A synchronous belt pulley adjustment device and robot

Abstract

This invention provides a synchronous belt pulley adjustment device, belonging to the field of robotics. It includes an active adjustment component, a linkage component, and a passive adjustment component. The passive adjustment component includes a synchronous belt pulley, which is driven by a drive motor with an encoder. The linkage component is installed between the active and passive adjustment components and configured to cause the synchronous belt pulley in the passive adjustment component to translate and / or tilt according to the adjustment of the active adjustment component. By installing the synchronous belt pulley on the passive adjustment component, this invention allows the installation position of the synchronous belt pulley to be adjusted through the active and linkage components during operation, thereby maintaining stable synchronous belt tension during synchronous belt system operation, improving the transmission accuracy of the synchronous belt system and the service life of the synchronous belt.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and particularly relates to a synchronous belt pulley adjustment device and robot. Background Technology

[0002] Currently, during assembly, existing synchronous belt systems may experience a situation where the centers of the driving and driven synchronous pulleys are not on the same horizontal line and their rotation axes are not parallel (referred to as installation error). This will cause changes in the tension of the synchronous belt during operation, thereby reducing the transmission accuracy and lifespan of the synchronous belt system.

[0003] In view of this, the present invention is proposed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a synchronous belt pulley adjustment device and robot.

[0005] To solve the above-mentioned technical problems, in one aspect, the present invention provides a synchronous belt pulley adjustment device, including an active adjustment component, a linkage component, and a passive adjustment component. The passive adjustment component includes a synchronous belt pulley, which is driven by a drive motor with an encoder.

[0006] The linkage component is installed between the active adjustment component and the passive adjustment component and is configured to drive the synchronous pulley in the passive adjustment component to move up and down and / or tilt according to the adjustment of the active adjustment component.

[0007] In the above technical solution, the adjusting device also includes a tension sensor for detecting the tension of the synchronous belt on the synchronous pulley and a controller for receiving the tension sensor data and the encoder data of the drive motor.

[0008] The controller is configured to control the operation of the active adjustment component based on the tension data transmitted by the tension sensor, and drive the passive adjustment component to adjust the displacement through the linkage component;

[0009] The controller is also configured to control the operation of the active adjustment component based on the data transmitted by the tension sensor and encoder, and to drive the passive adjustment component to adjust the angle through the linkage component.

[0010] In the above technical solution, the active adjustment component includes a mounting plate and an adjustment motor mounted on the mounting plate, and the output shaft end of the adjustment motor is connected to an active wheel;

[0011] The active adjustment assembly also includes at least three driven wheels mounted on the mounting plate and linked to the drive wheel.

[0012] In the above technical solution, there are three driven wheels, which are distributed on the outer periphery of the driving wheel and are linked to the driving wheel.

[0013] In the above technical solution, the driving wheel and the driven wheel are equipped with a gear meshing structure, and the driving wheel drives the driven wheel to rotate when it rotates.

[0014] In the above technical solution, the driven wheel has a driven wheel output shaft, which passes through the mounting plate and a driven wheel output shaft sleeve is provided between the driven wheel output shaft and the mounting plate.

[0015] In the above technical solution, the mounting plate has a through hole, and the adjusting motor is at least partially embedded in the through hole.

[0016] In the above technical solution, the linkage component includes an adjustment plate and an adjustment screw mounted on the adjustment plate, and the adjustment plate is connected to the passive adjustment component;

[0017] The linkage components also include on / off components electrically connected to the controller;

[0018] Each driven wheel is equipped with an adjusting screw and a switching assembly;

[0019] The adjusting screw has a first mounting end and a second mounting end;

[0020] The first mounting end of the adjusting screw is threadedly connected to the adjusting plate, and the second mounting end of the adjusting screw is connected to the corresponding driven wheel via a switching assembly.

[0021] In the above technical solution, the switching component includes a clutch, which includes an input clutch and an output clutch that can be switched on and off. The input clutch is connected to the driven wheel, and the output clutch is connected to the adjusting screw.

[0022] The clutch is electrically connected to the controller, which is configured to control the on / off state of the input and output clutches.

[0023] In the above technical solution, the passive adjustment component includes a mounting column connected to the adjustment plate and an intermediate connecting component connected to the mounting column, with the synchronous pulley mounted on the intermediate connecting component;

[0024] The mounting column is configured to connect the adjusting plate, intermediate connecting assembly, and timing pulley into a single unit.

