Tensioning mechanism, belt transmission mechanism and robot

Abstract

The invention discloses a tensioning mechanism, a belt transmission mechanism and a robot, and relates to the technical field of belt transmission. The tensioning mechanism is used for tensioning a synchronous belt arranged on the periphery of the driving belt wheel and the periphery of the driven belt wheel in a sleeving mode, the driving belt wheel is connected to the output end of the motor, the motor is installed on the linkage piece, and the tensioning mechanism comprises a supporting assembly, a tensioning piece, a control assembly and a reset piece. Wherein the tensioning piece is movably arranged on the supporting assembly in the first direction, and the tensioning piece is used for being connected with the linkage piece; the control assembly is movably arranged on the supporting assembly in the second direction, and the control assembly abuts against the tensioning part to drive the tensioning part to move in the first direction so as to push the linkage part to move in the first direction; a non-zero included angle is formed between the first direction and the second direction; the first end of the reset piece is installed on the supporting assembly, and the second end of the reset piece is installed on the tensioning piece and used for driving the tensioning piece to reset. According to the tensioning mechanism, tensioning of the synchronous belt can be achieved, and the installation space needed by the synchronous belt transmission system using the tensioning mechanism is small.

Description

Technical Field

[0001] The present invention relates to the technical field of belt transmission, and more specifically, to a tensioning mechanism. In addition, the present invention also relates to a belt transmission mechanism including the tensioning mechanism, and a robot including the belt transmission mechanism. Background Art

[0002] The synchronous belt transmission method has been widely used in the joint transmission of industrial robots. However, the tension of the synchronous belt often decreases after being used for a period of time, so a tensioning mechanism is usually required to adjust it to tighten the synchronous belt.

[0003] There are three common tensioning devices for synchronous belt transmission systems: a periodic tensioning device, an automatic tensioning device structure, and a tensioning wheel. However, no matter which of the above methods is adopted, the space occupied and the space required for activities are relatively large, and are not suitable for some small industrial robots.

[0004] In summary, how to reduce the space required for the operation of a synchronous belt transmission system is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a tensioning mechanism, which can realize the tensioning of a synchronous belt and a synchronous belt transmission system using the tensioning mechanism requires a smaller installation space.

[0006] Another object of the present invention is to provide a belt transmission mechanism including the above-mentioned tensioning mechanism, and a robot including the above-mentioned belt transmission mechanism.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A tensioning mechanism, used for tensioning a synchronous belt sleeved on the outer periphery of a driving pulley and a driven pulley, wherein the driving pulley is connected to the output end of a motor, and the motor is installed on a linkage member, comprising:

[0009] Support components;

[0010] A tensioning member, movably disposed on the supporting assembly along a first direction, the tensioning member being used to be connected to the linkage member;

[0011] A manipulation component is movably disposed on the support component along the second direction, and the manipulation component abuts against the tensioning member to drive the tensioning member to move along the first direction, so as to push the linkage member to move along the first direction; a non-zero angle is formed between the first direction and the second direction;

[0012] A reset member, a first end of which is mounted on the support assembly and a second end of which is mounted on the tension member, is used to drive the tension member to reset.

[0013] In some possible embodiments, the support assembly has an accommodating cavity inside, the operating assembly has an operating end and a first transmission end, and the tensioning member has a second transmission end and a linkage end;

[0014] The first transmission end and the second transmission end are in transmission cooperation and are both located in the accommodating cavity;

[0015] The linkage end is used to push the linkage member, and the operating end is used for an operator to adjust the position of the operating assembly, and both the linkage end and the operating end extend through the peripheral wall of the support assembly to the outside of the support assembly.

[0016] In some possible embodiments, the angle between the first direction and the second direction is 90 degrees, and the accommodating cavity is a rectangular cavity.

[0017] In some possible embodiments, the end faces of the first transmission end and the second transmission end that are in transmission cooperation are both wedge-shaped faces and are in abutment with each other.

[0018] In some possible embodiments, the operating assembly includes a pushing member and an action member;

[0019] The pushing member is threadedly connected to the supporting assembly, one end of the pushing member is the operating end, and the other end is used to abut against the action member;

[0020] One end of the action member away from the pushing member is the first transmission end, and the end surface of the first transmission end is the wedge surface.

