Tracked robots

Abstract

The present application provides a tracked robot, comprising a vehicle body, a track and a track tensioning device, the track comprising an upper transmission belt and a lower transmission belt, the track tensioning device comprising at least two sets of clamping mechanisms, each clamping mechanism comprising a mounting shaft, at least two mounting arms, a pressure wheel and an elastic component, the mounting shaft being vertically fixed to the vehicle body; the mounting arm being sleeved onto the outside of the mounting shaft and arranged in an axial array along the mounting shaft; the mounting arm comprising a first arm body and a second arm body, the first arm body being rotatably connected to the mounting shaft, and the other end of the first arm body being fixed to the second arm body; the center line of the first arm body is coplanar with the center line of the second arm body and intersects to form an obtuse angle; the pressure wheel being rotatably connected to the ends of the two second arm bodies and abutting against the lower transmission belt; the elastic component is used to drive the mounting arm to rotate around the mounting shaft; at least two sets of clamping mechanisms are close to the two ends of the track, and the mounting arm drives the pressure wheel to abut against the lower transmission belt to solve the technical problem of slipping and falling of the cleaning robot.

Description

Technical Field

[0001] The present application relates to the technical field of track tensioning, and in particular to a tracked robot. Background Art

[0002] Photovoltaic panels are mostly made of silicon, which uses the voltaic effect of semiconductor materials when exposed to sunlight to convert solar energy directly into electricity. To ensure power generation efficiency, photovoltaic panels are often tilted at an angle relative to the horizontal plane.

[0003] Multiple photovoltaic panels are combined into a photovoltaic panel array. The joints between two adjacent photovoltaic panels are usually provided with metal frames, pressure blocks, etc., so that multiple small obstacles are formed on the surface of the photovoltaic panel array.

[0004] Photovoltaic panels are installed outdoors, so dust and other debris easily accumulate on their surfaces, reducing their power generation efficiency. Regular cleaning of photovoltaic panels is essential. To reduce manual cleaning costs and improve cleaning efficiency, photovoltaic power plants often use cleaning robots to clean the panel surfaces.

[0005] Patent application publication number CN 101983889 A, entitled "Track Clamping Device and Tracked Robot," discloses a track clamping device comprising a clamping wheel mounting mechanism, multiple track clamping wheels connected to the clamping wheel mounting mechanism via a first connector, and a rotary joint around which the clamping wheel mounting mechanism can rotate. The track clamping device adapts to track deformation, resolving the issue of loose tracks on the robot. It clamps the tracks tightly to prevent them from falling off the track wheels of the mobile robot when navigating obstacles.

[0006] Therefore, the tracks of existing tracked robots can bend and fit according to the undulations of the ground, and are often in a loose state during movement. The track clamping device applies pressure to the track, partially tightening the track to prevent the loose track from falling off the track wheel.

[0007] The tilted photovoltaic panels are made of glass with relatively high hardness. When cleaning the photovoltaic panels, the cleaning robot needs to keep the tracks taut and apply pressure to the lower drive belt of the tracks, thereby utilizing the friction between the tracks and the photovoltaic panels to enhance the grip of the cleaning robot.

[0008] When a cleaning robot passes over obstacles on the panel array surface, the lower drive belt of the crawler track is partially lifted, further reducing the contact area between the crawler track and the photovoltaic panel array. Therefore, when using crawler tracks with traditional compression methods on tilted photovoltaic panels or when passing over obstacles, the cleaning robot is prone to slipping and falling. Summary of the Invention

[0009] The present application provides a crawler robot to solve the technical problem that the cleaning robot is prone to slipping and falling when the traditional compacting crawler is applied to inclined photovoltaic panels or crossing obstacles.

[0010] The present application provides a crawler robot, comprising a vehicle body, a crawler and a crawler tensioning device, wherein the crawler comprises an upper transmission belt and a lower transmission belt, and the crawler tensioning device comprises at least two sets of clamping mechanisms, each of which comprises a mounting shaft, at least two mounting arms, a pressure wheel and an elastic component, wherein the mounting shaft is fixed vertically to the side plate of the vehicle body along the axial direction and is located between the upper transmission belt and the lower transmission belt; at least two mounting arms are sleeved onto the outer side of the mounting shaft and arranged in an axial array along the mounting shaft; each mounting arm comprises a first arm body and a second arm body, and the The first arm is rotatably connected to the mounting shaft, and the other end of the first arm is fixed to the second arm; the center line of the first arm is coplanar with the center line of the second arm, and intersects to form an obtuse angle; the pressure wheel is connected to the end of at least two of the second arms, and abuts against the upper surface of the lower transmission belt; the elastic component is connected to the mounting shaft and the mounting arm, and is used to drive the mounting arm to rotate around the mounting shaft; wherein, at least two groups of the clamping mechanisms are close to the two ends of the crawler belt, and the mounting arm drives the pressure wheel to abut against the lower transmission belt, so that the crawler belt is tensioned.