[0025] In the above technical solution, the drive motor serves as an intermediate connecting component, and the synchronous pulley is mounted on the output shaft end of the drive motor.

[0026] On the other hand, this embodiment of the invention also provides a robot, which includes the aforementioned synchronous belt pulley adjustment device.

[0027] In the above technical solution, the robot is a SCARA robot.

[0028] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0029] I. This invention installs the synchronous pulley on a passive adjustment component. When the synchronous pulley is running, the installation position of the synchronous pulley can be adjusted by the active adjustment component and the linkage component, thereby keeping the tension of the synchronous belt stable during the operation of the synchronous belt system, improving the transmission accuracy of the synchronous belt system and the service life of the synchronous belt.

[0030] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0031] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0032] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the synchronous belt pulley adjustment device of the present invention;

[0033] Figure 2 This is a cross-sectional schematic diagram of an embodiment of the synchronous belt pulley adjustment device of the present invention;

[0034] Figure 3 This is a schematic diagram of the first structure of the synchronous belt pulley adjustment device embodiment of the present invention when the synchronous belt pulley is adjusted;

[0035] Figure 4 This is a schematic diagram of a second structure of the synchronous belt pulley adjustment device in the present invention when the synchronous belt pulley is adjusted;

[0036] Figure 5 This is a schematic diagram of the third structure of the synchronous belt pulley adjustment device in the present invention when the synchronous belt pulley is adjusted;

[0037] Figure 1-5 In the middle: 1-Active adjustment component, 11-Mounting plate, 12-Adjusting motor, 13-Driving wheel, 14-Driven wheel, 2-Linkage component, 21-Adjusting plate, 22-Adjusting screw, 23-On / off component, 231-Input clutch, 232-Output clutch, 3-Passive adjustment component, 31-Mounting column, 32-Intermediate connection component, 33-Synchronous belt pulley.

[0038] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0039] In the description of this invention, it should be noted that the terms "inner" and "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "contact," and "communication" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] Currently, existing synchronous belt systems often experience installation errors during assembly, where the centers of the driving and driven synchronous pulleys are not on the same horizontal line and their rotation axes are not parallel. This causes changes in the tension of the synchronous belt during operation, reducing the transmission accuracy and lifespan of the system. This invention addresses this issue by mounting the synchronous pulleys on a passive adjustment assembly. During operation, the installation position of the synchronous pulleys can be adjusted via the active adjustment assembly and the linkage assembly, thus maintaining stable synchronous belt tension and improving the transmission accuracy and lifespan of the synchronous belt system.

[0042] To further illustrate the technical solution of this invention, the following is combined with... Figures 1-5 As shown, the following specific embodiments are provided.

[0043] Example 1

[0044] On the one hand, embodiments of the present invention provide a method such as Figure 1 and Figure 2 The synchronous belt pulley adjustment device shown includes an active adjustment component 1, a linkage component 2, and a passive adjustment component 3. The passive adjustment component 3 includes a synchronous belt pulley 33, which is driven by a drive motor with an encoder. The linkage component 2 is installed between the active adjustment component 1 and the passive adjustment component 3 and is configured to drive the synchronous belt pulley 31 in the passive adjustment component 3 to translate and / or tilt according to the adjustment of the active adjustment component 1.

[0045] It is worth noting that the synchronous pulley 33 can be either a driving synchronous pulley or a driven synchronous pulley. In this embodiment, the driving or driven nature of the synchronous pulley 33 is not limited. For ease of explanation, the synchronous pulley 33 installed on the passive adjustment component 3 will be described as the "adjusted pulley".

[0046] like Figure 3 As shown, when the installation centers of the pulley being adjusted (i.e., the synchronous pulley 33) and another synchronous pulley in the same transmission system are not on the same horizontal plane, the passive adjustment component 3 can be moved by the active adjustment component 1 and the linkage component 2. The passive adjustment component 3 then moves the pulley being adjusted (i.e., the synchronous pulley 33) so that the two synchronous pulleys are on the same horizontal plane after installation.

[0047] like Figure 4 As shown, when the rotation axes of the pulley being adjusted (i.e., synchronous pulley 33) and another synchronous pulley in the same transmission system are not parallel, the passive adjustment component 3 can be driven to rotate by the active adjustment component 1 and the linkage component 2. The passive adjustment component 3 drives the pulley being adjusted (i.e., synchronous pulley 33) to rotate, so that the installation angle of the pulley being adjusted changes, thereby making the two synchronous pulleys in the synchronous belt system on the same horizontal plane after installation.