[0021] In some possible embodiments, the tensioning member includes a supporting portion, a connecting portion, and two wedge-shaped portions;

[0022] The wedge-shaped portion and the connecting portion are both located at the top of the supporting portion and connected to the supporting portion, and the two wedge-shaped portions are arranged at both ends of the supporting portion at intervals, the connecting portion is located between the two wedge-shaped portions, and the connecting portion is connected to the wedge-shaped portions located at both ends thereof;

[0023] The end of the wedge-shaped portion close to the operating assembly is the second transmission end, the end surface of the second transmission end is the wedge-shaped surface, the wedge-shaped surfaces of the two wedge-shaped portions are both in contact with the wedge-shaped surface of the actuating member, and the end of the tensioning member away from the operating assembly and located outside the supporting assembly is the linkage end;

[0024] The supporting portion, the connecting portion and the two wedge-shaped portions are arranged to form a travel groove, and during the movement of the tensioning member along the first direction, the supporting assembly allows the tensioning member to pass through a side wall on one side and be inserted into the travel groove to achieve a preset travel of the tensioning member along the first direction.

[0025] In some possible embodiments, the support assembly includes a base and a top cover, and the top cover is disposed at an opening of the base;

[0026] The base comprises a bottom plate portion, a first side plate portion, a first end plate portion, and a second end plate portion, wherein the first side plate portion, the first end plate portion, and the second end plate portion are vertically arranged on the top of the bottom plate portion, and the first end plate portion, the second end plate portion, and the first side plate portion are arranged to form a U-shaped structure;

[0027] The top cover has a top plate portion and a second side plate portion, the top plate portion is mounted on the U-shaped structure, and the top plate portion is opposite to the bottom plate portion, and the second side plate portion is opposite to the first side plate portion;

[0028] The reset member is inserted into the travel groove, and the first end of the reset member is mounted on the second side plate portion, and the second end is connected to the connecting portion;

[0029] The top plate portion has a threaded hole for threaded connection with the pusher;

[0030] There are gaps between the second side plate portion and the first end plate portion, between the second side plate portion and the second end plate portion, and between the second side plate portion and the bottom plate portion for the linkage end of the tensioning member to pass through.

[0031] In some possible embodiments, the reset member is a spring, the second side plate portion has a mounting through hole, a plug is inserted into the mounting through hole, and the first end of the reset member is inserted into the mounting through hole and abuts against the plug.

[0032] A belt transmission mechanism comprises a linkage member and a motor, and also comprises the tensioning mechanism described in any one of the above items, wherein the motor is arranged on the linkage member, and the tensioning member is connected to the linkage member to drive the linkage member to move along the first direction.

[0033] A robot comprises the above-mentioned belt transmission mechanism.

[0034] The tensioning mechanism provided by the present invention comprises a support component for installing and supporting a tensioning member and an operating component, and the tensioning member can move in a first direction through a slide groove or a linear slide rail on the support component. Similarly, the operating component can move in a second direction through a slide groove or a linear slide rail on the support component, and the tensioning member contacts the end portion close to the operating component, so that the movement of the operating component in the second direction can drive the tensioning member to move in the first direction. In order to ensure that the tensioning member moving in the first direction can be reset so as to continuously cooperate with the operating component, a reset member is arranged on the support component, one end of the reset member is arranged on the support component, and the other end is arranged on the tensioning member. The tensioning member can be reset by the action of the expansion or contraction or attraction of the reset member.

[0035] When in use, the linkage part is movably arranged at a preset position of the robot along a first direction, and the tensioning mechanism is installed at a preset position of the robot located on the side of the linkage part through a supporting assembly. The operating assembly is adjusted to drive the tensioning member to move along the first direction to directly push the linkage part to move along the first direction. The motor arranged on the linkage part will move along with it in the first direction, thereby driving the driving pulley to move along the first direction, so that the synchronous belt wrapped around the circumference of the driving pulley is tensioned. Since there is usually a large space on the side of the motor and the linkage part, the tensioning mechanism is installed on the side of the motor and the linkage part to achieve the tensioning of the synchronous belt. There is no need to set components such as the tensioning wheel commonly used for tensioning the synchronous belt, which effectively reduces the installation space required for the synchronous belt transmission system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0037] Figure 1 A schematic structural diagram of a tensioning mechanism according to a specific embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a first state of a tensioning mechanism according to a specific embodiment of the present invention;

[0039] Figure 3 A schematic diagram of a second state of the tensioning mechanism of a specific embodiment provided by the present invention;

[0040] Figure 4 A schematic diagram of the use of a belt transmission mechanism according to a specific embodiment of the present invention;

[0041] Figure 5It is another use schematic diagram of the belt transmission mechanism provided in the specific embodiment of the present invention;

[0042] Figure 6 Another structural schematic diagram of the tensioning mechanism of a specific embodiment provided by the present invention;

[0043] Figure 7 This is another structural schematic diagram of the tensioning mechanism of the specific embodiment provided by the present invention.

