Crawler belt self-adaptive adjusting method and device
By monitoring track tension and offset angle in real time, the track tension is automatically adjusted and the track is corrected, which solves the problem of derailment and deviation caused by tension imbalance and offset in complex terrain, thus improving the reliability and adaptability of tracked mobile devices.
Patent Information
- Application Number
- CN202511908955.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-17
- Publication Date
- 2026-01-16
AI Technical Summary
Existing tracked mobile devices suffer from track wear, impact, or load changes during long-term operation, leading to tension imbalance, derailment, deviation, and reduced drive efficiency. They also struggle to adapt to dynamic working conditions, impacting the reliability and adaptability of automated operations.
By monitoring track tension and offset angle in real time, an automatic adjustment mechanism is used to keep track tension within a preset range and corrects the track when offset angle exceeds a threshold, ensuring that track tension and offset angle are always within a reasonable range.
It effectively reduces track slippage, derailment, and abnormal wear, improves track life and transmission efficiency, ensures stability of travel direction, reduces the risk of deviation, enhances motion accuracy and safety performance in complex terrain, and reduces the need for manual intervention.
Smart Images
Figure CN121341307A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of tracked mobile devices, in particular to a tracked self-adaptive adjustment method and device. BACKGROUND
[0002] In the prior art, tracked mobile devices (such as tracked robots, engineering machinery, etc.) usually rely on rigid structures or manual adjustment to maintain the tension of the tracks and the straightness of walking. However, in complex terrain or during long-term operation, the tension of the tracks is easily unbalanced due to wear, impact or load changes, thereby causing problems such as derailment, deviation or reduced driving efficiency. At the same time, the relative deviation of the two tracked mobile modules due to differences in ground adhesion or control errors can exacerbate the instability of the device and energy loss. Traditional methods rely on regular manual detection and mechanical adjustment, which not only has a lagging response, but also is difficult to adapt to dynamic working conditions, seriously restricting the reliability and adaptability of tracked mobile devices in automated operation scenarios. SUMMARY
[0003] The purpose of the present application is to provide a tracked self-adaptive adjustment method and device to improve the problem that the tracked mobile devices in the prior art rely on regular manual detection and mechanical adjustment to maintain the tension and deviation of the tracks of the tracked mobile modules, which not only has a lagging response, but also is difficult to adapt to dynamic working conditions, seriously restricting the reliability and adaptability of tracked mobile devices in automated operation scenarios.
[0004] To achieve this purpose, the present application provides a tracked self-adaptive adjustment method applied to a tracked mobile device, wherein the tracked mobile device includes two tracked mobile modules arranged oppositely, and the tracked self-adaptive adjustment method includes: real-time monitoring of the tension of the tracks of the two tracked mobile modules, and automatic adjustment of the tension of the tracks when any of the tensions of the tracks exceeds a preset tension range, so that the tension of the tracks is always maintained within the preset tension range; real-time monitoring of the deviation angle between the two tracked mobile modules, and automatic deviation correction of the two tracked mobile modules when the deviation angle exceeds a preset deviation threshold, so that the deviation angle is always less than the preset deviation threshold.
[0005] Optionally, in some embodiments of the present application, the preset tension range includes a first pre-tightening force value and a second pre-tightening force value, the second pre-tightening force value is greater than the first pre-tightening force value, and the automatic adjustment of the tension of the tracks when any of the tensions of the tracks exceeds the preset tension range, so that the tension of the tracks is always maintained within the preset tension range, includes: When any of the track tension forces is less than the first preload value, the track tension force is increased by the tension adjustment mechanism so that the track tension force is always greater than or equal to the first preload value; When any of the track tension forces is greater than the second preload value, the track tension force is reduced by the tension adjustment mechanism so that the track tension force is always less than or equal to the second preload value.
[0006] Optionally, in some embodiments of this application, the tracked moving device further includes two rotating power structures, which are respectively arranged in one-to-one correspondence with the two tracked moving modules. The rotating power structures are configured to drive the corresponding tracked moving modules to move accordingly by rotating them. When the offset angle exceeds a preset offset threshold, the automatic correction of the two track movement modules is performed to ensure that the offset angle is always less than the preset offset threshold, including: When the offset angle exceeds the preset offset threshold, the two track moving modules are automatically corrected by adjusting the speed difference between the two rotating power structures, so that the offset angle is always less than the preset offset threshold.
[0007] Optionally, in some embodiments of this application, the track adaptive adjustment method further includes: The tilt angle of the track moving device is monitored in real time, and when the tilt angle is greater than a preset tilt angle threshold, the track tension of the two track moving modules is increased so that the track tension of the two track moving modules is increased by 10% to 15%.