[0048] like Figure 5 As shown, when the installation center of the pulley being adjusted (i.e., the synchronous pulley 33) and another synchronous pulley in the same transmission system are not on the same horizontal plane and their rotation axes are not parallel, the pulley being adjusted in the passive adjustment component 3 can be tilted first by the active adjustment component 1, the linkage component 2 and the passive adjustment component 3. After the rotation axis of the pulley being adjusted is parallel to the rotation axis of the other synchronous pulley, the pulley being adjusted can be moved up and down by the active adjustment component 1, the linkage component 2 and the passive adjustment component 3, so that the two synchronous pulleys in the same transmission system are on the same horizontal plane and their rotation axes are parallel to each other.

[0049] As can be seen from the above, in this embodiment of the invention, by installing the synchronous pulley 33 on the passive adjustment component 3, the installation position of the synchronous pulley 33 can be adjusted by the active adjustment component 1 and the linkage component 2 when installing the synchronous pulley 33, so that the tension of the synchronous belt remains stable during the operation of the synchronous belt system, thereby improving the transmission accuracy of the synchronous belt system and the service life of the synchronous belt.

[0050] Specifically, the adjustment device also includes a tension sensor for detecting the tension of the synchronous belt on the synchronous pulley and a controller for receiving data from the tension sensor and the encoder. The tension sensor detects the real-time tension of one side of the synchronous belt, and the encoder collects the rotation angle of the output shaft of the drive motor.

[0051] When the rotation axis of the pulley being adjusted (i.e., the synchronous pulley 33) is not parallel to that of another synchronous pulley in the same transmission system, the controller is configured to control the operation of the active adjustment component 1 based on the tension data transmitted by the tension sensor and drive the passive adjustment component 3 to perform displacement adjustment through the linkage component 2.

[0052] When the rotation axis of the pulley being adjusted (i.e., the synchronous pulley 33) is not parallel to that of another synchronous pulley in the same transmission system, the controller is also configured to control the operation of the active adjustment component 1 based on the data transmitted by the tension sensor and the encoder, and drive the passive adjustment component 3 to perform angle adjustment through the linkage component 2.

[0053] To gain a clearer understanding of the solution in this application, the active adjustment component 1 will be described in detail below:

[0054] like Figure 1 As shown, the active adjustment component 1 includes a mounting plate 11 and an adjustment motor 12 fixedly mounted on the mounting plate 11. The output shaft end of the adjustment motor 12 is connected to a drive wheel 13, and the drive wheel is fixed to the output shaft of the adjustment motor 12 by a connecting shim. The active adjustment component 1 also includes at least three driven wheels 14 mounted on the mounting plate 11 and linked with the drive wheel. The driven wheels 14 are connected to the linkage component 2.

[0055] Specifically, such as Figure 1 As shown, there are three driven wheels 14, which are evenly distributed around the outer periphery of the driving wheel 13 and are linked to the driving wheel 13. It is worth noting that in some alternative embodiments, the number of driven wheels 14 is not limited to three. For example, the number of driven wheels 14 can be set to four, or even five, six, or seven, etc. In this embodiment, the specific number of driven wheels 14 is not limited.

[0056] Furthermore, the driving wheel 13 and the driven wheel 14 are provided with a gear meshing structure, that is, the driving wheel 13 and the driven wheel 14 are gears. When the driving wheel 13 rotates, it meshes with the driven wheel 14 to drive the driven wheel 14 to rotate. Of course, in some alternative embodiments, the driving wheel 13 and the driven wheel 14 can also be provided as pulleys. In this embodiment, the specific form of the driving wheel 13 and the driven wheel 14 is not limited, as long as the linkage between the driving wheel 13 and the driven wheel 14 can be satisfied.

[0057] Furthermore, the driven wheel 14 has a driven wheel output shaft, which passes through the mounting plate 11 and is provided with a driven wheel output shaft sleeve between the driven wheel output shaft and the mounting plate 11. Each driven wheel 14 is fixed to a driven wheel output shaft passing through the mounting plate 11 and a driven wheel output shaft sleeve by a connecting washer. The driven wheel output shaft sleeve makes the driven wheel 14 rotate more smoothly.

[0058] In addition, in order to reduce the overall length of the adjustment device, a through hole is provided on the mounting plate 11 in this embodiment of the application, wherein the adjustment motor 12 is at least partially embedded in the through hole, thereby reducing the overall length of the adjustment device and facilitating miniaturization design.