[0011] Optionally, the elastic component includes a torsion spring, a linkage rod and a limit member, the torsion spring is sleeved on the outside of the mounting shaft, the torsion spring includes a first extending end and a second extending end, the second extending end extends toward the second arm body, and the center line of the first extending end forms an angle with the center line of the second extending end; the linkage rod is connected to at least two of the mounting arms; the limit member is connected to the mounting shaft; wherein, the first extending end abuts against the limit member, and the second extending end abuts against the linkage rod, so that the mounting arm is applied with a thrust perpendicular to the direction of the center line of the second extending end.

[0012] Optionally, the limiting member includes a limiting body and a limiting protrusion, and the limiting body is sleeved on the outside of the mounting shaft; the limiting protrusion protrudes from the limiting body, and the side wall of the limiting protrusion is provided with a limiting slot; wherein, the first protruding end is an inverted U-shape, which includes a cross bar, and the cross bar abuts against the inner wall of the limiting slot.

[0013] Optionally, the elastic component also includes a fixing rod, which connects at least two of the limiting members along the arrangement direction of the clamping mechanism; wherein, the limiting member is sleeved onto the outer side of the mounting shaft, the limiting member is provided with a first through hole passing through, and the mounting shaft is provided with a second through hole connected to the first through hole, and the fixing rod is passed through the first through hole and the second through hole, so that the limiting member and the mounting shaft are relatively fixed.

[0014] Optionally, the elastic component includes at least two spiral springs, which are sleeved onto the outside of the mounting shaft. One end of each spiral spring is connected to the mounting shaft, and the other end is connected to the first arm body, so that the mounting arm is exerted with a thrust perpendicular to the centerline direction of the first arm body.

[0015] Optionally, the pressure wheel is a cylinder, the central axis of which is parallel to the central axis of the mounting shaft; the pressure wheel is rotatably connected to the ends of at least two of the second arms.

[0016] Optionally, the track tensioning device also includes a first mounting plate and a second mounting plate, the first mounting plate is connected to the side plate of the vehicle body; the second mounting plate is arranged opposite to the first mounting plate and is connected to the inner side of the shell, the shell is connected to the side plate of the vehicle body and covers the top of the track; wherein one end of each of the mounting shafts is connected to the first mounting plate, and the other end is connected to the second mounting plate.

[0017] Optionally, each of the clamping mechanisms further includes a limiting rod, which is arranged on the side of the first arm body facing away from the second arm body, and whose center line is parallel to the center axis of the mounting shaft; wherein, the side wall of each of the first arm bodies is concave to form a groove, and the groove corresponds to the limiting rod; when the mounting arm is rotated to the extreme position, the limiting rod can abut against the inner wall of the groove.

[0018] Optionally, the track tensioning device includes at least three groups of the clamping mechanisms, and the clamping mechanisms are arranged at equal intervals.

[0019] Optionally, more than two wheels are provided on the left and right sides of the vehicle body; each track is mounted on at least two of the wheels on one side of the vehicle body; wherein the clamping mechanism is provided between two adjacent wheels, and at least two of the pressure wheels are respectively provided on the sides of the two wheels.

[0020] The present application provides a crawler robot, which utilizes multiple sets of clamping mechanisms to abut against different positions of the lower transmission belt. The elastic component applies pressure to the mounting arm, so that the mounting arm can rotate at an angle relative to the mounting axis, so that the pressure wheel at the bottom end of the second arm body can always abut against the lower transmission belt and press the lower transmission belt against the surface of the photovoltaic panel, thereby tightening the crawler track and increasing the contact area between the crawler track and the photovoltaic panel. At the same time, it can increase the force between the crawler track and the photovoltaic panel, thereby increasing the friction between the crawler track and the photovoltaic panel, and avoiding the crawler robot from slipping or falling off during movement.