[0008] Furthermore, to achieve this objective, embodiments of this application also provide a track adaptive adjustment device, applied in a tracked moving device, wherein the tracked moving device includes two track moving modules arranged opposite to each other, and the track adaptive adjustment device includes a first adjustment unit and a second adjustment unit, wherein... The first adjustment unit is configured to monitor the track tension of the two track movement modules in real time, and automatically adjust the track tension when either track tension exceeds the preset tension range, so that the track tension is always kept within the preset tension range. The second adjustment unit is configured to monitor the offset angle between the two tracked moving modules in real time, and automatically correct the two tracked moving modules when the offset angle exceeds a preset offset threshold, so that the offset angle is always less than the preset offset threshold.
[0009] Optionally, in some embodiments of this application, the first adjustment unit includes two pressure sensors, two tension adjustment mechanisms, and a first tension adjustment module, wherein the two pressure sensors, the two tension adjustment mechanisms, and the two track movement modules are arranged in a one-to-one correspondence. The pressure sensor is installed on the inner side of the track of the corresponding track moving module and is configured to monitor the track tension of the corresponding track moving module in real time. The tension adjustment mechanism is located inside the track of the corresponding track moving module and is configured to adjust the track tension of the corresponding track moving module. The first tension adjustment module is electrically connected to the two pressure sensors and the two tension adjustment mechanisms respectively, and is configured to control the corresponding tension adjustment mechanism to automatically adjust the corresponding track tension when any of the pressure sensors detects that the corresponding track tension exceeds the preset tension range, so that the corresponding track tension is always kept within the preset tension range.
[0010] Optionally, in some embodiments of this application, the tension adjustment mechanism includes a tension support wheel and a tension power structure. The tension power structure is driven to the tension support wheel. The side of the tension support wheel away from the tension power structure abuts against the inner side of the track of the corresponding track moving module. The tension support wheel is configured to automatically adjust the track tension by moving toward or away from the inner side of the track of the corresponding track moving module under the drive of the tension power structure.
[0011] Optionally, in some embodiments of this application, the tracked moving device further includes two rotating power structures, which are respectively arranged in one-to-one correspondence with the two tracked moving modules. The rotating power structures are configured to drive the corresponding tracked moving modules to move accordingly by rotating them. The second adjustment unit includes a displacement sensor and a speed adjustment module, wherein, The displacement sensors are respectively installed on the guide wheel shafts or guide wheel brackets of the two tracked moving modules, and are configured to monitor the offset angle between the two tracked moving modules in real time. The speed adjustment module is electrically connected to the displacement sensor and the two rotational power structures respectively, and is configured to adjust the speed difference between the two rotational power structures when the displacement sensor detects that the offset angle exceeds the preset offset threshold, so as to automatically correct the two track movement modules so that the offset angle is always less than the preset offset threshold.
[0012] Optionally, in some embodiments of this application, the track adaptive adjustment device further includes a third adjustment unit, which is configured to monitor the tilt angle of the track moving device in real time, and increase the track tension of the two track moving modules when the tilt angle is greater than a preset tilt angle threshold, so that the track tension of the two track moving modules increases by 10% to 15%.
[0013] Optionally, in some embodiments of this application, the third adjustment unit further includes an inertial measurement module and a second tension adjustment module, wherein, The inertial measurement module is installed on the chassis of the tracked mobile device and is configured to monitor the tilt angle of the tracked mobile device in real time. The second tension adjustment module is electrically connected to the tilt sensor and the two tension adjustment mechanisms respectively, and is configured to control the two tension adjustment mechanisms to increase the track tension of the corresponding track moving module when the tilt sensor detects that the tilt angle is greater than the preset tilt angle threshold, so that the track tension of the two track moving modules increases by 10% to 15%.
[0014] The track adaptive adjustment method and apparatus provided in this application, through the aforementioned method steps and structural settings, can monitor the track tension and offset angle between the two track moving modules in real time during the movement of the tracked mobile device. If either of these becomes abnormal (i.e., the track tension exceeds a preset tension range or the offset angle exceeds a preset offset threshold), automatic adjustment and correction are performed. This ensures that the tracks of the two track moving modules maintain a suitable tension, effectively reducing slippage, derailment, or abnormal wear caused by improper tension, and significantly improving track life and transmission efficiency. Simultaneously, by dynamically correcting the offset angle between the two track moving modules, the stability of the travel direction is ensured, reducing the risk of deviation due to differences in ground symmetry. This not only enhances movement accuracy and safety performance in complex terrain but also reduces the need for manual intervention, achieving a higher degree of adaptive operation and energy efficiency optimization. It is evident that the technical solution of this application can effectively improve the existing tracked mobile devices' reliance on periodic manual inspection and mechanical adjustment for track tension and offset issues in tracked mobile modules. This not only results in delayed response but also makes it difficult to adapt to dynamic working conditions, severely restricting the reliability and adaptability of tracked mobile devices in automated operation scenarios. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0015] The structures, proportions, sizes, etc., shown in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.
