A self-adjusting stepped belt transmission device

Abstract

The present invention provides a self-adjusting stepped belt transmission device, comprising a base plate and a transmission component located on the base plate, the transmission component comprising a feeding section, a detection section and a discharging section through which workpieces pass in sequence, a transition interval being provided between each two adjacent sections, a visual detector being provided on one side of the transition interval, an adjustment mechanism for adjusting the position of the detection section being provided on the detection section, and a controller being further provided on the base plate; the controller comprising an acquisition module for acquiring an image to be processed, a calculation module for calculating an adjustment angle value of the detection section, and a control module for controlling the adjustment mechanism to drive the detection section to move to a specified position; the advantage of the present invention is that the position of the transmission section can be adjusted according to the state of the workpiece during transportation to ensure that the workpiece is smoothly transmitted out.

Description

Technical Field

[0001] The present invention relates to the technical field of belt transmission devices, and more particularly to a self-adjusting stepped belt transmission device. Background Art

[0002] Belt drive consists of one or more belts tightly wrapped around two wheels (called "pulleys"), which are respectively mounted on the driving shaft and the driven shaft. The friction between the belt and the two wheels is used to transmit motion and power. Belt transmission mechanisms are widely used in the electrical equipment field due to their simplicity, low cost, simple maintenance, and easy disassembly and replacement.

[0003] In the production equipment of the electrical equipment field, the belt transmission mechanism of the device transmission line must be stable and reliable, and there are high demands on the positioning accuracy of mechanical processing (the position tolerance is required to be within ±0.1mm). Mechanical processing is affected by factors such as the technical ability of the operator and the equipment conditions. Higher-precision processing requirements directly lead to an increase in equipment manufacturing costs. In addition, machined products that exceed the accuracy range directly affect the stability of transmission, causing problems such as jamming of the conveyed parts, requiring shutdown maintenance, and affecting the production efficiency of the assembly line. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a self-adjusting stepped belt transmission device, which can adjust the position of the transmission section according to the state of the workpiece during transportation to ensure smooth transmission of the workpiece.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A self-adjusting stepped belt transmission device includes a base plate and a transmission assembly located on the base plate. The transmission assembly includes a feed section, a detection section, and a discharge section through which workpieces pass in sequence. A transition section is provided between each adjacent section. A visual detector is provided on one side of the transition section. The detection section is provided with an adjustment mechanism for adjusting the position of the detection section. A controller is also provided on the base plate.

[0007] The controller includes an acquisition module, a calculation module and a control module;

[0008] The acquisition module acquires the image of the workpiece in the transition zone captured by the visual detector as the image to be processed;

[0009] The calculation module obtains the image to be processed in the acquisition module, analyzes and calculates the vertical distance between the burr at the head end of the workpiece and the feeding section plane in the transition zone as the burr height, and calculates the adjustment angle value according to the burr height through an offset calculation formula;

[0010] The control module obtains the adjustment angle in the calculation module, and controls the adjustment mechanism to drive the detection section to move to a specified position according to the adjustment angle.

[0011] Furthermore, a transition wheel is provided in the transition interval, and the transition wheel is located below between two adjacent sections of the transmission wheel in the transition interval. A guide channel is also provided on the substrate of the transition interval. The transition wheel and the transmission wheel on the detection section are both located in the guide channel. The adjustment mechanism includes a driving part, a first connecting rod and a second connecting rod. One end of the first connecting rod and one end of the second connecting rod are both connected to the output end of the driving part, the other end of the first connecting rod is connected to the axle of the transition wheel, and the other end of the second connecting rod is connected to the axle of the transmission wheel. The driving part simultaneously drives the first connecting rod and the second connecting rod to rotate so that the transition wheel and the transmission wheel move in the guide channel.

