CN211893447U - Tensioner structure - Google Patents
Tensioner structure Download PDFInfo
- Publication number
- CN211893447U CN211893447U CN202020144823.2U CN202020144823U CN211893447U CN 211893447 U CN211893447 U CN 211893447U CN 202020144823 U CN202020144823 U CN 202020144823U CN 211893447 U CN211893447 U CN 211893447U
- Authority
- CN
- China
- Prior art keywords
- tensioner
- connecting rod
- shaped
- track
- pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
The utility model discloses a tensioning ware structure, include: a composite board structure; the two guide belt wheels are respectively and rotatably arranged on the inner sides of the two sides of the combined plate structure and are coaxially arranged; the T-shaped through pipe is fixedly arranged at the upper end of the composite plate structure; the connecting rod is slidably arranged in the T-shaped through pipe and can slide along the axial direction of the T-shaped through pipe, and the upper end of the connecting rod and the lower end of the connecting rod are both protruded out of the T-shaped through pipe; the first fixing part is fixedly arranged at the upper end of the connecting rod, and the second fixing part is fixedly arranged at the lower end of the connecting rod. The utility model discloses a tensioning ware structure can be according to the change of the perpendicular to direction of motion's that received owing to the lax of track or too tight and lead to in the track direction of motion elasticity, and the action of rising or decline is made in good time realizes the tensioning or lax of track.
Description
Technical Field
The utility model relates to a technical field of robot especially relates to a tensioning ware structure.
Background
With the development of robotics in recent years, robots have made great progress in the field of automatically driving automobiles. Similar competitions were raised upon the first nuclear disaster in fukushima in 2011. To accelerate the development of robotics in areas dealing with nature and thought disasters.
To perform complex tasks in environments that are dangerous for humans instead of humans, it is necessary to design a robot that is nearly as large in size and shape as humans, with a similar workspace. These robots are required to be both robust and flexible to work effectively in these environments, while at the same time he must have static stability rather than dynamic stability to avoid the need for complex controls. Bipedal machines, such as a typical humanoid robot, must be balanced when walking. If the terrain under the feet of the robot is uneven or moving, the humanoid robot runs the risk of tipping over and falling, which in turn becomes a problem rather than a solution.
Some robots are equipped with special tracks to overcome the terrain problems during climbing and driving, and in order to keep the tracks in effective contact with the ground in a complex terrain environment, a tensioner capable of tensioning the tracks in real time needs to be designed.
The auxiliary wheel structure such as a tensioner is generally used for preventing the wrong actions such as slipping and lateral movement caused by loose track in the heavy track mechanism, but the light track mechanism needs to simplify the wheel mechanisms as much as possible and integrates the functions of the wheel mechanisms to achieve the purpose of light weight, particularly, the light track mechanism used for climbing over complex terrains needs to collect information of the track in real time and timely adjust the tightness degree of the track, so that the purpose of stable running of the mechanism is achieved, but the tensioner structure applied to the light track mechanism is lacked in the prior art, so that the track mechanism can timely adjust the tightness degree of the track according to feedback information.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides a tensioner structure suitable for a robot with a track.
In order to realize the purpose, the utility model discloses the technical scheme who takes does:
a tensioner structure, comprising:
a composite board structure;
the two guide belt wheels are respectively and rotatably arranged on the inner sides of the two sides of the combined plate structure and are coaxially arranged;
the T-shaped through pipe is fixedly arranged at the upper end of the combined plate structure;
the connecting rod is slidably arranged in the T-shaped through pipe and can slide along the axial direction of the T-shaped through pipe, and the upper end of the connecting rod and the lower end of the connecting rod are protruded out of the T-shaped through pipe;
the first fixing part is fixedly arranged at the upper end of the connecting rod, and the second fixing part is fixedly arranged at the lower end of the connecting rod.
The tensioner structure described above further includes: the combined plate structure comprises sliding blocks and sliding rails, wherein the sliding blocks are fixedly arranged on the outer sides of two sides of the combined plate structure respectively, the sliding rails are arranged on a support of a track in parallel, the sliding rails are matched with the sliding blocks respectively, and the combined plate structure can slide along the directions of the sliding rails.
In the tensioner structure, the outer surface of each guide pulley is provided with a plurality of guide belt convex lines, the outer surface of the track is provided with a plurality of track concave lines, and the guide belt convex lines are matched with the track concave lines.
The tensioner structure as above, wherein the belt guide ridges are circumferentially arrayed around the axis of the belt guide pulley.
In the above tensioner structure, an included angle is formed between the guide belt convex line and the axis of the guide belt wheel.
The tensioner structure as described above, wherein the composite plate structure comprises: the fixing plate and the two side plates are respectively arranged on two sides of the fixing plate.
