CN105947004B - Constant pressure tensioning device and caterpillar type robot - Google Patents
Constant pressure tensioning device and caterpillar type robot Download PDFInfo
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- CN105947004B CN105947004B CN201610089609.XA CN201610089609A CN105947004B CN 105947004 B CN105947004 B CN 105947004B CN 201610089609 A CN201610089609 A CN 201610089609A CN 105947004 B CN105947004 B CN 105947004B
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- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
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- 231100000517 death Toxicity 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
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- 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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The present invention relates to a kind of constant pressure tensioning device and caterpillar type robots.Constant pressure tensioning device includes: expansion tightening wheel；First sliding unit, first end are connected to the center of the expansion tightening wheel by shaft, and expansion tightening wheel can be rotated and can be moved together with the first sliding unit around shaft；Second sliding unit is set in the outside of the first sliding unit and is slidably matched with the first sliding unit；Unit is adjusted, the second end opposite with first end being mounted on the first sliding unit adjusts unit and at least partly stretch out the second sliding unit, to adjust the position of the first sliding unit；Pressure sensing cell, setting is in the first sliding unit and adjusts between unit, control unit, is separately connected with the pressure sensing cell and adjusting unit, to receive the pressure of pressure sensing cell detection, and according to the movement of pressure control and regulation unit.Constant pressure tensioning device can automatically 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 constant pressure 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 constant pressure tensioner for making crawler tensioning
Device.In this case, after a period of work due to crawler type fire-fighting robot, crawler belt (for example, rubber belt track) fatigue
Elongation, cannot wrap up wheel body well.When robot turning crawler belt is larger by lateral force, crawler belt is easy abjection.It therefore can only
Crawler belt is replaced, so that increased costs.In addition, crawler belt also can be correspondingly when the compression of the damping spring of crawler type fire-fighting robot
It is elongated.In the case where damping spring compression, since crawler belt is not adjustable, so will affect the movement of crawler type fire-fighting robot
Effect.
Summary of the invention
The purpose of the present invention is to provide a kind of constant pressure tensioning device of elasticity for automatically adjusting crawler belt and including being somebody's turn to do
The caterpillar type robot of constant pressure tensioning device.
The present invention provides a kind of constant pressure tensioning devices, are used for caterpillar type robot, and the constant pressure tensioning device includes:
Expansion tightening wheel；
First sliding unit, first end are connected to the center of the expansion tightening wheel by shaft, and the expansion tightening wheel is configured to
It can rotate and can be moved together with first sliding unit around shaft；
Second sliding unit is set in the outside of first sliding unit and matches with first sliding unit sliding
It closes, wherein second sliding unit is provided with mounting portion, for the constant pressure tensioning device to be installed to the crawler type
In robot；
Adjusting unit, the second end opposite with the first end being mounted on first sliding unit, and it is described
It adjusts unit and at least partly stretches out second sliding unit, to adjust the position of the first sliding unit；
Pressure sensing cell, setting is in the first sliding unit and adjusts between unit, for detecting the first sliding unit
And adjust the pressure between unit；
Control unit is separately connected, to receive pressure sensing cell with the pressure sensing cell and adjusting unit
The pressure of detection, and according to the movement of pressure control and regulation unit.
Second sliding unit is configured to bracket, and the bracket includes framework and is spaced parallel arrangement in the framework
At least one baffle, the first framework side of the first end towards first sliding unit of the framework and it is described extremely
Each of few baffle offers the first through hole for accommodating first sliding unit, and the first through hole allows institute
It states the first sliding unit to slide in it, the second framework side opposite with first framework side of the framework, which is equipped with, accommodates institute
It states the second through-hole for adjusting unit and second through-hole allows the adjusting unit to slide in it.
It is described to adjust the fixed structure that unit includes an electric pushrod, the sliding rail of electric pushrod and sliding rail, it is described electronic to push away
The sliding rail of electric pushrod telescopic slide, the fixed structure can be fixed on robot body by bar in sliding rail, electric pushrod
The free end for stretching out sliding rail is connect with the first sliding unit, and to adjust the position of the first sliding unit, electric pushrod is second
It is slided in through-hole and pressure sensing cell is set between the free end of electric pushrod and the first sliding unit.
The pressure sensing cell is pressure sensor, and the free end of electric pushrod and the is arranged in the pressure sensor
Between one sliding unit.
The center of the second end of first sliding unit is equipped with third through-hole, the center of the free end of the electric pushrod
Equipped with connecting rod, the connecting rod can slide certain distance in third through-hole, and connecting rod is located at the second of the first sliding unit
Backstop boss is respectively set in the two sides at end.
The constant pressure tensioning device further includes support device, is 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 relative to institute
When stating the sliding of the second sliding unit, the support device can make described one end will not be to the lateral deviation where the support device
Tiltedly, it is provided with assembled portion in the support device, for the support device to be mounted on the machine body people.
