CN105947004A - Constant pressure tension device and tracked robot - Google Patents
Constant pressure tension device and tracked robot Download PDFInfo
- Publication number
- CN105947004A CN105947004A CN201610089609.XA CN201610089609A CN105947004A CN 105947004 A CN105947004 A CN 105947004A CN 201610089609 A CN201610089609 A CN 201610089609A CN 105947004 A CN105947004 A CN 105947004A
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- Prior art keywords
- unit
- sliding unit
- sliding
- constant voltage
- swelling device
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- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000008961 swelling Effects 0.000 claims description 31
- 238000009434 installation Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims 1
- 238000013016 damping Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 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
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a constant pressure tension device and a tracked robot. The constant pressure tension device includes a tension wheel; a first slide unit, wherein a first end of the first slide unit is connected to a center of the tension wheel through a rotation shaft, and the tension wheel can rotate around the rotation shaft and can move together with the first slide unit; a second slide unit which sleeves the first slide unit and is in slip fit with the first slide unit; an adjustment unit which is arranged on a second end opposite to the first end of the first slide unit, wherein the adjustment unit at least extends out the second slide unit partly and is used for adjusting a position of the first slide unit; a pressure detection unit which is arranged between the first slide unit and the second slide unit; and a control unit which is connected to the pressure detection unit and the adjustment unit, and is used for receiving the pressure detected by the pressure detection unit and controlling movement of the adjustment unit according to the pressure. The constant pressure tension device can automatically adjust the tension degree of a track, and then allows the tracked robot to run stably.
Description
Technical field
The present invention relates to robot field, particularly to a kind of constant voltage swelling device and crawler frame
People.
Background technology
Along with national economy and the development of robotics, increasing fire-fighting robot is (such as,
Crawler type fire-fighting robot) replace fire fighter to carry out fire-fighting work.This significantly improves fire brigade
Extinguishing ability, and reduce injures and deaths and the economic loss of fire fighter.In the prior art, crawler belt
Formula fire-fighting robot does not have the constant voltage swelling device for making crawler tensioning.In this case, by
After crawler type fire-fighting robot works a period of time, crawler belt (such as, rubber belt track) fatigue is stretched
Long, it is impossible to wrap up wheel body well.When robot turning crawler belt by side force bigger time, crawler belt is easy
Abjection.Therefore crawler belt can only be changed so that cost increases.Additionally, when crawler type fire-fighting robot
During damping spring compression, crawler belt also can be equally long.In the case of damping spring compresses, due to
Crawler belt can not regulate, so the movement effects of crawler type fire-fighting robot can be affected.
Summary of the invention
It is an object of the invention to provide the constant voltage swelling device of a kind of elasticity being automatically adjusted crawler belt with
And include the caterpillar type robot of this constant voltage swelling device.
The invention provides a kind of constant voltage swelling device, it is used for caterpillar type robot, and described constant voltage rises
Tight device includes: expansion tightening wheel；
First sliding unit, its first end is connected to the center of described expansion tightening wheel by rotating shaft, described in rise
Bearing up pulley is constructed to be permeable to rotate around rotating shaft and can move with described first sliding unit；
Second sliding unit, it is set in the outside of described first sliding unit and slides with described first
Unit is slidably matched, and wherein, described second sliding unit is provided with installation portion, for by described perseverance
Pressure swelling device is installed on described caterpillar type robot；
Regulation unit, it is arranged on second contrary with described first end on described first sliding unit
Hold, and described regulation unit at least partly stretches out described second sliding unit, in order to regulate the first slip
The position of unit；
Pressure sensing cell, it is arranged between the first sliding unit and regulation unit, for detection the
Pressure between one sliding unit and regulation unit；
Control unit, it is connected, in order to receive pressure respectively with described pressure sensing cell and regulation unit
The pressure of power detector unit detection, and according to the movement of Stress control regulation unit.
