Track tensioning structure, track walking mechanism and self-moving device

Abstract

The utility model discloses a caterpillar belt tensioning structure, caterpillar walking mechanism and self -moving device relates to mobile equipment technical field, and caterpillar belt tensioning structure is applied to caterpillar walking mechanism, and caterpillar belt tensioning structure includes two pulley groups corresponding two mobile subassembly respectively, the drive element and two traction members of being located in the frame, and each pulley group includes at least one fixed pulley and at least one movable pulley respectively, and each movable pulley is movably connected with the frame, one end of each traction member is connected with the drive element, and the other end is fixed to the frame after passing each fixed pulley and each movable pulley of each pulley group, and the drive element is configured as when rotating, and the traction member is tightened or loosened, and the corresponding caterpillar belt is tensioned or loosened by pulling two driven wheels to move, and the scheme aims at providing a caterpillar belt tensioning structure that can realize the synchronous tensioning or loosening of bilateral caterpillar belt.

Description

Technical Field

[0001] This utility model relates to the field of mobile device technology, and in particular to a track tensioning structure, a track walking mechanism, and a self-moving device. Background Technology

[0002] Tracked locomotives are widely used in various self-moving devices such as lawnmowers, agricultural machinery, and engineering equipment due to their excellent ground adaptability and load-bearing capacity. The tension of the tracks directly affects the motion stability of the locomotive, the service life of the tracks, and the operating accuracy of the equipment—insufficient tension can easily lead to track derailment and reduced transmission efficiency, while excessive tension will accelerate the wear of the tracks and wheel system. Therefore, the track tensioning device is one of the core key components of tracked equipment.

[0003] In related technologies, tensioning solutions for dual-track walking mechanisms often adopt a "single-side independent control" mode. That is, each track walking mechanism on both sides of the equipment is equipped with an independent track tensioning device. The tension of the corresponding track is adjusted by its own tensioning components (such as screws, hydraulic cylinders, or springs). Although this solution can achieve separate tensioning of the tracks on both sides, the two independent tensioning devices require drive, adjustment, and locking components to be arranged on both sides of the track, which reduces the compactness of the equipment chassis layout. Especially for miniaturized self-mobile devices such as lawnmowers, the track areas on both sides often need to reserve installation space for functional modules such as wireless charging components and lawnmower components. The arrangement of independent tensioning devices is prone to spatial interference with other components, which limits the integrated design of the overall equipment structure. Utility Model Content

[0004] The main purpose of this utility model is to propose a track tensioning structure, a track walking mechanism, and a self-moving device, aiming to provide a track tensioning structure that can achieve synchronous tensioning or loosening of both track sides.

[0005] To achieve the above objectives, the present invention proposes a track tensioning structure applied to a tracked traveling mechanism. The tracked traveling mechanism includes a frame and two moving components. Each moving component includes a driving wheel, a driven wheel, and a track. The two driving wheels are respectively disposed on opposite sides of the frame, and the two driven wheels are respectively disposed on opposite sides of the frame. Each track drive is sleeved on one driving wheel and one driven wheel. The track tensioning structure includes: Two pulley groups corresponding to the two moving components are provided respectively. Each pulley group includes at least one fixed pulley and at least one movable pulley that are spaced apart. Each movable pulley is movably connected to the frame. The drive unit located on the frame; and Two traction members, one end of each traction member is connected to the drive member, and the other end is fixed to the frame after passing over each fixed pulley and each movable pulley of each pulley group; The drive element is configured to tighten or loosen the traction element when rotated to move the two driven wheels to tension or loosen the corresponding tracks.

[0006] In one embodiment, the system further includes two sliders and a connecting rod. The two sliders are movably disposed on opposite sides of the frame along the tensioning direction of the driven wheel. The two ends of the connecting rod are respectively connected to the two sliders. Each movable pulley is rotatably disposed on one of the sliders.

[0007] In one embodiment, the system further includes two sliding columns, and strip-shaped grooves are provided on opposite sides of the frame. Each sliding column is connected to a slider and slides through a strip-shaped groove to connect with a driven wheel.

[0008] In one embodiment, the system further includes two first fixed seats, which are respectively disposed on opposite sides of the frame along the tensioning direction perpendicular to the driven wheel, and each fixed pulley is rotatably disposed on one of the first fixed seats.

[0009] In one embodiment, each of the first fixing seats is provided with a fixing post, and the other end of each of the pulling members is connected to the corresponding fixing post.

[0010] In one embodiment, the device further includes a second fixed base and a locking assembly. The second fixed base is disposed on the frame. The locking assembly includes a winding post, a ratchet, a fixing block, and a pawl. The winding post and the ratchet are rotatably disposed on the second fixed base. One end of the winding post is connected to the output shaft of the drive member. The winding post has a wire-passing hole. One end of the two pulling members is connected, and the connection point passes through the wire-passing hole. The ratchet is connected to the end of the winding post away from the drive member. The fixing block is disposed on the second fixed base. The pawl is rotatably connected to the second fixed base and elastically connected to the fixing block. The pawl abuts against the ratchet.

[0011] In one embodiment, the locking assembly includes an elastic element, the pawl has an abutting end and a connecting end, the two ends of the elastic element are respectively connected to the connecting end and the fixing block, and the abutting end abuts against the ratchet.

[0012] In one embodiment, the abutting end of the pawl has two guide ramps, which are configured to abut the pawl when it is actuated to disengage from the ratchet, and when the drive member drives the ratchet to rotate forward, the pawl abuts against the ratchet.

[0013] This utility model also proposes a tracked walking mechanism, including: frame; Two moving components, each of the moving components including a driving wheel, a driven wheel and a track, the two driving wheels being disposed on opposite sides of the frame, the two driven wheels being disposed on opposite sides of the frame, and each track drive being sleeved on one driving wheel and one driven wheel; The track tensioning structure described in any of the above embodiments.

[0014] This utility model also proposes a self-moving device, comprising: In any of the above embodiments, the tracked walking mechanism has an installation space formed in the frame; The working device is located within the installation space.

[0015] In the technical solution of this utility model, when the track needs to be tensioned, the driving component winds the pulling component tightly, and the pulley system pulls the movable pulley away from the driving wheel. Since the movable pulley is connected to the driven wheel, the driven wheel also moves accordingly, thereby achieving track tensioning. At this time, the fixed pulley acts as a guide, ensuring that the pulling component can smoothly pass around the fixed pulley, allowing the movable pulley to move smoothly. When the track needs to be released, the driving component releases the pulling component, and the pulley system pulls the movable pulley towards the driving wheel. The driven wheel moves accordingly, thereby achieving track release. Similarly, the fixed pulley acts as a guide in this process, ensuring the smooth movement of the pulling component. Through the track tensioning structure of this embodiment, synchronous tensioning or release of both sides of the track is achieved, improving the motion stability of the track travel mechanism, track service life, and equipment operating accuracy. Meanwhile, this structure reduces the arrangement of independent tensioning devices, improves the compactness of the equipment chassis layout, and is especially suitable for miniaturized self-moving equipment, such as lawn mowing robots. It solves the problem of spatial interference between independent tensioning devices and other components, and improves the integrated design level of the overall equipment structure. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A schematic diagram of an embodiment of the track tensioning structure provided by this utility model; Figure 2 for Figure 1 Enlarged view of section A in the middle; Figure 3A schematic diagram of another embodiment of the track tensioning structure provided by this utility model; Figure 4 for Figure 3 A magnified view of section B in the middle.

[0018] Explanation of icon numbers: 100. Track tensioning structure; 1. Pulley block; 11. Fixed pulley; 12. Movable pulley; 2. Pulling component; 3. Driving component; 4. Sliding block; 5. Connecting rod; 6. Sliding column; 7. First fixed seat; 71. Fixed column; 8. Second fixed seat; 9. Locking assembly; 91. Winding column; 911. Wire passage hole; 92. Ratchet; 93. Fixed block; 94. Pawl; 95. Elastic component; 200, frame; 210, strip chute; 220, installation space; 300, moving component; 310, drive wheel; 320, driven wheel; 330, track.

[0019] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0021] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0023] This utility model proposes a track tensioning structure 100.

