CN211893448U - Tensioning mechanism and crawler-type wall climbing robot - Google Patents

Abstract

The utility model relates to a robot manufacturing technical field especially relates to a straining device and crawler-type wall climbing robot. This straining device is including the installation shell, carrier assembly, the unidirectional coupling subassembly, supporting component and reset assembly, carrier assembly sets up in the installation shell, carrier assembly is connected through the unidirectional coupling subassembly with the installation shell, the unidirectional coupling subassembly is used for restricting the relative installation shell of carrier assembly and rotates towards single predetermined direction, supporting component rotates with the installation shell to be connected, carrier assembly is connected with supporting component through reset assembly, after carrier assembly drives the relative installation shell of carrier assembly and rotates preset angle towards predetermined direction, reset assembly enables the driving belt after the supporting component has the trend of resetting with the tensioning pine, make things convenient for operating personnel to operate, time saving and labor saving. The utility model provides a wall robot is climbed to crawler-type through using as above straining device, can simplify the regulation of drive belt tensioning degree, make things convenient for operating personnel to operate labour saving and time saving.

Description

Tensioning mechanism and crawler-type wall climbing robot

Technical Field

The utility model relates to a robot manufacturing technical field especially relates to a straining device and crawler-type wall climbing robot.

Background

Along with the development of robot technique and welding technique, in the metal structure welding field, when carrying out welding operation to steel storage tank, spherical tank, pipeline cambered surface equipment, adopt crawling welding robot to weld usually. The crawling welding robot can be roughly divided into the following three types according to the difference of the driving structure: wheeled, legged, and tracked. Compared with a wheel type wall climbing robot, the crawler type wall climbing robot has stronger adaptability to complicated terrains such as sand, stone, mud and the like, large supporting area, difficult slipping and good cross-country performance; compared with a leg type wall climbing robot, the crawler type wall climbing robot has the advantages of simple movement structure and lower control difficulty, so that the crawler type wall climbing robot has wide application in some special road condition environments.

The crawler-type wall-climbing robot generally comprises a vehicle body and crawler mechanisms arranged on two sides of the vehicle body, wherein the crawler mechanisms can drive the vehicle body to move. Crawler unit includes support, action wheel, follows driving wheel and annular drive belt usually, and the drive belt cladding is in the periphery of action wheel and follow driving wheel, and the drive belt is by the action wheel and follow the common tensioning of driving wheel, and action wheel and follow driving wheel rotate and set up on the support, and leg joint is on the automobile body. When the driving wheel rotates, the driving wheel drives the driven wheel and the transmission belt to rotate, and therefore the effect that the crawler belt mechanism drives the vehicle body to move is achieved.

The phenomenon that the transmission belt is loosened can appear in the long-time work of the crawler-type mechanism, so the crawler-type wall-climbing robot is generally provided with the tensioning mechanism, the tensioning mechanism is used for achieving the effect of always tensioning the transmission belt, and the crawler-type mechanism is guaranteed to well drive the vehicle body to move. Traditional straining device includes supporting component and reset assembly, and the supporting component rotates and sets up on the support, and reset assembly can be spring or torsional spring, and reset assembly's one end is connected with supporting component, and reset assembly's the other end is connected with the support, and reset assembly makes supporting component reset in order to realize supporting component to the tensioning effect of transmission belt.

But along with crawler's long-time use, the drive belt can take place the pine phenomenon, and certain rotation can take place for the automobile body for supporting component, and the power that resets that the subassembly provided to supporting component can diminish, leads to supporting component can't carry out better supporting effect to the drive belt after becoming the pine, and the drive belt phenomenon of skidding can appear at the in-process of motion. The operator need take off rear adjustment mounted position with straining device from the automobile body and install again, and the straining device who installs again can realize the better tensioning effect to the drive belt, and the regulation of drive belt tensioning degree is loaded down with trivial details, and inconvenient operating personnel operates, wastes time and energy.

Based on the above, a tensioning mechanism and a crawler-type wall-climbing robot are needed to be invented, so as to solve the problems that the tensioning degree of a transmission belt is complex to adjust, the operation of an operator is inconvenient, and time and labor are wasted.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a straining device can simplify the regulation of drive belt tensioning degree, makes things convenient for operating personnel to operate labour saving and time saving.