In the tensioner structure, the two guide belt wheels are respectively arranged on one side of the two side plates opposite to each other, and the two sliding blocks are respectively arranged on one side of the two side plates opposite to each other.
In the above tensioner structure, the T-shaped through pipe is fixed to the fixing plate, and the T-shaped through pipe penetrates through the fixing plate from top to bottom.
The tensioner structure as described above, wherein the T-shaped duct comprises: the device comprises a tubular structure and an annular structure integrally connected to the upper end of the tubular structure, wherein the outer diameter of the annular structure is larger than that of the tubular structure.
The tensioner structure described above further includes: a motor for actively driving/controlling the relative movement between the slider and the slide rail.
In the tensioner structure, the fixing plate is provided with a through hole, the inner diameter of the through hole is matched with the outer diameter of the tubular structure, and the inner diameter of the through hole is smaller than the outer diameter of the annular structure.
In the above tensioner structure, the tubular structure is inserted into the through hole, and the annular structure is clamped outside the through hole.
In the tensioner structure, the fixing plate is further provided with a strain gauge, and the strain gauge is used for indirectly measuring the stress of the track so as to actively adjust the overall height of the tensioner structure.
The utility model discloses owing to adopted above-mentioned technique, make it compare the positive effect that has with prior art and be:
(1) the utility model discloses a tensioning ware structure can be according to received because in the track direction of motion the action that makes rise in good time or descend is realized to the change of perpendicular to direction of motion's that the lax of track or too tight and lead to elasticity of direction of motion the tensioning of track or lax.
Drawings
Fig. 1 is a front view of the tensioner structure of the present invention.
Fig. 2 is a bottom view of the tensioner structure of the present invention.
Fig. 3 is a side view of the tensioner structure of the present invention.
Fig. 4 is a perspective view of the tensioner structure of the present invention.
Fig. 5 is a perspective view of the tensioner structure of the present invention.
In the drawings: 1. a composite board structure; 11. a fixing plate; 12. a side plate; 2. a guide pulley; 3. t-shaped through pipes; 31. a tubular structure; 32. a cyclic structure; 4. a connecting rod; 5. a first fixing member; 6. a second fixing member; 7. a slider; 8. a slide rail.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
The first embodiment:
fig. 1 is a front view of the tensioner structure of the present invention, fig. 2 is a bottom view of the tensioner structure of the present invention, fig. 3 is a side view of the tensioner structure of the present invention, fig. 4 is a perspective view of the tensioner structure of the present invention, fig. 5 is a perspective view of the tensioner structure of the present invention, please refer to fig. 1 to 5, which show the tensioner structure of a preferred embodiment, including: the combined plate structure 1 and the guide belt wheel 2, two guide belt wheels 2 are respectively and rotatably arranged on the inner sides of two sides of the combined plate structure 1, and the two guide belt wheels 2 are coaxially arranged.
Further, as a preferred embodiment, the tensioner structure further comprises: t type siphunculus 3, T type siphunculus 3 is fixed to be located the upper end of composite sheet structure 1.
Further, as a preferred embodiment, the tensioner structure further comprises: connecting rod 4, connecting rod 4 locate T type siphunculus 3 slidable in, connecting rod 4 can slide along T type siphunculus 3's axis direction, and the upper end of connecting rod 4 and the lower extreme of connecting rod 4 all outstanding in T type siphunculus 3.
Further, as a preferred embodiment, the tensioner structure further comprises: a first fixing member 5 and a second fixing member 6, the first fixing member 5 being fixedly provided at an upper end of the connecting rod 4, the second fixing member 6 being fixedly provided at a lower end of the connecting rod 4. Wherein, the first fixing part 5 and the second fixing part 5 are fixedly connected with an outer casing of a chassis of the crawler.
Further, as a preferred embodiment, the tensioner structure further comprises: the combined plate structure comprises sliding blocks 7 and sliding rails 8, wherein the two sliding blocks 7 are respectively and fixedly arranged on the outer sides of two sides of the combined plate structure 1, the two sliding rails 8 are arranged on a support of a track in parallel, the two sliding rails 8 are respectively matched with the two sliding blocks 7, and the combined plate structure 1 can slide along the directions of the two sliding rails 8.
Preferably, the slide rail 8 is a metal rail for controlling the height of the guide pulley 2 in the tensioner, i.e. the slack and tension of the track can be controlled by manipulating the position of the slider 7 relative to the metal rail.
Preferably, the method further comprises the following steps: a motor, not shown in the figures, is used to actively drive/control the relative movement between the slider 7 and the slide 8.
Under the state that the first fixing part 5 and the second fixing part 6 are fixed, the combined plate structure 1 drives the two guide belt wheels 1 to move along the axial direction of the T-shaped through pipe 3 within the range of the first fixing part 5 and the second fixing part 6 by driving the slide block 7 to move along the slide rail 8.
