Tensioning wheel, tensioning mechanism and control method of tensioning mechanism

Abstract

The invention provides a tensioning wheel, a tensioning mechanism and a control method of the tensioning mechanism. The tensioning wheel comprises a shaft assembly which comprises a shaft part and a ring part fixedly connected to the periphery of one end of the shaft part, and the shaft assembly is constructed to be fixedly connected with one end of a first flexible transmission piece and used for winding of part of the first flexible transmission piece; the wheel assembly is arranged on the periphery of the shaft part in a sleeving mode and connected with the shaft part in a relatively rotatable mode, and the wheel assembly is constructed to be fixedly connected with one end of the second flexible transmission piece and used for winding of part of the second flexible transmission piece; and the one-way rotating piece is arranged between the shaft part and the wheel assembly and is constructed to enable the wheel assembly to rotate in a single direction relative to the shaft assembly in a tension adjusting mode so as to tension the first flexible transmission piece and the second flexible transmission piece. According to the tensioning device, accurate control over the tensioning force and the tensioning amount is achieved.

Description

Technical Field

[0001] This application relates to the technical field of tensioning, and more particularly, to a tensioning wheel, a tensioning mechanism and a control method thereof. Background Art

[0002] A tensioning mechanism is a common component in a cable-driven robot or a cable-driven structure, which is used to tension a closed cable-driven system so that the transmission system with the cable-driven system has a certain pre-tension, improving the transmission accuracy and smoothness.

[0003] Current tensioning mechanisms often use chutes and screws, or eccentric shafts, etc. to tension the cable axially. However, in current tensioning mechanisms, due to the limited tensioning amount of the tensioning mechanism, the manufacturing accuracy requirements in the length direction of the rope are higher. If it is too short, it cannot be inserted, and if it is too long, it cannot be tensioned, resulting in increased installation and maintenance difficulties. Summary of the Invention

[0004] In view of the disadvantages of the existing methods, this application proposes a tensioning wheel, a tensioning mechanism and a control method thereof to solve the technical problem of the limited tensioning amount of the tensioning mechanism in the related art.

[0005] In a first aspect, an embodiment of this application provides a tensioning wheel, including: A shaft assembly, including a shaft portion and a ring portion fixedly connected to the outer periphery of one end of the shaft portion, is configured to be fixedly connected to one end of a first flexible transmission member and allow part of the first flexible transmission member to wind around it; A wheel assembly, sleeved around the shaft portion and rotatably connected to the shaft portion relatively, is configured to be fixedly connected to one end of a second flexible transmission member and allow part of the second flexible transmission member to wind around it; A one-way rotating member, disposed between the shaft portion and the wheel assembly, is configured to make the wheel assembly rotate relative to the shaft assembly in a single direction in the tensioning force adjustment mode to tension the first flexible transmission member and the second flexible transmission member.

[0006] Optionally, the tensioning wheel further includes at least one bearing, and the bearing is disposed between the shaft portion and the wheel assembly; The bearing and the one-way rotating member are axially distributed along the shaft portion.

[0007] Optionally, the number of bearings is two; the shaft portion includes a first shaft segment, a second shaft segment and a third shaft segment connected in sequence; In a plane perpendicular to the axial direction, the first bearing is disposed between the first shaft segment and the corresponding wheel assembly, the one-way rotating member and the second bearing are disposed between the second shaft segment and the corresponding wheel assembly, and the ring portion is sleeved on the outer peripheral wall of the third shaft segment; The first bearing, the one-way rotating member, the second bearing and the ring portion are axially distributed in sequence.

[0008] Optionally, the shaft portion further includes a stop portion disposed on a side of the first shaft segment away from the second shaft segment; The outer peripheral wall diameter of the stop portion is greater than that of the first shaft segment and is configured to stop the first bearing.