Another object of the utility model is to provide a crawler-type wall climbing robot, through using above-mentioned straining device, can simplify the regulation of drive belt tensioning degree, make things convenient for operating personnel to operate labour saving and time saving.

To achieve the purpose, the utility model adopts the following technical proposal:

a tensioning mechanism for tensioning a drive belt, comprising:

mounting a shell;

a bearing assembly disposed within the mounting housing;

the bearing component is connected with the mounting shell through the unidirectional coupling component, and the unidirectional coupling component is configured to limit the bearing component to rotate towards a single preset direction relative to the mounting shell;

the supporting component is rotatably connected with the mounting shell; and

the reset assembly is connected with the supporting assembly through the reset assembly, and when the supporting assembly drives the supporting assembly to rotate relative to the mounting shell towards the preset direction by a preset angle, the reset assembly enables the supporting assembly to reset so as to tension the transmission belt.

Preferably, the reset assembly is a torsion spring, one end of the torsion spring is connected with the supporting assembly, and the other end of the torsion spring is connected with the bearing assembly.

Preferably, the mounting case includes:

the bearing assembly, the one-way coupling assembly and the reset assembly are all arranged in the mounting sleeve.

Preferably, the torsion spring is connected with the bearing component through a first connecting component, and the first connecting component includes:

one end of the torsion spring is connected with the first connecting plate, and a first socket is formed in the first connecting plate; and

the first plug block is arranged on the bearing component and is plugged in the first socket.

Preferably, the first connecting plate is provided with a first mounting groove, and one end of the torsion spring is inserted into the first mounting groove.

Preferably, the torsion spring is connected with the supporting component through a second connecting component, and the second connecting component includes:

the other end of the torsion spring is connected with the second connecting plate, and a second socket is formed in the second connecting plate; and

and the second plug block is arranged on the support component and is plugged in the second socket.

Preferably, a second mounting groove is formed in the second connecting plate, and the other end of the torsion spring is mounted in the second mounting groove.

Preferably, the torsion spring is compressed by the support component and the mounting shell together along the axial direction of the torsion spring.

Preferably, the unidirectional coupling assembly includes:

the first one-way gear is arranged on the bearing component; and

and the second one-way gear is arranged on the mounting shell, and the first one-way gear is coupled with the second one-way gear.

A crawler-type wall-climbing robot comprising a tensioning mechanism as described above.

The utility model has the advantages that:

the tensioning mechanism provided by the utility model comprises an installation shell, a bearing component, a one-way coupling component, a supporting component and a resetting component, wherein the bearing component is arranged in the installation shell, the bearing component is connected with the installation shell through the one-way coupling component, the one-way coupling component is used for limiting the bearing component to rotate towards a single preset direction relative to the installation shell, the supporting component is rotatably connected with the installation shell, the bearing component is connected with the supporting component through the resetting component, after the supporting component drives the bearing component to rotate towards the preset direction relative to the installation shell for a preset angle, the resetting component and the supporting component integrally rotate clockwise for the preset angle relative to the installation shell, under the condition that the self deformation of the resetting component is not changed, the projection of the supporting component in the vertical direction is enlarged, the supporting component can support a transmission belt, and the resetting component can provide enough resetting, so as to realize the tensioning of the driving belt after the supporting component loosens and avoid the phenomenon of slipping of the driving belt in the moving process. The operator need not to install again behind the straining device follow support dismantlement, can simplify the regulation of drive belt tensioning degree, makes things convenient for operating personnel to operate labour saving and time saving.

The utility model provides a wall robot is climbed to crawler-type through using as above straining device, can simplify the regulation of drive belt tensioning degree, make things convenient for operating personnel to operate labour saving and time saving.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a first schematic structural diagram of a wall-climbing robot according to an embodiment of the present invention;

fig. 2 is a first schematic structural diagram of a tensioning mechanism according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram ii of a tensioning mechanism according to an embodiment of the present invention;

fig. 4 is a cross-sectional view of a tensioning mechanism provided by an embodiment of the present invention;

fig. 5 is an exploded view of a tensioning mechanism provided by an embodiment of the present invention;

fig. 6 is a schematic structural diagram ii of a wall-climbing robot according to an embodiment of the present invention;

fig. 7 is an exploded view of a tensioning mechanism according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a first connection assembly provided in an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a first connecting plate according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a load bearing assembly according to an embodiment of the present invention;

fig. 11 is a schematic structural view of a second connecting assembly disposed on a supporting assembly according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a second connecting plate according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a support assembly provided in an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a mounting housing according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of the first one-way gear and the second one-way gear in the first engagement state according to the embodiment of the present invention;

fig. 16 is a schematic mechanism diagram of the first one-way gear and the second one-way gear provided in the embodiment of the present invention when they rotate relatively;

fig. 17 is a schematic structural diagram of the first one-way gear and the second one-way gear in the second engagement state according to the embodiment of the present invention.