[0044] Reference numerals:

[0045] 1-support assembly; 11-top cover; 111-top plate; 112-second side plate; 12-base; 121-bottom plate; 122-first side plate; 123-first end plate; 124-second end plate;

[0046] 2-tensioning member; 21-supporting portion; 22-connecting portion; 23-wedge-shaped portion; 24-travel groove; 25-tensioning portion;

[0047] 3-operating component; 311-pushing member; 312-acting member;

[0048] 4-Reset piece;

[0049] 5- plug;

[0050] 6-motor; 7-driving pulley; 8-synchronous belt; 9-linkage;

[0051] X-first direction; Y-second direction. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] The core of the present invention is to provide a tensioning mechanism, which can realize the tensioning of the synchronous belt, and the synchronous belt transmission system using the tensioning mechanism requires a small installation space. Another core of the present invention is to provide a belt transmission mechanism including the tensioning mechanism and a robot including the belt transmission mechanism.

[0054] It should be noted that, generally, Figure 4 and Figure 5As shown, the motor 6 will be installed on the linkage member 9, and the linkage member 9 can be a plate-like structure or any other type of seat structure. The driving pulley 7 is fixed at the output end of the motor 6, so that the driving pulley 7 can rotate under the drive of the motor 6, and the rotating shaft of the driven pulley is parallel to the rotating shaft of the driving pulley 7. The synchronous belt 8 passes around the outer circumference of the driving pulley 7 and the driven pulley, and the rotation of the driving pulley 7 can drive the synchronous belt to move.

[0055] In order to tension the synchronous belt 8, the present invention provides a tensioning mechanism, which includes a support assembly 1, a tensioning member 2, an operating assembly 3 and a reset member 4. The tensioning member 2 is movably arranged on the support assembly 1 along a first direction, and the tensioning member 2 is used to connect with the linkage member 9; the operating assembly 3 is movably arranged on the support assembly 1 along a second direction, and the operating assembly 3 abuts against the tensioning member 2 to drive the tensioning member 2 to move along the first direction, so as to push the linkage member 9 to move along the first direction; there is a non-zero angle between the first direction and the second direction; the reset member 4 has a first end mounted on the support assembly 1 and a second end mounted on the tensioning member 2, and is used to drive the tensioning member 2 to reset.

[0056] It should be noted that if Figures 1 to 7 As shown, the first direction refers to the X direction, and the second direction refers to the Y direction.

[0057] like Figures 1 to 3 As shown, the support assembly 1 is used to install and support the tension member 2 and the operating assembly 3, and the tension member 2 can move along the X direction through the slide groove or linear slide rail on the support assembly 1. Similarly, the operating assembly 3 can move along the Y direction through the slide groove or linear slide rail on the support assembly 1, and the left end of the tension member 2 contacts the lower end of the operating assembly 3, so that the movement of the operating assembly 3 along the Y direction can drive the tension member 2 to move along the X direction.

[0058] In order to ensure that the tensioning member 2 moving along the X direction can be reset to continuously cooperate with the operating assembly 3, a reset member 4 is arranged on the support assembly 1, one end of the reset member 4 is arranged on the support assembly 1, and the other end is arranged on the tensioning member 2. The reset member 4 can be a spring or positive and negative magnetic poles.

[0059] When using, Figure 4As shown, the linkage member 9 is movably arranged at a preset position of the robot along the X direction, and the tensioning mechanism is installed at a preset position of the robot located on the side of the linkage member 9 through the support component 1. The operating component 3 is adjusted to drive the tensioning member 2 to move right along the X direction to directly push the linkage member 9 to move right along the X direction. Then, the motor 6 arranged on the linkage member 9 will move right along with it along the X direction, thereby driving the driving pulley 7 to move right along the X direction, so that the synchronous belt 8 wound around the circumference of the driving pulley 7 is tensioned. Since the side of the motor 6 and the linkage member 9 usually has a large space, the tensioning mechanism is installed on the side of the motor 6 and the linkage member 9 to realize the tensioning of the synchronous belt 8. Therefore, it is not necessary to set components such as a tensioning wheel commonly used for tensioning the synchronous belt 8, thereby effectively reducing the installation space required for the synchronous belt 8 transmission system.

[0060] On the basis of the above-mentioned embodiment, the interior of the support component 1 has a accommodating cavity, the operating component 3 has an operating end and a first transmission end, and the tensioning member 2 has a second transmission end and a linkage end; the first transmission end and the second transmission end are in transmission cooperation and are both located in the accommodating cavity; the linkage end is used to push the linkage member 9, and the operating end is used for the operator to adjust the position of the operating component 3, and both the linkage end and the operating end extend through the peripheral wall of the support component 1 to the outside of the support component 1.