[0021] When the crawler belt passes over an obstacle, part of the lower transmission belt is lifted. Since the sets of clamping mechanisms are independently abutted against different positions of the lower transmission belt, and at least two sets of clamping mechanisms are arranged at the two ends of the crawler belt, the clamping mechanisms corresponding to the remaining areas of the lower transmission belt can still apply pressure to the lower transmission belt, so that the remaining areas of the lower transmission belt can be close to the photovoltaic panel, ensuring that there is still sufficient friction between the crawler belt and the photovoltaic panel when the crawler robot passes over obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a structural schematic diagram of the crawler robot provided by this application;

[0024] Figure 2 This is a schematic diagram of the connection between the crawler and the track tensioning device of the crawler robot provided in this application;

[0025] Figure 3 It is a structural schematic diagram of the crawler track tensioning device provided by this application;

[0026] Figure 4 It is an exploded schematic diagram of the clamping mechanism in the track tensioning device provided by the present application;

[0027] Figure 5 This is a schematic diagram of the structure of the clamping mechanism in the track tensioning device provided by this application. Figure 1 ;

[0028] Figure 6 This is a schematic diagram of the structure of the clamping mechanism in the track tensioning device provided by this application. Figure 2 .

[0029] Description of reference numerals:

[0030] 100, vehicle body; 110, crawler track; 111, upper transmission belt; 112, lower transmission belt; 120, driving wheel; 130, driven wheel; 140, driving motor; 150, housing; 210, first mounting plate; 220, second mounting plate; 230, fixing rod; 300, mounting shaft; 310, second through hole; 400, mounting arm; 410, first arm body; 411, groove; 420, second arm body; 430, linkage rod; 500, pressure wheel; 600, torsion spring; 610, first extension end; 611, cross bar; 612, vertical bar; 620, second extension end; 700, limiting member; 710, limiting body; 720, limiting protrusion; 721, limiting slot; 730, first through hole; 800, limiting rod. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In the present application, unless otherwise specified, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0032] The present application provides a tracked robot, which is described in detail below. It should be noted that the order in which the following embodiments are described does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in one embodiment, please refer to the relevant description of other embodiments.

[0033] See also Figure 1 The present application provides a tracked robot comprising a body 100 capable of stably and reliably traveling on an inclined smooth surface, wherein the smooth surface may be a photovoltaic panel. When multiple photovoltaic panels are arranged to form a photovoltaic panel array, metal frames are provided at the edges of adjacent photovoltaic panels. Furthermore, obstacles such as dried bird droppings, sand, and gravel may also exist on the surface of the photovoltaic panels.

[0034] The crawler robot may also include a cleaning device mounted on the front or rear end of the vehicle body 100. The cleaning device may be used to clean the surface of the photovoltaic panel when the vehicle body 100 moves forward or backward on the photovoltaic panel. Of course, the crawler robot may also not include a cleaning device.

[0035] See also Figure 1 and Figure 2 The vehicle body 100 is provided with two or more wheels and tracks 110 on both sides. A drive motor 140 capable of forward and reverse rotation is installed inside the vehicle body 100. The wheels connected to the drive motor 140 are defined as driving wheels 120, and the remaining wheels are driven wheels 130. Each track 110 can be mounted on multiple wheels on one side of the vehicle body 100. When the drive motor 140 drives the driving wheel 120 to rotate, the tracks 110 can drive the remaining driven wheels 130 to rotate synchronously, allowing the vehicle body 100 to move over the photovoltaic panels.

[0036] Specifically, in the present application, multiple wheels and two crawlers 110 are symmetrically arranged on both sides of the vehicle body 100, which can enable the annular belts and wheels on both sides to move synchronously, thereby increasing the stability and reliability of the crawler 110 type traveling device during movement.

[0037] See also Figure 2 , the crawler 110 is defined to include an upper transmission belt 111 and a lower transmission belt 112, wherein the portion of the crawler 110 that is in contact with the photovoltaic panel is the lower transmission belt 112, and the remaining portion that is not in contact with the photovoltaic panel is the upper transmission belt 111. Therefore, in this application, the upper transmission belt 111 and the lower transmission belt 112 are not specifically limited to a certain section of the crawler 110, but are defined according to the state of the crawler 110 when it is moving.

[0038] See also Figure 1 The crawler robot further includes two housings 150, which are disposed on either side of the vehicle body 100 and cover the top and outside of the two crawlers 110, respectively. The housings 150 are connected to the side panels of the vehicle body 100, securing the housings 150 relative to the vehicle body 100. Specifically, the housings 150 may be in an inverted U-shape or an inverted L-shape, thereby preventing external particles and other impurities from falling between the crawlers 110 and the vehicle body 100, thereby protecting the crawler robot.

[0039] See also Figure 1 The tracked robot also includes a track tensioning device. When the tracked robot travels over the photovoltaic panel, the track tensioning device increases the force between the track 110 and the photovoltaic panel, thereby increasing the friction between the track 110 and the photovoltaic panel. When the tracked robot traverses an obstacle, the track tensioning device increases the contact area between the track 110 and the photovoltaic panel, thereby increasing the friction between the track 110 and the photovoltaic panel.

