) * | 2014-07-23 | 2014-11-26 | 湖南中天龙舟农机有限公司 | A kind of crawler type paddy field machine guide wheel device |
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2016
- 2016-01-25 CN CN201610045210.1A patent/CN105947003B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105947003A (en) | 2016-09-21 |
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| DD01 | Delivery of document by public notice |
Addressee: QINGDAO KRUND ROBOT Co.,Ltd. Document name: the First Notification of an Office Action |
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Addressee: QINGDAO KRUND ROBOT Co.,Ltd. Document name: Notification of Passing Examination on Formalities |
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| TR01 | Transfer of patent right |
Effective date of registration: 20220527 Address after: No.6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Province 266000 Patentee after: Qingdao Kelu Intelligent Technology Co.,Ltd. Address before: 266300 east of Shangde Avenue and south of Fenhe Road, Jiaozhou Economic Development Zone, Qingdao, Shandong Patentee before: QINGDAO KRUND ROBOT Co.,Ltd. |
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Effective date of registration: 20230924 Address after: No.6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Province 266000 Patentee after: Qingdao Luteng Intelligent Equipment Technology Co.,Ltd. Address before: No.6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Province 266000 Patentee before: Qingdao Kelu Intelligent Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |