KR101427175B1 - Tension control apparatus for Track-type Robot - Google Patents

Abstract

The present invention relates to a tension adjusting device for a track robot, and more specifically, to a tension adjusting device for the track robot which is installed to the frame of the track robot to strain a track installed on the outer peripheral surface of a sprocket. The tension adjusting device includes: a shaft installed between the frame and the sprocket; a support plate installed to the frame; a plate cam which is installed on the outer peripheral surface for the shaft to be in contact with a side of the support plate. Accordingly, the present invention can strain the track installed on the outer peripheral surface of the sprocket by moving the shaft according to the rotation of the plate cam.

Description

[0001] The present invention relates to a tension control apparatus for a track-type mobile robot,

The present invention relates to a tension adjusting device for a track-type mobile robot. And more particularly, to a tension adjusting device for a track-type mobile robot that can easily adjust the tension of a track after installation of a track, while easily installing a track provided on the track-type mobile robot.

In recent years, unmanned robots have been used to identify situations in dangerous areas, such as disaster areas or military areas, that are difficult for human to access. The mobile robot moves by the user's manipulation or actively moves using the provided sensor, and photographs the surrounding state of the inputted region and transmits it to the user.

The area where the mobile robot is inserted may be an asphalt road, but it is often a rough terrain with scattered obstacles. Therefore, a track type which can exhibit a constant running ability irrespective of the traveling environment is mainly used to improve the traveling performance of the mobile robot.

A related art is a track-type mobile robot, which is the Korean Registered Patent No. 10-1033245 of the present applicant.

As shown in FIG. 1, the track-type mobile robot includes a body 10, a driving unit 20 coupled to both sides of the body 10 to move the body 10, A track 40 and a splat 50 which are respectively provided to the flipper 30, the driving portion 20 and the flipper 30 are described.

In the track-type mobile robot as described above, it is important to tilt the track when installing the track in the splatter.

When the inter-shaft distance d is fixed as shown in Fig. 2 (a), the track 40 is provided on the splatter 50 and the inter-shaft distance d where the splatter 50 is installed, The two splats 50 must be inserted into the shaft 60 while maintaining the same. Therefore, it is impossible to adjust the tension of the track 40, so that the assembly is cumbersome and troublesome.

2 (b) shows a method of using the tensioner 70. Although the inter-shaft distance d is fixed, it is easy to assemble using the long track 40. FIG. However, since the tensioner 70 must be provided to tense the track 40 and maintain tension, there is a problem in that the cost and weight are added.

2C shows a method of assembling the track 40 in a state in which the inter-shaft distance d is fixed. When an excessive tension is applied, the connecting portion of the track 40 is damaged and the durability of the track 40 is lowered There is a problem.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems of the conventional art, and it is an object of the present invention to provide a track type spool tracker capable of adjusting a tension of a track, It is an object of the present invention to provide a tension adjusting device for a mobile robot.

The above object is achieved by a tension adjusting device for a track-type robot provided on a frame of a track-type robot for tilting a track provided on an outer circumferential surface of a splatket according to the present invention, ; A support plate installed on the frame; And a plate cam disposed on an outer circumferential surface of the shaft such that one side thereof is in contact with the support plate, wherein the shaft moves according to the rotation of the plate cam so as to tense the track. .

Preferably, the plate-surface cam rotates in a direction in which the distance from the rotation center of the plate-surface cam to the support plate increases.

The frame may include an elongated hole extending in a direction to tense the track to guide the shaft.

Then, after the tense of the track, the axis is fixed to the frame.

Here, the support plate is formed of a steel material or an alloy.

The tension adjusting device for a track-type mobile robot according to a preferred embodiment of the present invention having the above-described structure can move a shaft in accordance with rotation of a plate-surface cam by using a plate-surface cam to tighten a track provided on the track- .