[0040] See also Figure 2The track tensioning device includes at least two sets of clamping mechanisms, all of which are evenly spaced and arranged along a straight line between two adjacent wheels, and located between the upper drive belt 111 and the lower drive belt 112. Two sets of clamping mechanisms are located on the sides of the driving wheel 120 and the driven wheel 130, respectively, and the remaining clamping mechanisms are located between these clamping mechanisms, so that the evenly distributed clamping mechanisms can abut multiple locations on the lower drive belt 112.

[0041] See also Figure 2-Figure 4 Each pressing mechanism includes a mounting shaft 300, at least two mounting arms 400, a pressing wheel 500 and an elastic component, wherein the mounting shaft 300 is a cylindrical structure, and one end of the mounting shaft 300 is fixed vertically to the vehicle body 100 along its axial direction (see Figure 1 ) side plate, so that the mounting shaft 300 is relatively fixed to the vehicle body 100; the other end of the mounting shaft 300 extends between the upper transmission belt 111 and the lower transmission belt 112.

[0042] See also Figure 3 and Figure 4 , multiple mounting arms 400 are sequentially sleeved onto the outside of the mounting shaft 300 and arranged in an array along the axial direction of the mounting shaft 300. In the present application, the clamping mechanism includes two mounting arms 400, and the two mounting arms 400 are respectively provided at both ends of the mounting shaft 300. When the clamping mechanism includes three or more mounting arms 400, two of the mounting arms 400 are provided at both ends of the mounting shaft 300, and the remaining mounting arms 400 can be provided in the middle of the mounting shaft 300. In the present application, the number and arrangement of the mounting shafts 300 can be designed as needed and do not limit the protection range.

[0043] See also Figure 3 and Figure 4 Each mounting arm 400 includes a first arm 410 and a second arm 420 connected at their ends. One end of the first arm 410 is sleeved onto the exterior of the mounting shaft 300, allowing the mounting arm 400 to rotate relative to the mounting shaft 300. The other end of the first arm 410 is fixedly connected to the second arm 420. The centerline of the first arm 410 and the centerline of the second arm 420 are coplanar and intersect to form an obtuse angle. In this application, the mounting arm 400 is a planar structure, and the connection between the first arm 410 and the second arm 420 forms an obtuse angle.

[0044] See also Figure 2-Figure 4The pressure wheel 500 is a cylindrical body and is rotatably connected to the bottom ends of at least two second arms 420. In the present application, the two ends of the pressure wheel 500 are respectively connected to the ends of the two second arms 420 via a rotating shaft, so that the pressure wheel 500 can abut against the upper surface of the lower transmission belt 112. When at least three mounting arms 400 are provided on the mounting shaft 300, two of the mounting arms 400 are rotatably connected to the two ends of the pressure wheel 500, and the remaining mounting arms 400 can be connected to either the ends of the pressure wheel 500 or the middle of the pressure wheel 500. When the remaining mounting arms 400 are connected to the middle of the pressure wheel 500, in order to prevent the bottom ends of the second arms 420 in the mounting arms 400 from interfering with the lower transmission belt 112, the pressure wheel 500 is correspondingly provided with a mounting groove, so that the bottom ends of the second arms 420 are snapped into the mounting groove.

[0045] Because at least two mounting arms 400 are arranged axially along the mounting shaft 300, and the maximum distance between the two mounting arms 400 at their ends is less than or equal to the width of the track 110, the installation space for adjacent mounting arms 400 is relatively limited. The mounting shaft 300 is located in the middle of the track 110, or closer to the upper drive belt 111. The top of the second arm 420 is rotatably connected to the mounting shaft 300 via the first arm 410, and its bottom abuts the lower drive belt 112 via the pressure roller 500. The end of the second arm 420 can only approach and abut the lower drive belt 112 when the centerline of the first arm 410 and the centerline of the second arm 420 are coplanar and intersect to form an obtuse angle. Specifically, the centerline of the second arm 420 can be tilted relative to the centerline of the first arm 410 toward either the driving wheel 120 or the driven wheel 130. In this application, the second arm 420 is tilted toward the driven wheel 130.

[0046] See also Figure 1 and Figure 3 The track tensioning device also includes a first mounting plate 210 and a second mounting plate 220, with the first mounting plate 210 and the second mounting plate 220 being positioned opposite each other and located on either side of the clamping mechanism. The first mounting plate 210 is secured to the side panels of the vehicle body 100, while each mounting shaft 300 is secured at both ends to the first mounting plate 210 and the second mounting plate 220, respectively. This makes the track tensioning device a single integrated module, improving assembly efficiency and precision of the tracked robot and achieving a modular design. This also enhances the stability of the mounting shaft 300 and ensures effective tensioning of the track 110.