Described second sliding unit is configured to support, and described support includes framework and in the middle of described framework
Every at least one baffle plate being arranged in parallel, described framework towards described the of described first sliding unit
It is sliding that each in the first framework side of one end and at least one baffle plate described offers receiving described first
First through hole of moving cell, and described first through hole allow described first sliding unit within it slide,
The second framework side contrary with described first framework side of described framework is provided with and accommodates described regulation unit
Second through hole and described second through hole allow described regulation unit within it to slide.
Described regulation unit includes an electric pushrod, the slide rail of electric pushrod and the fixed knot of slide rail
Structure, described electric pushrod can in slide rail telescopic slide, described fixed structure is by the slide rail of electric pushrod
Being fixed on robot body, electric pushrod stretches out free end and the connection of the first sliding unit of slide rail,
In order to regulate the position of the first sliding unit, electric pushrod slides and electric pushrod in the second through hole
Between free end and the first sliding unit, pressure sensing cell is set.
Described pressure sensing cell is pressure transducer, and described pressure transducer is arranged on electric pushrod
Between free end and the first sliding unit.
The center of the second end of described first sliding unit is provided with third through-hole, described electric pushrod from
Being provided with connecting rod by the center held, described connecting rod can slip certain distance, connection in third through-hole
The both sides of the second end that bar is positioned at the first sliding unit are respectively provided with backstop boss.
Described constant voltage swelling device also includes support means, and it is configured with against described first sliding unit
Described one end and the supporting part paralleled with the glide direction of described first sliding unit so that when
When described first sliding unit slides relative to described second sliding unit, described support means can make
Described one end will not be provided with group to the side deflection at described support means place in described support means
Dress portion, is arranged on described machine body people for by described support means.
First end of described first sliding unit be provided be connected with described first sliding unit axle and against
The roller of described support means, when described first sliding unit slides relative to described second sliding unit
Time, described roller rolls along described supporting part.
Second end of described first sliding unit is provided with stop part, and described stop part is sliding from described first
The outwardly projection of moving cell.
The invention provides a kind of caterpillar type robot, it includes above-mentioned constant voltage swelling device.
The constant voltage swelling device of the present invention can regulate the elasticity of crawler belt, so that caterpillar type robot
Even running, and automatic control and adjustment can be realized by pressure-detecting device detection pressure, and can protect
Hold constant voltage between crawler belt and expansion tightening wheel.
Accompanying drawing explanation
Fig. 1 is to illustrate a part for the caterpillar type robot according to the present invention and showing of constant voltage swelling device
It is intended to.
Detailed description of the invention
Will be described in connection with the drawings the concrete reality of the constant voltage swelling device according to the present invention and caterpillar type robot
Execute mode.Following detailed description and drawings is for exemplarily illustrating the principle of the present invention, the present invention
Being not limited to described preferred embodiment, the scope of the present invention is defined by the claims.
Fig. 1 illustrates a part and the constant voltage swelling device of the caterpillar type robot according to the present invention.Crawler belt
Formula robot includes crawler belt 8, main body 9 and constant voltage swelling device.Constant voltage swelling device is installed to crawler belt
Between main body 9 and the crawler belt 8 of formula robot.Constant voltage swelling device includes that expansion tightening wheel 1, first slides
Unit the 2, second sliding unit 3, regulation unit 6, pressure sensing cell 10 and support means 7.
As it is shown in figure 1, expansion tightening wheel 1 is pressed against on crawler belt, by making expansion tightening wheel 1 to away from robot
The direction of main body move and make crawler tensioning.
First end of the first sliding unit 2 is connected to the center of expansion tightening wheel 1 by rotating shaft.Work as robot
During traveling, expansion tightening wheel 1 is driven to rotate around rotating shaft by the friction between crawler belt and expansion tightening wheel 1.This
Outward, when the first sliding unit 2 moves, expansion tightening wheel 1 can move with the first sliding unit 2
Dynamic.According to embodiments of the invention, the first sliding unit 2 could be formed with cylindrical outer surface.