[0012] Furthermore, the calculation module also includes a calculation submodule, which picks up the tip point of the workpiece burr according to the image to be processed, establishes a plane coordinate system based on the connection between the workpiece and the burr as the origin, calculates the coordinates of the tip point as the touch coordinate, obtains the coordinates of the vertex of the transmission wheel on the detection section in the plane coordinate system as the reference coordinate, obtains the coordinates of the point where the vertex of the transmission wheel is flush with the touch point in the guide channel as the designated coordinate, obtains the coordinates of the output end of the driving part in the plane coordinate system as the turning point coordinate, and obtains the adjustment angle value through the offset calculation based on the reference coordinate, the designated coordinate and the turning point coordinate.

[0013] Furthermore, the offset calculation formula is configured as:

[0014]

[0015] Among them, α is the adjustment angle value, the coordinates of the transmission wheel center corresponding to the reference coordinates are (x1, y1), the coordinates of the transmission wheel center corresponding to the specified coordinates are (x2, y2), and the coordinates of the turning point are (x3, y3).

[0016] Furthermore, the controller also includes a feedback module, in which two threshold points are preset, and the two threshold points are both located in the guide channels on both sides of the transmission wheel. The specified coordinates in the calculation submodule are obtained, and the specified coordinates are compared with the two threshold points. If the specified coordinates are outside the range of the two threshold points, a stop command is issued; if the specified coordinates are outside the range of the two threshold points, a normal command is issued; when the control module receives the stop command, it controls the driving part to stop driving.

[0017] Furthermore, the substrate also includes a transmission idler wheel, and the transmission idler wheel is provided with a fine-tuning mechanism for adjusting the tightness of the belt. The feedback module also includes a feedback sub-module, and the feedback sub-module is also preset with an adjustment table. The adjustment table includes reference coordinate information and fine-tuning distance information. The reference coordinates are all located in the guide channel. The reference coordinates reflect several reference points located outside the range of two threshold points. The fine-tuning distance information reflects several displacement values ​​of the transmission idler wheel. The reference coordinate information and the fine-tuning distance information correspond one-to-one. According to the displacement value corresponding to the index in the adjustment table according to the specified coordinate, the control module controls the fine-tuning mechanism to drive the transmission idler wheel to displace according to the displacement value.

[0018] Furthermore, a fine-tuning channel is provided on the base plate, and the transmission idler is slidably connected in the fine-tuning channel. The fine-tuning mechanism includes a fine-tuning cylinder and a push rod. A rotating shaft is provided on the transmission idler, one end of the push rod is connected to the rotating shaft, and the other end is connected to the output end of the fine-tuning cylinder. The fine-tuning cylinder drives the push rod to move so that the transmission idler moves in the fine-tuning channel.

[0019] Furthermore, a lifting assembly is provided on the base plate, and the lifting assembly is located below the detection section. The lifting assembly includes a lifting block and a lifting cylinder. A guide rail is provided on the base plate, and the lifting block is slidably connected to the guide rail. The lifting cylinder drives the lifting block to move so that the lifting block lifts the belt of the detection section or detaches the belt from the detection section.

[0020] Furthermore, a workpiece guide block is provided on the substrate, and the workpiece guide block is located above the transmission component, and the workpiece guide block is horizontally laid along the movement direction of the workpiece. A number of workpiece limit blocks are also provided on the workpiece guide block above the detection section, and there is a lifting distance between the workpiece limit block and the belt of the detection section.

[0021] Furthermore, the bottom of the belt at the feeding section and the bottom of the belt at the discharging section are both provided with a support plate for supporting the belt.

[0022] The beneficial effects of the present invention are as follows: 1. By setting an adjustment mechanism, the height position of the detection section can be automatically adjusted according to the transportation status of the workpiece, so that the workpiece can be transported normally and smoothly. Specifically, through visual image acquisition, a plane coordinate system is established to extract the coordinate points on the workpiece and the coordinate points of the detection section. The angle at which the transmission wheel of the detection section needs to be rotated is obtained through analysis and calculation to ensure that the workpiece can normally enter the detection section from the feeding section or normally enter the discharging section from the detection section. Compared with the existing transmission sections that are all transported on the same plane, the present invention can ensure that the workpiece is not stuck due to its own precision error, thereby improving the transportation efficiency of the assembly line.