[0024] Please see Figure 1 and Figure 3 In one embodiment of this utility model, the track tensioning structure 100 is applied to a tracked traveling mechanism. The tracked traveling mechanism includes a frame 200 and two moving components 300. Each moving component 300 includes a drive wheel 310, a driven wheel 320, and a track 330. The two drive wheels 310 are respectively disposed on opposite sides of the frame 200, and the two driven wheels 320 are respectively disposed on opposite sides of the frame 200. Each track 330 is driven and sleeved on one drive wheel 310 and one driven wheel 320. The track tensioning structure 100 includes components corresponding to the two moving components 310 and 320 respectively. The frame 200 comprises two pulley groups 1, a drive member 3, and two tension members 2. Each pulley group 1 includes at least one fixed pulley 11 and at least one movable pulley 12 spaced apart, with each movable pulley 12 movably connected to the frame 200. One end of each tension member 2 is connected to the drive member 3, and the other end is fixed to the frame 200 after passing over each fixed pulley 11 and each movable pulley 12 of each pulley group 1. The drive member 3 is configured to tighten or loosen the tension members 2 when rotating, thereby pulling the two driven wheels 320 to move to tension or loosen the corresponding tracks 330.

[0025] In the technical solution of this utility model, when it is necessary to tension the track 330, the driving member 3 winds the pulling member 2, and pulls the movable pulley 12 away from the driving wheel 310 through the pulley block 1. Since the movable pulley 12 is connected to the driven wheel 320, the driven wheel 320 also moves accordingly, thereby achieving the tensioning of the track 330. At this time, the fixed pulley 11 plays a guiding role, ensuring that the pulling member 2 can smoothly pass around the fixed pulley 11, so that the movable pulley 12 can move smoothly. When it is necessary to release the track 330, the driving member 3 releases the pulling member 2, and pulls the movable pulley 12 towards the driving wheel 310 through the pulley block 1. The driven wheel 320 moves accordingly, thereby achieving the release of the track 330. Similarly, the fixed pulley 11 plays a guiding role in this process, ensuring the smooth movement of the pulling member 2. The track tensioning structure 100 in this embodiment enables synchronous tensioning or untensioning of both track 330s, improving the motion stability of the track walking mechanism, the service life of the track 330s, and the operational accuracy of the equipment. Simultaneously, this structure reduces the need for independent tensioning devices, increasing the compactness of the equipment chassis layout. It is particularly suitable for miniaturized self-moving equipment, such as lawnmower robots, solving the problem of spatial interference between independent tensioning devices and other components, and enhancing the integrated design level of the overall equipment structure.

[0026] Specifically, each pulley block 1 includes at least one fixed pulley 11 and at least one movable pulley 12. The fixed pulley 11 is mounted on the frame 200 via bearings, allowing it to rotate freely. Its position is precisely calculated to ensure that the pulling member 2 can smoothly pass over the fixed pulley 11, and during tensioning, the fixed pulley 11 can stably bear the tension of the pulling member 2 without displacement. The movable pulley 12 is mounted on the frame 200 via bearings, allowing it to rotate freely. The movable connection between the movable pulley 12 and the frame 200 is usually achieved through a slide rail, which is set along the length of the frame 200. The movable pulley 12 can slide on the slide rail, thereby driving the driven wheel 320 to move, realizing the tensioning or loosening of the track 330.

[0027] Each tensioning component 2 is connected to the drive component 3 at one end, and the other end is fixed to the frame 200 after passing over the fixed pulleys 11 and movable pulleys 12 of each pulley block 1. The tensioning component 2 is made of high-strength stainless steel, which has good tensile strength and corrosion resistance. It can be steel wire rope or high-strength fiber rope, and there are no restrictions on the type. One end of each tensioning component 2 can be fixed to the frame 200 by bolts or clips to ensure a firm connection. During the tensioning process, the length of the tensioning component 2 does not change, and the tension of the track 330 is adjusted by the movement of the movable pulleys 12.

[0028] The drive unit 3 is mounted on the frame 200 and located between the two moving components 300. One end of each pulling member 2 is connected to the drive unit 3. The drive unit 3 is configured to tighten or loosen the pulling member 2 when rotating, thereby pulling the two driven wheels 320 to move and tension or loosen the corresponding track 330. The drive unit 3 can be an electric motor, whose output shaft is fixedly connected to the pulling member 2. When the electric motor rotates forward, the output shaft rotates, pulling the movable pulley 12 away from the driving wheel 310 through the pulling member 2, thereby tensioning the track 330. When the electric motor rotates in reverse, the output shaft rotates in the opposite direction, pulling the movable pulley 12 towards the driving wheel 310 through the pulling member 2, thereby loosening the track 330.