[0016] Figure 1 This is a flowchart of the first embodiment of the track adaptive adjustment method of this application; Figure 2 This is a schematic diagram of the tracked moving device according to an embodiment of this application; Figure 3 for Figure 1 The flowchart of step S110 of the track adaptive adjustment method shown; Figure 4 This is a second flowchart of the track adaptive adjustment method according to an embodiment of this application; Figure 5 This is a connection block diagram of the tracked moving device according to an embodiment of this application.
[0017] Figure label: 10. Tracked moving device; 11. Tracked moving module; 111. Guide wheel; 12. Rotational power structure; 20. Tracked adaptive adjustment device; 21. First adjustment unit; 211. Pressure sensor; 212. Tension adjustment mechanism; 213. First tension adjustment module; 22. Second adjustment unit; 221. Displacement sensor; 222. Speed adjustment module; 23. Third adjustment unit; 231. Inertial measurement module; 232. Second tension adjustment module. Detailed Implementation
[0018] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0019] In the description of this application, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component centrally located at the same time.
[0020] The technical solution of this application will be further described below with reference to the accompanying drawings and specific embodiments.
[0021] Please see Figure 1 As shown, in one embodiment, this application provides a track adaptive adjustment method, which specifically includes the following steps: Step S110: Monitor the track tension of the two track moving modules in real time, and automatically adjust the track tension when the tension of either track exceeds the preset tension range, so that the track tension is always kept within the preset tension range.
[0022] It should be noted that, as Figure 2 As shown, the track adaptive adjustment method of this application embodiment is mainly applied to tracked mobile devices 10 such as tracked drainage robots, tracked tractors, and tracked skid steer loaders. These tracked mobile devices 10 generally include two tracked mobile modules 11 arranged opposite each other, so that the movement of the corresponding tracked mobile device 10 is achieved through the movement of the two tracked mobile modules 11. Because the tracks of the two tracked mobile modules 11 of the tracked mobile device 10 are prone to tension imbalance due to wear, impact, or load changes during complex terrain or long-term operation, if not addressed in time, it can further lead to problems such as derailment, deviation, or decreased drive efficiency. Therefore, by monitoring the track tension of the two track moving modules 11 in real time and automatically adjusting the track tension when the track tension of either track exceeds the preset tension range, the track tension can be kept within the preset tension range. This can effectively reduce slippage, derailment or abnormal wear of the tracks of the two track moving modules 11 caused by improper tension, and significantly improve track life and transmission efficiency. Step S120: Monitor the offset angle between the two tracked moving modules in real time, and automatically correct the two tracked moving modules when the offset angle exceeds the preset offset threshold, so that the offset angle is always less than the preset offset threshold.
[0023] It should be noted that, as Figure 2As shown, the offset angle between the two tracked mobile modules 11 mentioned in this method refers specifically to the non-parallel angle formed by the axes of their travel directions during actual movement. This angle is a key geometric parameter for measuring the degree of deviation of the tracked mobile device 10, and it is usually caused by the difference in linear velocity between the two tracked mobile modules 11, uneven ground adhesion conditions, or structural deformation. When the offset angle is zero, the axes of the two tracked mobile modules 11 are parallel, and the device travels in a straight line. When the offset angle is not zero, it indicates that the tracked mobile device 10 is yawing or twisting. Therefore, this method monitors the offset angle between the two tracked mobile modules 11 in real time, and automatically corrects the two tracked mobile modules 11 when the offset angle exceeds a preset offset threshold, so that the offset angle is always less than the preset offset threshold. This ensures the stability of the travel direction and reduces the risk of deviation caused by differences in ground symmetry.
[0024] In this way, the track adaptive adjustment method provided in this application embodiment, through the above-described steps, can monitor the track tension and offset angle between the two track moving modules 11 in real time during the movement of the track moving device 10. If either of these becomes abnormal (i.e., the track tension exceeds a preset tension range or the offset angle exceeds a preset offset threshold), automatic adjustment and correction are performed. This ensures that the tracks of the two track moving modules 11 always maintain a suitable tension, effectively reducing slippage, derailment, or abnormal wear caused by improper tension, and significantly improving track life and transmission efficiency. Simultaneously, by dynamically correcting the offset angle between the two track moving modules 11, the stability of the travel direction is ensured, reducing the risk of deviation due to differences in ground symmetry. This not only enhances the motion accuracy and safety performance in complex terrain but also reduces the need for manual intervention, achieving a higher degree of adaptive operation and energy efficiency optimization.
