3D printing robot crawler device with automatic tensioning mechanism

Abstract

The application discloses a 3D printing robot crawler device with an automatic tensioning mechanism and belongs to the technical field of 3D printing robots. The application comprises a chassis rack for bearing a 3D printing robot, two first fixing plates fixedly connected to the side walls of the two sides of the chassis rack, four symmetrically arranged driving wheels rotatably connected to the first fixing plates and symmetrically arranged on the left and right sides, a crawler body sleeved on the driving wheels, a tensioning assembly installed on the first fixing plates and used for tensioning the crawler body, and a cleaning assembly installed on the bottom of the chassis rack. The crawler can automatically adjust the tightness when running on a concave-convex road surface, avoids derailment and deviation during turning, buffers the impact force of road bumps, reduces the shaking of the 3D printing equipment above, reduces the shaking of the printing nozzle, avoids the mispositioning of the printing wall body and the poor formation of the printing wall body, and does not need manual adjustment of the tightness of the crawler.

Description

Technical Field

[0001] This invention belongs to the field of 3D printing robot technology, and particularly relates to a 3D printing robot track device with an automatic tensioning mechanism. Background Technology

[0002] 3D-printed robots are primarily designed for prototyping, educational research and development, or small-scale tasks. Tracked designs are well-suited to the core requirements of these needs for several reasons: First, they enhance the ability to traverse complex terrain. 3D-printed robots are often used in educational demonstrations and environmental exploration, requiring them to navigate uneven surfaces such as tabletops, small steps, and crevices in the rocks. Compared to wheeled structures, tracks have a larger contact area with the ground, lower ground pressure, and are less likely to get stuck in soft materials or crevices. This allows for stable movement across undulating terrain, which is crucial for multi-scenario testing during the prototyping phase. Second, they enhance load and power stability. 3D-printed robots carry their own printer body, sensors, control boards, and other loads. Tracked drives better distribute the robot's weight, resulting in higher power transmission efficiency than small wheels and reducing the likelihood of slippage. Furthermore, tracks offer better stability at low speeds, meeting the stability requirements of tasks such as point detection and visual sampling, preventing vibrations from affecting the robot's functionality.

[0003] The existing track system uses manual screw static adjustment for track tension, which has the following problems: First, when the equipment is operating on the construction site, it often encounters bumpy roads and needs to cross obstacles. During this process, the tracks are prone to momentary slack, which can cause them to fall off the guide wheels and support wheels, directly causing the 3D printing operation to stop midway. The already printed wall will also be scrapped, resulting in unnecessary material and labor losses. Secondly, if the track tension is set too high during manual adjustment, the excessively tight track will significantly increase the operating load of the travel motor. This will not only increase the power consumption of the equipment, but also accelerate the wear of the tracks and bearings, causing premature tearing and failure of components, and shortening the service life of the equipment. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides: a 3D printed robot track device with an automatic tensioning mechanism, comprising: Chassis frame used to support 3D printing robots; Two first fixing plates are fixedly connected to the side walls of the chassis frame; Four symmetrically arranged drive wheels are rotatably connected to the first fixed plate and are arranged symmetrically on the left and right sides. Track bodies are sleeved on the drive wheels. The tensioning assembly is mounted on the first fixing plate and is used to tension the track body. A cleaning assembly is installed at the bottom of the chassis frame.

[0005] As a preferred embodiment of the present invention, the tensioning component includes: Four first fixing brackets are fixedly connected to the side wall of the first fixing plate; The first fixing frame is located inside the track body; The first fixed frame is rotatably connected to a swing arm via a bearing. The bottom of the swing arm is rotatably connected to two symmetrically arranged tension wheels, which are in contact with the inner surface of the track body.

[0006] As a preferred embodiment of the present invention, a plurality of first fixing posts are fixedly connected to the first fixing plate and are aligned with the first fixing frame, and a tensioning telescopic rod is fixedly connected to the first fixing post. A first connecting frame is fixedly connected to the side wall of the swing arm that is aligned with the tensioning telescopic rod, and the first connecting frame is rotatably connected to the extended end of the tensioning telescopic rod.

[0007] As a preferred embodiment of the present invention, a tensioning spring is fixedly connected between the fixed end of the tensioning telescopic rod and the first connecting frame, and a plurality of linear displacement sensors connected to the first connecting frame are installed on the first fixed plate.