[0059] After explaining the active adjustment component 1, the linkage component 2 will now be explained in detail:

[0060] like Figure 1 As shown, the linkage component 2 includes an adjusting plate 21 and an adjusting screw 22 mounted on the adjusting plate 21. The adjusting plate 21 is connected to the passive adjusting component 3. The linkage component 2 also includes an on / off component 23 electrically connected to the controller. Each driven wheel 14 is provided with an adjusting screw 22 and an on / off component 23. The adjusting screw 22 has a first mounting end and a second mounting end. The first mounting end of the adjusting screw 22 is threadedly connected to the adjusting plate 21. The second mounting end of the adjusting screw 22 is connected to the corresponding driven wheel 14 through the on / off component 23.

[0061] Specifically, such as Figure 2 As shown, the on / off assembly 23 includes a clutch, and each adjusting screw 22 is provided with a corresponding clutch. In this embodiment, three sets of clutches are provided, wherein each set of clutches includes an input clutch 231 and an output clutch 232 that can be connected on and off. The input clutch 231 is connected to the driven wheel 14, and the output clutch 232 is connected to the adjusting screw 22. The clutches are electrically connected to the controller, and the controller is configured to control the on / off state of the input clutch 231 and the output clutch 232.

[0062] More specifically, when the rotation axes of the pulley being adjusted (i.e., synchronous pulley 33) and another synchronous pulley in the same transmission system are not parallel, the controller controls the adjusting motor 12 to start and simultaneously controls three sets of clutches. The clutch input end 231 and clutch output end 232 in each set of clutches are connected. At this time, the controller controls the adjusting motor 12 to rotate a small angle in one direction and then stop. All three clutches are in a linked state. Since the three driven pulleys 14 are of the same model and specifications and have the same transmission ratio, the three adjusting screws 12 rotate simultaneously in the same direction and by the same angle. At this time, the pulley being adjusted (i.e., synchronous pulley 33) and the adjusting plate 21 are translated a certain distance in the same direction, so that the two synchronous pulleys in the synchronous belt system are on the same horizontal plane after installation.

[0063] More specifically, when the rotation axes of the pulley being adjusted (i.e., synchronous pulley 33) and another synchronous pulley in the same transmission system are not parallel, the controller starts the adjusting motor 12 and simultaneously controls three sets of clutches, putting two sets of clutches in a linked state and the other set of clutches in a disengaged state. At this time, the controller controls the adjusting motor 12 to rotate a small angle in one direction and then stop. Two sets of clutches are in a linked state. Since the three driven pulleys 14 are of the same model and specifications and have the same transmission ratio, the clutch in the linked state drives the two adjusting screws 12 connected to it to rotate simultaneously in one direction by the same angle, while the other adjusting screw 12 does not rotate because it is connected to the clutch in the disengaged state. At this time, the pulley being adjusted (i.e., synchronous pulley 33) and the adjusting plate 21 rotate at a certain angle under the action of the two adjusting screws 12 (the adjusting screws 12 in the rotating state), thereby bringing the two synchronous pulleys in the synchronous belt system to the same horizontal plane.

[0064] It is worth noting that when adjusting the rotation angle of the synchronous pulley 33 by adjusting the screw 22 and the adjusting plate 21, the rotation angle of the synchronous pulley 33 to be adjusted is very small. Therefore, when adjusting the rotation angle of the synchronous pulley 33, the deformation of the adjusting plate 21 caused by the asymmetrical movement of the adjusting screw 22 is relatively small, so it will not have a significant impact or damage on the overall structure.

[0065] After explaining the active linkage component 2, the passive adjustment component 3 will now be explained in detail:

[0066] like Figure 1 As shown, the passive adjustment component 3 includes a mounting post 31 connected to the adjustment plate 21 and an intermediate connecting component 32 connected to the mounting post 31. The timing pulley 33 is mounted on the intermediate connecting component 32. The mounting post 31 is configured to connect the adjustment plate 21, the intermediate connecting component 32 and the timing pulley 33 into a whole so that the whole can be translated and / or rotated under the drive of the active adjustment component 1 and the linkage component 2.

[0067] Furthermore, in this embodiment, the drive motor mentioned above serves as the intermediate connecting component 32, wherein the synchronous pulley 33 is mounted on the output shaft end of the drive motor. Of course, in some alternative embodiments, the intermediate connecting component 32 may also be a simple connecting shaft assembly for connecting the synchronous pulley 33.