[0061] like Figures 1 to 3 As shown, an accommodating cavity is opened inside the support component 1, that is, the support component 1 is a hollow structure, the left second transmission end of the tensioning member 2 and the lower first transmission end of the operating component 3 both extend into the accommodating cavity and move therein, and the right side wall of the support component 1 has a channel to allow the tensioning member 2 to pass through, so that the right side linkage end of the tensioning member 2 is located on the outside of the linkage member 1, and the linkage end is used to push the linkage member 9 located on the side of the tensioning mechanism. The upper side wall of the support component 1 also has a channel to allow the operating component 3 to pass through, so that the upper operating end of the operating component 3 is located on the outside of the linkage member 1, so that the operator can adjust it. With this arrangement, the tensioning mechanism has a strong integrity, which is beneficial to protecting the internal structure of the support component 1 from external interference.

[0062] On the basis of the above embodiment, the angle between the X direction and the Y direction is 90 degrees, and the accommodating cavity is a rectangular cavity, such as Figure 2 and Figure 3 As shown, the moving direction of the operating component 3 along the supporting component 1 is perpendicular to the moving direction of the tensioning member 2 along the supporting component 1. With such an arrangement, the tensioning mechanism is convenient for positioning, processing and assembling operations of its internal components.

[0063] On the basis of the above-mentioned embodiment, the end faces of the first transmission end and the second transmission end that are in transmission cooperation are both wedge-shaped faces and are in abutment with each other.

[0064] like Figures 1 to 3As shown, the end face of the first transmission end on the lower side of the operating component 3 and the end face of the second transmission end on the left side of the tensioning member 2 are both wedge-shaped surfaces, and the wedge-shaped surfaces have non-zero angles with the X direction and the Y direction. Preferably, the angle between the wedge-shaped surface and the X direction is 45°. The operating component 3 and the tensioning member 2 are slidably matched through the wedge-shaped surface. In this arrangement, on the basis of pushing the tensioning member 2 through the operating component 3, the tensioning mechanism has a simple structure and low cost.

[0065] On the basis of the above-mentioned embodiment, the operating component 3 includes a pushing member 311 and an action member 312; the pushing member 311 is threadedly connected to the supporting component 1, one end of the pushing member 311 is an operating end, and the other end is used to abut the action member 312; the end of the action member 312 away from the pushing member 311 is a first transmission end, and the end face of the first transmission end is a wedge-shaped face.

[0066] like Figures 1 to 3 As shown, the support component 1 is provided with a threaded hole extending along the Y direction, the outer surface of the pushing member 311 is processed with an external thread, and the pushing member 311 is inserted into the threaded hole and matched with the thread, the upper end of the pushing member 311 is the above-mentioned operating end, and the operating end is located on the outside of the support component 1, and the lower end of the pushing member 311 abuts against the upper end of the action member 312, then the pushing member 311 is twisted to move downward along the Y direction, and the action member 312 can be pushed to move downward along the Y direction; the lower end of the action member 312 is the first transmission end of the above-mentioned operating component 3, and the end face of the lower end of the action member 312 is a wedge-shaped surface to cooperate with the tensioning member 2. Such a setting is convenient for controlling the displacement of the tensioning member 2, and the pushing member 311 is not easy to shift and thus fail, and the reliability of using the tensioning mechanism to tension the synchronous belt 8 is high.

[0067] Preferably, the pusher 311 is a bolt, such as Figure 1 As shown, when in use, the pusher 311 can be twisted by a common tool such as a wrench or a screwdriver, which is easy to use.

[0068] On the basis of the above embodiment, the diameter of the shaft section with external thread of the pushing member 311 is M3, and the pitch is 0.5mm. When in use, rotating the pushing member 311 one circle can drive the tensioning member 2 to move 0.5mm to the right; or, the diameter of the shaft section with external thread of the pushing member 311 is M4, and the pitch is 0.7mm. When in use, rotating the pushing member 311 one circle can drive the tensioning member 2 to move 0.7mm to the right.