The first end of first sliding unit is provided with the first sliding unit axis connection and against the support
The idler wheel of device, when first sliding unit is slided relative to second sliding unit, the idler wheel is along the support
Portion rolls.
The second end of first sliding unit is provided with stop part, and the stop part is outside first sliding unit
Surface outwardly convex.
The present invention provides a kind of caterpillar type robots comprising above-mentioned constant pressure tensioning device.
Constant pressure tensioning device of the invention can adjust the elasticity of crawler belt, thus make caterpillar type robot even running,
And pressure can be detected by pressure-detecting device and realize automatic control and adjustment, and be able to maintain constant pressure between crawler belt and expansion tightening wheel.
Detailed description of the invention
Fig. 1 is the schematic diagram for showing a part and constant pressure 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 constant pressure tensioning device and caterpillar type robot according to the present invention.Under
The detailed description and the accompanying drawings in face are for illustratively illustrating the principle of the present invention, and the present invention is not limited to described preferred implementations
Example, the scope of the present invention are defined by the claims.
Fig. 1 shows a part and constant pressure tensioning device of caterpillar type robot according to the present invention.Caterpillar type robot packet
Include crawler belt 8, main body 9 and constant pressure tensioning device.Constant pressure tensioning device is installed between the main body 9 of caterpillar type robot and crawler belt 8.
Constant pressure tensioning device includes expansion tightening wheel 1, the first sliding unit 2, the second sliding unit 3, adjusts unit 6, pressure sensing cell 10
With 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.
The first end of first sliding unit 2 is connected to the center of expansion tightening wheel 1 by shaft.When robot advances, pass through
Friction between crawler belt and expansion tightening wheel 1 drives expansion tightening wheel 1 to rotate around shaft.In addition, rising when the first sliding unit 2 is mobile
Bearing up pulley 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 circle
Cylindrical 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 first through hole (for example, circular through hole) of first sliding unit 2.First frame of one end towards the first sliding unit 2 of framework
Side also offers the first through hole (for example, circular through hole) for accommodating the first sliding unit 2.Preferably, first through hole is provided with
The middle and lower part of baffle and the first framework side, to ensure the rigidity of bracket.According to an embodiment of the invention, on the second sliding unit 3
It is provided with mounting portion, with the main body for constant pressure tensioning device to be installed to caterpillar type robot.For example, mounting portion can be
The bolt hole being provided in the framework of the second sliding unit 3, bolt passing through bolt hole is to be fixed to machine for the second sliding unit 3
In the main body of people.
It adjusts unit 6 and is mounted on the second end opposite with first end on the first sliding unit 2, in framework and the first frame
The opposite second framework side in side opens up the second through-hole for accommodating and adjusting unit 6.
The setting of pressure sensing cell 10 is in the first sliding unit 2 and adjusts between unit 6, for detecting the first sliding unit
Pressure between 2 and adjusting unit 6.
Control unit is separately connected, to receive pressure sensing cell with the pressure sensing cell and adjusting unit
The pressure of detection, and according to the movement of pressure control and regulation unit.When the pressure that control unit receives is greater than the set value, control
System adjusts unit to the direction movement far from expansion tightening wheel, to adjust loose expansion tightening wheel and crawler belt, when the pressure that control unit receives is small
When setting value, it is mobile to the direction close to expansion tightening wheel to control to adjust unit, to tighten expansion tightening wheel and crawler belt, realize expansion tightening wheel and
Automatic adjustment between crawler belt, and it is able to maintain constant pressure between crawler belt and expansion tightening wheel.
It is preferred to adjust the fixed knot that unit 10 includes an electric pushrod 11, the sliding rail 12 of electric pushrod 11 and sliding rail 12
The sliding rail of electric pushrod telescopic slide, the fixed structure 13 can be fixed on by structure 13, the electric pushrod 11 in sliding rail 12
On robot body 9, the free end that electric pushrod 11 stretches out sliding rail 12 is connect with the first sliding unit 2, sliding to adjust first
The position of moving cell 2, electric pushrod 11 slided in the second through-hole and the free end of electric pushrod 11 and the first sliding unit it
Between be arranged pressure sensing cell 10.It is preferred that the outer surface of the electric pushrod is cylindrical outer surface.
The pressure sensing cell 10 is pressure sensor, the pressure sensor be arranged in the free end of electric pushrod with
Between first sliding unit, the pressure that detects the pressure between the free end of electric pushrod and the first sliding unit, and will test
Power sends control unit to.
The center of the second end of first sliding unit 2 is equipped with third through-hole, the center of the free end of the electric pushrod 11
Equipped with connecting rod 14, the connecting rod 14 can slide certain distance in third through-hole, and connecting rod 14 is located at the first sliding unit
The two sides of second end backstop boss is respectively set, prevent connecting rod 14 from detaching out of third through-hole.