[0008] In a preferred embodiment of the present invention, the first fixing plate is fixedly connected to a second fixing frame on one side of the tensioning wheel, and the second fixing frame is slidably connected to two first sliders arranged symmetrically at the top and bottom. A limit wheel is rotatably connected to the first slider; The sidewall of the limiting wheel is attached to the outer side of the track body, and a limiting spring is fixedly connected between the first slider and the second fixing frame.

[0009] As a preferred embodiment of the present invention, the cleaning assembly includes: Four slide rails are fixedly connected to the upper side of the chassis frame; The slide rail is provided with multiple threaded holes; A first support frame is slidably connected to the slide rail, and a water supply pipe is fixedly connected to the first support frame. Multiple nozzles facing the track body are connected to the water supply pipe.

[0010] As a preferred embodiment of the present invention, a water storage tank is installed at the bottom of the chassis frame; Pump bodies are installed on both sides of the water storage tank. The input end of the pump body is connected to the water storage tank, and the output end of the pump body is connected to a flexible hose. The other end of the flexible hose is connected to the water supply pipe.

[0011] As a preferred embodiment of the present invention, a first rotating shaft is rotatably connected to the water storage tank; A mixing frame is fixedly connected to the first rotating shaft, and a drive motor is installed at the bottom of the water storage tank. One end of the first rotating shaft is fixedly connected to the output end of the drive motor.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: In the field of 3D printing robot technology, the existing tracked devices use manual screw static adjustment for track tension, which has the following problems: First, when the equipment is operating on the construction site, it often encounters bumpy roads and needs to cross obstacles. During this process, the tracks are prone to momentary slack, which can cause them to fall off the guide wheels and support wheels, directly causing the 3D printing operation to stop midway. The already printed wall will also be scrapped, resulting in unnecessary material and labor losses. Secondly, if the track tension is set too high during manual adjustment, the excessively tight track will significantly increase the operating load on the travel motor. This will not only increase the equipment's power consumption but also accelerate the wear of the tracks and bearings, causing premature tearing and failure of components, thus shortening the equipment's service life. The tensioning and cleaning components solve the aforementioned problems, producing the following corresponding effects: This invention, through the design of the tensioning component, allows the track tension to be automatically adjusted when traveling on uneven surfaces, preventing derailment and deviation during track turning, buffering the impact of road bumps, reducing vibration of the 3D printing equipment above, reducing printhead wobbling, preventing misalignment and poor forming of the printed wall, adapting to track wear and thermal expansion deformation, eliminating the need for manual track tension adjustment, and enabling real-time monitoring of track status by linear displacement sensors to provide early warning of faults, limit lateral track displacement, improve track stability, reduce the load on the drive wheels, and reduce the probability of track tearing and damage.

[0013] This invention, through the addition of a cleaning component, can wash away mud, cement lumps, and sand and gravel adhering to the track surface in real time, preventing impurities from getting stuck inside the tensioning component, avoiding tensioning mechanism jamming and failure, preventing impurities from raising the track, and avoiding errors in track tension detection data. The water tank stirring structure can suspend mud and sand in the water, preventing pipe and nozzle blockage. The spray position can be freely adjusted to adapt to cleaning tracks with different wear sizes, reducing the workload of manually cleaning tracks and water tanks, timely cleaning of solidified track slurry, extending track service life, and ensuring track fit. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of a 3D printed robot track device with an automatic tensioning mechanism provided in an embodiment of the present invention; Figure 2This is a schematic diagram of the chassis frame structure of a 3D printed robot track device with an automatic tensioning mechanism provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a partial tensioning component structure of a 3D-printed robot track device with an automatic tensioning mechanism provided in an embodiment of the present invention; Figure 4 This is an exploded structural diagram of the cleaning component of a 3D-printed robot track device with an automatic tensioning mechanism provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a partial tensioning component structure of a 3D-printed robot track device with an automatic tensioning mechanism provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a partial tensioning component structure of a 3D-printed robot track device with an automatic tensioning mechanism provided in an embodiment of the present invention.