[0068] On the other hand, this embodiment of the invention also provides a robot, which includes the aforementioned synchronous belt pulley adjustment device. Specifically, the robot is a SCARA robot.

[0069] When a regular synchronous belt pulley is installed on a robot, if there is an installation error, the tension of the synchronous belt will constantly change as the robot operates, which will have a significant impact on the accuracy and lifespan of the synchronous belt drive.

[0070] In this embodiment of the invention, if an installation error occurs after the synchronous pulley is installed on the robot, its position can be adjusted using the active adjustment component 1, the linkage component 2, and the passive adjustment component 3. On one hand, the installation centers of the primary and secondary synchronous pulleys can be adjusted to be on the same horizontal plane; on the other hand, the rotation axes of the primary and secondary synchronous pulleys can be adjusted to be parallel, thereby maintaining a stable tension in the synchronous belt between the two pulleys, thus improving robot performance and service life.

[0071] The following is a detailed explanation of how to adjust the position of the timing belt pulleys during the operation of a timing belt system:

[0072] When the synchronous belt system is running, the synchronous belt tension sensor detects the real-time synchronous belt tension.

[0073] If the mounting centers of the adjusted synchronous pulley (i.e., synchronous pulley 33) and another synchronous pulley in the same transmission system are not on the same horizontal plane, then when the synchronous belt system is not working, at the same position, or when the synchronous belt system is in a cycle, the tension at the position under the same working condition as the previous cycle will not be the minimum tension at the current position. Figure 3As shown, A, B, and C are the centers of the pulleys (i.e., synchronous pulleys 33) at their respective positions, and D is the center of another synchronous pulley. Only when the center of the pulley being adjusted is located at B is the distance between BD shortest, and the synchronous belt tension is minimum. At this time, the controller controls the adjusting motor 12 to rotate a small angle in one direction and then stop. All three clutches are in a linked state. Since the three driven pulleys 14 are of the same model and specification and have the same transmission ratio, the three adjusting screws 22 rotate simultaneously in the same direction by the same angle. The pulley being adjusted (i.e., synchronous pulley 33), the intermediate connecting assembly 32, and the adjusting plate 21 translate a certain distance in the same direction. If the tension is measured to increase at this time, it means that the center distance between the adjusted synchronous pulley and another synchronous pulley in the same transmission system has increased, and the controller controls the adjusting motor 12 to rotate in the opposite direction; if the tension is measured to decrease at this time, it means that the center distance between the adjusted synchronous pulley and another synchronous pulley in the same transmission system has decreased, and the controller controls the adjusting motor 12 to continue rotating. Repeat the above steps until the tension measured at that location reaches its minimum value or fluctuates within an allowable range near the minimum value.

[0074] If the axis of rotation of the adjusted synchronous belt pulley (i.e., synchronous belt pulley 33) and another synchronous belt pulley in the same transmission system are not parallel, then when the synchronous belt system is working, the synchronous belt tension will be different at different positions. At this time, the controller records the encoder value of the drive motor each time the synchronous belt tension sensor detects the tension to determine the position of the synchronous belt and the rotation angle of the synchronous belt pulley at the moment corresponding to each tension data during the tension sensor test. Figure 2 As shown, since the rotation axes of the adjusted synchronous pulley and another synchronous pulley in the same transmission system are not parallel, the synchronous belt will move up and down according to the off-axis rotation of the adjusted pulley (i.e., synchronous pulley 33) when the synchronous belt system is working, thus causing the synchronous belt tension to change.

[0075] Within the elastic limit of the timing belt, the tension of the timing belt is directly proportional to the length of the timing belt, such as... Figure 2 As shown, in a synchronous system, the specifications of the master and slave synchronous pulleys and the relationship between them are as follows: Given d1, b1, d2, b2, and a, the relationship between θ and the length of AB needs to be calculated to determine the overturning angle θ of the synchronous pulley based on the tension of the synchronous belt.

[0076]

[0077]

[0078]

[0079]

[0080]

[0081] The relationship between θ and the length of AB can be obtained from the above formula. Furthermore, within the elastic limit, the tension force F of the synchronous belt is directly proportional to the length of AB. Then the overturning angle θ of the synchronous pulley 33 can be obtained from F.