The figures are labeled as follows:

100-a tensioning mechanism; 200-a crawler mechanism;

1-mounting a housing; 2-a carrier assembly; 3-a unidirectional coupling component; 4-a reset component; 5-a support assembly; 6-a first connection assembly; 7-a second connection assembly; 8-a rotating shaft; 9-an axial limiting component;

11-mounting the sleeve; 12-mounting flange; 31-a first one-way gear; 32-a second one-way gear; 51-a support bar; 52-a wheel; 61-a first connection plate; 62-a first insert; 71-a second connecting plate; 72-a second insert;

311-a first bevel; 312 — a first vertical face; 321-a second bevel; 322-a second vertical face; 611-a first socket; 612-a first mounting groove; 711-a second socket; 712-a second mounting groove;

201-driving wheel; 202-driven wheel; 203-a transmission belt; 204-support.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1, the crawler type wall-climbing robot provided by the present embodiment includes a vehicle body (not shown), a crawler mechanism 200, and a tensioning mechanism 100, wherein the crawler mechanism 200 is disposed on the vehicle body to drive the vehicle body to move forward or backward. Specifically, the crawler 200 includes a driving wheel 201, a driven wheel 202, an annular transmission belt 203 and a bracket 204, the bracket 204 is disposed on the vehicle body, the driving wheel 201 and the driven wheel 202 are rotatably disposed on the bracket 204, the transmission belt 203 is disposed around the driving wheel 201 and the driven wheel 202, the transmission belt 203 is jointly tensioned by the driving wheel 201 and the driven wheel 202, when the driving wheel 201 rotates, the driving wheel 201 can drive the driven wheel 202 and the transmission belt 203 to rotate, and therefore the effect that the crawler 200 drives the vehicle body to move is achieved.

The conventional tensioning mechanism 100 only comprises a supporting component 5 and a resetting component 4, the supporting component 5 is rotatably arranged on a support 204, the resetting component 4 can be a spring or a torsion spring, the supporting component 5 is connected with the support 204 through the resetting component 4, and the resetting component 4 can reset the supporting component 5 so that the supporting component 5 is abutted against a transmission belt 203, so that the tensioning effect of the transmission belt 203 is realized. But along with crawler 200's long-time use, the phenomenon of becoming loose can take place for drive belt 203, and certain rotation takes place for support component 5 relatively support 204, and reset component 4 self deformation diminishes, and reset component 4 can diminish to the power of restoring to the throne that support component 5 provided, leads to support component 5 can't carry out better supporting effect to the drive belt 203 after becoming loose, and the phenomenon of skidding can appear at the in-process of motion in drive belt 203. After the operator needs to take off the tensioning mechanism 100 from the bracket 204, the tensioning mechanism 100 is reinstalled after adjusting the installation position of the tensioning mechanism 100, and the reinstalled tensioning mechanism 100 can achieve a good tensioning effect on the transmission belt 203, but this results in a complex adjustment of the tensioning degree of the transmission belt 203, which is inconvenient for the operator to operate and time-consuming and labor-consuming.

In order to solve the above problem, as shown in fig. 2 to 5, the tensioning mechanism of this embodiment includes a mounting housing 1, a bearing component 2, a unidirectional coupling component 3, a supporting component 5 and a reset component 4, the bearing component 2 is disposed in the mounting housing 1, the bearing component 2 is connected to the mounting housing 1 through the unidirectional coupling component 3, the unidirectional coupling component 3 is used to limit the bearing component 2 to rotate towards a single preset direction relative to the mounting housing 1, the supporting component 5 is rotatably connected to the mounting housing 1, the bearing component 2 is connected to the supporting component 5 through the reset component 4, when the supporting component 5 drives the bearing component 2 to rotate towards a preset angle in a clockwise direction (preset direction) shown in fig. 6 relative to the mounting housing 1, the reset component 4 and the supporting component 5 rotate clockwise by the preset angle relative to the mounting housing 1 as a whole, and under the condition that the deformation of the reset component 4 is not changed, the projection of the supporting component 5 in the vertical direction in fig. 6 is larger than that of the supporting component 5 in fig. 1, the supporting component 5 can abut against the transmission belt 203, and the resetting component 4 can provide sufficient resetting force for the supporting component 5 to tension the loosened transmission belt 203, so that the phenomenon that the transmission belt 203 slips in the moving process is avoided. An operator does not need to detach the tensioning mechanism 100 from the support 204 and then install the tensioning mechanism, so that the adjustment of the tensioning degree of the transmission belt 203 can be simplified, the operation of an operator is facilitated, and the time and the labor are saved. It should be noted that the tensioning mechanism 100 disclosed in the present embodiment is not only suitable for use in a crawler-type wall-climbing robot, but also applicable to other devices with a transmission belt, for example, the tensioning mechanism can also be used for tensioning a transmission belt in a belt transmission device, where the transmission belt may be an endless belt or an endless chain, and the type of the transmission belt is not particularly limited in the present application.

Specifically, the reset component 4 of the present embodiment is a torsion spring, as shown in fig. 4, one end of the torsion spring is connected to the supporting component 5, and the other end of the torsion spring is connected to the carrying component 2. As shown in fig. 6, an operator first installs the tensioning mechanism 100 on the bracket 204, and then the operator pulls the supporting component 5 counterclockwise, the bearing component 2 and the installation shell 1 do not rotate due to the action of the one-way coupling component 3, and the torsion spring is stretched and deformed to be thicker so as to elastically deform and store elastic potential energy; then, the operator sleeves the transmission belt 203 on the peripheries of the driving wheel 201 and the driven wheel 202, the operator releases the supporting component 5, and the supporting component 5 rotates clockwise under the action of the elastic potential energy of the torsion spring. When the supporting component 5 abuts against the transmission belt 203, the supporting component 5 is balanced under the combined action of the torsion spring and the transmission belt 203, and the supporting component 5 can realize tensioning support for the transmission belt 203. When the transmission belt 203 is loosened, an operator firstly rotates the support component 5 clockwise, the torsion spring is changed from a thickening state to a natural state, the torsion spring is compressed and deformed to be thinned so as to generate elastic deformation and store elastic potential energy until the torsion spring can not continuously deform, the operator continuously rotates the support component 5 clockwise, and the support component 5 can drive the bearing component 2 and the torsion spring to rotate a certain angle clockwise relative to the installation shell 1; the operator rotates the supporting component 5 anticlockwise again and releases the supporting component 5 after the extreme position, the supporting component 5 rotates clockwise under the elastic recovery of the torsion spring, when the self state of the torsion spring is recovered to the state as shown in fig. 6, because the supporting component 5 and the torsion spring integrally rotate clockwise by an angle, the projection of the supporting component 5 in the vertical direction in fig. 6 is longer than the projection of the supporting component 5 in the vertical direction in fig. 1, and the elastic deformation of the torsion spring is larger, so the supporting component 5 can realize the better tensioning effect on the transmission belt 203, and the slipping phenomenon of the transmission belt 203 is avoided. In addition, the reset assembly 4 of the present embodiment selects a torsion spring, which can improve the installation efficiency of the tensioning mechanism 100, and the torsion spring is a standard component, which is convenient to obtain and easy to replace. In other embodiments, a torsion spring may be replaced with a spring, and the effect of the tensioning mechanism 100 can also be achieved.

