CN207595095U - A kind of robot chassis track takeup - Google Patents
A kind of robot chassis track takeup Download PDFInfo
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- CN207595095U CN207595095U CN201721691428.0U CN201721691428U CN207595095U CN 207595095 U CN207595095 U CN 207595095U CN 201721691428 U CN201721691428 U CN 201721691428U CN 207595095 U CN207595095 U CN 207595095U
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- tensioning wheel
- tensioning
- pressure gauge
- electric pushrod
- support arm
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Abstract
The utility model discloses a kind of robot chassis track takeup, including tension structure and controller；Tension structure includes：Tensioning wheel, tensioning wheel support arm, pressure gauge, tensioning stacker, electric pushrod；The tensioning wheel is connected with one end of tensioning wheel support arm, the other end of the tensioning wheel support arm is connected with the measurement end of pressure gauge, one end that the installation end of the pressure gauge is equipped with push rod with electric pushrod is connected, the connecting pin of the electric pushrod is connect with tensioning stacker, and the tensioning wheel support arm, pressure gauge, electric pushrod are placed in the upper surface of the tensioning stacker；The controller is electrically connected respectively with pressure gauge, electric pushrod.The utility model is simple in structure, replaces crawler belt conveniently, can be according to the rate of tension of different operating mode adjust automatically crawler belts.
Description
Technical field
The utility model is related to engineering machinery field, specifically, being related to a kind of robot chassis track takeup.
Background technology
Nowadays, it is investigated in operation in outdoor robot inspection, in order to overcome severe open work environment and changeable road
Condition, the effect place of especially rough road, rubble ground and miriness etc., mobile underpan generally use are carried out
The walking mechanism of belt, such as crawler type crusing robot, crawler detection robot, crawler type fire-fighting robot etc., because
Crawler travel has the characteristics that land, and area is big, it is small, stronger with ground adhesion strength geostatic pressure.Crawler type walking mechanism must be set
Track takeup is put, track takeup is the important component of crawler type walking mechanism, it is desirable that it is more to can adapt to complexity
The road conditions of change, performance quality have a significant impact to the driving performance of caterpillar robot, it can be ensured that crawler body safety
Reliable walking.
At present, form there are many crawler tensionings on caterpillar track travelling chassis, application more widely to have：Hydraulic track
Tightly, spring crawler tensioning, screw crawler tensioning etc..
Although hydraulic tensioning can be tensioned crawler belt according to the tightness of crawler belt is timely automated, for small
Humanoid robot crawler body does not apply to, and the big system complex of volume is not easy to arrange, tensioning pressure is difficult to control.
Tensioned is although simple in structure, manufactures cost and maintenance cost is low, but the elastic force due to spring and structure ruler
There is certain proportionate relationship between very little, it is relatively more to be restricted factor for the bad adjustment of proportionate relationship.
Although screw rod tensioning is simple in structure, cost is relatively low, after crawler belt relaxes because of road condition change, it is impossible in time
Adjust automatically.
Therefore, work out it is a kind of can be and simple in structure according to different operating mode adjust automatically rates of tension, be conveniently replaceable crawler belt
Robot chassis track takeup, the problem of being those skilled in the art's urgent need to resolve.
Utility model content
In view of this, the utility model provides a kind of robot chassis track takeup, fully solves existing crawler belt
Tensioning apparatus there are the problem of.
To achieve these goals, the utility model adopts the following technical solution：
A kind of robot chassis track takeup, including tension structure and controller；Tension structure includes：Tensioning wheel,
Tensioning wheel support arm, pressure gauge, tensioning stacker, electric pushrod；
Further, the tensioning wheel is connected with one end of tensioning wheel support arm, the other end of the tensioning wheel support arm with
The measurement end of pressure gauge is connected, and the installation end of the pressure gauge is connected with the one end of electric pushrod equipped with push rod, the electricity
The connecting pin of dynamic push rod is connect with tensioning stacker, and the tensioning wheel support arm, pressure gauge, electric pushrod are placed in the tensioning and hold
The upper surface of joint chair.
Further, tensioning stacker links together tensioning wheel support arm, pressure gauge, electric pushrod, can be to avoid each
The relative movement of a structure, it is ensured that the data measured by pressure gauge are more accurate so that the process of crawler belt auto-tensioning
It is more accurate.
Further, the controller is electrically connected respectively with pressure gauge, electric pushrod.The data transmission that pressure gauge will measure
To controller, analysis of the controller Jing Guo data is compared, and transmits a signal to electric pushrod, and electric pushrod is acted, and is realized
The auto-tensioning of crawler belt.
Further, the axle center of tensioning wheel is attached with tensioning wheel support arm by bolt.Tensioning wheel support arm can drive
Tensioning wheel moves, and then can realize the adjustment to crawler belt tighting degree.