[0015] In the diagram: 1. Chassis frame; 2. First fixed plate; 3. Drive wheel; 4. Track body; 5. First fixed frame; 6. Swing arm; 7. Tensioning wheel; 8. First fixed column; 9. Tensioning telescopic rod; 10. First connecting frame; 11. Tensioning spring; 12. Linear displacement sensor; 13. Second fixed frame; 14. First slider; 15. Limiting wheel; 16. Limiting spring; 17. Slide rail; 18. Threaded hole; 19. First support frame; 20. Water supply pipe; 21. Nozzle; 22. Water storage tank; 23. Pump body; 24. Hose; 25. First rotating shaft; 26. Mixing frame; 27. Drive motor. Detailed Implementation

[0016] To further understand the invention's content, features, and effects, the following embodiments are provided, and detailed descriptions are given in conjunction with the accompanying drawings.

[0017] The structure of the present invention will now be described in detail with reference to the accompanying drawings.

[0018] Please see Figures 1 to 6 This invention provides a 3D printing robot track device with an automatic tensioning mechanism, comprising: a chassis frame 1 for supporting the 3D printing robot; two first fixing plates 2, which are fixedly connected to the side walls of the chassis frame 1; four symmetrically arranged drive wheels 3, which are rotatably connected to the first fixing plates 2 and are arranged symmetrically from left to right, and a track body 4 is sleeved on the drive wheels 3; a tensioning assembly, which is installed on the first fixing plates 2 and is used to tension the track body 4; and a cleaning assembly, which is installed at the bottom of the chassis frame 1.

[0019] Using the above solution: In use, the 3D robot is placed and installed on the chassis frame 1. When the 3D robot needs to move, the motor configured on the chassis frame 1 drives the drive wheel 3 to rotate, which in turn drives the track body 4 to rotate. During the rotation of the track body 4, it contacts the ground, enabling the device to move. When the track body 4 passes over uneven road surfaces, the tensioning component automatically adjusts the tension of the track body 4 by pressing down and moving up. At the same time, the tensioning component limits the track body 4. During the rotation of the track body 4, it will continuously pass through the working area of ​​the cleaning component, which washes the track body 4.

[0020] Furthermore, the tensioning assembly includes: four first fixing frames 5 fixedly connected to the side wall of the first fixing plate 2; the first fixing frames 5 are located inside the track body 4; the first fixing frames 5 are rotatably connected to a swing arm 6 via a bearing, and the bottom of the swing arm 6 is rotatably connected to two symmetrically arranged tensioning wheels 7, the tensioning wheels 7 being in contact with the inner surface of the track body 4.

[0021] Furthermore, a plurality of first fixing posts 8 are fixedly connected to the first fixing plate 2 and are aligned with the first fixing frame 5. Tensioning telescopic rods 9 are fixedly connected to the first fixing posts 8. A first connecting frame 10 is fixedly connected to the side wall of the swing arm 6 that is aligned with the tensioning telescopic rod 9. The first connecting frame 10 is rotatably connected to the extended end of the tensioning telescopic rod 9.

[0022] Furthermore, a tension spring 11 is fixedly connected between the fixed end of the tensioning telescopic rod 9 and the first connecting frame 10, and a plurality of linear displacement sensors 12 connected to the first connecting frame 10 are installed on the first fixing plate 2.

[0023] Furthermore, each of the first fixing plates 2 is fixedly connected to a second fixing frame 13 on one side of the tensioning wheel 7. Two first sliders 14 arranged symmetrically on the second fixing frame 13 are slidably connected. A limit wheel 15 is rotatably connected to the first slider 14. The side wall of the limit wheel 15 is attached to the outer side of the track body 4. A limit spring 16 is fixedly connected between the first slider 14 and the second fixing frame 13.

[0024] Using the above scheme: When the track body 4 passes over uneven road surfaces, the tension spring 11 and the tension telescopic rod 9 maintain pre-tension under normal conditions. Under the action of the first fixed frame 5 and the bearing, the swing arm 6 is pulled upward, which drives the tension wheel 7 to support the track body 4. When the track body 4 wears and stretches or expands due to thermal expansion, the tension spring 11 automatically extends to compensate for the stroke and maintain the standard tension of the track body 4. When the track body 4 rolls over uneven ground, the tension wheel 7 is pressed and drives the swing arm 6 to press down, compressing the tension spring 11. When the extended end of the tension telescopic rod 9 moves with the track body 4, the linear displacement sensor 12 on it collects the vertical displacement data of the first connecting frame 10 in real time. The limit spring 16 pushes the first slider 14 to slide on the first fixed frame 5, which drives the limit wheel 15 on the first slider 14 to always be in contact with the outer surface of the track body 4. The limit wheel 15 rotates with the track body 4.