Since the guide pulley 2 is engaged or matched with the track, the guide pulley 2 can tighten the track when moving towards the track, and the guide pulley 2 can loosen the track when moving away from the track.
The above description is only an example of the preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The utility model discloses still have following embodiment on above-mentioned basis:
in a further embodiment of the present invention, please continue to refer to fig. 1 to 5, the outer surface of each belt guiding wheel 2 is provided with a plurality of guiding belt convex lines, the outer surface of the track is provided with a plurality of track concave lines, and the plurality of guiding belt convex lines are matched with the plurality of track concave lines.
The utility model discloses a further embodiment, the conduction band salient line of conduction band wheel 2 is the circumference array around the axis of conduction band wheel 2.
The utility model discloses a further embodiment, has the contained angle between the conduction band protruding line of conduction band wheel 2 and the axis of conduction band wheel 2.
In a further embodiment of the present invention, the composite board structure 1 includes: a fixed plate 11 and two side plates 12 respectively provided at both sides of the fixed plate 11.
The utility model discloses a in the further embodiment, two leading pulleys 2 are located two sides board 12 respectively just right one side mutually, and two sliders 7 are located two sides board 12 respectively and are carried on the back mutually one side mutually.
In a further embodiment of the present invention, the T-shaped through pipe 3 is fixed on the fixing plate 11, and the T-shaped through pipe 3 penetrates through the fixing plate 11 from top to bottom.
In a further embodiment of the present invention, the T-shaped duct 3 includes: a tubular structure 31 and a ring structure 32 integrally connected to the upper end of the tubular structure 31, the ring structure 32 having an outer diameter larger than that of the tubular structure 31.
The utility model discloses a further embodiment, seted up the through-hole on the fixed plate 11, the internal diameter of through-hole 11 and tubular structure 31's external diameter phase-match, and the internal diameter of through-hole 11 is less than the external diameter of annular structure 32.
In a further embodiment of the present invention, the tubular structure 31 is inserted into the through hole, and the annular structure 32 is clamped outside the through hole.
In a further embodiment of the present invention, a strain gauge is further disposed on the fixing plate 11 for indirectly measuring the stress of the track, so as to actively adjust the height of the tensioner.
Second embodiment:
with continued reference to fig. 1-5, another preferred embodiment tensioner configuration is shown, comprising: the combined plate structure 1 and the guide belt wheel 2, two guide belt wheels 2 are respectively and rotatably arranged on the inner sides of two sides of the combined plate structure 1, and the two guide belt wheels 2 are coaxially arranged.
Further, as a preferred embodiment, the tensioner structure further comprises: t type siphunculus 3, T type siphunculus 3 is fixed to be located the upper end of composite sheet structure 1.
Further, as a preferred embodiment, the tensioner structure further comprises: connecting rod 4, connecting rod 4 locate T type siphunculus 3 slidable in, connecting rod 4 can slide along T type siphunculus 3's axis direction, and the upper end of connecting rod 4 and the lower extreme of connecting rod 4 all outstanding in T type siphunculus 3.
Further, as a preferred embodiment, the tensioner structure further comprises: a first fixing member 5 and a second fixing member 6, the first fixing member 5 being fixedly provided at an upper end of the connecting rod 4, the second fixing member 6 being fixedly provided at a lower end of the connecting rod 4. Wherein, the first fixing part 5 and the second fixing part 5 are fixedly connected with an outer casing of a chassis of the crawler.
Further, as a preferred embodiment, the tensioner structure further comprises: the combined plate structure comprises screw rod sliding blocks and screw rods, wherein the two screw rod sliding blocks are respectively and fixedly arranged on the outer sides of two sides of the combined plate structure 1, the two screw rods are arranged on a support of a track in parallel, the two screw rods are respectively matched with the two screw rod sliding blocks, and the combined plate structure 1 can move along the directions of the two screw rods.
Further, as a preferred embodiment, the tensioner structure further comprises: and the driving mechanism drives the two screw rods to rotate, so that the screw rod sliding blocks can move along the screw rods, and the combined plate structure 1 is driven to move along the directions of the two screw rods.
Under the state that the first fixing part 5 and the second fixing part 6 are fixed, the screw rod is driven to rotate, the screw rod sliding block moves along the screw rod, and the combined plate structure 1 drives the two guide belt wheels 1 to move along the axial direction of the T-shaped through pipe 3 within the range of the first fixing part 5 and the second fixing part 6.