Crawler belt can be elongated after robot uses a period of time, and when crawler belt is elongated slack and undisciplined, pressure sensor is detected
Pressure become smaller, when the pressure that control unit receives is less than setting value, control to adjust the electric pushrod of unit to close to tensioner
The direction of wheel is mobile, to tighten expansion tightening wheel and crawler belt, realizes the automatic adjustment between expansion tightening wheel and crawler belt, realizes constant pressure tensioner certainly
It is dynamic to adjust.
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 constant pressure tensioning device is firm.Support dress
It sets and is provided with assembled portion on 7, with the main body for support device 7 to be mounted on to caterpillar type robot.For example, assembled portion can be with
It is the bolt hole being provided in support device 7, bolt passing through bolt hole is support device 7 to be fixed 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 constant pressure 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.In this way, when stop part 4 and baffle contact, the first sliding unit can be stopped
2 continue to slide relative to the second sliding unit 3, so that it is guaranteed that the first sliding unit 2 will not be deviate from from the second sliding unit 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 (7)
1. a kind of constant pressure tensioning device, is used for caterpillar type robot, which is characterized in that the constant pressure tensioning device includes:
Expansion tightening wheel；
First sliding unit, first end are connected to the center of the expansion tightening wheel by shaft, and the expansion tightening wheel is constructed to be permeable to
It rotates and can be moved together with first sliding unit around 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 constant pressure tensioning device to be installed to the crawler type machine
On device people；
Adjust unit, the second end opposite with the first end being mounted on first sliding unit, and the adjusting
Unit at least partly stretches out second sliding unit, to adjust the position of the first sliding unit；
Pressure sensing cell, setting is in the first sliding unit and adjusts between unit, for detecting the first sliding unit and tune
Save the pressure between unit；
Control unit is separately connected with the pressure sensing cell and adjusting unit, to receive pressure sensing cell detection
Pressure, and according to pressure control to adjust unit movement；
Second sliding unit is configured to bracket, and the bracket includes framework and interval is arranged in parallel extremely in the framework
A few baffle, the first framework side of the first end towards first sliding unit of the framework and described at least one
Each of a baffle offers the first through hole for accommodating first sliding unit, and the first through hole allows described the
One sliding unit slides in it, and the second framework side opposite with first framework side of the framework, which is equipped with, accommodates the tune
It saves the second through-hole of unit and second through-hole allows the adjusting unit to slide in it；
Described to adjust the fixed structure that unit includes an electric pushrod, the sliding rail of electric pushrod and sliding rail, the electric pushrod can
The sliding rail of electric pushrod is fixed on robot body by the telescopic slide in sliding rail, the fixed structure, and electric pushrod stretches out
The free end of sliding rail is connect with the first sliding unit, and to adjust the position of the first sliding unit, electric pushrod is in the second through-hole
It is interior to slide and pressure sensing cell is set between the free end of electric pushrod and the first sliding unit.
2. a kind of constant pressure tensioning device according to claim 1, which is characterized in that the pressure sensing cell is pressure biography
Sensor, the pressure sensor are arranged between the free end of electric pushrod and the first sliding unit.
3. a kind of constant pressure tensioning device according to claim 2, which is characterized in that the second end of first sliding unit
Center be equipped with third through-hole, the center of the free end of the electric pushrod is equipped with connecting rod, and the connecting rod can be logical in third
Certain distance is slided in hole, backstop boss is respectively set in the two sides that connecting rod is located at the second end of the first sliding unit.
4. constant pressure tensioning device according to claim 1 to 3, which is characterized in that the constant pressure tensioning device further includes
Support device is configured with described one end against first sliding unit and the sliding side with first sliding unit
To parallel support portion, so that when first sliding unit is slided relative to second sliding unit, the support
Device can make described one end not to be provided with assembling in the support device to the side deflection where the support device
Portion, for the support device to be mounted on robot body.
5. constant pressure tensioning device according to claim 4, which is characterized in that the first end of first sliding unit is arranged
Have with the first sliding unit axis connection and against the idler wheel of the support device, when first sliding unit is relative to institute
When stating the sliding of the second sliding unit, the idler wheel is rolled along the support portion.
6. constant pressure tensioning device according to claim 1, which is characterized in that the second end of first sliding unit is arranged
There are stop part, outwardly protrusion of the stop part from first sliding unit.
7. a kind of caterpillar type robot, which is characterized in that filled including constant pressure tensioner according to any one of claims 1 to 6
It sets.
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 CN105947004A (en) | 2016-09-21 |
| CN105947004B true CN105947004B (en) | 2019-04-02 |
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| 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 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6336690B2 (en) * | 1999-06-17 | 2002-01-08 | Caterpillar Inc. | Track tensioning apparatus |
| GB2388347A (en) * | 2002-05-11 | 2003-11-12 | Ford New Holland Nv | Endless track tension system |
-
2016
- 2016-02-18 CN CN201610089609.XA patent/CN105947004B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
|---|---|
| CN105947004A (en) | 2016-09-21 |
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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. |