[0025] In some examples, the preset tension range mentioned in the above method steps includes a first preload value and a second preload value, where the second preload value is greater than the first preload value. The specific process of executing the above method step "automatically adjust the track tension when any track tension exceeds the preset tension range so that the track tension always remains within the preset tension range" is as follows: Step S111: When any track tension is less than the first preload value, the track tension is increased by the tension adjustment mechanism so that the track tension is always greater than or equal to the first preload value.
[0026] It should be noted that, as Figure 2 and Figure 5As shown, the first preload value in this method is generally 4.5kN to 5.5kN, preferably 5kN. By using this method, when any track tension is less than the first preload value, the tension adjustment mechanism 212 increases the track tension to ensure that the track tension is always greater than or equal to the first preload value. This prevents jumping, tooth slippage, or slippage caused by track slack, ensuring the immediacy and reliability of the transmission. This ensures that the track system maintains effective engagement and contact with the drive wheel and track rollers under various loads and terrains, thereby avoiding impact damage and energy loss caused by sudden slack, laying a solid foundation for the stable operation and continuous operation of the mobile device. Step S112: When any track tension is greater than the second preload value, the track tension is reduced by the tension adjustment mechanism so that the track tension is always less than or equal to the second preload value.
[0027] It should be noted that, as Figure 2 and Figure 5 As shown, the second preload value in this method is generally 18kN to 22kN, preferably 20kN. By using this method, when any track tension exceeds the second preload value, the tension adjustment mechanism 212 reduces the track tension, ensuring that the track tension is always less than or equal to the second preload value. This avoids problems such as abnormal wear of the track rollers, excessive load on the drive mechanism, and a surge in internal stress of the track plates caused by excessive track tension. Simultaneously, this mechanism effectively prevents track breakage, decreased energy efficiency, and deterioration of ride comfort that may be caused by excessive tension, thereby significantly extending the service life of key components of the track system while ensuring equipment operational safety.
[0028] In this way, by following the above steps, it can be ensured that the track tension of the two track moving modules 11 is always kept within the range of being greater than or equal to the first pretension value and less than or equal to the second pretension value. This ensures that the tracks of the two track moving modules 11 are always kept in a suitable tension state, thereby effectively reducing slippage, derailment or abnormal wear caused by improper tension, and significantly improving track life and transmission efficiency.
[0029] In some examples, such as Figure 2 and Figure 5As shown, the tracked moving device 10 also includes two rotating power structures 12, each corresponding to one of the two tracked moving modules 11. The rotating power structures 12 are configured to drive the corresponding tracked moving modules 11 to move by rotation. The specific process of executing the above method step "when the offset angle exceeds a preset offset threshold, automatically correct the two tracked moving modules so that the offset angle is always less than the preset offset threshold" is as follows: When the offset angle exceeds the preset offset threshold, the two tracked moving modules are automatically corrected by adjusting the speed difference between the two rotating power structures so that the offset angle is always less than the preset offset threshold. Thus, through the above method steps, by adjusting the speed difference between the two rotating power structures 12 in real time to perform the correction action, the deviation in the travel direction caused by inconsistent linear speeds of the tracks on both sides or external interference can be quickly and directly corrected. This correction control method has a fast response speed and high control precision. It does not rely on complex mechanical correction mechanisms and can maintain the straight-line driving stability of the device during dynamic movement. It effectively reduces the extra energy consumption and abnormal track wear caused by continuous deviation, and improves the overall mobility efficiency and reliability of the system.
[0030] It should be noted that the preset offset threshold in this example is generally 0.5° to 1.5°, preferably 1°. Thus, through the above parameter design, a balanced and efficient trigger boundary is established for the automatic deviation correction system. This preset offset threshold can sensitively capture early, subtle deviation trends, preventing the accumulation and deterioration of deviations, while also avoiding excessively frequent corrections caused by minor road surface undulations or signal noise. Therefore, while ensuring accurate and stable travel direction, it optimizes the response logic of the control system and reduces unnecessary energy loss and mechanical wear.
[0031] In some examples, such as Figure 4 As shown, the track adaptive adjustment method in this example also includes: Step S130: Monitor the tilt angle of the track moving device in real time, and when the tilt angle is greater than the preset tilt angle threshold, increase the track tension of the two track moving modules so that the track tension of the two track moving modules increases by 10% to 15%.
[0032] It should be noted that, as Figure 2As shown, the tilt angle of the tracked mobile device 10 mentioned in this method refers specifically to the tilt angle of the main body of the tracked mobile device 10 relative to the horizontal reference plane. It is typically monitored in real time by sensors such as an inertial measurement unit (IMU) to quantify the pitch (forward / backward tilt) state of the tracked mobile device 10 due to terrain undulations during travel or operation. This tilt angle is a key dynamic parameter for evaluating the stability, center of gravity position, and terrain conditions of the tracked mobile device 10. An increase in the tilt angle of the tracked mobile device 10 indicates a greater risk of overturning or traction challenges. The preset tilt angle threshold in this method is generally 10°–20°, preferably 15°. This method involves real-time monitoring of the tilt angle of the tracked mobile device 10. When the tilt angle exceeds a preset tilt angle threshold, the track tension of the two tracked mobile modules 11 is increased by 10% to 15%. This rapidly improves the meshing tightness and adhesion between the tracks of the two tracked mobile modules 11 and the ground, thereby ensuring the safety and passability of the tracked mobile device 10 during climbing or obstacle crossing operations.
[0033] In this way, through the above-mentioned methods and steps, the lateral stability and anti-slip capability of the tracked mobile device 10 on sloping terrain can be effectively enhanced, preventing the risk of track slippage or lateral instability caused by the shift of the center of gravity, thereby ensuring the safety and passability of the tracked mobile device 10 during climbing or obstacle crossing operations.
[0034] In one embodiment, such as Figure 2 and Figure 5 As shown in the illustration, this application embodiment also provides a track adaptive adjustment device 20, which includes a first adjustment unit 21 and a second adjustment unit 22. The first adjustment unit 21 is configured to monitor the track tension of the two track moving modules 11 in real time, and automatically adjust the track tension when either track tension exceeds a preset tension range, so that the track tension is always maintained within the preset tension range. The second adjustment unit 22 is configured to monitor the offset angle between the two track moving modules 11 in real time, and automatically correct the offset angle when it exceeds a preset offset threshold, so that the offset angle is always less than the preset offset threshold.
[0035] It should be noted that the track adaptive adjustment device 20 of this application embodiment is mainly applied to tracked moving devices 10 such as tracked drainage robots, tracked tractors, and tracked skid steer loaders. These tracked moving devices 10 generally include two tracked moving modules 11 arranged opposite each other, so that the movement of the corresponding tracked moving device 10 is achieved through the movement of the two tracked moving modules 11. The aforementioned first adjustment unit 21 monitors the track tension of the two tracked moving modules 11 in real time, and automatically adjusts the track tension when either track tension exceeds a preset tension range, so that the track tension is always kept within the preset tension range. This effectively reduces slippage, derailment, or abnormal wear of the tracks of the two tracked moving modules 11 caused by improper tension, significantly improving track life and transmission efficiency. The aforementioned second adjustment unit 22 monitors the offset angle between the two tracked moving modules 11 in real time, and automatically corrects the two tracked moving modules 11 when the offset angle exceeds the preset offset threshold, so that the offset angle is always less than the preset offset threshold, thereby ensuring the stability of the travel direction and reducing the risk of deviation caused by differences in ground symmetry.
[0036] In this way, the track adaptive adjustment device 20 provided in this embodiment, through the above-described structural configuration, can monitor the track tension of the two track moving modules 11 and the offset angle between the two track moving modules 11 in real time through the first adjustment unit 21 and the second adjustment unit 22, respectively, during the movement of the track moving device 10. If either of these becomes abnormal (i.e., the track tension exceeds a preset tension range or the offset angle exceeds a preset offset threshold), it automatically performs adjustment and correction. This ensures that the tracks of the two track moving modules 11 always maintain a suitable tension, effectively reducing slippage, derailment, or abnormal wear caused by improper tension, and significantly improving track life and transmission efficiency. Simultaneously, by dynamically correcting the offset angle between the two track moving modules 11, it ensures the stability of the travel direction, reduces the risk of deviation due to differences in ground symmetry, not only enhances the motion accuracy and safety performance in complex terrain, but also reduces the need for manual intervention, achieving a higher degree of adaptive operation and energy efficiency optimization.
[0037] In some examples, such as Figure 2 and Figure 5As shown, the first adjustment unit 21 includes two pressure sensors 211, two tension adjustment mechanisms 212, and a first tension adjustment module 213. The two pressure sensors 211, two tension adjustment mechanisms 212, and two track moving modules 11 are arranged in a one-to-one correspondence. The pressure sensors 211 are located inside the track of the corresponding track moving module 11 and are configured to monitor the track tension of the corresponding track moving module 11 in real time. The tension adjustment mechanisms 212 are located inside the track of the corresponding track moving module 11 and are configured to adjust the track tension of the corresponding track moving module 11. The first tension adjustment module 213 is electrically connected to the two pressure sensors 211 and the two tension adjustment mechanisms 212, and is configured to automatically adjust the track tension of the corresponding track when any pressure sensor 211 detects that the track tension exceeds a preset tension range, so that the track tension is always maintained within the preset tension range. Thus, through the above structural configuration, the first adjustment unit 21, via pressure sensors 211 and tension adjustment mechanisms 212 integrated inside each track, achieves independent, real-time closed-loop control of the track tension of the two track-moving modules 11. Specifically, when any pressure sensor 211 detects an abnormality in the corresponding track tension, the first tension adjustment module 213 can immediately drive the corresponding tension adjustment mechanism 212 for precise compensation, ensuring that the tracks of the two track-moving modules 11 are always maintained within the optimal preset tension range. This distributed direct feedback control method not only significantly improves the response speed and accuracy of tension adjustment, effectively avoiding the delays and interference of traditional centralized systems, but also ensures reliable meshing, stable transmission, and uniform wear of the track system under various dynamic working conditions, thereby significantly enhancing the adaptability and durability of the overall device.