[0023] 2. By setting up a feedback module, it is possible to determine whether the position of the transmission wheel of the detection section in the guide channel exceeds the range of two threshold points after rotation. If it exceeds, the displacement of the transmission idler wheel can be indexed according to the specific position to adjust the tightness of the belt, that is, to ensure that the transmission wheel and transition wheel of the detection section can rotate in the guide channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is the overall structural diagram of the present invention;

[0025] Figure 2 It is a control relationship diagram in the present invention;

[0026] Figure 3 It is a structural diagram of the guide channel in the present invention;

[0027] Figure 4 This is a comparison diagram of the adjustment mechanism in the present invention;

[0028] Figure 5 is a second viewing angle diagram of the present invention;

[0029] Figure 6 It is a plane coordinate system diagram in the present invention.

[0030] Figure numerals: 1. substrate; 2. feeding section; 3. detection section; 4. discharging section; 5. transition interval; 6. transition wheel; 7. guide channel; 8. transmission wheel; 9. driving part; 10. first connecting rod; 11. second connecting rod; 12. transmission idler wheel; 13. fine-tuning channel; 14. lifting block; 15. lifting cylinder; 16. guide rail; 17. support plate; 18. workpiece guide block; 19. workpiece limit block; 101. acquisition module; 102. calculation module; 103. control module; 104. calculation submodule; 105. feedback module; 106. feedback submodule. DETAILED DESCRIPTION

[0031] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom," "top," "inner," and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

[0032] In the current production equipment in the field of electrical equipment, the belt transmission mechanism of the device transmission line requires stability and reliability, and has a high demand for the position accuracy of mechanical processing (the position tolerance is required to be within ±0.1mm). Mechanical processing is affected by factors such as the technical ability of the operator and the equipment conditions. The higher precision processing requirements directly increase the manufacturing cost of the equipment, and the machined products that exceed the precision range directly affect the stability of the transmission, resulting in problems such as the jamming of the transmitted parts, which require shutdown maintenance, affecting the production efficiency of the assembly line. Therefore, the present invention designs this self-adjusting stepped belt transmission device, the specific structure of which is as follows: Figure 1 As shown, it includes a substrate 1 and a transmission component located on the substrate 1. The transmission component includes a feeding section 2, a detection section 3, and a discharging section 4 through which the workpiece passes in sequence. There is a transition section 5 between each two adjacent sections. A visual detector (visual camera) is provided on one side of the transition section 5. The detection section 3 is provided with an adjustment mechanism for adjusting the position of the detection section 3. A controller is also provided on the substrate 1.

[0033] Control part such as Figure 2 As shown, the controller includes an acquisition module 101, a calculation module 102 and a control module 103;

[0034] Acquisition module 101, acquires the image of the workpiece in the transition interval 5 captured by the visual detector as the image to be processed (the visual camera can capture the entire range in the transition interval 5, and the image to be processed is the vertical surface of the transition interval 5);

[0035] The calculation module 102 obtains the image to be processed in the acquisition module 101. Due to the problem of workpiece processing accuracy, the transmission of the standard conveyor belt is to match the standard workpiece. If the workpiece has burrs or processing accuracy errors, it is easy to get stuck when the feeding section 2 enters the detection section 3. Therefore, based on the analysis and calculation of the image to be processed, the vertical distance between the burr at the head end of the workpiece in the transition zone 5 and the plane of the feeding section 2 is obtained as the burr height. The adjustment angle value is calculated based on the burr height using the offset calculation formula;

[0036] The control module 103 obtains the adjustment angle from the calculation module 102 and controls the adjustment mechanism to drive the detection section 3 to move to a specified position according to the adjustment angle.

[0037] By setting up an adjustment mechanism, the height position of the detection section 3 can be automatically adjusted according to the transportation status of the workpiece, so that the workpiece can be transported normally and smoothly. Specifically, through visual image acquisition, a plane coordinate system is established to extract the coordinate points on the workpiece and the coordinate points of the detection section 3. The angle that the transmission wheel 8 of the detection section 3 needs to rotate is obtained through analysis and calculation to ensure that the workpiece can normally enter the detection section 3 from the feeding section 2 or normally enter the discharging section 4 from the detection section 3. Compared with the existing transmission sections that are all transported on the same plane, the present invention can ensure that the workpiece is not stuck due to its own precision error, thereby improving the transportation efficiency of the assembly line.

[0038] like Figure 1 and Figure 3 As shown, a transition wheel 6 is provided in the transition interval 5, and the transition wheel 6 is located below the two adjacent transmission wheels 8 in the transition interval 5. A guide channel 7 is also provided on the base plate 1 of the transition interval 5 (there are two transition intervals 5 in the present invention, namely the A transition interval 5 between the feeding section 2 and the detection section 3 and the B transition interval 5 between the detection section 3 and the discharge section 4, wherein the guide channels 7 of the A transition interval 5 and the B transition interval 5 are opposite, and both are arc-shaped guide channels 7). The transition wheel 6 and the transmission wheel 8 on the detection section 3 are both located in the guide channel 7, and the adjustment mechanism includes a driving part 9, a first connecting rod 10 and a second connecting rod 11 One end of the first connecting rod 10 and one end of the second connecting rod 11 are connected to the output end of the driving part 9, the other end of the first connecting rod 10 is connected to the axle of the transition wheel 6, and the other end of the second connecting rod 11 is connected to the axle of the transmission wheel 8. The driving part 9 (motor) simultaneously drives the first connecting rod 10 and the second connecting rod 11 to rotate so that the transition wheel 6 and the transmission wheel 8 move in the guide channel 7. When it is necessary to adjust the detection section 3 to tilt downward near one end of the feeding section 2, it is convenient to receive the workpiece out of the feeding section 2, the motor simultaneously drives the first connecting rod 10 and the second connecting rod 11 to rotate so that the transmission wheel 8 and the transition wheel 6 slide in the arc-shaped guide channel 7.

[0039] like Figure 2 and Figure 6 As shown, the calculation module 102 also includes a calculation submodule 104. The calculation submodule 104 picks up the tip point of the workpiece burr according to the image to be processed, establishes a plane coordinate system based on the connection between the workpiece and the burr as the origin, calculates the coordinates of the tip point as the touch coordinates, obtains the coordinates of the vertex of the transmission wheel 8 on the detection section 3 in the plane coordinate system as the reference coordinates, obtains the coordinates of the point where the vertex of the transmission wheel 8 is flush with the touch point in the guide channel 7 as the designated coordinates, obtains the coordinates of the output end of the driving part 9 in the plane coordinate system as the turning point coordinates, and calculates the adjustment angle value through the offset calculation formula according to the reference coordinates, the designated coordinates and the turning point coordinates (wherein the corresponding center coordinates of the transmission wheel 8 can be calculated according to the reference coordinates and the designated coordinates, and the rotation angle of the first connecting rod 10 is calculated according to the center coordinates of the transmission wheel 8 at two different positions and the turning point coordinates of the motor output end), as shown in FIG. Figure 6 As shown, point t is the tip point, that is, t(X4, Y4) is the touch coordinate, point Q is the reference coordinate point, point Q1 is the center point of the transmission wheel 8 at the reference coordinate, point W is the specified coordinate point, point W1 is the center point of the transmission wheel 8 corresponding to the specified coordinate, and point Z is the turning point coordinate point.

[0040] The offset calculation is configured as:

[0041]

[0042] Among them, α is the adjustment angle value, the coordinates of the transmission wheel center corresponding to the reference coordinates are (x1, y1), the coordinates of the transmission wheel center corresponding to the specified coordinates are (x2, y2), and the coordinates of the turning point are (x3, y3).

[0043] like Figure 4 As shown, since the detection section 3 is in the process of displacement, when the detection section 3 changes from a parallel state to an inclined state, the belt will be stretched, and the stretching of the belt has an upper limit range, the controller also includes a feedback module 105, and two threshold points are preset in the feedback module 105. The two threshold points are both located in the guide channel 7 on both sides of the transmission wheel 8, that is, the two threshold points are located on both sides of the transmission wheel 8 in the initial state, and the specified coordinates in the calculation submodule 104 are obtained, and the specified coordinates are compared with the two threshold points. If the specified coordinates are outside the range of the two threshold points, a stop command is issued. If the specified coordinates are outside the range of the two threshold points, a normal command is issued (under normal circumstances, the coordinates of the center point of the transmission wheel 8 corresponding to the specified coordinates are obtained, and the two threshold points are also located on the center point path when the transmission wheel 8 slides in the guide channel 7); when the control module 103 receives the stop command, the control drive unit 9 stops driving.

[0044] When the angle of the detection section 3 to be adjusted is too large, it exceeds the stretching limit of the belt, that is, the center point of the transmission wheel 8 is outside the range of the two threshold points, such as Figure 1 As shown, the present invention further includes a transmission idler 12 on the base plate 1, and the transmission idler 12 is provided with a fine-tuning mechanism for adjusting the tightness of the belt (a fine-tuning channel 13 is provided on the base plate 1, and the transmission idler 12 is slidably connected in the fine-tuning channel 13. The fine-tuning mechanism includes a fine-tuning cylinder and a push rod. The transmission idler 12 is provided with a rotating shaft, one end of the push rod is connected to the rotating shaft, and the other end is connected to the output end of the fine-tuning cylinder. The fine-tuning cylinder drives the push rod to move so that the transmission idler 12 moves in the fine-tuning channel 13). The feedback module 105 also includes a feedback Submodule 106, the feedback submodule 106 is also preset with an adjustment table, which includes reference coordinate information and fine-tuning distance information. The reference coordinates are all located in the guide channel 7. The reference coordinates reflect several reference points outside the range of two threshold points. The fine-tuning distance information reflects several displacement values ​​of the transmission idler 12. The reference coordinate information and the fine-tuning distance information correspond one to one. According to the displacement value corresponding to the index in the adjustment table of the specified coordinate, the control module 103 controls the fine-tuning mechanism to drive the transmission idler 12 to move according to the displacement value.

[0045] like Figure 1As shown, the transmission component in the present invention can gradually reduce the height of the transmission section along the transmission direction. The overall transmission section can be an inclined slope or a stepped section. The transmission section in the present invention is stepped. Compared with the existing transmission sections that are all transported on the same plane, this stepped transmission can ensure that the workpiece is not stuck due to its own precision error, thereby improving the transportation efficiency of the assembly line.

[0046] The use of a stepped design transmission mechanism has three advantages: 1. In terms of machining, taking a transmission mechanism with a mechanism length of 114, a guide rail of 160mm, and a maximum detection device length of 520mm as an example, the traditional design requires at least 6 idler pulleys to be installed at the same height with a position accuracy of ±0.1mm. After the change, only 2 idler pulleys are required to be installed at the same height, and the machining difficulty is greatly reduced; 2. In terms of installation and adjustment, since the present invention does not affect the overall length of the belt, the original installation and adjustment experience is still valid for the transmission mechanism, and the present invention directly avoids the influence of machining errors on transmission performance, so the belt installation and adjustment time is greatly saved; 3. In terms of equipment manufacturing cost, the requirements for processing are reduced, saving processing costs; installation and adjustment are more convenient, saving labor costs; operation stability is guaranteed, reducing the later maintenance costs of the equipment.

[0047] like Figure 1 As shown, a lifting component is also provided on the base plate 1, and the lifting component is located below the detection section 3. The lifting component provides an upward lifting force for the belt of the detection section 3 to make the workpiece on the detection section 3 reach a specified height (when the workpiece enters the detection section 3, the belt stops transmitting, the belt changes from a conveying state to a stopped state, the belt changes from tight to loose, the workpiece is located on the detection section 3, and the lifting component lifts the belt upward, that is, the workpiece is lifted upward for detection). Taking the transition section 5 between the feeding section 2 and the detection section 3 as an example, the transmission wheel 8 of the detection section 3 is lower than the transmission wheel 8 of the feeding section 2. The belt passes through the transmission wheel 8 of the feeding section 2, and then is wound on the transition wheel 6. Finally, it is wound around the transmission wheel 8 of the detection section 3, that is, there will be a gap between the feeding section 2 and the detection section 3. If the length of the workpiece is greater than the gap, the workpiece can smoothly pass from the feeding section 2 to the detection section 3.