[0025] The beneficial effects of the above solution are as follows: The tension spring 11 compensates for the travel to prevent the track body 4 from derailing and slipping. Compressing the tension spring 11 can buffer the impact of the road surface and reduce the vibration transmitted to the upper 3D printing mechanism, thus avoiding the vibration of the printing nozzle 21 and the misalignment of the printing layer. The data collected by the linear displacement sensor 12 can accurately determine the track tension and the road bump amplitude, realize track wear monitoring and bump linkage control. If the parameters exceed the threshold, an early warning can be triggered. The limit wheel 15 fits against the track body 4 to prevent the track body 4 from shifting. During the rotation, it will scrape off the cement blocks and mud and sand impurities attached to the outside of the track, preventing impurities from getting stuck in the hinge position of the tension wheel 7 and the swing arm 6, ensuring the flexible operation of the tensioning component. After the track body 4 wears and narrows, the limit spring 16 can automatically push the first slider 14 to compensate for the gap, always maintaining the limit fit effect.

[0026] Furthermore, the cleaning assembly includes: four slide rails 17 fixedly connected to the upper side of the chassis frame 1; the slide rails 17 are provided with a plurality of threaded holes 18; a first support frame 19 is slidably connected to the slide rails 17, a water supply pipe 20 is fixedly connected to the first support frame 19, and a plurality of nozzles 21 facing the track body 4 are connected to the water supply pipe 20.

[0027] Furthermore, a water storage tank 22 is installed at the bottom of the chassis frame 1; pump bodies 23 are installed on both sides of the water storage tank 22, the input end of the pump body 23 is connected to the water storage tank 22, the output end of the pump body 23 is connected to a hose 24, and the other end of the hose 24 is connected to the water supply pipe 20.

[0028] Furthermore, a first rotating shaft 25 is rotatably connected to the water storage tank 22; a mixing frame 26 is fixedly connected to the first rotating shaft 25; a drive motor 27 is installed at the bottom of the water storage tank 22; and one end of the first rotating shaft 25 is fixedly connected to the output end of the drive motor 27.

[0029] The above solution is used as follows: During use, the first support frame 19 is pushed by the staff to move on the slide rail 17. During the movement, the two water pipes 20 gradually approach the two track bodies 4, but a certain distance needs to be maintained between the nozzle 21 and the track body 4. Then, the bolts are screwed into the first support frame 19 and the corresponding threaded holes 18 to fix it in the current position. When it is necessary to wash the track body 4, the pump body 23 is used to transport the liquid in the water tank 22 to the hose 24. The liquid enters the delivery pipe through the hose 24 and is finally sprayed by the nozzle 21 toward the track body 4 to wash away the residual mud and concrete debris that were not cleaned by the limit wheel 15, and further clean the track.

[0030] It should be noted that cement descaling agent can be added to the water storage tank 22 to improve the efficiency of cleaning track agglomerates. After the addition is completed, the output end of the drive motor 27 drives the first rotating shaft 25 and the mixing frame 26 on it to rotate synchronously, thereby mixing the water and the agent, which facilitates the washing operation of the track body 4.