[0038] It should be noted that, in this example, the pressure sensor 211 is preferably installed on the inner side of the track of the corresponding track moving module 11, between the corresponding load-bearing wheel or guide wheel 111. This position can directly and accurately sense the positive pressure changes of the track caused by tension and load, while avoiding direct collision with external objects, thus ensuring the reliability and real-time performance of the data monitored by the pressure sensor 211, and providing an effective input signal for precise control of the tension force.
[0039] In some examples, such as Figure 2 and Figure 5As shown, the tension adjustment mechanism 212 includes a tension support wheel and a tension power structure. The tension power structure is driven and connected to the tension support wheel. The side of the tension support wheel away from the tension power structure abuts against the inner side of the track of the corresponding track moving module 11. The tension support wheel is configured to automatically adjust the track tension by moving towards or away from the inner side of the track of the corresponding track moving module 11 under the drive of the tension power structure. Thus, through the above structural configuration, the tension adjustment mechanism 212 can directly and linearly adjust the track tension of the corresponding track moving module 11 by driving the support wheel to press against or move away from the inner side of the track of the corresponding track moving module 11 through the tension power structure. This mechanical structure is simple and reliable, can quickly respond to control commands, and accurately compensate for the slack or over-tight state of the track. It not only improves the efficiency and controllability of tension adjustment, but also enhances the rigidity and durability of the entire adjustment system due to its direct action.
[0040] It should be noted that the tensioning power structure in this example is preferably a hydraulic cylinder power structure. In this example, the tensioning support wheel automatically adjusts the track tension by moving towards or away from the inner side of the track of the corresponding track moving module 11. Specifically, when the tensioning support wheel moves towards the inner side of the track of the corresponding track moving module 11 (i.e., when...), the tensioning tension is adjusted. Figure 2 When the tensioning support wheel moves away from the inner side of the track of the corresponding track moving module 11 (as shown in the diagram moving to the right), it can cause the tensioning support wheel to further press against the inner side of the track of the corresponding track moving module 11, thereby increasing the track tension of the corresponding track moving module 11. Conversely, when the tensioning support wheel moves away from the inner side of the track of the corresponding track moving module 11 (i.e., as shown in the diagram moving to the right), it can cause the tensioning support wheel to further press against the inner side of the track of the corresponding track moving module 11, thereby increasing the track tension of the corresponding track moving module 11. Figure 2 When the track moves to the left (as shown), it can reduce the pressure between the tension support wheel and the inner side of the track of the corresponding track moving module 11, thereby reducing the track tension of the corresponding track moving module 11.
[0041] In some examples, such as Figure 2 and Figure 5As shown, the tracked moving device 10 also includes two rotating power structures 12, each corresponding to one of the two tracked moving modules 11. The rotating power structures 12 are configured to drive the corresponding tracked moving module 11 to move accordingly through rotation. The second adjustment unit 22 includes a displacement sensor 221 and a speed adjustment module 222. The displacement sensor 221 is respectively mounted on the guide wheel 111 shaft or guide wheel 111 bracket of the two tracked moving modules 11, and is configured to monitor the offset angle between the two tracked moving modules 11 in real time. The speed adjustment module 222 is electrically connected to the displacement sensor 221 and the two rotating power structures 12, and is configured to adjust the speed difference between the two rotating power structures 12 when the displacement sensor 221 detects that the offset angle exceeds a preset offset threshold, thereby automatically correcting the offset of the two tracked moving modules 11 so that the offset angle is always less than the preset offset threshold. Thus, through the aforementioned structural configuration, the second adjustment unit 22 directly monitors the relative displacement between the two tracked moving modules 11 via a displacement sensor 221 mounted on the guide wheel 111 shaft or guide wheel 111 bracket, thereby accurately calculating the corresponding offset angle. When the detected offset angle exceeds a preset offset threshold, the speed adjustment module 222 quickly implements closed-loop correction by adjusting the speed difference between the two rotating power structures 12. This correction control method features fast response and high control precision, eliminating the need for complex mechanical correction mechanisms. It maintains the straight-line driving stability of the device during dynamic movement, effectively reducing additional energy consumption and abnormal track wear caused by continuous deviation, and improving the overall mobility and reliability of the system.
[0042] It should be noted that, in this example, the guide wheel 111 shaft or guide wheel 111 bracket specifically refers to the shaft or bracket used to mount the guide wheel 111. By mounting the displacement sensor 221 on the guide wheel 111 shaft or guide wheel 111 bracket, its measuring axis can be parallel to the lateral direction of the tracked moving device 10 (i.e., perpendicular to the direction of movement of the tracked moving device 10). This mounting position can directly and sensitively detect the relative lateral displacement of the two guide wheels 111 during movement, thereby accurately calculating the offset angle between the two tracked moving modules 11. This close-range direct measurement method effectively avoids indirect errors introduced by vehicle body structural deformation or vibration, ensuring the accuracy and real-time performance of the offset angle signal.
[0043] In some examples, such as Figure 2 and Figure 5As shown, the track adaptive adjustment device 20 also includes a third adjustment unit 23. The third adjustment unit 23 is configured to monitor the tilt angle of the tracked mobile device 10 in real time, and when the tilt angle is greater than a preset tilt angle threshold, increase the track tension of the two tracked mobile modules 11 so that the track tension of both tracked mobile modules 11 increases by 10% to 15%. In this way, through the above structural configuration, the meshing tightness and adhesion between the track and the ground can be quickly improved when the tracked mobile device 10 is climbing or crossing obstacles, so as to effectively enhance the lateral stability and anti-slip capability of the tracked mobile device 10 on inclined terrain, prevent the risk of track slippage or lateral instability caused by center of gravity shift, and thus ensure the safety and passability of the tracked mobile device 10 during climbing or crossing obstacles.
[0044] In some examples, such as Figure 2 and Figure 5 As shown, the third adjustment unit 23 also includes an inertial measurement module 231 and a second tension adjustment module 232. The inertial measurement module 231 is mounted on the chassis of the tracked moving device 10 and is configured to monitor the tilt angle of the tracked moving device 10 in real time. The second tension adjustment module 232 is electrically connected to the tilt angle sensor and the two tension adjustment mechanisms 212, respectively. It is configured to control the two tension adjustment mechanisms 212 to increase the track tension of the corresponding tracked moving module 11 when the tilt angle detected by the tilt angle sensor is greater than a preset tilt angle threshold, so that the track tension of both tracked moving modules 11 increases by 10% to 15%. Thus, through the above structural configuration, the third adjustment unit 23 senses the tilt angle of the tracked moving device 10 in real time through the inertial measurement module 231 on the chassis, and when the tilt angle exceeds the limit (i.e., greater than the preset tilt angle threshold), the second tension adjustment module 232 synchronously instructs the tension adjustment mechanisms 212 on both sides to increase the corresponding track tension by 10% to 15%. This integrated design enables the tracked mobile device 10 to actively enhance track ground adhesion and system rigidity when facing sloping terrain, thereby effectively suppressing the tendency of sideslip and instability, and significantly improving the travel safety and obstacle crossing ability of the tracked mobile device 10 in complex terrain.
[0045] It should be noted that the inertial measurement module 231 in this example typically integrates a three-axis gyroscope and a three-axis accelerometer, and sometimes also includes a magnetometer to form a complete attitude measurement system. This inertial measurement module 231 is also rigidly mounted to the main beam or center position of the chassis structure of the tracked mobile device 10 via fasteners or vibration damping brackets, ensuring that it can accurately sense changes in the vehicle's pitch angle while effectively isolating high-frequency interference caused by track vibration, thus providing a stable and reliable data source for tilt angle monitoring.
[0046] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A track adaptive adjustment method, applied in a tracked moving device, the tracked moving device comprising two track moving modules arranged opposite to each other, characterized in that, The track adaptive adjustment method includes: The track tension of the two track movement modules is monitored in real time, and the track tension is automatically adjusted when either track tension exceeds the preset tension range so that the track tension is always kept within the preset tension range. The offset angle between the two tracked mobile modules is monitored in real time, and when the offset angle exceeds a preset offset threshold, the two tracked mobile modules are automatically corrected so that the offset angle is always less than the preset offset threshold.
2. The track adaptive adjustment method according to claim 1, characterized in that, The preset tension range includes a first preload value and a second preload value, wherein the second preload value is greater than the first preload value. The step of automatically adjusting the track tension when any track tension exceeds the preset tension range, so that the track tension always remains within the preset tension range, includes: When any of the track tension forces is less than the first preload value, the track tension force is increased by the tension adjustment mechanism so that the track tension force is always greater than or equal to the first preload value; When any of the track tension forces is greater than the second preload value, the track tension force is reduced by the tension adjustment mechanism so that the track tension force is always less than or equal to the second preload value.