Since the guide pulley 2 is engaged or matched with the track, the guide pulley 2 can tighten the track when moving towards the track, and the guide pulley 2 can loosen the track when moving away from the track.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (10)
1. A tensioner construction, comprising:
a composite board structure;
the two guide belt wheels are respectively and rotatably arranged on the inner sides of the two sides of the combined plate structure and are coaxially arranged;
the T-shaped through pipe is fixedly arranged at the upper end of the combined plate structure;
the connecting rod is slidably arranged in the T-shaped through pipe and can slide along the axial direction of the T-shaped through pipe, and the upper end of the connecting rod and the lower end of the connecting rod are protruded out of the T-shaped through pipe;
the first fixing part is fixedly arranged at the upper end of the connecting rod, and the second fixing part is fixedly arranged at the lower end of the connecting rod.
2. The tensioner structure of claim 1, further comprising: the combined plate structure comprises sliding blocks and sliding rails, wherein the sliding blocks are fixedly arranged on the outer sides of two sides of the combined plate structure respectively, the sliding rails are arranged on a support of a track in parallel, the sliding rails are matched with the sliding blocks respectively, and the combined plate structure can slide along the directions of the sliding rails.
3. The tensioner as in claim 1, wherein the outer surface of each of the guide pulleys has a plurality of guide belt ridges, the outer surface of the track has a plurality of track valleys, and the plurality of guide belt ridges match the plurality of track valleys.
4. A tensioner as claimed in claim 3, wherein the belt guide ridges are in a circumferential array about the axis of the guide pulley.
5. A tensioner as claimed in claim 3, wherein the belt guide nose line is angled relative to the axis of the belt guide wheel.
6. The tensioner structure of claim 2, wherein the composite plate structure comprises: the fixing plate and the two side plates are respectively arranged on two sides of the fixing plate.
7. The tensioner as in claim 6, wherein the two guide pulleys are respectively disposed on opposite sides of the two side plates, and the two sliders are respectively disposed on opposite sides of the two side plates.
8. The tensioner structure as claimed in claim 7, wherein the T-shaped through tube is fixed on the fixing plate, and the T-shaped through tube penetrates the fixing plate from top to bottom.
9. A tensioner structure as claimed in claim 1, wherein the T-shaped tube comprises: the device comprises a tubular structure and an annular structure integrally connected to the upper end of the tubular structure, wherein the outer diameter of the annular structure is larger than that of the tubular structure.
10. The tensioner structure of claim 2, further comprising: a motor for actively driving/controlling the relative movement between the slider and the slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020144823.2U CN211893447U (en) | 2020-01-22 | 2020-01-22 | Tensioner structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020144823.2U CN211893447U (en) | 2020-01-22 | 2020-01-22 | Tensioner structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211893447U true CN211893447U (en) | 2020-11-10 |
Family
ID=73303591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020144823.2U Active CN211893447U (en) | 2020-01-22 | 2020-01-22 | Tensioner structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211893447U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267982A (en) * | 2020-01-22 | 2020-06-12 | 深圳国信泰富科技有限公司 | Tensioner structure |
-
2020
- 2020-01-22 CN CN202020144823.2U patent/CN211893447U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267982A (en) * | 2020-01-22 | 2020-06-12 | 深圳国信泰富科技有限公司 | Tensioner structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108275215B (en) | Wall climbing vehicle and detection robot based on same | |
| US11834112B2 (en) | Tracked climbing machine with compliant suspension apparatus | |
| US7493976B2 (en) | Variable configuration articulated tracked vehicle | |
| US8030873B2 (en) | Walk and roll robot | |
| KR101358384B1 (en) | Robot for running on the wall | |
| CN208021569U (en) | A kind of vacuum suction wall climbing vehicle | |
| CN211893447U (en) | Tensioner structure | |
| CN108791555B (en) | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot | |
| Guarnieri et al. | Development of Helios VII: an arm-equipped tracked vehicle for search and rescue operations | |
| CN115092280B (en) | Soft flexible trunk and soft flexible bionic wall climbing robot | |
| CN212047623U (en) | Guide pulley structure and robot crawler device | |
| CN111267982A (en) | Tensioner structure | |
| US10106215B2 (en) | One-dimensional climbing vehicle with resilient guide mechanism | |
| JP3041836B2 (en) | Tracked magnetic traveling device | |
| JP6358731B2 (en) | Wheel type moving body and wheelchair | |
| CN215245183U (en) | Caterpillar chassis posture adjusting device | |
| CN111361648A (en) | Guide pulley structure and robot crawler device | |
| TWI700209B (en) | High maneuverability stair climbing vehicle | |
| CN111174109B (en) | Monitoring and early warning device for high consequence area of oil and gas pipeline | |
| CN109048153A (en) | A kind of pipe welding robot | |
| CN111409733B (en) | Multi-shaft mechanical leg | |
| CN114644064A (en) | Inflatable airbag-driven biped wall-climbing robot | |
| CN109027517B (en) | Magnetic adsorption crawling robot crawler mechanism | |
| CN112047264A (en) | Remove intelligent robot that stably has transport function | |
| CN110182273A (en) | A kind of Climbing Robot System with barrier function excessively |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |