A tensioner structure

Abstract

The present invention discloses a tensioner structure, comprising: a combined plate structure; two guide pulleys rotatably disposed on the inner sides of both sides of the combined plate structure, the two guide pulleys being coaxially arranged; a T-shaped pipe fixedly disposed at the upper end of the combined plate structure; a connecting rod slidably disposed in the T-shaped pipe, the connecting rod being able to slide along the axis of the T-shaped pipe, the upper end and the lower end of the connecting rod both protruding from the T-shaped pipe; a first fixing component fixedly disposed at the upper end of the connecting rod, and a second fixing component fixedly disposed at the lower end of the connecting rod. The tensioner structure of the present invention can timely perform a rising or falling action to achieve tensioning or loosening of the track according to a change in the elastic force perpendicular to the direction of movement caused by slackness or over-tightness of the track in the direction of movement of the track.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a tensioner structure. Background Art

[0002] With the recent development of robotics, significant progress has been made in the field of self-driving cars. Following the 2011 Fukushima Daiichi nuclear power plant disaster, similar competitions have been launched to accelerate the development of robotics for responding to natural and man-made disasters.

[0003] To replace humans in complex tasks in environments that are otherwise dangerous for humans, robots must be designed that are similar in size and shape to humans, with a similar workspace. These robots must possess both strength and flexibility to effectively operate in these environments, while also requiring static stability rather than dynamic stability to avoid the need for complex control. Bipedal machines, such as typical humanoid robots, must maintain balance while walking. If the terrain beneath them is uneven or moving, humanoid robots are at risk of tipping over and falling, which can become a problem rather than a solution.

[0004] Some robots are equipped with special tracks to overcome terrain problems during climbing and driving. In order to keep the tracks in effective contact with the ground in complex terrain environments, it is necessary to design a tensioner that can tighten the tracks in real time.

[0005] Auxiliary wheel structures such as tensioners are usually used in heavy track mechanisms to prevent erroneous movements such as slipping and lateral shifting caused by loose tracks. However, light track mechanisms need to streamline these wheel mechanisms as much as possible and integrate the functions of these wheel mechanisms to achieve the purpose of lightweighting. In particular, light track mechanisms used to cross complex terrains need to collect track information in real time and adjust the track tightness in a timely manner to achieve the purpose of smooth operation of the mechanism. However, the existing technology lacks such a tensioner structure applied to light track mechanisms, so that the track mechanism can adjust the track tightness in a timely manner according to feedback information. Summary of the Invention

[0006] In view of this, an object of the present invention is to provide a tensioner structure suitable for a robot with tracks.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A tensioner structure, comprising:

[0009] Composite plate structure;

[0010] Guide pulleys, the two guide pulleys being rotatably disposed on the inner sides of both sides of the combined plate structure, and the two guide pulleys being coaxially disposed;

[0011] A T-shaped through-tube, the T-shaped through-tube being fixedly arranged at the upper end of the combined plate structure;

[0012] a connecting rod, the connecting rod being slidably disposed in the T-shaped through-tube, the connecting rod being capable of sliding along the axial direction of the T-shaped through-tube, the upper end of the connecting rod and the lower end of the connecting rod both protruding from the T-shaped through-tube;

[0013] A first fixing component and a second fixing component, wherein the first fixing component is fixedly disposed on the upper end of the connecting rod, and the second fixing component is fixedly disposed on the lower end of the connecting rod.

[0014] The above-mentioned tensioner structure further includes: a slider and a slide rail, the two sliders are fixedly arranged on the outer sides of the two sides of the combined plate structure, the two slide rails are arranged in parallel on the track bracket, the two slide rails are matched with the two sliders respectively, and the combined plate structure can slide along the direction of the two slide rails.

[0015] In the above-mentioned tensioner structure, the outer surface of each guide pulley is provided with a plurality of guide belt convex lines, the outer surface of the crawler track is provided with a plurality of crawler track concave lines, and the plurality of guide belt convex lines match the plurality of crawler track concave lines.

[0016] In the above tensioner structure, the belt guide convex lines are arranged in a circumferential array around the axis of the belt guide pulley.

[0017] In the above tensioner structure, an angle is formed between the belt guide convex line and the axis of the belt guide pulley.

[0018] In the above-mentioned tensioner structure, the combined plate structure includes: a fixed plate and two side plates respectively arranged on both sides of the fixed plate.

[0019] In the above-mentioned tensioner structure, the two guide pulleys are respectively arranged on the sides of the two side plates that are directly opposite to each other, and the two sliders are respectively arranged on the sides of the two side plates that are opposite to each other.

[0020] In the above tensioner structure, the T-shaped through-tube is fixed on the fixing plate, and the T-shaped through-tube passes through the fixing plate from top to bottom.

[0021] In the above-mentioned tensioner structure, the T-shaped through pipe includes: a tubular structure and an annular structure integrally connected to the upper end of the tubular structure, and the outer diameter of the annular structure is larger than the outer diameter of the tubular structure.

[0022] The tensioner structure mentioned above further includes: a motor, which is used to actively drive / control the relative movement between the slider and the slide rail.

[0023] In the above-mentioned tensioner structure, a through hole is formed on the fixing plate, the inner diameter of the through hole matches 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.

[0024] In the above-mentioned tensioner structure, the tubular structure is inserted into the through hole, and the annular structure is clamped outside the through hole.

[0025] In the above-mentioned tensioner structure, a strain gauge is further provided on the fixing plate, and the strain gauge is used to indirectly measure the stress of the track to actively adjust the overall height of the tensioner structure.

[0026] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0027] (1) The tensioner structure of the present invention can timely perform a rising or lowering action to tighten or loosen the crawler according to the change in the elastic force perpendicular to the movement direction caused by the loosening or excessive tension of the crawler in the movement direction of the crawler. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a front view of the tensioner structure of the present invention.

[0029] Figure 2 It is a bottom view of the tensioner structure of the present invention.

[0030] Figure 3 It is a side view of the tensioner structure of the present invention.

[0031] Figure 4 It is a perspective view of the tensioner structure of the present invention.

[0032] Figure 5 It is a perspective view of the tensioner structure of the present invention.

[0033] In the accompanying drawings: 1. Combined plate structure; 11. Fixed plate; 12. Side plate; 2. Guide pulley; 3. T-shaped through pipe; 31. Tubular structure; 32. Ring structure; 4. Connecting rod; 5. First fixed component; 6. Second fixed component; 7. Slider; 8. Slide rail. DETAILED DESCRIPTION

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0035] First embodiment:

[0036] Figure 1 is a front view of the tensioner structure of the present invention, Figure 2 is a bottom view of the tensioner structure of the present invention, Figure 3is a side view of the tensioner structure of the present invention, Figure 4 is a perspective view of the tensioner structure of the present invention, Figure 5 This is a three-dimensional diagram of the tensioner structure of the present invention, see Figures 1 to 5 As shown, a tensioner structure of a preferred embodiment is shown, comprising: a combined plate structure 1 and a guide pulley 2, wherein the two guide pulleys 2 are rotatably arranged on the inner sides of both sides of the combined plate structure 1, and the two guide pulleys 2 are coaxially arranged.

[0037] Furthermore, as a preferred embodiment, the tensioner structure further includes: a T-shaped through-tube 3 , which is fixedly arranged at the upper end of the combined plate structure 1 .

[0038] Furthermore, as a preferred embodiment, the tensioner structure also includes: a connecting rod 4, which is slidably arranged in the T-shaped tube 3, and the connecting rod 4 can slide along the axial direction of the T-shaped tube 3, and the upper end of the connecting rod 4 and the lower end of the connecting rod 4 both protrude from the T-shaped tube 3.

[0039] Furthermore, as a preferred embodiment, the tensioner structure further includes: a first fixing component 5 and a second fixing component 6, wherein the first fixing component 5 is fixedly disposed at the upper end of the connecting rod 4, and the second fixing component 6 is fixedly disposed at the lower end of the connecting rod 4. The first fixing component 5 and the second fixing component 5 are fixedly connected to the outer cover of the chassis of the crawler.

[0040] Furthermore, as a preferred embodiment, the tensioner structure also includes: a slider 7 and a slide rail 8, the two sliders 7 are fixedly arranged on the outer sides of the two sides of the combined plate structure 1, and the two slide rails 8 are arranged in parallel on the bracket of the crawler track. The two slide rails 8 are respectively matched with the two sliders 7, and the combined plate structure 1 can slide along the direction of the two slide rails 8.

[0041] Preferably, the slide rail 8 is a metal guide rail used to control the height of the guide pulley 2 in the tensioner, that is, the relaxation and tension of the track can be controlled by manipulating the position of the slider 7 relative to the metal guide rail.

[0042] Preferably, it further comprises: a motor (not shown in the figure), which is used to actively drive / control the relative movement between the slider 7 and the slide rail 8.

[0043] When the first fixing component 5 and the second fixing component 6 are fixed, the slider 7 is driven to move along the slide rail 8, so that the combined plate structure 1 drives the two guide pulleys 1 to move axially along the T-shaped through pipe 3 within the range of the first fixing component 5 and the second fixing component 6.

[0044] Since the guide wheel 2 is engaged with or matched with the crawler track, the guide wheel 2 can tighten the crawler track when it moves toward the crawler track, and can loosen the crawler track when it moves away from the crawler track.

[0045] The above descriptions are merely preferred embodiments of the present invention and are not intended to limit the implementation and protection scope of the present invention.

[0046] The present invention also has the following implementation modes based on the above:

[0047] In further embodiments of the present invention, please continue to refer to Figures 1 to 5 As shown, the outer surface of each guide pulley 2 is provided with a plurality of guide belt convex lines, and the outer surface of the crawler track is provided with a plurality of crawler track concave lines, and the plurality of guide belt convex lines match the plurality of crawler track concave lines.

[0048] In a further embodiment of the present invention, the guide ridges of the guide pulley 2 are arranged in a circumferential array around the axis of the guide pulley 2 .

[0049] In a further embodiment of the present invention, an angle is formed between the guide belt convex line of the guide belt pulley 2 and the axis of the guide belt pulley 2 .

[0050] In a further embodiment of the present invention, the combined panel structure 1 includes a fixed panel 11 and two side panels 12 respectively provided on both sides of the fixed panel 11 .

[0051] In a further embodiment of the present invention, the two guide pulleys 2 are respectively disposed on opposite sides of the two side plates 12 , and the two sliders 7 are respectively disposed on opposite sides of the two side plates 12 .

[0052] In a further embodiment of the present invention, the T-shaped through-tube 3 is fixed on the fixing plate 11 , and the T-shaped through-tube 3 passes through the fixing plate 11 from top to bottom.

[0053] In a further embodiment of the present invention, the T-shaped through pipe 3 includes: a tubular structure 31 and an annular structure 32 integrally connected to the upper end of the tubular structure 31 , and the outer diameter of the annular structure 32 is larger than the outer diameter of the tubular structure 31 .

[0054] In a further embodiment of the present invention, a through hole is formed on the fixing plate 11 , and the inner diameter of the through hole 11 matches the outer diameter of the tubular structure 31 , and the inner diameter of the through hole 11 is smaller than the outer diameter of the annular structure 32 .

[0055] 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.

[0056] In a further embodiment of the present invention, a strain gauge is further provided on the fixing plate 11 for indirectly measuring the stress of the crawler track so as to actively adjust the height of the tensioner.

[0057] Second embodiment:

[0058] Please continue to see Figures 1 to 5As shown, another preferred embodiment of the tensioner structure is shown, including: a combined plate structure 1 and a guide pulley 2, the two guide pulleys 2 are rotatably arranged on the inner sides of both sides of the combined plate structure 1, and the two guide pulleys 2 are coaxially arranged.

[0059] Furthermore, as a preferred embodiment, the tensioner structure further includes: a T-shaped through-tube 3 , which is fixedly arranged at the upper end of the combined plate structure 1 .

[0060] Furthermore, as a preferred embodiment, the tensioner structure also includes: a connecting rod 4, which is slidably arranged in the T-shaped tube 3, and the connecting rod 4 can slide along the axial direction of the T-shaped tube 3, and the upper end of the connecting rod 4 and the lower end of the connecting rod 4 both protrude from the T-shaped tube 3.

[0061] Furthermore, as a preferred embodiment, the tensioner structure further includes: a first fixing component 5 and a second fixing component 6, wherein the first fixing component 5 is fixedly disposed at the upper end of the connecting rod 4, and the second fixing component 6 is fixedly disposed at the lower end of the connecting rod 4. The first fixing component 5 and the second fixing component 5 are fixedly connected to the outer cover of the chassis of the crawler.

[0062] Furthermore, as a preferred embodiment, the tensioner structure also includes: a screw slider and a screw, the two screw sliders are respectively fixedly arranged on the outer sides of the two sides of the combined plate structure 1, the two screws are arranged in parallel on the bracket of the crawler track, the two screws are respectively matched with the two screw sliders, and the combined plate structure 1 can move along the direction of the two screws.

[0063] Furthermore, as a preferred embodiment, the tensioner structure further includes: a driving mechanism, which drives the two screws to rotate, so that the screw slider can move along the screws, thereby driving the combined plate structure 1 to move along the direction of the two screws.

[0064] When the first fixing component 5 and the second fixing component 6 are fixed, the screw is driven to rotate, so that the screw slider moves along the screw, so that the combined plate structure 1 drives the two guide pulleys 1 to move axially along the T-shaped through pipe 3 within the range of the first fixing component 5 and the second fixing component 6.

[0065] Since the guide wheel 2 is engaged with or matched with the crawler track, the guide wheel 2 can tighten the crawler track when it moves toward the crawler track, and can loosen the crawler track when it moves away from the crawler track.

[0066] The above description is only a preferred embodiment of the present invention and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A tensioner structure, characterized in that: include: Composite plate structure; Guide pulleys, the two guide pulleys being rotatably disposed on the inner sides of both sides of the combined plate structure, and the two guide pulleys being coaxially disposed; A T-shaped through-tube, the T-shaped through-tube being fixedly arranged at the upper end of the combined plate structure; a connecting rod, the connecting rod being slidably disposed in the T-shaped through-tube, the connecting rod being capable of sliding along the axial direction of the T-shaped through-tube, the upper end of the connecting rod and the lower end of the connecting rod both protruding from the T-shaped through-tube; a first fixing member and a second fixing member, wherein the first fixing member is fixedly provided at the upper end of the connecting rod, and the second fixing member is fixedly provided at the lower end of the connecting rod; The first fixing member and the second fixing member are fixedly connected to the outer cover of the chassis of the crawler; It also includes: a slider and a slide rail, wherein the two sliders are fixedly arranged on the outer sides of the two sides of the combined plate structure, and the two slide rails are arranged in parallel on the bracket of the crawler. The two slide rails are matched with the two sliders respectively, and the combined plate structure can slide along the direction of the two slide rails; The combined plate structure includes: a fixed plate and two side plates respectively arranged on both sides of the fixed plate; The fixed plate is also provided with a strain gauge for indirectly measuring the stress of the crawler track so as to actively adjust the height of the tensioner; The T-shaped through pipe 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 the outer diameter of the tubular structure; The system further comprises a motor, wherein the motor is used to actively drive / control the relative movement between the slider and the slide rail.

2. The tensioner structure according to claim 1, characterized in that: The outer surface of each guide wheel is provided with a plurality of guide belt convex lines, the outer surface of the crawler track is provided with a plurality of crawler track concave lines, and the plurality of guide belt convex lines match the plurality of crawler track concave lines.

3. The tensioner structure according to claim 2, characterized in that: The belt guide convex lines are arranged in a circumferential array around the axis of the belt guide pulley.

4. The tensioner structure according to claim 2, characterized in that: An included angle is formed between the belt guide convex line and the axis of the belt guide wheel.

5. The tensioner structure according to claim 1, characterized in that: The two guide pulleys are respectively arranged on one side of the two side plates facing each other, and the two sliding blocks are respectively arranged on one side of the two side plates facing each other.

6. The tensioner structure according to claim 5, characterized in that: The T-shaped through-tube is fixed on the fixing plate, and the T-shaped through-tube passes through the fixing plate from top to bottom.

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