Second sliding unit 3 is set in the outside of the first sliding unit 2, and with the first sliding unit
2 are slidably matched.First sliding unit 2 can slide single in the second sliding unit 3 relative to second
Unit 3 slides, thus drives expansion tightening wheel 1 to move together.According to embodiments of the invention, second slides
Unit 3 is configured to support, preferably rectangle support.Support includes framework and spaced and parallel in framework
The some baffle plates arranged.Such as, as it is shown in figure 1, the quantity of baffle plate is one.Offer on baffle plate
Accommodate first through hole (such as, manhole) of the first sliding unit 2.Sliding towards first of framework
The first framework side of one end of moving cell 2 also offers the first through hole accommodating the first sliding unit 2
(such as, manhole).Preferably, under during the first through hole is opened in baffle plate and the first framework side
Portion, to guarantee the rigidity of support.According to embodiments of the invention, the second sliding unit 3 is provided with
Installation portion, is installed in the main body of caterpillar type robot for by constant voltage swelling device.Such as, peace
Dress portion can be the bolt hole being opened in the framework of the second sliding unit 3, bolt passing through bolt hole with
Second sliding unit 3 is fixed in the main body of robot.
Second end contrary with the first end that regulation unit 6 is arranged on the first sliding unit 2, at frame
The second through hole accommodating regulation unit 6 is offered in the second framework side contrary with the first framework side of body.
Pressure sensing cell 10 is arranged between the first sliding unit 2 and regulation unit 6, is used for detecting
Pressure between first sliding unit 2 and regulation unit 6.
Control unit, it is connected, in order to receive pressure respectively with described pressure sensing cell and regulation unit
The pressure of power detector unit detection, and according to the movement of Stress control regulation unit.When control unit connects
When the pressure received is more than setting value, control and regulation unit moves to the direction away from expansion tightening wheel, to adjust
Pine expansion tightening wheel and crawler belt, when the pressure that control unit receives is less than setting value, control to adjust unit
Move, to tighten expansion tightening wheel and crawler belt, it is achieved between expansion tightening wheel and crawler belt to the direction near expansion tightening wheel
Be automatically adjusted, and constant voltage between crawler belt and expansion tightening wheel can be kept.
Preferably regulation unit 10 includes slide rail 12 and of an electric pushrod 11, electric pushrod 11
The fixed structure 13 of slide rail 12, described electric pushrod 11 can in slide rail 12 telescopic slide, described
The slide rail of electric pushrod is fixed on robot body 9 by fixed structure 13, and electric pushrod 11 stretches out
Free end and first sliding unit 2 of slide rail 12 connect, in order to regulate the position of the first sliding unit 2
Putting, it is single that electric pushrod 11 slides in the second through hole and the free end of electric pushrod 11 and first slides
Pressure sensing cell 10 is set between unit.The outer surface of the most described electric pushrod is cylindrical outer surface
Face.
Described pressure sensing cell 10 is pressure transducer, and described pressure transducer is arranged on electronic pushing away
Between free end and first sliding unit of bar, the free end of detection electric pushrod and the first sliding unit
Between pressure, and send the pressure detected to control unit.
The center of the second end of the first sliding unit 2 is provided with third through-hole, described electric pushrod 11
The center of free end is provided with connecting rod 14, and described connecting rod 14 can be slided a spacing in third through-hole
From, the both sides of the second end that connecting rod 14 is positioned at the first sliding unit are respectively provided with backstop boss, anti-
Only connecting rod 14 spins off in third through-hole.
After robot uses a period of time, crawler belt can be elongated, when crawler belt elongated slack and undisciplined time, pressure pass
The pressure that sensor detects diminishes, when the pressure that control unit receives is less than setting value, and control and regulation
The electric pushrod of unit moves, to tighten expansion tightening wheel and crawler belt, it is achieved rise to the direction near expansion tightening wheel
Being automatically adjusted between bearing up pulley and crawler belt, it is achieved constant voltage tensioner is automatically adjusted.