[0029] Please see Figure 1 In one embodiment, the track tensioning structure 100 further includes two sliders 4 and a connecting rod 5. The two sliders 4 are movably disposed on opposite sides of the frame 200 along the tensioning direction of the driven wheel 320. The two ends of the connecting rod 5 are respectively connected to the two sliders 4. Each movable pulley 12 is rotatably disposed on one slider 4. The sliders 4 can be mounted on the frame 200 via slide rails, which are arranged along the tensioning direction of the driven wheel 320 to ensure that the sliders 4 can move smoothly. The connecting rod 5 is used to connect the two sliders 4 to ensure the synchronous movement of the two sliders 4, thereby realizing the synchronous tensioning or loosening of the tracks 330 on both sides. The connecting rod 5 can be made of high-strength metal materials, such as aluminum alloy or stainless steel, to ensure its strength and durability. When track 330 needs to be tensioned, drive member 3 drives output shaft to rotate forward, pulling pulley 12 away from drive wheel 310 via traction member 2. Since pulley 12 is connected to slider 4, slider 4 moves on slide rail, thereby driving driven wheel 320 to move, achieving track tensioning. At this time, fixed pulley 11 acts as a guide, ensuring that traction member 2 can smoothly pass around fixed pulley 11, allowing pulley 12 to move smoothly. When track 330 needs to be released, drive member 3 drives output shaft. In reverse, the pulling member 2 pulls the movable pulley 12 towards the drive wheel 310, and the slider 4 moves in the opposite direction on the slide rail. The driven wheel 320 moves accordingly, thereby releasing the track 330. Similarly, the fixed pulley 11 plays a guiding role in this process to ensure the smooth movement of the pulling member 2. The sliding connection between the slider 4 and the frame 200 can be achieved by setting a guide rail on the frame 200 that slides with the slider 4, or by setting a groove on the frame 200 that slides with the slider 4. There is no limitation on this.

[0030] Please see Figure 1In one embodiment, the track tensioning structure 100 further includes two sliding pillars 6. A strip-shaped groove 210 is provided on opposite sides of the frame 200. Each sliding pillar 6 is connected to a slider 4 and slides through the strip-shaped groove 210 to connect with a driven wheel 320. The sliding pillar 6, as a key component connecting the slider 4 and the driven wheel 320, ensures that the driven wheel 320 moves synchronously with the slider 4. Through its connection with the slider 4, the sliding pillar 6 converts the horizontal movement of the slider 4 into the movement of the driven wheel 320, thereby achieving the function of tensioning or loosening the track 330. The sliding pillar 6 slides within the strip-shaped groove 210, which acts as a guide, ensuring the accurate movement direction of the driven wheel 320. Simultaneously, the sliding pillar 6 provides stable support for the driven wheel 320, ensuring that the driven wheel 320 does not deviate or wobble during movement, thus improving the overall stability of the track tensioning structure 100. The movement of slider 4 is achieved by the drive component 3 pulling the pulley 12 through the traction component 2. The movement direction of slider 4 is consistent with the tensioning direction of driven wheel 320. The movement of slider 4 drives the sliding column 6 and driven wheel 320 to move, thereby tensioning or loosening track 330. Slider 4 is connected to driven wheel 320 through sliding column 6, transmitting the power of drive component 3 to driven wheel 320. The design of slider 4 and sliding column 6 ensures the synchronization of the two-sided walking mechanism, enabling both sides of track 330 to be tensioned or loosened simultaneously, improving the motion stability and working accuracy of track walking mechanism.

[0031] Please see Figure 1In one embodiment, the track tensioning structure 100 further includes two first fixed seats 7, which are respectively disposed on opposite sides of the frame 200 along the tensioning direction perpendicular to the driven wheel 320. Each fixed pulley 11 is rotatably disposed on one of the first fixed seats 7. The first fixed seats 7 provide a stable mounting base for the fixed pulley 11. The fixed pulley 11 is mounted on the first fixed seats 7 through bearings, ensuring that the fixed pulley 11 can maintain a fixed position during the tensioning and loosening of the track 330 without displacement or shaking. This stability is crucial for the reliable operation of the track tensioning structure 100. The position of the first fixed seats 7 is precisely calculated and designed to ensure that the fixed pulley 11 is located in the optimal guiding position. This allows the pulling member 2 to smoothly change direction when passing around the fixed pulley 11, reducing friction and wear, and improving the operating efficiency of the system. The fixed pulley 11 on the first fixed seat 7 plays a crucial guiding role in the tensioning and untensioning of the track 330. When the drive component 3 pulls the movable pulley 12 via the traction component 2, the fixed pulley 11 ensures that the traction component 2 can smoothly pass around it, preventing the traction component 2 from jamming or shifting during movement. The fixed pulley 11 is mounted on the first fixed seat 7 via bearings and can rotate freely, thereby reducing friction between the traction component 2 and the pulley. This low-friction design not only improves the operating efficiency of the system but also extends the service life of the traction component 2 and the pulley. The first fixed seat 7 is firmly mounted on the frame 200 by bolts or other fixing methods, enhancing the stability of the entire track tensioning structure 100. This stable installation method ensures that the entire structure can withstand greater tensile and elastic forces when tensioning and untensioning the track 330 without deformation or damage. The design of the first fixed seat 7 allows the fixed pulley 11 to be compactly installed on the frame 200, reducing the need for additional support structures and improving the compactness of the equipment chassis layout. This compact design is particularly suitable for miniaturized self-moving equipment, such as lawn mowing robots, and solves the problem of spatial interference between independent tensioning devices and other components, thereby improving the integrated design level of the overall equipment structure.

[0032] Please see Figure 1In one embodiment, each first fixed seat 7 is provided with a fixed post 71, and the other end of each pulling member 2 is connected to the corresponding fixed post 71. The fixed post 71 provides a firm connection point for the pulling member 2, ensuring that the pulling member 2 will not loosen or fall off during the tensioning and loosening of the track 330; the fixed post 71 is firmly installed on the frame 200 through the first fixed seat 7, and can withstand the tension generated by the pulling member 2 during the tensioning and loosening process. This firm connection method ensures the reliability of the entire track tensioning structure 100; by setting the fixed post 71 on the first fixed seat 7, the other end of each pulling member 2 is directly fixed to the fixed post 71, reducing the use of additional fixing components, simplifying the structural design, and reducing manufacturing costs; the design of the fixed post 71 makes the fixing of the pulling member 2 more compact, further improving the layout compactness of the equipment chassis, which is particularly suitable for miniaturized self-moving equipment, such as lawnmower robots, and improves the integrated design level of the overall equipment structure.

[0033] Please see Figure 2 and Figure 4In one embodiment, the track tensioning structure 100 further includes a second fixed seat 8 and a locking assembly 9. The second fixed seat 8 is disposed on the frame 200. The locking assembly 9 includes a winding post 91, a ratchet 92, a fixing block 93, and a pawl 94. The winding post 91 and the ratchet 92 are rotatably disposed on the second fixed seat 8. One end of the winding post 91 is connected to the output shaft of the drive member 3. The winding post 91 has a wire hole 911. One end of the two pulling members 2 is connected and the connection point passes through the wire hole 911. The ratchet 92 is connected to the end of the winding post 91 away from the drive member 3. The fixing block 93 is disposed on the second fixed seat 8. The pawl 94 is rotatably connected to the second fixed seat 8 and elastically connected to the fixing block 93. The pawl 94 abuts against the ratchet 92. The second fixed base 8 provides a stable mounting foundation for the winding post 91 and ratchet 92. By mounting the winding post 91 and ratchet 92 on the second fixed base 8, it is ensured that they can rotate smoothly during the tensioning and loosening of the track 330 without displacement or shaking. The design of the second fixed base 8 allows the winding post 91 and ratchet 92 to be compactly mounted on the frame 200, reducing additional support structures and improving the compactness of the equipment chassis layout. This compact design is particularly suitable for miniaturized self-moving equipment, such as lawnmower robots, and solves the problem of spatial interference between independent tensioning devices and other components, thereby improving the integrated design level of the overall equipment structure. The winding post 91 has a wire-passing hole 911. One end of the two pulling members 2 is connected, and the connection point passes through the wire-passing hole 911, that is, the two pulling members 2 are connected into one and pass through the wire-passing hole 911. One end of the winding post 91 is connected to the output shaft of the drive member 3, so that the rotation of the drive member 3 can be directly transmitted to the winding post 91, thereby driving the pulling member 2 to retract and extend. This ensures the correct position of the pulling member 2 on the winding post 91 and avoids the pulling member 2 from deviating or tangling during the retraction and extension process, thus improving the operating efficiency and reliability of the system. The pawl 94 is set so that the ratchet 92 can only rotate freely in one direction, while being locked in the other direction by the pawl 94, thereby realizing unidirectional transmission. This unidirectional transmission mechanism ensures that when the track 330 is tensioned, the pulling member 2 can be reliably tensioned, and when the pawl 94 is disengaged from the ratchet 92, the drive member 3 controls the ratchet 92 to reverse so that the pulling member 2 can be smoothly released, that is, the track 330 can be released. The ratchet 92 abuts against the pawl 94. When the pawl 94 engages with the teeth of the ratchet 92, it prevents the ratchet 92 from rotating in the opposite direction, thereby locking the position of the winding post 91 and ensuring that the pulling member 2 will not loosen when tensioned. This locking function improves the stability and reliability of the track tensioning structure 100, especially during equipment operation, effectively preventing the track 330 from loosening due to vibration or other external forces. The pawl 94 is rotatably connected to the second fixed seat 8 and elastically connected to the fixed block 93. This elastic connection design allows the pawl 94 to automatically engage or disengage from the ratchet 92 when needed, improving the ease of operation and reliability of the locking assembly 9.