[0048] like Figure 1As shown, a workpiece guide block 18 is also provided on the base plate 1. The workpiece guide block 18 is located above the transmission component and is horizontally laid along the direction of movement of the workpiece. The guide block is mainly used to realize the positioning of the workpiece during transportation. A number of workpiece limit blocks 19 are also provided on the workpiece guide block 18 above the detection section 3. There is a lifting distance between the workpiece limit block 19 and the belt of the detection section 3. Specifically, the lifting assembly includes a lifting block 14 and a lifting cylinder 15. A linear guide rail 16 is vertically provided on the base plate 1. The lifting block 14 is slidably connected to the linear guide rail 16. The lifting cylinder 15 drives the lifting block 14 to move up and down, so that the lifting block 14 lifts the belt of the detection section 3 or detaches from the belt of the detection section 3. When the workpiece is pushed upward onto the workpiece limit block 19 within the lifting distance, the dual functions of the support plate 17 and the clamping block are realized.

[0049] like Figure 1 As shown, the bottom of the belt at the feed section 2 and the bottom of the belt at the discharge section 4 are both provided with a support plate 17 for supporting the belt. The support plate 17 can also support the workpiece to ensure that the workpiece is more stable when transported on the belt.

[0050] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that improvements and modifications that do not depart from the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A self-adjusting stepped belt transmission device, characterized in that: The invention comprises a substrate (1) and a transmission component located on the substrate (1), wherein the transmission component comprises a feeding section (2), a detection section (3) and a discharging section (4) through which a workpiece passes in sequence, a transition section (5) being provided between each two adjacent sections, a visual detector being provided on one side of the transition section (5), an adjustment mechanism for adjusting the position of the detection section (3) being provided on the detection section (3), and a controller being further provided on the substrate (1); The controller includes a collection module (101), a calculation module (102) and a control module (103); The acquisition module (101) acquires an image of the workpiece in the transition zone (5) captured by the visual detector as an image to be processed; The calculation module (102) obtains the image to be processed in the acquisition module (101), analyzes and calculates the vertical distance between the burr at the head end of the workpiece and the plane of the feed section (2) in the transition zone (5) as the burr height, and calculates the adjustment angle value according to the burr height through an offset calculation formula; The control module (103) obtains the adjustment angle in the calculation module (102), and controls the adjustment mechanism to drive the detection section (3) to move to a specified position according to the adjustment angle.

2. The self-adjusting stepped belt transmission device according to claim 1, characterized in that: A transition wheel (6) is provided in the transition interval (5), and the transition wheel (6) is located below between two adjacent sections of the transmission wheel (8) in the transition interval (5). A guide channel (7) is also provided on the base plate (1) of the transition interval (5). The transition wheel (6) and the transmission wheel (8) on the detection section (3) are both located in the guide channel (7). The adjustment mechanism comprises a driving part (9), a first connecting rod (10) and a second connecting rod (11). One end of the first connecting rod (10) and one end of the second connecting rod (11) are both connected to the output end of the driving part (9), the other end of the first connecting rod (10) is connected to the wheel axle of the transition wheel (6), and the other end of the second connecting rod (11) is connected to the wheel axle of the transmission wheel (8). The driving part (9) simultaneously drives the first connecting rod (10) and the second connecting rod (11) to rotate, so that the transition wheel (6) and the transmission wheel (8) move in the guide channel (7).