Support means 7 is arranged on one end of the first sliding unit 2, and is configured with against the first slip
One end of unit 2 supporting part paralleled with the glide direction of the first sliding unit 2.When first is sliding
When moving cell 2 slides relative to the second sliding unit 3, support means 7 can make the first sliding unit
One end of 2 will not be to the side deflection at support means 7 place.As it is shown in figure 1, support means 7 limits
The one end making the first sliding unit 2 moves downward, so that it is guaranteed that constant voltage swelling device consolidates.Support dress
Put and on 7, be provided with assembled portion, for the main body that support means 7 is arranged on caterpillar type robot
On.Such as, assembled portion can be the bolt hole being opened in support means 7, bolt passing through bolt hole
So that support means 7 is fixed in the main body of robot.
According to embodiments of the invention, one end of the first sliding unit 2 is provided with and the first sliding unit
2 axles connection the rollers against support means 7, when the first sliding unit 2 slides single relative to second
When unit 3 slides, roller rolls along supporting part.By this way, reduce the first sliding unit 2 and prop up
Frictional force between support part so that constant voltage swelling device convenient to operate.
According to embodiments of the invention, the other end of the first sliding unit 2 is provided with stop part 4, only
Block piece 4 is from the outwardly projection of the first sliding unit 2.By this way, when stop part 4 with
During baffle plate contact, it is possible to stop the first sliding unit 2 to continue relative to the second sliding unit 3 and slide,
So that it is guaranteed that the first sliding unit 2 will not be deviate from from the second sliding unit 3.
Although as it was previously stated, the exemplary embodiment of the present invention being carried out by reference to accompanying drawing in Shuo Ming
Illustrate, but the invention is not restricted to above-mentioned each detailed description of the invention, it is also possible to have other embodiments many
Mode, the scope of the present invention should be limited by claims and equivalents thereof.
Claims (9)
1. a constant voltage swelling device, it is used for caterpillar type robot, it is characterised in that described constant voltage
Swelling device includes:
Expansion tightening wheel；
First sliding unit, its first end is connected to the center of described expansion tightening wheel by rotating shaft, described in rise
Bearing up pulley is constructed to be permeable to rotate around rotating shaft and can move with described first sliding unit；
Second sliding unit, it is set in the outside of described first sliding unit and slides with described first
Unit is slidably matched, and wherein, described second sliding unit is provided with installation portion, for by described perseverance
Pressure swelling device is installed on described caterpillar type robot；
Regulation unit, it is arranged on second contrary with described first end on described first sliding unit
Hold, and described regulation unit at least partly stretches out described second sliding unit, in order to regulate the first slip
The position of unit；
Pressure sensing cell, it is arranged between the first sliding unit and regulation unit, for detection the
Pressure between one sliding unit and regulation unit；
Control unit, it is connected, in order to receive pressure respectively with described pressure sensing cell and regulation unit
The pressure of power detector unit detection, and according to the movement of Stress control regulation unit.
A kind of constant voltage swelling device the most according to claim 1, it is characterised in that described second
Sliding unit is configured to support, described support include framework and in described framework interval be arranged in parallel
At least one baffle plate, the first frame of described first end towards described first sliding unit of described framework
Each in side and at least one baffle plate described offers and accommodates the first of described first sliding unit
Through hole, and described first through hole allow described first sliding unit within it slide, described framework with
Contrary the second framework side, described first framework side is provided with the second through hole and the institute accommodating described regulation unit
Stating the second through hole allows described regulation unit within it to slide.
A kind of constant voltage swelling device the most according to claim 2, it is characterised in that described regulation
Unit includes an electric pushrod, the slide rail of electric pushrod and the fixed structure of slide rail, described electronic pushes away
Bar can in slide rail telescopic slide, described fixed structure the slide rail of electric pushrod is fixed on robot this
On body, electric pushrod stretches out free end and the connection of the first sliding unit of slide rail, sliding in order to regulate first
The position of moving cell, electric pushrod slides in the second through hole and the free end of electric pushrod and first is slided
Pressure sensing cell is set between moving cell.
A kind of constant voltage swelling device the most according to claim 3, it is characterised in that described pressure
Detector unit is pressure transducer, and described pressure transducer is arranged on the free end and first of electric pushrod
Between sliding unit.