[0069] On the basis of the above embodiment, the tensioning member 2 includes a supporting portion 21, a connecting portion 22 and a wedge-shaped portion 23; the wedge-shaped portion 23 and the connecting portion 22 are both located at the top of the supporting portion 21 and connected to the supporting portion 21, and the two wedge-shaped portions 23 are arranged at both ends of the supporting portion 21 at intervals, the connecting portion 22 is located between the two wedge-shaped portions 23, and the connecting portion 22 is connected to the wedge-shaped portions 23 located at both ends thereof; the end of the wedge-shaped portion 23 close to the operating component 3 is a second transmission end, the end face of the second transmission end is a wedge-shaped surface, the wedge-shaped surfaces of the two wedge-shaped portions 23 are both in contact with the wedge-shaped surface of the actuating member 312, and the end of the tensioning member 2 away from the operating component 3 and located outside the supporting component 1 is a linkage end; the supporting portion 21, the connecting portion 22 and the two wedge-shaped portions 23 are surrounded to form a travel groove 24, and during the movement of the tensioning member 2 along the X direction, the side wall of the supporting component 1 through which the tensioning member 2 passes can be inserted into the travel groove 24 to achieve a preset travel of the tensioning member 2 along the X direction.

[0070] like Figure 1 As shown, the right side of the support assembly 1 has an outlet for the linkage end of the tensioning member 2 to extend to the outside of the support assembly 1. Correspondingly, the bottom of the tensioning member 2 has a plate-shaped support portion 21, and the upper two ends of the support portion 21 are respectively connected to a wedge-shaped portion 23, and the upper left end surface of the wedge-shaped portion 23 is a wedge-shaped surface to cooperate with the lower right end surface of the action member 312; and a sheet-shaped or rod-shaped connecting portion 22 is connected to the upper side of the support portion 21, and the connecting portion 22 is located between the two wedge-shaped portions 23, and the connecting portion 22 is connected to the left side of the support portion 21, so that the right side structure of the support portion 21, the two wedge-shaped portions 23 and the connecting portion 22 are surrounded to form a travel groove 24, and the support assembly 1 The partial structure of the right side wall opposite to the connecting portion 22 is inserted into the stroke groove 24. During the movement of the tensioning member 2 to the right, the partial structure of the right side wall of the support assembly 1 opposite to the connecting portion 22 will move toward the left side along the X-direction relative to the tensioning member 2. Optionally, the right end of the support portion 21 and the right end of the wedge-shaped portion 23 that are arranged to form the stroke groove 24 can be close to or away from the right side wall of the support assembly 1; optionally, the right end of the support portion 21 and / or the right end of the wedge-shaped portion 23 that are arranged to form the stroke groove 24 can pass through the right side wall of the support assembly 1, and the depth of the stroke groove 24 along the X-direction is greater than or equal to the above-mentioned preset stroke to meet the stroke requirement of the tensioning member 2 moving along the X-direction.

[0071] Such an arrangement is beneficial to improving the stability of the tensioning member 2 moving along the X direction, and is beneficial to satisfying the travel requirement of the tensioning member 2 moving along the X direction while realizing a miniaturized design.

[0072] Furthermore, the tensioning member 2 also includes a tensioning portion 25, which can adopt a plate-like structure or a hook structure, and one end of the tensioning portion 25 is connected to the support portion 21 and / or the wedge-shaped portion 23, and the other end is away from the operating component 3 and extends to the outside of the support component 1, serving as a linkage end. The linkage end is used to be connected to the linkage member 9 by welding or hanging, so as to drive the linkage member 9 to move along the X direction.

[0073] On the basis of the above embodiment, the support assembly 1 includes a base 12 and a top cover 11, and the top cover 11 is arranged at the opening of the base 12. The base 12 has a bottom plate portion 121, a first side plate portion 122, a first end plate portion 123 and a second end plate portion 124, and the first side plate portion 122, the first end plate portion 123 and the second end plate portion 124 are all vertically arranged on the top of the bottom plate portion 121, and the first end plate portion 123, the second end plate portion 124 and the first side plate portion 122 are arranged to form a U-shaped structure. The top cover 11 has a top plate portion 111 and a second side plate portion 112, the top plate portion 111 is installed on the U-shaped structure, and the top plate portion 111 is opposite to the bottom plate portion 121, and the second side plate portion 112 is opposite to the first side plate portion 122; the reset member 4 is inserted in the stroke groove 24, and the first end of the reset member 4 is installed on the second side plate portion 112, and the second end is connected to the connecting portion 22; the top plate portion 111 has a threaded hole to threadably connect the pushing member 311; there are gaps between the second side plate portion 112 and the first end plate portion 123, between the second side plate portion 112 and the second end plate portion 124, and between the second side plate portion 112 and the bottom plate portion 121, so that the linkage end in the tensioning member 2 can pass through.