In addition, if the tensioning mechanism 100 is used for a long time, the torsion spring will be aged, that is, when the same deformation occurs, the restoring force provided by the torsion spring after a period of use is smaller than that provided by the torsion spring when the torsion spring is used just, so that the support assembly 5 cannot support the transmission belt 203 well after the torsion spring is used for a period of time. An operator firstly rotates the supporting component 5 clockwise, the torsion spring is changed into a natural state from a thickening state, and then the torsion spring is changed into a thinning elastic deformation state until the torsion spring can not continuously deform; the operator continues to rotate the supporting component 5 clockwise, the supporting component 5 can drive the bearing component 2 and the torsion spring to rotate clockwise for a certain angle relative to the mounting shell 1, after the operator rotates the supporting component 5 anticlockwise to the limit position, the operator releases the supporting component 5, and the supporting component 5 rotates clockwise under the action of elastic potential energy of the torsion spring. When the self state of torsional spring resumes to the state as when figure 1, because supporting component 5 and the whole clockwise rotation of torsional spring an angle, so the elastic deformation of torsional spring self is big than the elastic deformation when just adorning to can effectively improve the elastic potential energy of torsional spring, realize supporting component 5 to the better tensioning effect of drive belt 203, avoid drive belt 203 to take place the problem of skidding.

To facilitate understanding of the structure of the supporting member 5, as shown in fig. 3, the supporting member 5 includes a supporting rod 51 and a rotating wheel 52 rotatably disposed at a free end of the supporting rod 51, and the rotating wheel 52 may be selected differently according to different types of the matched driving belts 203. When the transmission belt 203 is a belt, the pulley 52 may be provided as a pulley; when the belt 203 is a chain, the pulley 52 may be configured as a chain pulley.

As shown in fig. 3, the mounting shell 1 includes a mounting sleeve 11 and a mounting flange 12, the mounting sleeve 11 is disposed on one side of the mounting flange 12, and the mounting flange 12 is planar, so that the mounting with the bracket 204 can be quickly and easily performed. As shown in fig. 4, the bearing assembly 2, the unidirectional coupling assembly 3 and the reset assembly 4 are all disposed in the mounting sleeve 11, and the mounting sleeve 11 can limit the circumferential positions of the bearing assembly 2 and the reset assembly 4, so as to prevent the bearing assembly 2 and the reset assembly 4 from being separated from the mounting shell 1. In addition, with carrier assembly 2, unidirectional coupling subassembly 3 and reset assembly 4 setting in installation sleeve 11, installation sleeve 11 can play the better dustproof effect to carrier assembly 2, unidirectional coupling subassembly 3 and reset assembly 4.

In addition, as shown in fig. 4, in order to avoid the torsion spring from deflecting during deformation, the tensioning mechanism 100 further includes a rotating shaft 8, and the rotating shaft 8 sequentially passes through the supporting component 5, the mounting sleeve 11, the torsion spring, the bearing component 2, the unidirectional coupling component 3 and the mounting flange 12. In order to limit the relative positions of the parts of the tensioning mechanism 100 in the axial direction, two ends of the rotating shaft 8 are respectively provided with an axial limiting component 9, one axial limiting component 9 is located on the outer side of the supporting component 5, the other axial limiting component 9 is located on the outer side of the mounting flange 12, and the axial limiting components 9 can be snap springs, nuts and the like.

As shown in fig. 4, 5 and 7, in order to connect the torsion spring with the bearing component 2, the torsion spring is connected with the bearing component 2 through the first connecting component 6. In order to avoid the relative movement between the bearing component 2 and the first connecting component 6 along the circumferential direction, as shown in fig. 8 to 10, the first connecting component 6 includes a first connecting plate 61 and a first insert 62, one end of the torsion spring is connected to the first connecting plate 61, a first socket 611 is formed on the first connecting plate 61, the first insert 62 is disposed on the bearing component 2, and the first insert 62 is inserted into the first socket 611, so that the installation efficiency of the first connecting component 6 and the bearing component 2 can be effectively improved.

In order to facilitate quick installation of the torsion spring and the first connection plate 61 and improve the installation efficiency of the tensioning mechanism 100, as shown in fig. 8 and 9, a first installation groove 612 is formed in the first connection plate 61, and one end of the torsion spring is inserted into the first installation groove 612. In order to prevent the portion of the torsion spring inserted in the first mounting groove 612 from being separated from the first mounting groove 612, the depth of the first mounting groove 612 is greater than the diameter of the wire of the torsion spring 4. As shown in fig. 8, the first insert block 62 is fan-shaped, and the angle of the fan shape is 50 ° to 70 °, on the one hand, damage to the first insert block 62 due to long-time contact between the first connecting plate 61 and the first insert block 62 can be avoided; on the other hand, the first mounting groove 612 provided in the first connection plate 61 can be made to occupy a longer circumferential length in the circumferential direction, so that the contact length of the torsion spring with the first connection plate 61 can be increased, and the torsion spring can be further prevented from being disengaged from the first connection plate 61.