Further, one end upper surface for being tensioned stacker is provided with the hollow groove body to raise up, other end upper surface
Both sides be provided with upward lug boss, the tensioning wheel support arm is connect across the hollow groove body with the pressure gauge, described
Electric pushrod is hinged with two lug bosses.Tensioning wheel support arm passes through hollow groove body, can be fixed on tensioning wheel support arm and open
On tight stacker, but tensioning wheel support arm can also be moved on tensioning stacker, both ensure that auto-tensioning process
Stability, the process that will not be tensioned have an impact.
Further, the side of the electric pushrod is equipped with button, and the button is electrically connected with the controller.This button is hand
Dynamic button can carry out crawler belt by button press quickly replacing and safeguarding.
The beneficial effects of the utility model：
The present apparatus it is simple and reliable for structure, can be according to types of track and chassis applying working condition to the need of crawler tensioning
It asks, the stroke of the automatic support arm extension of adjustment tensioning wheel in real time, so as to provide crawler belt tensile force required under different operating modes, and
It and can also be by controlling quick-replaceable and the maintenance realized to crawler belt manually.
It can be seen via above technical scheme that compared with prior art, the utility model, which discloses, provides a kind of structure letter
It is single, it is convenient to replace crawler belt, moreover it is possible to according to the robot chassis track takeup of different operating mode adjust automatically rates of tension.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is the embodiment of the utility model, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to the attached drawing of offer.
Fig. 1 is the structure diagram of the utility model；
Wherein, 1- tensioning wheels in figure；2- controllers；3- tensioning wheel support arms；4- pressure gauges；5- is tensioned stacker；6- is electronic
Push rod.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
The utility model embodiment discloses a kind of robot chassis track takeup, including tension structure and controller
2；Tension structure includes：Tensioning wheel 1, tensioning wheel support arm 3, pressure gauge 4, tensioning stacker 5, electric pushrod 6；
As shown in Figure 1, tensioning wheel 1 is connected with one end of tensioning wheel support arm 3 in the utility model, the tensioning wheel support arm
3 other end is connected with the measurement end of pressure gauge 4, and the installation end of the pressure gauge 4 is equipped with one end of push rod with electric pushrod 6
It is connected, the connecting pin of the electric pushrod 6 is connect with tensioning stacker 5, and the tensioning wheel support arm 3, electronic pushes away pressure gauge 4
Bar 6 is placed in the upper surface of the tensioning stacker 5.
Further, connecting band track on tensioning wheel 1, tensioning wheel support arm 3 are connect with tensioning wheel 1, pressure gauge 4 by with tensioning
Wheel support arm 3 connects, and can measure the tensile force of crawler belt.
Further, tensioning wheel support arm 3, tensioning wheel 1, pressure gauge 4, electric pushrod 6 four interconnect, and pass through
The stretching of 6 upper push-rod of electric pushrod just can directly realize the control to crawler tensioning, simple in structure, easy to control.
As shown in Figure 1, controller 2 is electrically connected respectively with pressure gauge 4, electric pushrod 6 in the utility model.Pressure gauge 4 is surveyed
Data carry out analysis and can be transferred to controller 2, controller 2 controls electric pushrod 6, and push rod is made to be stretched out or not
Dynamic action can realize the adjusting to track tension.
As shown in Figure 1, controller 2 is mounted on the top of the hollow groove body in the utility model, it can be very preferably right
Controller 2 is fixed, and prevents the influence to come off to motion process of controller 2.
As shown in Figure 1, the axle center of tensioning wheel 1 is attached with tensioning wheel support arm 3 by bolt in the utility model.
Preferably, one end of tensioning wheel support arm 3 is fixed tensioning wheel 1 from both sides, and tensioning wheel support arm 3 and tensioning
There are certain gaps between the wheel edge of wheel 1 and the side wall of tensioning wheel 1, it is ensured that tensioning wheel 1 can be normal
Rotation.
As shown in Figure 1, one end upper surface that stacker 5 is tensioned in the utility model is provided with the hollow groove to raise up
Body, the both sides of other end upper surface are provided with upward lug boss, the tensioning wheel support arm 5 pass through the hollow groove body with institute
It states pressure gauge 4 to connect, the electric pushrod 6 is hinged with two lug bosses.Can ensure tensioning wheel 1, tensioning wheel support arm 3,
Pressure gauge 4, electric pushrod 6 connect more firm on tensioning stacker 5, and the process for making automatic adjustment is more accurate.
As shown in Figure 1, the side of electric pushrod 6 is equipped with button in the utility model, the button is electrically connected with controller 2
It connects.When needing to carry out crawler belt replacement, manual control button is pressed, controller 2 will control electric pushrod 6 to be returned to most short shape
State, at this moment crawler belt without tensile force and provide the enough dismounting spaces of crawler belt, realize for crawler belt quick-replaceable maintenance.
As shown in Figure 1, pressure gauge 4 is attached with tensioning wheel support arm 3 by bolt in the utility model.It can make in this way
Pressure gauge can detect the pressure that crawler belt is born on tensioning wheel 1, be also possible to prevent between pressure gauge 4 and tensioning wheel support arm 3
It is mutually shifted, makes the data that pressure gauge 4 measures more accurate.