[0047] See also Figure 3 and Figure 4Each clamping mechanism further includes an elastic component connected to the mounting shaft 300 and the mounting arm 400 for applying a force to the mounting arm 400 so that the mounting arm 400 can rotate around the mounting shaft 300 by an angle.

[0048] See also Figure 4-Figure 6 The elastic assembly includes a torsion spring 600, a linkage rod 430, and a stopper 700. The torsion spring 600 includes a torsion spring body, a first extension end 610, and a second extension end 620. The torsion spring body is sleeved onto the outside of the mounting shaft 300 and is located between the two mounting arms 400. The first extension end 610 and the second extension end 620 are both connected to the torsion spring body and extend in different directions, such that the centerline of the first extension end 610 forms an angle with the centerline of the second extension end 620.

[0049] Since the second extension end 620 extends toward the second arm body 420, when the center line of the first extension end 610 and the center line of the second extension end 620 form an obtuse angle or a right angle, the first extension end 610 extends in a direction away from the mounting arm 400; when the center line of the first extension end 610 and the center line of the second extension end 620 form an acute angle, the first extension end 610 extends in a direction close to the mounting arm 400.

[0050] See also Figure 4-Figure 6 The second extension end 620 extends toward the second arm body 420, so as to apply a thrust to the mounting arm 400 by using the second extension end 620, so that the pressure wheel 500 provided at the lower end of the mounting arm 400 can abut against the lower transmission belt 112 (see Figure 2 The two ends of the linkage rod 430 are respectively fixed to the two mounting arms 400. In this application, the linkage rod 430 is close to the connection between the first arm body 410 and the second arm body 420. The second extension end 620 abuts against the linkage rod 430, so that the linkage rod 430 is applied with a thrust perpendicular to the center line direction of the second extension end 620, thereby driving the mounting arm 400 to rotate in a direction away from the second arm body 420, thereby increasing the pressure applied by the pressure wheel 500 to the lower transmission belt 112, and improving the crawler 110 (see Figure 2 ) and the friction between the photovoltaic panel.

[0051] See also Figure 4-Figure 6 The limiting member 700 is fixedly connected to the mounting shaft 300, and the first protruding end 610 abuts against the limiting member 700, so that the first protruding end 610 is restricted relative to the torsion spring body. At this time, the limiting member 700 is exerted with a pressure perpendicular to the center line direction of the first protruding end 610. Since the limiting member 700 is relatively fixed to the mounting shaft 300, the elastic force of the torsion spring 600 is converted into a thrust to drive the mounting arm 400 to rotate through the second protruding end 620.

[0052] See also Figure 4-Figure 6 The limiting member 700 includes a limiting body 710 and a limiting protrusion 720. The limiting body 710 has a through hole at its center. The limiting body 710 is sleeved onto the outside of the mounting shaft 300 through the through hole and is located between the two mounting arms 400. The limiting protrusion 720 protrudes from the outside of the limiting body 710. In this application, the limiting protrusion 720 and the limiting body 710 are integrally formed.

[0053] See also Figure 4-Figure 6 A limiting slot 721 is provided on the side wall of the limiting protrusion 720 facing the second arm 420. A portion of the first extension 610 abuts against the interior of the limiting slot 721 to limit the relative position of the first extension 610 and the limiting member 700. The first extension 610 is in an inverted U-shape, that is, the first extension 610 includes two vertical rods 612 and a horizontal rod 611. One end of each vertical rod 612 is connected to the torsion spring body, and the other end is connected to the end of the horizontal rod 611. The two vertical rods 612 are respectively provided on both sides of the limiting member 700 and extend toward the limiting member 700, so that the outer wall of the horizontal rod 611 abuts against the inner wall of the limiting slot 721, thereby limiting the rotation of the first extension 610 by using the limiting protrusion 720.

[0054] See also Figure 4-Figure 6 The limiting body 710 is provided with a first through-hole 730 extending along the arrangement direction of the clamping mechanism. Since the limiting body 710 is sleeved onto the outside of the mounting shaft 300, the mounting shaft 300 is correspondingly provided with a second through-hole 310, and the first through-hole 730 and the second through-hole 310 are in communication. The elastic assembly further includes a fixing rod 230, which is inserted into the first through-hole 730 and the second through-hole 310 of all the clamping mechanisms, thereby securing the limiting member 700 in each clamping mechanism relative to the corresponding mounting shaft 300.

