Self-tensioning track roller structure and crawling mechanism thereof
By designing a self-tensioning track roller structure in the track roller structure of the pipeline crawling robot, the problem of slipping of traditional track rollers is solved by using the cooperation of spring and mounting seats, and a more stable crawling performance and a simplified self-tensioning structure are achieved.
Patent Information
- Application Number
- CN202421775646.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-25
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-07-25
AI Technical Summary
The tracked roller structure of traditional pipe crawling robots is easy to slip, and the existing self-tensioning structure is complex and inapplicable.
A self-tensioning track roller structure is designed. By installing rollers, tracks and mounting seats on the brackets, and applying elastic force by using springs to move the passive rollers and mounting seats together to tension the tracks.
The self-tensioning of the tracked roller is realized, the stability and crawling performance of the crawling robot in the pipeline is improved, and the design of the self-tensioning structure is simplified.
Smart Images
Figure CN222921673U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a pipeline crawling robot, in particular to a self - tensioning crawler wheel structure and its crawling mechanism. Background Art
[0002] For the crawling mechanism of traditional pipeline crawling robots, the crawler wheel structure used is prone to slipping during use, and the existing self - tensioning structures are relatively complex and not applicable. Content of the Utility Model
[0003] The utility model provides a self - tensioning crawler wheel structure and its crawling mechanism, aiming to realize the self - tensioning of the crawler wheel.
[0004] The technical solution of the utility model:
[0005] A self - tensioning crawler wheel structure, the crawler wheel structure includes a bracket, two rollers, and a crawler. One roller is installed at the front end of the bracket, and the other roller is installed at the rear end of the bracket. The crawler bypasses and is tensioned on the two rollers, and the bracket is located inside the crawler; among the two rollers, at least one roller is a passive roller; the passive roller is installed on a mounting seat, the mounting seat is installed at the front end and / or the rear end of the bracket, and a spring applies an elastic force to the mounting seat, and the mounting seat moves together with the passive roller away from the front end and / or the rear end of the bracket to tension the crawler.
[0006] The mounting seat is connected to the front end and / or the rear end of the bracket through a plurality of guide posts. The front end and the rear end of the bracket are grooved. The spring is installed at the rear end of the bracket, one end of which abuts against the mounting seat. The spring applies an elastic force to the mounting seat, and the mounting seat moves forward and / or backward together with the passive roller away from the front end and / or the rear end of the bracket to tension the crawler.
[0007] The mounting seat is hinged to the front end and / or the rear end of the bracket. The spring is installed at the front end and / or the rear end of the bracket, one end of which abuts against the mounting seat. The spring applies an elastic force to the mounting seat, and the mounting seat swings upward and / or downward together with the passive roller away from the front end and / or the rear end of the bracket to tension the crawler.
[0008] The hinge axis of the mounting seat hinged to the front end and / or the rear end of the bracket is set above or below the center.
[0009] When the mounting seat swings upward together with the passive roller, away from the front end and / or the rear end of the bracket, and tensions the crawler, a row of support rollers is installed on the lower end surface of the bracket, and the support rollers support the inner peripheral surface of the crawler;
[0010] When the mounting seat swings downward together with the passive roller, away from the front end and / or the rear end of the bracket, and tensions the crawler belt, a row of support rollers is mounted on the upper end surface of the bracket, and the support rollers support the inner peripheral surface of the crawler belt.
[0011] When the mounting seat swings upward or downward together with the passive roller, the passive roller will generate a vertical displacement, causing a certain vertical offset of the crawler belt, and the crawler belt may touch the bracket. The design of a row of support rollers effectively prevents the crawler belt from touching the bracket.
[0012] A crawling mechanism, the crawling mechanism has at least three crawler belt roller structures, and the crawler belt roller structures are evenly distributed on the periphery of the crawling mechanism and can be opened or contracted; the crawler belt roller structure is the above self-tensioning crawler belt roller structure.
[0013] For the case of "the mounting seat is hinged to the front end and / or the rear end of the bracket, and under the action of the spring, the mounting seat swings downward together with the passive roller, away from the front end and / or the rear end of the bracket, and tensions the crawler belt", when the crawling mechanism is in use, the self-tensioning crawler belt roller structures open and abut against the inner wall of the pipeline. Under the reaction force exerted by the inner wall of the pipeline on the self-tensioning crawler belt roller structures, the passive rollers of the self-tensioning crawler belt roller structures are forced to swing (downward) to achieve tensioning of the crawler belt. Description of the Drawings
[0014] Figure 1 is a perspective view of a crawling mechanism.
[0015] Figure 2 is a perspective view of a self-tensioning crawler belt roller structure of a crawling mechanism.
[0016] Figure 3 is a sectional view of a self-tensioning crawler belt roller structure of a crawling mechanism.
[0017] Figure 4 is a perspective view of another crawling mechanism.
[0018] Figure 5 is a perspective view of a self-tensioning crawler belt roller structure of another crawling mechanism.
[0019] Figure 6 is a sectional view of a self-tensioning crawler belt roller structure of another crawling mechanism.