A kind of constant voltage swelling device the most according to claim 4, it is characterised in that described first
The center of the second end of sliding unit is provided with third through-hole, and the center of the free end of described electric pushrod sets
Have connecting rod, described connecting rod can in third through-hole slip certain distance, it is sliding that connecting rod is positioned at first
The both sides of the second end of moving cell are respectively provided with backstop boss.
6. according to the arbitrary described constant voltage swelling device of claim 1-5, it is characterised in that described perseverance
Pressure swelling device also includes support means, and it is configured with the described one end against described first sliding unit
And the supporting part paralleled with the glide direction of described first sliding unit so that when described first is sliding
When moving cell slides relative to described second sliding unit, described support means can make described one end not
Can side deflection to described support means place, described support means is provided with assembled portion, with
In described support means is arranged on described machine body people.
Constant voltage swelling device the most according to claim 6, it is characterised in that described first slides
First end of unit is provided with and is connected with described first sliding unit axle and against the rolling of described support means
Wheel, when described first sliding unit slides relative to described second sliding unit, described roller is along institute
State supporting part to roll.
Constant voltage swelling device the most according to claim 1, it is characterised in that described first slides
Second end of unit is provided with stop part, described stop part from the appearance of described first sliding unit towards
Outer lug.
9. a caterpillar type robot, it is characterised in that include according to any one of claim 1 to 8
Described constant voltage swelling device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610089609.XA CN105947004B (en) | 2016-02-18 | 2016-02-18 | Constant pressure tensioning device and caterpillar type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610089609.XA CN105947004B (en) | 2016-02-18 | 2016-02-18 | Constant pressure tensioning device and caterpillar type robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105947004A true CN105947004A (en) | 2016-09-21 |
| CN105947004B CN105947004B (en) | 2019-04-02 |
Family
ID=56917185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610089609.XA Active CN105947004B (en) | 2016-02-18 | 2016-02-18 | Constant pressure tensioning device and caterpillar type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105947004B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010038245A1 (en) * | 1999-06-17 | 2001-11-08 | Catepillar Inc. | Track tensioning apparatus |
| US20040026994A1 (en) * | 2002-05-11 | 2004-02-12 | Verheye Carlos J.A. | Caterpillar track tension management |
| CN2756531Y (en) * | 2004-12-08 | 2006-02-08 | 常林股份有限公司 | Crawler oil gas tensioner |
| CN2801594Y (en) * | 2005-06-29 | 2006-08-02 | 陶亚平 | Tensioning device of harvestor caterpillar walking system |
| CN101596920A (en) * | 2009-06-30 | 2009-12-09 | 三一重工股份有限公司 | The method of track takeup, tracked construction equipment and adjustment track tensioning force |
| CN101767612A (en) * | 2010-01-29 | 2010-07-07 | 太原重工股份有限公司 | Large mineral track tensioning device of hydraulic excavator |
-
2016
- 2016-02-18 CN CN201610089609.XA patent/CN105947004B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010038245A1 (en) * | 1999-06-17 | 2001-11-08 | Catepillar Inc. | Track tensioning apparatus |
| US20040026994A1 (en) * | 2002-05-11 | 2004-02-12 | Verheye Carlos J.A. | Caterpillar track tension management |
| CN2756531Y (en) * | 2004-12-08 | 2006-02-08 | 常林股份有限公司 | Crawler oil gas tensioner |
| CN2801594Y (en) * | 2005-06-29 | 2006-08-02 | 陶亚平 | Tensioning device of harvestor caterpillar walking system |
| CN101596920A (en) * | 2009-06-30 | 2009-12-09 | 三一重工股份有限公司 | The method of track takeup, tracked construction equipment and adjustment track tensioning force |
| CN101767612A (en) * | 2010-01-29 | 2010-07-07 | 太原重工股份有限公司 | Large mineral track tensioning device of hydraulic excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105947004B (en) | 2019-04-02 |
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Effective date of registration: 20220606 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: 20230912 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. |