[0055] Because the limiting body 710 is sleeved on the outside of the mounting shaft 300 and the first through hole 730 is connected to the second through hole 310, when the fixing rod 230 passes through the first through hole 730 and the second through hole 310, the limiting member 700 can be restricted from axial displacement along the mounting shaft 300 and rotation around the mounting shaft 300, thereby restricting the limiting member 700 from moving in multiple directions, thereby achieving relative fixation between the limiting member 700 and the mounting shaft 300. Furthermore, compared to fixing methods such as fastening screws, welding, and gluing, the fixing method using the first through hole 730, the second through hole 310, and the fixing rod 230 can improve the fixing efficiency of the limiting member 700 and the mounting shaft 300, enabling rapid assembly of the track tensioner. It also facilitates replacement of the limiting member 700 and the mounting shaft 300, facilitating maintenance of the track tensioner and extending its service life.

[0056] Because both the first through-hole 730 and the second through-hole 310 are located along the arrangement direction of the clamping mechanisms, the fixing rod 230 can be installed along the arrangement direction of the clamping mechanisms. This allows the fixing rod 230 to simultaneously secure the stoppers 700 and mounting shafts 300 in multiple sets of clamping mechanisms, thereby improving the assembly efficiency of the track tensioner. All mounting shafts 300 are secured to the first mounting plate 210 and the second mounting plate 220. By ensuring that the second through-hole 310 on each mounting shaft 300 is positioned uniformly, the arrangement positions of the multiple clamping mechanisms can be accurately and efficiently controlled. All the limiting members 700 are commonly connected to the fixing rod 230, which will simultaneously bear the forces of the mounting shafts 300 and the limiting members 700 in multiple groups of clamping mechanisms. Therefore, when long-term use causes some of the mounting shafts 300 in the clamping mechanisms to loosen, the fixing rod 230 can still keep the mounting shafts 300 and the limiting members 700 in the group relatively fixed, thereby improving the stability and accuracy of the track tensioning device.

[0057] In another embodiment, see Figure 5 and Figure 6 The elastic component includes at least two spiral springs (not shown in the figure), one spiral spring corresponding to each mounting arm 400. Each spiral spring is sleeved onto the outside of the mounting shaft 300 and embedded in the opening of the corresponding mounting arm 400. One end of the spiral spring is connected to the outer wall of the mounting shaft 300, and the other end is connected to the inner wall of the opening. The spiral spring is used to apply a thrust perpendicular to the centerline of the first arm body 410 to the mounting arm 400, so that the mounting arm 400 can rotate at a certain angle relative to the mounting shaft 300 under the action of this thrust, so as to ensure that the pressure wheel 500 at the bottom of the mounting arm 400 always abuts against the lower transmission belt 112 (see Figure 2 ).

[0058] See also Figure 3 and Figure 4 Each clamping mechanism further includes at least one limiting rod 800, the ends of which are fixed to the first mounting plate 210 and the second mounting plate 220, respectively, and the centerline of the limiting rod 800 is parallel to the centerline of the mounting shaft 300. The limiting rod 800 is disposed on the side of the first arm 410 that faces away from the second arm 420. When the elastic assembly drives the mounting arm 400 to rotate about the mounting shaft 300, when the mounting arm 400 rotates to the extreme position, the first arm 410 can abut against the sidewall of the limiting rod 800, thereby ensuring that the mounting arm 400 rotates within a preset range, thereby meeting the tensioning requirements of the crawler track 110 and ensuring that the elastic deformation of the torsion spring 600 is within a recoverable range.

[0059] Since in each set of clamping mechanisms, all the mounting arms 400 are sleeved onto the outside of the mounting shaft 300, and the center line of the limiting rod 800 is parallel to the center line of the mounting shaft 300, when the mounting arm 400 is rotated to the extreme position, multiple first arm bodies 410 all abut against the outer wall of the limiting rod 800 at the same time to improve the position accuracy of the pressure wheel 500 when abutting.

[0060] See also Figure 4 and Figure 6 Each first arm body 410 has a recessed groove 411 formed on one side facing the limiting rod 800. The opening position of the recess 411 corresponds to the fixed position of the limiting rod 800. When the mounting arm 400 is rotated to the extreme position, the side wall of the limiting member 700 can abut against the inner wall of the groove 411 to improve the accuracy of the positioning of the first arm body 410 and the limiting rod 800.

[0061] See also Figures 1-6 In this application, when the tracked robot travels across the surface of a photovoltaic panel, since the surface of the photovoltaic panel is made of a hard material, the second protruding end 620 of the torsion spring 600 applies a thrust to the linkage rod 430 abutting against it, causing the mounting arm 400 to rotate by an angle in a direction away from the second arm body 420 (clockwise). The angle of rotation of the mounting arm 400 is primarily related to the degree of slack in the track 110. When the track 110 is slightly slack, the mounting arm 400 rotates by a smaller angle, while when the track 110 is significantly slack, the mounting arm 400 rotates by a larger angle. The mounting arm 400 presses down the lower transmission belt 112 via the pressure roller 500, causing the lower surface of the lower transmission belt 112 to contact the surface of the photovoltaic panel, thereby increasing the contact area between the track 110 and the photovoltaic panel. The pressure roller 500 applies pressure to the lower transmission belt 112, increasing the force between the track 110 and the photovoltaic panel, thereby increasing the friction between the track 110 and the photovoltaic panel.