[0082] After determining the overturning angle θ of the synchronous pulley 33, and given the model and specifications of the synchronous pulley and the synchronous belt, the controller uses the position recorded by the drive motor encoder and the tension force recorded by the corresponding synchronous belt tension sensor to control the rotation of the adjusting motor and simultaneously control the working state of the three clutches, thereby controlling the feed amount of the adjusting screw 22. This, in turn, controls the rotation axis direction of the synchronous pulley 33 through the adjusting screw 22, until the tension force detection values ​​at adjacent positions remain constant or fluctuate within the allowable range.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A timing belt pulley adjustment device, characterized in that, It includes an active adjustment component (1), a linkage component (2) and a passive adjustment component (3), wherein the passive adjustment component (3) includes a synchronous pulley (33) which is driven by a drive motor having an encoder; The linkage component (2) is installed between the active adjustment component (1) and the passive adjustment component (3) and is configured to drive the synchronous pulley (33) in the passive adjustment component (3) to translate and / or rotate according to the adjustment of the active adjustment component (1); The active adjustment assembly (1) includes a mounting plate (11) and an adjustment motor (12) mounted on the mounting plate (11), wherein the output shaft end of the adjustment motor (12) is connected to a drive wheel (13); the active adjustment assembly (1) also includes at least three driven wheels (14) mounted on the mounting plate (11) and linked to the drive wheel; The linkage component (2) includes an adjusting plate (21) and an adjusting screw (22) mounted on the adjusting plate (21). The adjusting plate (21) is connected to the passive adjusting component (3). The linkage component (2) also includes a switching component (23) electrically connected to the controller. Each driven wheel (14) is provided with an adjusting screw (22) and a switching component (23). The adjusting screw (22) has a first mounting end and a second mounting end. The first mounting end of the adjusting screw (22) is threadedly connected to the adjusting plate (21), and the second mounting end of the adjusting screw (22) is connected to the corresponding driven wheel (14) through the switching component (23).

2. The timing belt pulley adjustment device according to claim 1, characterized in that, The adjustment device further includes a tension sensor for detecting the tension of the synchronous belt on the synchronous pulley, and the controller is used to receive data from the tension sensor and data from the drive motor encoder. The controller is also configured to control the operation of the active adjustment component (1) based on the tension data transmitted by the tension sensor and drive the passive adjustment component (3) to perform displacement adjustment through the linkage component (2); The controller is also configured to control the operation of the active adjustment component (1) based on the data transmitted by the tension sensor and the encoder, and to drive the passive adjustment component (3) to perform angle adjustment through the linkage component (2).

3. The timing belt pulley adjustment device according to claim 1, characterized in that, There are three driven wheels (14), which are distributed around the outer periphery of the driving wheel (13) and are linked with the driving wheel (13).

4. The timing belt pulley adjustment device according to claim 3, characterized in that, The driving wheel (13) and the driven wheel (14) are provided with a gear meshing structure, and the driving wheel (13) drives the driven wheel (14) to rotate when it rotates.

5. The timing belt pulley adjustment device according to claim 4, characterized in that, The driven wheel (14) has a driven wheel output shaft, which passes through the mounting plate (11) and a driven wheel output shaft sleeve is provided between the driven wheel output shaft and the mounting plate (11).

6. The timing belt pulley adjustment device according to claim 5, characterized in that, The mounting plate (11) has a through hole, and the regulating motor (12) is at least partially embedded in the through hole.

7. The timing belt pulley adjustment device according to claim 1, characterized in that, The on / off assembly (23) includes a clutch, which includes an input clutch (231) and an output clutch (232) that can be connected on and off. The input clutch (231) is connected to the driven wheel (14), and the output clutch (232) is connected to the adjusting screw (22). The clutch is electrically connected to the controller, which is configured to control the on / off state of the input clutch (231) and the output clutch (232).

8. The timing belt pulley adjustment device according to claim 1, characterized in that, The passive adjustment assembly (3) includes a mounting post (31) connected to the adjustment plate (21) and an intermediate connection assembly (32) connected to the mounting post (31), and the synchronous pulley (33) is mounted on the intermediate connection assembly (32); The mounting post (31) is configured to connect the adjusting plate (21), the intermediate connecting assembly (32) and the timing pulley (33) into a whole.

9. The timing belt pulley adjustment device according to claim 8, characterized in that, The drive motor serves as the intermediate connecting component (32), and the synchronous pulley (33) is mounted on the output shaft end of the drive motor.

10. A robot, characterized in that, Includes the synchronous belt pulley adjustment device as described in any one of claims 1-9.

11. The robot according to claim 10, characterized in that, The robot in question is a SCARA robot.

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