[0034] During the tensioning process, when the drive unit 3 drives the output shaft to rotate forward, the winding post 91 is rotated through its connection with the output shaft, and the pulling member 2 is tightened. At this time, the ratchet 92 rotates forward with the winding post 91, and the pawl 94 engages with the teeth of the ratchet 92, preventing the ratchet 92 from rotating in the opposite direction, thereby locking the position of the winding post 91 and ensuring that the pulling member 2 will not loosen when tensioned. When the pawl 94 is disengaged from the ratchet 92 and the drive unit 3 drives the output shaft to rotate in the opposite direction, the winding post 91 rotates in the opposite direction, and the pulling member 2 is released. At this time, the pawl 94 is separated from the ratchet 92 by external force, and the ratchet 92 can rotate freely in the opposite direction, thereby releasing the pulling member 2 and realizing the loosening of the track 330. The second fixed seat 8 and the locking assembly 9 play a key supporting, mounting, and locking role in the track tensioning structure 100. The second fixed seat 8 provides a stable mounting base for the winding post 91 and the ratchet 92, ensuring their smooth rotation and compact layout. The locking assembly 9, through the coordinated action of the winding post 91, ratchet 92, fixing block 93, and pawl 94, achieves reliable retraction and locking of the pulling member 2, improving the stability and reliability of the track tensioning structure 100. This design is particularly suitable for miniaturized self-moving equipment, such as lawnmower robots, enhancing the integrated design level of the overall equipment structure.