As shown in fig. 11 to 13, in order to connect the torsion spring to the support member 5, the torsion spring is connected to the support member 5 through the second connecting member 7. In order to avoid the relative rotation between the second connecting assembly 7 and the supporting assembly 5, the second connecting assembly 7 includes a second connecting plate 71 and a second insert 72, the other end of the torsion spring is connected with the second connecting plate 71, a second socket 711 is formed on the second connecting plate 71, the second insert 72 is arranged on the supporting assembly 5, and the second insert 72 is inserted into the second socket 711, so that the installation efficiency of the second connecting assembly 7 and the supporting assembly 5 can be effectively improved.

As shown in fig. 11 and 12, in order to facilitate quick installation of the torsion spring and the second connecting plate 71 and improve the installation efficiency of the tensioning mechanism 100, a second installation groove 712 is formed in the second connecting plate 71, and the other end of the torsion spring is installed in the second installation groove 712. In order to prevent the portion of the torsion spring inserted in the second mounting groove 712 from being disengaged from the second mounting groove 712, the depth of the second mounting groove 712 is greater than the diameter of the wire of the torsion spring 4. As shown in fig. 13, the second insert block 72 is fan-shaped, and the angle of the fan shape is 50 ° to 70 °, on the one hand, it is possible to prevent the second insert block 72 from being damaged due to the long-time contact between the second connecting plate 71 and the second insert block 72; on the other hand, the second mounting groove 712 provided in the second connecting plate 71 can be made to occupy a longer circumferential length in the circumferential direction, so that the contact length of the torsion spring with the second connecting plate 71 can be increased, and the torsion spring can be further prevented from being detached from the second connecting plate 71.

Because the position that this straining device 100 set up can change, have the condition that first connecting plate 61 and second connecting plate 71 arranged along vertical direction, receive the action of gravity of first connecting plate 61 and second connecting plate 71, the phenomenon that first connecting plate 61 and carrier assembly 2 take place to loosen along vertical direction or second connecting plate 71 and supporting component 5 take place to loosen along vertical direction appears, straining device 100 can't realize self effect. In order to solve the above problem, as shown in fig. 4, the torsion spring is compressed by the supporting component 5 and the mounting shell 1 together along the axial direction of the torsion spring, and the torsion spring compressed along the axial direction presses the first connecting plate 61 and the second connecting plate 71 towards both sides thereof, so as to tightly press the first connecting plate 61 on the bearing component 2 and tightly press the second connecting plate 71 on the supporting component 5.

In order to achieve the effect that the one-way coupling assembly 3 is used for limiting the rotation of the bearing assembly 2 relative to the mounting shell 1 in a single preset direction, as shown in fig. 8 and 14, the one-way coupling assembly 3 comprises a first one-way gear 31 and a second one-way gear 32, the first one-way gear 31 is arranged on the bearing assembly 2, the second one-way gear 32 is arranged on the mounting shell 1, and the first one-way gear 31 is coupled with the second one-way gear 32.

For the convenience of understanding the specific structure of the first one-way gear 31 and the second one-way gear 32 and the relative movement relationship between the two, the description will be made with reference to fig. 15 to 17.

As shown in fig. 15, when the carrier assembly 2 is not subjected to a circumferential force, the first one-way teeth on the first one-way gear 31 are inserted into the second one-way teeth on the second one-way gear 31. As shown in fig. 16, the first one-way gear includes a first inclined surface 311 and a first vertical surface 312, the second one-way gear includes a second inclined surface 321 and a second vertical surface 322, the first inclined surface 311 and the second inclined surface 321 have the same inclination, when the first one-way gear 31 is driven by the driving force in the a direction in fig. 16, the first inclined surface 311 slides to the upper left along the second inclined surface 321, and when the first one-way gear slides to the left by the pitch of the second one-way gear, as shown in fig. 17, the first one-way gear falls in the tooth groove on the left second one-way gear 32 adjacent thereto, and the rotation of the first one-way gear 31 with respect to the second one-way gear 32 is completed. The first one-way gear 31 can perform the relative movement only by moving in the direction B in fig. 17 with respect to the second one-way gear 32, and if the first one-way gear 31 receives a force to rotate in the opposite direction to the direction B with respect to the second one-way gear 32, since the first vertical surface 312 and the second vertical surface 322 are in contact, the first one-way gear 31 cannot rotate in the opposite direction to the direction B with respect to the second one-way gear 32. The present embodiment achieves the effect that the carrier assembly 2 can only rotate in the direction of the recess 201 relative to the mounting case 1 by the first one-way gear 31 and the second one-way gear 32 as described above.