[0074] like Figures 1 to 3 As shown, the groove-shaped base 12 is composed of a plate-shaped bottom plate portion 121, a first side plate portion 122, a first end plate portion 123 and a second end plate portion 124, wherein the two connected parts are perpendicular, so that the first side plate portion 122, the first end plate portion 123 and the second end plate portion 124 can form a U-shaped structure, and the bent top cover 11 is composed of a plate-shaped top plate portion 111 and a second side plate portion 112, and the top plate portion 111 and the second side plate portion 112 are perpendicular.

[0075] When the top cover 11 is buckled onto the base 12, and the top cover 11 is in contact with the above-mentioned U-shaped structure, a shell structure with a rectangular inner cavity is formed, and the first end plate portion 123 is opposite to the second end plate portion 124, the first side plate portion 122 is opposite to the second side plate portion 112, and the top plate portion 111 is opposite to the bottom plate portion 121.

[0076] The threaded hole is formed on the top plate 111 , and the pusher 311 can be inserted on the top plate 111 .

[0077] The travel groove 24 of the tensioning member 2 is located on its own right side, and the reset member 4 extends along the X direction in the travel groove 24, and the left end of the reset member 4 is connected to the connecting portion 22, and the right end is connected to the second side plate portion 112 on the right side of the supporting assembly 1.

[0078] like Figure 1 As shown, the length of the second side plate portion 112 along the Z direction is smaller than the length of the first side plate portion 122 along the Z direction. It should be noted that the Z direction is perpendicular to the X direction and the Y direction, so that there are gaps between the left side surface of the second side plate portion 112 and the first end plate portion 123 located on the left side, and between the right side surface of the second side plate portion 112 and the second end plate portion 124 located on the right side. The width of the second side plate portion 112 along the Y direction is smaller than the width of the first side plate portion 122 along the Y direction, so that there is a gap between the second side plate portion 112 and the bottom plate portion 121. The above gap is used for the linkage end of the tensioning member 2 to pass through, so that the linkage end of the tensioning member 2 is located outside the support assembly 1, and when in use, the tensioning member 2 is pushed to move rightward to Figure 2 When the position shown is Figure 1 The left wedge-shaped portion 23 of the tensioning member 2 is inserted into the gap between the second side plate portion 112 and the first end plate portion 123. Figure 1 The right wedge-shaped portion 23 of the tensioning member 2 is inserted into the gap between the second side plate portion 112 and the second end plate portion 124. Figure 1 The right side structure of the support portion 21 of the tensioning member 2 is inserted into the gap between the second side plate portion 112 and the bottom plate portion 121 .

[0079] On the basis of the above embodiment, the reset member 4 is a spring, the second side plate portion 112 has a mounting through hole, a plug 5 is inserted into the mounting through hole, and the first end of the reset member 4 is inserted into the mounting through hole and abuts against the plug 5.

[0080] like Figure 1 As shown, the reset member 4 is a linear spring, and a mounting through hole is provided on the second side plate portion 112 for inserting the reset member 4. Preferably, a plugging hole for inserting the reset member 4 is also provided on the connecting portion 22; the tensioning mechanism is provided with a plug 5 to be inserted into the mounting through hole to seal and position the reset member 4. Such a configuration facilitates the positioning and assembly of the reset member 4 and effectively prevents the reset member 4 from shifting or falling off.

[0081] Further, if Figure 1 As shown, the number of reset members 4 is greater than or equal to two, such as three or four, and the reset members 4 extend along the X direction. The reset members 4 are evenly arranged along the Z direction. Such an arrangement facilitates more stable support of the tensioning member 2 and further improves the stability of the tensioning member 2 when it moves along the X direction.

[0082] On the basis of any of the above embodiments, the support component 1 is also provided with a driving component, the output end of the driving component is fixedly connected to the operating end of the operating component 3 to drive the operating component 3 to move, thereby driving the tensioning member 2 to move; the tensioning mechanism also includes a controller and a tension sensor for detecting the tension of the synchronous belt 8, and the tension sensor and the driving component are both connected to the controller signal.

[0083] The driving component can adopt an electric push rod or any other device that outputs linear motion to push the operating component 3 to slide along the Y direction through the driving component; the tension sensor can be set on the side of the synchronous belt 8 or on the rotating shaft of the active pulley 7 that drives the synchronous belt 8 to move, etc. When in use, start the controller, the driving component and the tension sensor, the tension sensor detects the tension of the synchronous belt 8 in real time, and transmits the tension signal to the controller, the controller analyzes the received tension signal to control the start or stop of the driving component, etc., drive the tensioning member 2 to drive the linkage member 9, the motor 6 arranged on it and the active pulley 7 installed at the output end of the motor 6 to move, so as to realize the tensioning of the synchronous belt 8. With such a setting, the tensioning mechanism can independently realize the tensioning of the synchronous belt 8, and the degree of automation is relatively high.

[0084] Furthermore, the controller is arranged on the outside of the support assembly 1 , and the controller is located on the outer side surface of the second side plate portion 112 . When in use, the controller is located between the support assembly 1 and the motor 6 , which will not affect the adjustment of the operating assembly 3 .

[0085] It should be noted that the types of the operating component 3 and the tensioning member 2 are not limited, as long as the movement of the operating component 3 along the Y direction can push the tensioning member 2 to move along the X direction. For example, optionally, Figure 7 As shown, in the operating assembly 3, the lower transmission end of the action member 312 is a rack structure, the pushing member 311 passes through the action member 312 and is inserted into the support assembly 1, and is threadedly connected with the support assembly 1 and the action member 312 to push the action member 312 to move along the Y direction. In coordination, the left transmission end of the tensioning member 2 is a rack structure, and a rotatable transmission gear is arranged on the support assembly 1, and the transmission gear is located on the right side of the action member 312 and above the tensioning member 2. The lower transmission end of the action member 312 and the left transmission end of the tensioning member 2 are connected. The side transmission ends are meshed with the transmission gear for transmission. After the pusher 311 is rotated to move downward, the lower transmission end of the action member 312 is meshed with the transmission gear, and the left transmission end of the tensioning member 2 is meshed with the transmission gear, so that the tensioning member 2 moves rightward along the X direction. Correspondingly, the left end of the reset member 4 is connected to the connection structure between the linkage end and the transmission end of the tensioning member 2, so that after the pusher 311 is rotated to move upward, the tensioning member 2 is pushed to reset to the left; or, optionally, as Figure 6As shown, in the operating assembly 3, the pushing member 311 passes through the actuating member 312 and is inserted into the supporting assembly 1, and is threadedly connected to the supporting assembly 1 and the actuating member 312 to push the actuating member 312 to move along the Y direction. The lower transmission end of the actuating member 312 is hinged to one end of the connecting rod, and the left transmission end of the tensioning member 2 is hinged to the other end of the connecting rod. After the pushing member 311 is rotated to move downward, the power is transmitted to the tensioning member 2 through the connecting rod to drive it to move along the X direction.

[0086] In addition to the above-mentioned tensioning mechanism, the present invention also provides a belt transmission mechanism including the tensioning mechanism disclosed in the above-mentioned embodiment, the belt transmission mechanism also includes a motor 6 and a linkage member 9, the motor 6 is arranged on the linkage member 9, and the tensioning member 2 is connected to the linkage member 9 to drive the linkage member 9 to move along the first direction, such as Figure 4 and Figure 5 As shown, the belt transmission system usually also includes a driving pulley 7, a driven pulley and a synchronous belt 8 wound around the driving pulley 7 and the driven pulley. When tensioning is required, the operating component 3 is adjusted to drive the tensioning member 2 to drive the linkage member 9 to move along the X direction, and the motor 6 arranged on the linkage member 9 will move along with it in the X direction, thereby driving the driving pulley 7 to move along the X direction, so that the synchronous belt 8 can be tensioned.

[0087] In addition to the above-mentioned tensioning mechanism and belt transmission mechanism, the present invention also provides a robot including the belt transmission mechanism disclosed in the above-mentioned embodiment. For the structures of other parts of the robot, please refer to the prior art and will not be described in detail herein.

[0088] It should be noted that the relational terms such as "first" and "second" mentioned above are merely used to distinguish one entity from other entities, and do not necessarily require or imply any actual relationship or order between these entities; the "upper surface, lower surface" and the directional words "upper, lower, left, right" mentioned above are all defined based on the drawings in the specification.

[0089] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0090] The tensioning mechanism, belt transmission mechanism and robot provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A tensioning mechanism for tensioning a synchronous belt (8) sleeved on the outer circumference of a driving pulley (7) and a driven pulley, wherein the driving pulley (7) is connected to the output end of a motor (6), and the motor (6) is mounted on a linkage member (9), characterized in that: include: Support assembly (1); A tensioning member (2) is movably arranged on the supporting assembly (1) along a first direction, and the tensioning member (2) is used to be connected to the linkage member (9); A manipulation component (3) is movably disposed on the support component (1) along a second direction, and the manipulation component (3) abuts against the tensioning member (2) to drive the tensioning member (2) to move along the first direction, thereby pushing the linkage member (9) to move along the first direction; a non-zero angle is formed between the first direction and the second direction; A reset member (4) having a first end mounted on the support assembly (1) and a second end mounted on the tension member (2), and being used to drive the tension member (2) to reset.