[0035] Please see Figure 2In one embodiment, the locking assembly 9 includes an elastic element 95, and a pawl 94 having an abutting end and a connecting end. The two ends of the elastic element 95 are respectively connected to the connecting end and the fixing block 93, and the abutting end abuts against the ratchet 92. By providing an elastic element 95 in the locking assembly 9, and the pawl 94 having an abutting end and a connecting end, with the two ends of the elastic element 95 connected to the connecting end and the fixing block 93 respectively, and the abutting end abutting against the ratchet 92, this design utilizes the elastic properties of the elastic element 95 to provide a continuous and stable elastic force to the pawl 94, ensuring that the abutting end of the pawl 94 is always tightly abutting against the ratchet 92. Regardless of the vibration or external force interference experienced during equipment operation, the elastic element 95 can ensure a good contact state between the pawl 94 and the ratchet 92, thereby effectively preventing the ratchet 92 from rotating in the opposite direction, ensuring that the position of the winding post 91 is reliably locked, preventing the pulling member 2 from loosening in the tensioned state, and greatly improving the stability and reliability of the track tensioning structure 100. The connection between the elastic element 95, the pawl 94, and the fixing block 93 constitutes an elastic connection structure. This elastic connection design gives the pawl 94 a certain degree of flexibility. Under normal working conditions, the elastic force of the elastic element 95 automatically pushes the abutting end of the pawl 94 into the tooth groove of the ratchet 92, realizing automatic engagement between the pawl 94 and the ratchet 92 without the need for manual operation to ensure the locking function. When it is necessary to release the track 330, simply use external force to pry open the pawl 94, allowing the pawl 94 to overcome the elastic force of the elastic element 95 and separate from the ratchet 92. At this time, the ratchet 92 can rotate freely in the opposite direction, realizing the release of the pulling component 2. This automatic engagement and disengagement mechanism greatly improves the ease of operation of the locking component 9, reduces the complexity and workload of manual operation, and is especially suitable for scenarios where the tension of the track 330 needs to be frequently adjusted. The use of the elastic element 95 provides a buffering and adaptive mechanism for the locking assembly 9. During the interaction between the pawl 94 and the ratchet 92, a certain amount of impact force and wear will inevitably be generated. The elastic element 95 can absorb and disperse these impact forces, reduce the damage caused by direct rigid collision between the pawl 94 and the ratchet 92, and extend the service life of the pawl 94 and the ratchet 92. At the same time, the elastic performance of the elastic element 95 is relatively stable, and it can maintain a good working condition for a long time, ensuring that the locking assembly 9 can operate reliably under various working conditions, further enhancing the reliability and durability of the entire track tensioning structure 100.

[0036] Please see Figure 2In one embodiment, the abutting end of the pawl 94 has two guide ramps. These two ramps are configured to engage the pawl 94 when it disengages from the ratchet 92, and to engage with the ratchet 92 when the drive member 3 drives the ratchet 92 to rotate forward. In scenarios requiring disengagement of the pawl 94 from the ratchet 92, the two guide ramps work together to provide a clear guiding path for the operator. When manually operating or triggering disengagement via an external mechanism, only a relatively small and appropriately oriented force needs to be applied along the angle of the guide ramps to easily disengage the pawl 94, overcoming the elastic force of the elastic member 95 and disengaging it from the tooth groove of the ratchet 92. The presence of the guide ramps provides precise guidance, reducing repeated attempts due to inaccurate operation direction. The operator can accurately apply force along the contour of the guide ramps, ensuring that the pawl 94 can smoothly disengage from the ratchet 92, avoiding additional wear and damage to components such as the pawl 94 and ratchet 92 due to improper operation, and improving the success rate and efficiency of the operation. When the drive unit 3 drives the ratchet 92 to rotate forward, the two guide ramps guide the pawl 94 to smoothly slide into the tooth groove of the ratchet 92, achieving a smooth and reliable engagement. This guiding effect ensures that during the tensioning process of the track 330, the pawl 94 can engage with the ratchet 92 in a timely and accurate manner, preventing the ratchet 92 from rotating in the opposite direction, thereby locking the position of the winding post 91 and ensuring that the pulling member 2 is always in a tensioned state. During the engagement between the pawl 94 and the ratchet 92, the guide ramps play a buffering and transitioning role. They prevent the pawl 94 from abruptly hitting the tooth groove of the ratchet 92, but rather guides it to gradually enter, reducing the impact force between the two and reducing wear and noise caused by violent collisions. This not only extends the service life of the pawl 94 and the ratchet 92, but also improves the smoothness and comfort of the equipment operation. This is especially important for miniaturized self-moving equipment with high requirements for operating accuracy and noise control, such as lawnmower robots and sweeping robots.

[0037] This utility model also proposes a tracked walking mechanism, which includes a frame 200, two moving components 300, and a track tensioning structure 100 as described in any of the above embodiments. The specific structure of the track tensioning structure 100 is as described in the above embodiments. Since this tracked walking mechanism adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. Each moving component 300 includes a drive wheel 310, a driven wheel 320, and a track 330. The two drive wheels 310 are respectively disposed on opposite sides of the frame 200, and the two driven wheels 320 are respectively disposed on opposite sides of the frame 200. Each track 330 is driven and sleeved on one drive wheel 310 and one driven wheel 320. This tracked walking mechanism adopts the track tensioning structure 100 as described in any of the above embodiments, which enables the tracked walking mechanism to simultaneously achieve tensioning or loosening of the tracks 330 on both sides, improving the movement stability of the tracked walking mechanism, the service life of the tracks 330, and the operating accuracy of the equipment.