As shown in Figure 1, pressure gauge 4 is attached with electric pushrod 6 by bolt in the utility model.It can prevent pressure
Being mutually shifted between meter 4 and electric pushrod 6, the flexible tune that can more accurately realize to track tensioning force of electric pushrod 6
It is whole.
The course of work of the utility model：
After device power, pressure gauge 4 detects the current track tensioning force that will be detected and is transferred to controller 2, controller 2
Current data and setting data are compared, when the data of detection are less than setting value, controller 2 will control electric pushrod 6
Motor constant revolution, motor drive screw mechanism rotation, stretch out push rod, at this time pressure gauge 4 read back data will with electricity push
Make gradually increase；When pressure gauge 4 reads back data more than current setting upper threshold value, controller 2 controls motor stalling, and holding is worked as
The auto-tensioning of crawler belt is realized in front position.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications of these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide range consistent with features of novelty.
Claims (6)
1. a kind of robot chassis track takeup, which is characterized in that including tension structure and controller (2)；Tension structure
Including：Tensioning wheel (1), tensioning wheel support arm (3), pressure gauge (4), tensioning stacker (5), electric pushrod (6)；
The tensioning wheel (1) is connected with one end of tensioning wheel support arm (3), the other end and pressure of the tensioning wheel support arm (3)
The measurement end of meter (4) is connected, and the installation end of the pressure gauge (4) is connected with the one end of electric pushrod (6) equipped with push rod, institute
The connecting pin for stating electric pushrod (6) is connect with tensioning stacker (5), the tensioning wheel support arm (3), pressure gauge (4), electric pushrod
(6) it is placed in the upper surface of the tensioning stacker (5)；
The controller (2) is electrically connected respectively with pressure gauge (4), electric pushrod (6).
A kind of 2. robot chassis track takeup according to claim 1, which is characterized in that the axis of tensioning wheel (1)
The heart is attached with tensioning wheel support arm (3) by bolt.
A kind of 3. robot chassis track takeup according to claim 1, which is characterized in that tensioning stacker (5)
One end upper surface be provided with the hollow groove body to raise up, the both sides of other end upper surface are provided with upward lug boss, institute
It states tensioning wheel support arm (5) to connect with the pressure gauge (4) across the hollow groove body, the electric pushrod (6) and two institutes
Lug boss is stated to be hinged.
4. according to a kind of robot chassis track takeup described in claim 1 or 3, which is characterized in that described electronic
The side of push rod (6) is equipped with button, and the button is electrically connected with controller (2).
5. according to a kind of robot chassis track takeup described in claim 1,2 or 3 any one, which is characterized in that
The pressure gauge (4) is attached with tensioning wheel support arm (3) by bolt.
A kind of 6. robot chassis track takeup according to claim 1, which is characterized in that the pressure gauge (4)
It is attached with electric pushrod (6) by bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721691428.0U CN207595095U (en) | 2017-12-07 | 2017-12-07 | A kind of robot chassis track takeup |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721691428.0U CN207595095U (en) | 2017-12-07 | 2017-12-07 | A kind of robot chassis track takeup |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207595095U true CN207595095U (en) | 2018-07-10 |
Family
ID=62764559
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721691428.0U Active CN207595095U (en) | 2017-12-07 | 2017-12-07 | A kind of robot chassis track takeup |
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| Country | Link |
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| CN (1) | CN207595095U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108715192A (en) * | 2018-07-27 | 2018-10-30 | 徐工集团工程机械有限公司 | Track rail assembly hydraulic pressure tension system, track rail assembly and engineering machinery |
| CN110481663A (en) * | 2019-09-24 | 2019-11-22 | 履地科技(天津)有限公司 | A kind of self-balancing clamping system and tension structure |
| CN111532351A (en) * | 2020-05-12 | 2020-08-14 | 三一重机有限公司 | Adaptive tensioning control system and tensioning method |
-
2017
- 2017-12-07 CN CN201721691428.0U patent/CN207595095U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108715192A (en) * | 2018-07-27 | 2018-10-30 | 徐工集团工程机械有限公司 | Track rail assembly hydraulic pressure tension system, track rail assembly and engineering machinery |
| CN110481663A (en) * | 2019-09-24 | 2019-11-22 | 履地科技(天津)有限公司 | A kind of self-balancing clamping system and tension structure |
| CN111532351A (en) * | 2020-05-12 | 2020-08-14 | 三一重机有限公司 | Adaptive tensioning control system and tensioning method |
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Address after: 271000 231 South China Street, Taishan Zhuang Industrial Park, Taishan, Tai'an. Patentee after: Jichuang robot intelligent technology (Shandong) Co., Ltd Address before: 271000 231 South China Street, Taishan Zhuang Industrial Park, Taishan, Tai'an. Patentee before: JICHUANG ROBOT TECHNOLOGY Co.,Ltd. |