[0020] In the figure
[0021] A crawling mechanism: self-tensioning crawler belt roller structure 1, bracket 1-1, front roller 1-2, rear roller 1-3, crawler belt 1-4, mounting seat 1-5, guide post 1-6, spring 1-7;
[0022] Another Crawling Mechanism: Self-tensioning Crawler Roller Structure 2, Bracket 2-1, Front Roller 2-2, Rear Roller 2-3, Crawler 2-4, Mounting Base 2-5, Spring 2-6, Hinge Shaft 2-7, Support Roller 2-8. Detailed Implementation Manner Embodiment
[0023] As Figures 1-3 shown, a crawling mechanism, the crawling mechanism has three self-tensioning crawler roller structures 1, and each self-tensioning crawler roller structure 1 is evenly distributed on the periphery of the crawling mechanism, and can open or contract;
[0024] The self-tensioning crawler roller structure includes a bracket 1-1, a front roller 1-2, a rear roller 1-3, and a crawler 1-4. The front roller 1-2 is installed at the front end of the bracket 1-1, the rear roller 1-3 is installed at the rear end of the bracket 1-1, the crawler 1-4 bypasses and is tensioned on the front roller 1-2 and the rear roller 1-3, and the bracket 1-1 is located inside the crawler 1-4; the front roller 1-2 is a driving roller, and the rear roller 1-3 is a driven roller; the driven roller is installed on a mounting base 1-5, the mounting base 1-5 is installed at the rear end of the bracket 1-1, and it is connected to the rear end of the bracket 1-1 through four guide posts 1-6. The spring 1-7 is installed at the rear end of the bracket 1-1, one end of which abuts against the mounting base 1-5. The spring 1-7 applies an elastic force to the mounting base 1-5, and the mounting base 1-5 drives the driven roller to move backward together, away from the rear end of the bracket 1-1, so as to tension the crawler 1-4. Embodiment
[0025] As Figures 4-6 shown, another crawling mechanism, the crawling mechanism has three self-tensioning crawler roller structures 2, and each self-tensioning crawler roller structure 2 is evenly distributed on the periphery of the crawling mechanism, and can open or contract;
[0026] The self-tensioning crawler roller structure includes a bracket 2-1, a front roller 2-2, a rear roller 2-3, and a crawler 2-4. The front roller 2-2 is installed at the front end of the bracket 2-1, the rear roller 2-3 is installed at the rear end of the bracket 2-1, the crawler 2-4 bypasses and is tensioned on the front roller 2-2 and the rear roller 2-3, and the bracket 2-1 is located inside the crawler 2-4; the front roller 2-2 is a driving roller, and the rear roller 2-3 is a driven roller; the driven roller is installed on a mounting base 2-5,
[0027] The mounting base 2-5 is hinged to the rear end of the bracket 2-1. The spring 2-6 is installed at the rear end of the bracket 2-1, one end of which abuts against the mounting base 2-5. The spring 2-6 applies an elastic force to the mounting base 2-5, and the mounting base 2-5 drives the driven roller to swing downward (inward) together, away from the rear end of the bracket 2-1, so as to tension the crawler 2-4;
[0028] The hinge axis 2-7 where the mounting base 2-5 is hinged to the rear end of the bracket 2-1 is arranged lower (towards the inner side).
[0029] A row of support rollers 2-8 are installed on the upper end surface (outer end surface) of the bracket 2-1, and the support rollers 2-8 support the inner peripheral surface of the crawler 2-4.
[0030] The above is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, should be covered within the protection scope of the present invention.
Claims
1. A self-tensioning crawler roller structure, the crawler roller structure comprising a bracket, two rollers, and a crawler, one roller being mounted on the front end of the bracket, and the other roller being mounted on the rear end of the bracket, the crawler passing over and tensioned on the two rollers, the bracket being located inside the crawler; at least one of the two rollers is a passive roller; characterized in that: The passive roller is mounted on a mounting seat, and the mounting seat is mounted on the front end and / or rear end of the bracket. A spring applies elastic force to the mounting seat, and the mounting seat moves with the passive roller away from the front end and / or rear end of the bracket to tension the track.
2. The self-tensioning track roller structure according to claim 1, characterized in that: The mounting seat is connected to the front end and / or rear end of the bracket through a plurality of guide columns. The front end and / or rear end of the bracket are slotted. The spring is installed at the rear end of the bracket, with one end of the spring resting on the mounting seat. The spring applies elastic force to the mounting seat, and the mounting seat moves forward and / or backward with the passive roller, away from the front end and / or rear end of the bracket, thereby tensioning the track.
3. The self-tensioning track roller structure according to claim 1, characterized in that: The mounting seat is hinged to the front end and / or rear end of the bracket, the spring is installed at the front end and / or rear end of the bracket, one end of the spring rests on the mounting seat, the spring applies elastic force to the mounting seat, the mounting seat swings upward and / or downward with the passive roller, away from the front end and / or rear end of the bracket, and the track is tensioned.
4. The self-tensioning track roller structure according to claim 3, characterized in that: The hinge axis through which the mounting seat is hinged to the front end and / or rear end of the bracket is arranged upward or downward.
5. The self-tensioning track roller structure according to claim 3, characterized in that: When the mounting seat swings upward with the passive roller, away from the front end and / or rear end of the bracket, and the crawler track is tensioned, a row of supporting rollers is installed on the upper end surface of the bracket, and the supporting rollers are supported on the inner circumference of the crawler track; When the mounting seat swings downward with the passive roller, away from the front end and / or rear end of the bracket, and the track is tensioned, a row of supporting rollers are installed on the lower end surface of the bracket, and the supporting rollers are supported on the inner circumference of the track.
6. A crawling mechanism, the crawling mechanism having at least three track roller structures, each track roller structure is evenly distributed around the crawling mechanism and can be opened or retracted; characterized in that: The track roller structure is a self-tensioning track roller structure as described in any one of claims 1-5.