[0062] When the tracked robot traverses a metal frame between adjacent panels or other obstacles on the panel surface, the area near where the track 110 contacts the obstacle is lifted by the obstacle, reducing the contact area between the track 110 and the photovoltaic panel. Because the multiple clamping mechanisms operate independently and are located at different locations on the track 110, when the track 110 is lifted, the area where the lower drive belt 112 contacts the obstacle is pushed toward the center of the track 110, reducing the distance between that location of the lower drive belt 112 and the mounting shaft 300. Consequently, the pressure roller 500, which abuts that location of the lower drive belt 112, is applied with a thrust toward the second arm 420 (counterclockwise), causing the mounting arm 400 to rotate counterclockwise relative to the mounting shaft 300. At this point, the pressure roller 500 and the lower drive belt 112 are synchronously raised to a certain height, with the bottom of the pressure roller 500 always abutting the upper surface of the lower drive belt 112, facilitating the tracked robot's traverse of the obstacle. Since multiple sets of clamping mechanisms are respectively connected to different positions of the lower transmission belt 112, when the track 110 passes over an obstacle, different positions of the lower transmission belt 112 are lifted up by the obstacle in turn, and the corresponding clamping mechanisms at different positions are lifted up in turn, so that the crawler robot passes over the obstacle.

[0063] Since the crawler 110 is made of a material with a certain elastic deformation property, the crawler 110 has a tensile deformation within a certain range. When a part of the lower transmission belt 112 is lifted by an obstacle, the lower transmission belt 112 adjacent to the area is also slightly lifted. At this time, the corresponding clamping mechanism in the adjacent area can apply pressure to the area. The mounting arm 400 in the clamping mechanism is driven by the torsion spring 600 to rotate clockwise by a certain angle, thereby driving the pressure wheel 500 to apply pressure to the adjacent area, so that the adjacent area is pressed against the surface of the photovoltaic panel, which can increase the contact area between the crawler 110 and the photovoltaic panel, and at the same time increase the force between the crawler 110 and the photovoltaic panel, thereby increasing the friction between the crawler 110 and the photovoltaic panel. Since multiple sets of clamping mechanisms are respectively abutted against different positions of the lower transmission belt 112, when the track 110 crosses an obstacle, the pressure in some of the clamping mechanisms is lifted along with the lower transmission belt 112, but the remaining clamping mechanisms can continue to press the lower transmission belt 112 to the surface of the photovoltaic panel, thereby increasing the friction between the track 110 and the photovoltaic panel.

[0064] See also Figures 1-6, using multiple sets of clamping mechanisms to abut against different positions of the lower transmission belt 112, the elastic component applies pressure to the mounting arm 400, so that the mounting arm 400 can rotate at an angle relative to the mounting shaft 300, so that the pressure wheel 500 at the bottom end of the second arm body 420 can always abut against the lower transmission belt 112, and press the lower transmission belt 112 against the surface of the photovoltaic panel, so that the track 110 can be tensioned, increasing the contact area between the track 110 and the photovoltaic panel, and at the same time increasing the force between the track 110 and the photovoltaic panel, thereby increasing the friction between the track 110 and the photovoltaic panel, and avoiding the crawler robot from slipping or falling off during movement.

[0065] When the crawler 110 passes over an obstacle, part of the lower transmission belt 112 is lifted. Since the groups of clamping mechanisms are independently abutted against different positions of the lower transmission belt 112, at least two groups of clamping mechanisms are provided at the two ends of the crawler 110. Therefore, the clamping mechanisms corresponding to the remaining areas of the lower transmission belt 112 can still apply pressure to the lower transmission belt 112, so that the remaining areas of the lower transmission belt 112 can be close to the photovoltaic panel, ensuring that there is still sufficient friction between the crawler 110 and the photovoltaic panel when the crawler robot passes over an obstacle.