[0031] Working principle of the invention: The first support frame 19 is moved on the slide rail 17 by the staff. During the movement, the two water pipes 20 gradually approach the two track bodies 4, but a certain distance needs to be maintained between the nozzles 21 and the track bodies 4. Then, bolts are screwed into the first support frame 19 and the corresponding threaded holes 18 to fix it in the current position. The 3D robot is placed and installed on the chassis frame 1. When the 3D robot needs to move, the motor configured on the chassis frame 1 drives the drive wheel 3 to rotate, which in turn drives the track body 4 to rotate. During the rotation of the track body 4, it contacts the ground. When the track body 4 passes over uneven road surfaces, the tension spring 11 and the tension telescopic rod 9 maintain pre-tension tension under normal conditions. Under the action of the first fixed frame 5 and the bearing, the swing arm 6 is pulled upward, which drives the tension wheel 7 to support the track body 4. When the track body 4 wears and stretches or expands due to thermal expansion, the tension spring... 11 Automatic extension compensation stroke maintains the standard tension of track body 4. When track body 4 rolls over uneven ground, tension wheel 7 is pressed and drives swing arm 6 to press down, compressing tension spring 11. When the extended end of tension telescopic rod 9 moves with track body 4, linear displacement sensor 12 on it collects vertical displacement data of first connecting frame 10 in real time. Limit spring 16 pushes first slider 14 to slide on first fixed frame 5, causing limit wheel 15 on first slider 14 to always be in contact with the outer surface of track body 4. Limit wheel 15 rotates with track body 4. When track body 4 needs to be washed, the liquid in water tank 22 is delivered to hose 24 by pump body 23. It enters delivery pipe through hose 24 and finally sprays water towards track body 4 from nozzle 21 to wash away residual mud and concrete debris that limit wheel 15 has not cleaned, further cleaning the track.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A 3D-printed robot track device with an automatic tensioning mechanism, characterized in that, include: Chassis frame for supporting 3D printing robots (1); Two first fixing plates (2) are fixedly connected to the side walls of the chassis frame (1); Four symmetrically arranged drive wheels (3) are respectively rotatably connected to the first fixed plate (2) and are arranged symmetrically on the left and right. Track bodies (4) are sleeved on the drive wheels (3). The tensioning assembly is installed on the first fixing plate (2) and is used to tension the track body (4); A cleaning assembly is installed at the bottom of the chassis frame (1).

2. The 3D printing robot track device with an automatic tensioning mechanism as described in claim 1, characterized in that: The tensioning component includes: Four first fixing brackets (5) are fixedly connected to the side wall of the first fixing plate (2); The first fixing frame (5) is located inside the track body (4); The first fixed frame (5) is rotatably connected to a swing arm (6) via a bearing. The bottom of the swing arm (6) is rotatably connected to two symmetrically arranged tension wheels (7), which are attached to the inner surface of the track body (4).

3. The 3D printing robot track device with an automatic tensioning mechanism as described in claim 2, characterized in that: The first fixing plate (2) is fixedly connected with a plurality of first fixing columns (8) aligned with the first fixing frame (5), and the first fixing column (8) is fixedly connected with a tensioning telescopic rod (9). A first connecting frame (10) is fixedly connected to the side wall of the swing arm (6) that is aligned with the tension telescopic rod (9), and the first connecting frame (10) is rotatably connected to the extended end of the tension telescopic rod (9).

4. The 3D printing robot track device with an automatic tensioning mechanism as described in claim 3, characterized in that: A tension spring (11) is fixedly connected between the fixed end of the tensioning telescopic rod (9) and the first connecting frame (10), and a plurality of linear displacement sensors (12) connected to the first connecting frame (10) are installed on the first fixed plate (2).

5. A 3D-printed robot track device with an automatic tensioning mechanism as described in claim 2, characterized in that: The first fixing plate (2) is fixedly connected to a second fixing frame (13) on one side of the tensioning wheel (7), and two first sliders (14) are slidably connected on the second fixing frame (13). A limit wheel (15) is rotatably connected to the first slider (14); The sidewall of the limiting wheel (15) is attached to the outer side of the track body (4), and a limiting spring (16) is fixedly connected between the first slider (14) and the second fixing frame (13).

6. The 3D printed robot track device with an automatic tensioning mechanism as described in claim 1, characterized in that: The cleaning assembly includes: Four slide rails (17) are fixedly connected to the upper side of the chassis frame (1); The slide rail (17) has multiple threaded holes (18); A first support frame (19) is slidably connected to the slide rail (17), and a water supply pipe (20) is fixedly connected to the first support frame (19). A plurality of nozzles (21) facing the track body (4) are connected to the water supply pipe (20).

7. A 3D-printed robot track device with an automatic tensioning mechanism as described in claim 6, characterized in that: A water storage tank (22) is installed at the bottom of the chassis frame (1); Pump bodies (23) are installed on both sides of the water storage tank (22). The input end of the pump body (23) is connected to the water storage tank (22), and the output end of the pump body (23) is connected to a hose (24). The other end of the hose (24) is connected to the water supply pipe (20).

8. A 3D-printed robot track device with an automatic tensioning mechanism as described in claim 7, characterized in that: The water storage tank (22) is rotatably connected to a first rotating shaft (25); A mixing frame (26) is fixedly connected to the first rotating shaft (25), and a drive motor (27) is installed at the bottom of the water storage tank (22). One end of the first rotating shaft (25) is fixedly connected to the output end of the drive motor (27).

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