1 is a view showing a conventional track-type mobile robot,
FIG. 2 is a conceptual view showing a conventional method of installing a track in a splatter, or tilting a track after installation,
3 is a view showing a track-type mobile robot and a tension adjusting device for a track-type mobile robot according to a preferred embodiment of the present invention,
FIG. 4 is a conceptual diagram illustrating an operation of a tension adjusting device for a track-type mobile robot according to an embodiment of the present invention,
FIG. 5 is a view showing a coupling relationship between an axis and a frame of a tension adjusting device for a track-type mobile robot according to a preferred embodiment of the present invention,
6 is an exploded perspective view showing a frame on which a support plate of a tension adjusting device for a track-type mobile robot according to a preferred embodiment of the present invention is mounted,
7 is a cross-sectional view taken along line AA in Fig. 3,
8 is a view illustrating an operation of a tension adjusting device for a track-type mobile robot according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to clarify the solution to the technical problem of the present invention. In the following description of the present invention, however, the description of related arts will be omitted if the gist of the present invention becomes obscure. In addition, the terms described below are defined in consideration of the functions of the present invention, and may be changed depending on the intention or custom of the designer, the manufacturer, and the like. Therefore, the definition should be based on the contents throughout this specification. In addition, parts denoted by the same reference numerals throughout the specification represent the same elements.

Hereinafter, a tension adjusting device for a track-type mobile robot according to a preferred embodiment of the present invention will be described.

3, the track-type mobile robot 2 includes a tension adjusting device 1 for a track-type mobile robot according to a preferred embodiment of the present invention, a tension adjusting device 1 for the track- And a track 4 provided on the outer circumferential surface of the splatter 3. The sprocket 3 is provided with a sprocket 3,

At least one of the splats 3 provided on the track-type mobile robot 2 is rotated by engaging with a drive shaft (not shown) which engages with a drive unit (not shown) such as a drive motor to move the track 4 forward or backward .

The track 4 is an endless track and is wound around the outer circumferential surface of the splatter 3 and driven forward or backward by the rotation of the splatter 3 driven by the drive unit, Moves or rotates in the direction of the force including front and rear.

As shown in Fig. 4, the tension adjusting device 1 for the track-type mobile robot is provided between the splatters 3 and the frame 5. Fig. The tension adjusting device 1 for the track-type mobile robot moves the splatters 3 after the tracks 4 are installed on the splatters 3 to press the tracks 4, . Here, the frame 5 may be formed of a material such as an aluminum alloy in consideration of the weight of the track-type mobile robot 2. [

5 to 8, the tension adjusting device 1 for the track-type mobile robot may include a shaft 100, a support plate 200, and a plate surface cam 300.

The shaft 100 is formed in a cylindrical shape. Then, the shaft 100 can be installed in the frame 5, as shown in Figs. 5 and 7.

That is, the frame 5 may include a guide hole 6 formed in the shape of a long hole so that one region of the shaft 100 can be inserted and coupled. The guide hole 6 guides the movement of the shaft 100 provided with the splasket 3 when the track 4 is tense.

Therefore, the shaft 100 is provided in the frame 5, and the splatters 3 are provided in one area of the shaft 100. [ Then, the track 4 is provided on the outer circumferential surface of the splatter 3.

As a result, when the shaft 100 is moved, the splatters 3 move and the track 4 is tensed.

6, the support plate 200 is provided on the frame 5 in the direction in which the shaft 100 is inserted.

The side surface of the plate cam (300) provided on the outer circumferential surface of the shaft (100) is provided to be in contact with the support plate (200).

Here, since the support plate 200 supports the plate cam 300, the support plate 200 may be formed of a steel or an alloy for durability, unlike the frame 5 formed of an aluminum alloy or the like. That is, the support plate 200 serves as a reinforcing plate for preventing the frame 5 from being damaged.