[0066] The above is a detailed introduction to the crawler robot provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A crawler robot, characterized in that: include: Vehicle body (100); A crawler belt (110), comprising an upper transmission belt (111) and a lower transmission belt (112); as well as A track tensioning device comprising at least two sets of clamping mechanisms; Each of the pressing mechanisms comprises: A mounting shaft (300) is fixed vertically to the side plate of the vehicle body (100) in the axial direction and is located between the upper transmission belt (111) and the lower transmission belt (112); At least two mounting arms (400) are sleeved onto the outside of the mounting shaft (300) and arranged in an axial array along the mounting shaft (300); each mounting arm (400) includes a first arm body (410) and a second arm body (420); the first arm body (410) is rotatably connected to the mounting shaft (300), and the other end of the first arm body (410) is fixed to the second arm body (420); the center line of the first arm body (410) and the center line of the second arm body (420) are coplanar and intersect to form an obtuse angle; a pressure wheel (500) connected to the ends of at least two of the second arms (420) and abutting against the upper surface of the lower transmission belt (112); and an elastic component connected to the installation shaft (300) and the installation arm (400) for driving the installation arm (400) to rotate around the installation shaft (300); The elastic component comprises: a torsion spring (600) sleeved onto the outside of the mounting shaft (300), the torsion spring (600) comprising a first extending end (610) and a second extending end (620), the second extending end (620) extending toward the second arm (420), the centerline of the first extending end (610) and the centerline of the second extending end (620) forming an angle; a linkage rod (430) connected to at least two of the mounting arms (400); and a stopper (700) connected to the mounting shaft (300); The first protruding end (610) abuts against the limiting member (700), and the second protruding end (620) abuts against the linkage rod (430), so that the mounting arm (400) is exerted with a thrust perpendicular to the centerline direction of the second protruding end (620); At least two groups of the clamping mechanisms are located close to the two ends of the crawler belt (110), and the mounting arm (400) drives the pressure wheel (500) to abut against the lower transmission belt (112), so that the crawler belt (110) is tensioned.

2. The crawler robot according to claim 1, characterized in that: The limiting member (700) comprises: a limiting body (710) sleeved onto the outside of the installation shaft (300); and A limiting protrusion (720) protrudes from the limiting body (710), and a limiting slot (721) is provided on a side wall of the limiting protrusion (720); The first protruding end (610) is in an inverted U-shape and includes a crossbar (611), and the crossbar (611) abuts against the inner wall of the limiting slot (721).

3. The crawler robot according to claim 1, characterized in that: The elastic component further comprises: a fixing rod (230) connected to at least two of the limiting members (700) along the arrangement direction of the pressing mechanism; The limiting member (700) is sleeved onto the outside of the mounting shaft (300), the limiting member (700) is provided with a first through hole (730) extending therethrough, the mounting shaft (300) is provided with a second through hole (310) communicating with the first through hole (730), and the fixing rod (230) is passed through the first through hole (730) and the second through hole (310), so that the limiting member (700) and the mounting shaft (300) are relatively fixed.

4. The crawler robot according to claim 1, characterized in that: The elastic component comprises: At least two spiral springs are sleeved onto the outside of the installation shaft (300), one end of each spiral spring is connected to the installation shaft (300), and the other end is connected to the first arm (410), so that the installation arm (400) is exerted with a thrust perpendicular to the center line of the first arm (410).

5. The crawler robot according to claim 1, characterized in that: The pressing wheel (500) is a cylinder, the central axis of which is parallel to the central axis of the mounting shaft (300); the pressing wheel (500) is rotatably connected to the ends of at least two of the second arms (420).

6. The crawler robot according to claim 1, characterized in that: The track tensioning device further comprises: a first mounting plate (210) connected to a side plate of the vehicle body (100); and a second mounting plate (220) disposed opposite to the first mounting plate (210) and connected to the inner side of the housing (150); the housing (150) is connected to the side plate of the vehicle body (100) and is covered above the crawler (110); One end of each of the mounting shafts (300) is connected to the first mounting plate (210), and the other end thereof is connected to the second mounting plate (220).

7. The crawler robot according to claim 1, characterized in that: Each of the pressing mechanisms further comprises: a limiting rod (800), which is provided on a side of the first arm body (410) facing away from the second arm body (420), and whose center line is parallel to the center axis of the installation shaft (300); The side wall of each first arm (410) is concavely formed into a groove (411), and the groove (411) corresponds to the limiting rod (800); when the mounting arm (400) is rotated to the extreme position, the limiting rod (800) can abut against the inner wall of the groove (411).

8. The crawler robot according to claim 1, characterized in that: The track tensioning device includes at least three groups of the clamping mechanisms, and the clamping mechanisms are arranged at equal intervals.

9. The crawler robot according to claim 1, characterized in that: Two or more wheels are respectively provided on the left and right sides of the vehicle body (100), and each of the crawlers (110) is sleeved onto the two or more wheels on one side of the vehicle body (100); The pressing mechanism is arranged between two adjacent wheels, and at least two pressing wheels (500) are respectively arranged on the sides of the two wheels.

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