3. The track adaptive adjustment method according to claim 1, characterized in that, The tracked moving device also includes two rotating power structures, which are arranged one-to-one with the two tracked moving modules. The rotating power structures are configured to drive the corresponding tracked moving modules to move by rotating them. When the offset angle exceeds a preset offset threshold, the automatic correction of the two track movement modules is performed to ensure that the offset angle is always less than the preset offset threshold, including: When the offset angle exceeds the preset offset threshold, the two track moving modules are automatically corrected by adjusting the speed difference between the two rotating power structures, so that the offset angle is always less than the preset offset threshold.
4. The track adaptive adjustment method according to any one of claims 1-3, characterized in that, The track adaptive adjustment method further includes: The tilt angle of the track moving device is monitored in real time, and when the tilt angle is greater than a preset tilt angle threshold, the track tension of the two track moving modules is increased so that the track tension of the two track moving modules is increased by 10% to 15%.
5. A track adaptive adjustment device, applied in a tracked moving device, the tracked moving device comprising two track moving modules arranged opposite to each other, characterized in that... The track adaptive adjustment device includes a first adjustment unit and a second adjustment unit, wherein... The first adjustment unit is configured to monitor the track tension of the two track movement modules in real time, and automatically adjust the track tension when either track tension exceeds the preset tension range, so that the track tension is always kept within the preset tension range. The second adjustment unit is configured to monitor the offset angle between the two tracked moving modules in real time, and automatically correct the two tracked moving modules when the offset angle exceeds a preset offset threshold, so that the offset angle is always less than the preset offset threshold.
6. The track adaptive adjustment device according to claim 5, characterized in that, The first adjustment unit includes two pressure sensors, two tension adjustment mechanisms, and a first tension adjustment module. The two pressure sensors, two tension adjustment mechanisms, and two track movement modules are configured in a one-to-one correspondence. The pressure sensor is installed on the inner side of the track of the corresponding track moving module and is configured to monitor the track tension of the corresponding track moving module in real time. The tension adjustment mechanism is located inside the track of the corresponding track moving module and is configured to adjust the track tension of the corresponding track moving module. The first tension adjustment module is electrically connected to the two pressure sensors and the two tension adjustment mechanisms respectively, and is configured to control the corresponding tension adjustment mechanism to automatically adjust the corresponding track tension when any of the pressure sensors detects that the corresponding track tension exceeds the preset tension range, so that the corresponding track tension is always kept within the preset tension range.
7. The track adaptive adjustment device according to claim 6, characterized in that, The tension adjustment mechanism includes a tension support wheel and a tension power structure. The tension power structure is driven and connected to the tension support wheel. The side of the tension support wheel away from the tension power structure abuts against the inner side of the track of the corresponding track moving module. The tension support wheel is configured to automatically adjust the track tension by moving toward or away from the inner side of the track of the corresponding track moving module under the drive of the tension power structure.
8. The track adaptive adjustment device according to claim 5, characterized in that, The tracked moving device also includes two rotating power structures, which are arranged one-to-one with the two tracked moving modules. The rotating power structures are configured to drive the corresponding tracked moving modules to move by rotating them. The second adjustment unit includes a displacement sensor and a speed adjustment module, wherein, The displacement sensors are respectively installed on the guide wheel shafts or guide wheel brackets of the two tracked moving modules, and are configured to monitor the offset angle between the two tracked moving modules in real time. The speed adjustment module is electrically connected to the displacement sensor and the two rotational power structures respectively, and is configured to adjust the speed difference between the two rotational power structures when the displacement sensor detects that the offset angle exceeds the preset offset threshold, so as to automatically correct the two track movement modules so that the offset angle is always less than the preset offset threshold.
9. The track adaptive adjustment device according to any one of claims 6-8, characterized in that, The track adaptive adjustment device further includes a third adjustment unit, which is configured to monitor the tilt angle of the track moving device in real time, and increase the track tension of the two track moving modules when the tilt angle is greater than a preset tilt angle threshold, so that the track tension of the two track moving modules increases by 10% to 15%.
10. The track adaptive adjustment device according to claim 9, characterized in that, The third adjustment unit further includes an inertial measurement module and a second tension adjustment module, wherein, The inertial measurement module is installed on the chassis of the tracked mobile device and is configured to monitor the tilt angle of the tracked mobile device in real time. The second tension adjustment module is electrically connected to the tilt sensor and the two tension adjustment mechanisms respectively, and is configured to control the two tension adjustment mechanisms to increase the track tension of the corresponding track moving module when the tilt sensor detects that the tilt angle is greater than the preset tilt angle threshold, so that the track tension of the two track moving modules increases by 10% to 15%.