The plate cam 300 is installed on the outer peripheral surface of the shaft 100 so that the plate cam 300 contacts one side of the support plate 200. Therefore, the shaft 100 installed to share the rotation with the plate-side cam 300 moves in accordance with the rotation of the plate-side cam 300 because it is supported by the support plate 200 when the plate-side cam 300 rotates.

Here, the plate-like cams 300 may have elliptical shapes that are uniformly different in size. The plate surface cam 300 is installed on the shaft 100 so as to be eccentric to the shaft 100.

Accordingly, the distance from the center of the shaft 100 to the side of the plate cam 300, that is, the contact surface 310 that contacts the support plate 200, becomes constantly different.

8, according to the distance from the shaft 100 to the contact surface 310 of the plate cam 300 contacting the support plate 200, the shaft 100 moves, and the plate cam 300 Contacts the support plate 200 and then rotates in a direction in which the distance from the support plate 200 increases from the rotation center of the plate cam 300 to tense the track 4. [

For example, the plate cam 300 may have a base circle having the lowest distance between the rotation axis and the contact surface 310 and the highest cam lift.

Therefore, when the plate cam 300 is mounted on the support plate 200, it is preferable that the base contact surface 310 is disposed to be in contact with the support plate 200.

As the plate cam 300 rotates, the rotation axis of the plate cam 300 moves away from the support plate 200 toward the cam head. Therefore, the shaft 100 provided with the splatter 3 is guided and guided by the guide hole 6, so that the track 4 is tensed.

8, the plate-like cam 300 is brought into contact with the support plate 200 and then the shaft 100 is guided by the guide hole 6 in accordance with the rotation of the plate-surface cam 300, Exercise. As a result, the shaft 100 is subjected to a sliding linear motion and moves in a direction to tense the track 4.

Meanwhile, the shaft 100 may include a flange 110 protruding radially from the outer circumferential surface.

The flange 110 is fixed to the frame 5 by a coupling member (not shown). That is, after the track 4 is strained by the movement of the shaft 100, the flange 110 is fixed to the frame 5 by using the engaging member, thereby preventing the strained track 4 from being loosened.

 Here, a bolt, a screw, or the like may be used as the coupling member.

In addition, the shaft 100 may include a hexagonal wrench insertion groove 120.

The hexagonal wrench insertion grooves 120 are formed at both side ends of the shaft 100 and the shaft 100 can be rotated by inserting a hexagonal wrench into the hexagonal wrench insertion grooves 120. 5, a hexagonal hexagonal wrench insertion groove 120 is formed as an example. However, the hexagonal wrench insertion groove 120 is not limited to the hexagonal wrench insertion groove 120, and may be formed into a triangular shape or a square shape to be.

It should be understood that the various embodiments according to the present invention can solve various technical problems other than those mentioned in the specification in the related technical field as well as the related art.

The present invention has been described with reference to the embodiments. It will be apparent, however, to one skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. That is, the true technical scope of the present invention is indicated in the appended claims, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

1: Tension adjustment device for track type robot 2: Track type robot
3: Splatket 4: Track
5: Frame 100: Axis
200: support plate 300: plate surface cam

Claims (5)

A tension adjusting device for a track-type robot provided on a frame of a track-type robot for tilting a track provided on an outer circumferential surface of a splatket,
A shaft installed between the frame and the splatters;
A support plate installed on the frame;
A plate-like cam provided on an outer circumferential surface of the shaft so that one side of the plate contacts the support plate; And
And a flange integrally formed on an outer circumferential surface of the shaft,
The shaft is moved in accordance with the rotation of the plate surface cam interlocked with the rotation of the shaft to tense the track,
And after the tension of the track, the flange is fixed to the frame. The method according to claim 1,
Wherein the plate cam rotates in a direction in which the distance from the rotation center of the plate cam to the support plate increases. 3. The method of claim 2,
Wherein the frame includes an elongated hole formed to be long in a direction to tense the track so as to guide the shaft. delete The method according to claim 1,
Wherein the support plate is formed of a steel material or an alloy.

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