2. The tensioning mechanism according to claim 1, characterized in that: The support component (1) has an accommodating cavity inside, the operating component (3) has an operating end and a first transmission end, and the tensioning member (2) has a second transmission end and a linkage end; The first transmission end and the second transmission end are in transmission cooperation and are both located in the accommodating cavity; The linkage end is used to push the linkage member (9), and the operating end is used for an operator to adjust the position of the operating component (3), and both the linkage end and the operating end extend through the peripheral wall of the support component (1) to the outside of the support component (1).

3. The tensioning mechanism according to claim 2, characterized in that: The angle between the first direction and the second direction is 90 degrees, and the accommodating cavity is a rectangular cavity.

4. The tensioning mechanism according to claim 3, characterized in that: The end faces of the first transmission end and the second transmission end that are in transmission cooperation are both wedge-shaped faces and are in abutment with each other.

5. The tensioning mechanism according to claim 4, characterized in that: The operating assembly (3) comprises a pushing member (311) and an action member (312); The pushing member (311) is threadedly connected to the supporting assembly (1); one end of the pushing member (311) is the operating end, and the other end is used to abut against the action member (312); One end of the action member (312) away from the pushing member (311) is the first transmission end, and the end surface of the first transmission end is the wedge surface.

6. The tensioning mechanism according to claim 5, characterized in that: The tensioning member (2) comprises a supporting portion (21), a connecting portion (22) and two wedge-shaped portions (23); The wedge-shaped portion (23) and the connecting portion (22) are both located at the top of the supporting portion (21) and connected to the supporting portion (21), and the two wedge-shaped portions (23) are arranged at two ends of the supporting portion (21) at intervals, the connecting portion (22) is located between the two wedge-shaped portions (23), and the connecting portion (22) is connected to the wedge-shaped portions (23) located at two ends thereof; The end of the wedge-shaped portion (23) close to the operating component (3) is the second transmission end, the end surface of the second transmission end is the wedge-shaped surface, the wedge-shaped surfaces of the two wedge-shaped portions (23) are both in contact with the wedge-shaped surface of the actuating member (312), and the end of the tensioning member (2) away from the operating component (3) and located outside the supporting component (1) is the linkage end; The support portion (21), the connecting portion (22) and the two wedge-shaped portions (23) are arranged to form a travel groove (24), and during the movement of the tensioning member (2) along the first direction, the support assembly (1) allows the tensioning member (2) to pass through a side wall on one side and be inserted into the travel groove (24), so as to achieve a preset travel of the tensioning member (2) along the first direction.

7. The tensioning mechanism according to claim 6, characterized in that: The support assembly (1) comprises a base (12) and a top cover (11), wherein the top cover (11) is arranged to cover an opening of the base (12); The base (12) comprises a bottom plate portion (121), a first side plate portion (122), a first end plate portion (123) and a second end plate portion (124); the first side plate portion (122), the first end plate portion (123) and the second end plate portion (124) are all vertically arranged on the top of the bottom plate portion (121); and the first end plate portion (123), the second end plate portion (124) and the first side plate portion (122) are arranged to form a U-shaped structure; The top cover (11) comprises a top plate portion (111) and a second side plate portion (112), the top plate portion (111) being mounted on the U-shaped structure, the top plate portion (111) being opposite to the bottom plate portion (121), and the second side plate portion (112) being opposite to the first side plate portion (122); The reset member (4) is inserted into the travel groove (24), and a first end of the reset member (4) is mounted on the second side plate portion (112), and a second end is connected to the connecting portion (22); The top plate portion (111) has a threaded hole for threaded connection with the pushing member (311); There are gaps between the second side plate portion (112) and the first end plate portion (123), between the second side plate portion (112) and the second end plate portion (124), and between the second side plate portion (112) and the bottom plate portion (121) for the linkage end of the tensioning member (2) to pass through.

8. The tensioning mechanism according to claim 7, characterized in that: The reset member (4) is a spring, the second side plate portion (112) has a mounting through hole, a plug (5) is inserted into the mounting through hole, and the first end of the reset member (4) is inserted into the mounting through hole and abuts against the plug (5).

9. A belt transmission mechanism, comprising a linkage member (9) and a motor (6), characterized in that: It also comprises the tensioning mechanism according to any one of claims 1 to 8, wherein the motor (6) is arranged on the linkage member (9), and the tensioning member (2) is connected to the linkage member (9) to drive the linkage member (9) to move along the first direction.

10. A robot, characterized in that: The belt transmission mechanism comprises the belt transmission mechanism as claimed in claim 9 above.

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