In addition, during the rotation of the first one-way gear 31 and the second one-way gear 32, due to the cooperation of the first inclined surface 311 and the second inclined surface 321, the first one-way gear 31 and the second one-way gear 32 can move in the vertical direction, and the carrier assembly 2 and the mounting shell 1 can be separated from each other during the movement. In order to solve the above problem, as shown in fig. 4, after the tensioning mechanism 100 is installed, the torsion spring is compressed by the supporting component 5 and the installation shell 1 together along the axis direction of the torsion spring, the torsion spring can compress the bearing component 2 and the installation shell 1 along the axis direction of the torsion spring, and the torsion spring, the bearing component 2 and the installation shell 1 cooperate with each other to effectively prevent the bearing component 2 from loosening from the installation shell 1 when rotating relative to the installation shell 1, so as to ensure the normal operation of the crawler-type wall-climbing robot.

It is noted that the basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration only, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims (10)

1. A tensioning mechanism for tensioning a drive belt, comprising:

a mounting case (1);

a carrier assembly (2) disposed within the mounting housing (1);

the bearing component (2) is connected with the mounting shell (1) through the unidirectional coupling component (3), and the unidirectional coupling component (3) is configured to limit the bearing component (2) to rotate towards a single preset direction relative to the mounting shell (1);

the supporting component (5) is rotatably connected with the mounting shell (1); and

the resetting component (4), the bearing component (2) is connected with the supporting component (5) through the resetting component (4), when the supporting component (5) drives the bearing component (2) to rotate for a preset angle relative to the mounting shell (1) towards the preset direction, the resetting component (4) enables the supporting component (5) to reset so as to tension the transmission belt.

2. The tensioning mechanism according to claim 1, characterized in that the return assembly (4) is a torsion spring, one end of which is connected with the support assembly (5) and the other end of which is connected with the carrying assembly (2).

3. Tensioning mechanism according to claim 2, characterized in that the mounting housing (1) comprises:

the mounting sleeve (11), the bearing component (2), the one-way coupling component (3) and the resetting component (4) are all arranged in the mounting sleeve (11).

4. A tensioning mechanism according to claim 3, characterized in that the torsion spring is connected with the load-bearing assembly (2) by a first connecting assembly (6), the first connecting assembly (6) comprising:

the first connecting plate (61), one end of the torsion spring is connected with the first connecting plate (61), and a first socket (611) is formed in the first connecting plate (61); and

a first plug-in block (62) arranged on the bearing component (2), wherein the first plug-in block (62) is plugged in the first socket (611).

5. The tensioning mechanism according to claim 4, characterized in that the first connecting plate (61) is provided with a first mounting groove (612), and one end of the torsion spring is inserted into the first mounting groove (612).

6. A tensioning mechanism according to claim 3, characterized in that the torsion spring is connected with the supporting assembly (5) by a second connecting assembly (7), the second connecting assembly (7) comprising:

the other end of the torsion spring is connected with the second connecting plate (71), and a second socket (711) is formed in the second connecting plate (71); and

a second plug-in block (72) arranged on the support component (5), the second plug-in block (72) being plugged in the second socket (711).

7. The tensioning mechanism according to claim 6, characterized in that the second connecting plate (71) is provided with a second mounting groove (712), and the other end of the torsion spring is mounted in the second mounting groove (712).

8. The tensioning mechanism according to claim 5 or 7, characterized in that the torsion spring is compressed by the support assembly (5) together with the mounting housing (1) in the direction of its axis.

9. Tensioning mechanism according to claim 1, characterized in that the unidirectional coupling assembly (3) comprises:

a first one-way gear (31) arranged on the carrier assembly (2); and

a second one-way gear (32) provided on the mounting case (1), the first one-way gear (31) being coupled with the second one-way gear (32).

10. A tracked wall-climbing robot, characterized in that it comprises a tensioning mechanism (100) according to any one of claims 1 to 9.

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