3. The self-adjusting stepped belt transmission device according to claim 2, characterized in that: The calculation module (102) further includes a calculation submodule (104), wherein the calculation submodule (104) picks up the tip point of the workpiece burr according to the image to be processed, establishes a plane coordinate system based on the connection between the workpiece and the burr as the origin, calculates the coordinates of the tip point as the touch coordinates, obtains the coordinates of the vertex of the transmission wheel (8) on the detection section (3) in the plane coordinate system as the reference coordinates, obtains the coordinates of the point where the vertex of the transmission wheel (8) is flush with the touch point in the guide channel (7) as the designated coordinates, obtains the coordinates of the output end of the driving part (9) in the plane coordinate system as the turning point coordinates, and calculates the adjustment angle value through an offset calculation formula based on the reference coordinates, the designated coordinates and the turning point coordinates.

4. The self-adjusting stepped belt transmission device according to claim 3, characterized in that: The offset calculation formula is configured as: Among them, α is the adjustment angle value, the coordinates of the transmission wheel center corresponding to the reference coordinates are (x1, y1), the coordinates of the transmission wheel center corresponding to the specified coordinates are (x2, y2), and the coordinates of the turning point are (x3, y3).

5. The self-adjusting stepped belt transmission device according to claim 3, characterized in that: The controller further includes a feedback module (105), wherein two threshold points are preset in the feedback module (105), and the two threshold points are both located in the guide channel (7) on both sides of the transmission wheel (8). The specified coordinates in the calculation submodule (104) are obtained, and the specified coordinates are compared with the two threshold points. If the specified coordinates are outside the range of the two threshold points, a stop instruction is issued; if the specified coordinates are within the range of the two threshold points, a normal instruction is issued; when the control module (103) receives the stop instruction, the driving unit (9) is controlled to stop driving.

6. The self-adjusting stepped belt transmission device according to claim 5, characterized in that: The substrate (1) further includes a transmission idler wheel (12), and the transmission idler wheel (12) is provided with a fine-tuning mechanism for adjusting the tightness of the belt. The feedback module (105) further includes a feedback submodule (106), and the feedback submodule (106) is also preset with an adjustment table, and the adjustment table includes reference coordinate information and fine-tuning distance information. The reference coordinates are all located in the guide channel (7), and the reference coordinates reflect a plurality of reference points located outside the range of two threshold points. The fine-tuning distance information reflects a plurality of displacement values ​​of the transmission idler wheel (12). The reference coordinate information and the fine-tuning distance information have a one-to-one correspondence. According to the displacement value corresponding to the index in the adjustment table of the specified coordinate, the control module (103) controls the fine-tuning mechanism to drive the transmission idler wheel (12) to move according to the displacement value.

7. The self-adjusting stepped belt transmission device according to claim 6, characterized in that: The base plate (1) is provided with a fine-tuning channel (13), the transmission idler (12) is slidably connected in the fine-tuning channel (13), the fine-tuning mechanism comprises a fine-tuning cylinder and a push rod, the transmission idler (12) is provided with a rotating shaft, one end of the push rod is connected to the rotating shaft, and the other end is connected to the output end of the fine-tuning cylinder, and the fine-tuning cylinder drives the push rod to move, so that the transmission idler (12) moves in the fine-tuning channel (13).

8. The self-adjusting stepped belt transmission device according to claim 1, characterized in that: The base plate (1) is also provided with a lifting assembly, which is located below the detection section (3). The lifting assembly includes a lifting block (14) and a lifting cylinder (15). A guide rail (16) is provided on the base plate (1). The lifting block (14) is slidably connected to the guide rail (16). The lifting cylinder (15) drives the lifting block (14) to move so that the lifting block (14) lifts the belt of the detection section (3) or detaches from the belt of the detection section (3).

9. The self-adjusting stepped belt transmission device according to claim 8, characterized in that: A workpiece guide block (18) is also provided on the base plate (1), the workpiece guide block (18) is located above the transmission component, and the workpiece guide block (18) is horizontally laid along the direction of movement of the workpiece. A plurality of workpiece limiting blocks (19) are also provided on the workpiece guide block (18) above the detection section (3), and a lifting distance is provided between the workpiece limiting block (19) and the belt of the detection section (3).

10. The self-adjusting stepped belt transmission device according to claim 9, characterized in that: The bottom of the belt at the feeding section (2) and the bottom of the belt at the discharging section (4) are both provided with supporting plates (17) for supporting the belts.

Images