[0038] This utility model also proposes a self-moving device, including the tracked walking mechanism and working device described in the above embodiments. The frame 200 forms an installation space 220; the working device is disposed within the installation space 220. The working device can be a lawn mowing component or a snow removal component, and there are no restrictions on this. The tracked walking mechanism can quickly and stably deliver the working device to the work site to reach various areas that need maintenance. The working device can operate efficiently within the installation space 220 and quickly complete tasks such as mowing and snow removal.

[0039] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A track tensioning structure applied to a tracked traveling mechanism, the tracked traveling mechanism comprising a frame and two moving components, each moving component comprising a driving wheel, a driven wheel, and a track, the two driving wheels being disposed on opposite sides of the frame, the two driven wheels being disposed on opposite sides of the frame, and each track drive being sleeved on one driving wheel and one driven wheel, characterized in that, The track tensioning structure includes: Two pulley groups corresponding to the two moving components are provided respectively. Each pulley group includes at least one fixed pulley and at least one movable pulley that are spaced apart. Each movable pulley is movably connected to the frame. The drive unit located on the frame; and Two traction members, one end of each traction member is connected to the drive member, and the other end is fixed to the frame after passing over each fixed pulley and each movable pulley of each pulley group; The drive element is configured to tighten or loosen the traction element when rotated to move the two driven wheels to tension or loosen the corresponding tracks.

2. The track tensioning structure as described in claim 1, characterized in that, It also includes two sliders and a connecting rod. The two sliders are movable on opposite sides of the frame along the tensioning direction of the driven wheel. The two ends of the connecting rod are connected to the two sliders respectively. Each movable pulley is rotatably mounted on one of the sliders.

3. The track tensioning structure as described in claim 2, characterized in that, It also includes two sliding columns, and strip-shaped grooves are provided on opposite sides of the frame. Each sliding column is connected to a slider and slides through a strip-shaped groove to connect with a driven wheel.

4. The track tensioning structure as described in any one of claims 1 to 3, characterized in that, It also includes two first fixed seats, which are respectively disposed on opposite sides of the frame along the tensioning direction perpendicular to the driven wheel, and each fixed pulley is rotatably disposed on one of the first fixed seats.

5. The track tensioning structure as described in claim 4, characterized in that, Each of the first fixed seats is provided with a fixed post, and the other end of each of the pulling members is connected to the corresponding fixed post.

6. The track tensioning structure as described in any one of claims 1 to 3, characterized in that, It also includes a second fixed base and a locking assembly. The second fixed base is disposed on the frame. The locking assembly includes a winding post, a ratchet, a fixing block, and a pawl. The winding post and the ratchet are rotatably disposed on the second fixed base. One end of the winding post is connected to the output shaft of the drive member. The winding post has a wire-passing hole. One end of the two pulling members is connected and the connection point passes through the wire-passing hole. The ratchet is connected to the end of the winding post away from the drive member. The fixing block is disposed on the second fixed base. The pawl is rotatably connected to the second fixed base and elastically connected to the fixing block. The pawl abuts against the ratchet.

7. The track tensioning structure as described in claim 6, characterized in that, The locking assembly includes an elastic element, the pawl has an abutting end and a connecting end, the two ends of the elastic element are respectively connected to the connecting end and the fixing block, and the abutting end abuts against the ratchet.

8. The track tensioning structure as described in claim 7, characterized in that, The pawl has two guide ramps at its abutting end. The two guide ramps are configured to abut the pawl when it is moved to disengage from the ratchet, and to abut the pawl against the ratchet when the drive member drives the ratchet to rotate forward.

9. A tracked walking mechanism, characterized in that, include: frame; Two moving components, each of the moving components including a driving wheel, a driven wheel and a track, the two driving wheels being disposed on opposite sides of the frame, the two driven wheels being disposed on opposite sides of the frame, and each track drive being sleeved on one driving wheel and one driven wheel; The track tensioning structure as described in any one of claims 1 to 8.

10. A self-moving device, characterized in that, include: The tracked walking mechanism as described in claim 9, wherein the frame has an installation space; The working device is located within the installation space.

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