[0009] Optionally, along the axial direction of the shaft portion, first grooves are respectively provided at both ends of the inner peripheral wall of the wheel assembly, and protrusions are respectively provided on the outer walls of the two bearings; The protrusions of the two bearings are respectively engaged with the first grooves at both ends of the wheel assembly and are configured to axially limit the wheel assembly.

[0010] Optionally, the tensioning wheel includes at least one of the following: At least one first assembly hole for fixedly connecting with the driver is provided on the wheel assembly; A winding groove for winding the second flexible transmission member is provided on the wheel assembly; A second assembly hole for restricting the rotational freedom by the limiting structure in the tension force adjustment mode is provided on the shaft portion; The one-way rotating member includes a ratchet mechanism or an overrunning clutch.

[0011] In a second aspect, an embodiment of the present application provides a tensioning mechanism, including: The tensioning wheel as described above; A transmission wheel; A first flexible transmission member, one end of which is fixedly connected to the ring portion of the shaft assembly of the tensioning wheel and partially wound around the outer peripheral wall of the ring portion, and the other end of which is fixedly connected to the transmission wheel; A second flexible transmission member, one end of which is fixedly connected to the wheel assembly of the tensioning wheel and partially wound around the outer peripheral wall of the wheel assembly, and the other end of which is fixedly connected to the transmission wheel; The tensioning mechanism is configured to: in the tension force adjustment mode, enable the wheel assembly to rotate relative to the shaft assembly in a single direction through the one-way rotating member to tension the first flexible transmission member and the second flexible transmission member; and, in the transmission mode, enable the wheel assembly to drive the second flexible transmission member, the transmission wheel, the first flexible transmission member, and the shaft assembly to rotate in sequence, or enable the wheel assembly to drive the shaft assembly to rotate through the one-way rotating member, and the wheel assembly drives the transmission wheel to rotate through the second flexible transmission member and the shaft assembly drives the transmission wheel to rotate through the first flexible transmission member.

[0012] Optionally, the tensioning mechanism further includes: A driver, drivingly connected to the wheel assembly; A limiting structure, located on a side of the shaft assembly away from the driver, is configured to be movable in directions away from and close to the shaft assembly to restrict or release the rotational freedom of the shaft assembly.

[0013] Optionally, the limiting structure includes: A fastener movably disposed on an outer housing, the fastener being used to cooperate with or disengage from a second assembly hole on a shaft assembly to limit or release the relative position between the shaft assembly and the outer housing; Or, An actuator and a chuck connected to the actuator, the actuator driving the chuck to approach or move away from the shaft assembly, the chuck being used to clamp or loosen the shaft assembly to limit or release the shaft assembly in a corresponding position.

[0014] In a third aspect, an embodiment of the present application provides a control method for a tensioning mechanism as described above, including: In a tension force adjustment mode, controlling a wheel assembly of a tensioning wheel of the tensioning mechanism to rotate relative to the shaft assembly along a first rotation direction through a one-way rotating member to increase the total winding amount of a first flexible transmission member and a second flexible transmission member of the tensioning mechanism on the tensioning wheel; In a transmission mode, controlling the wheel assembly to rotate along the first rotation direction to sequentially drive the second flexible transmission member, the transmission wheel, the first flexible transmission member, and the shaft assembly to rotate; or, controlling the wheel assembly to rotate along a second rotation direction opposite to the first rotation direction, and the one-way rotating member locks the wheel assembly and the shaft assembly to drive the shaft assembly to rotate along the second rotation direction, so that the wheel assembly drives the transmission wheel to rotate through the second flexible transmission member, and the shaft assembly drives the transmission wheel to rotate through the first flexible transmission member.

[0015] Optionally, in the tension force adjustment mode, controlling a wheel assembly of a tensioning wheel of the tensioning mechanism to rotate relative to the shaft assembly along a first rotation direction through a one-way rotating member to increase the total winding amount of a first flexible transmission member and a second flexible transmission member of the tensioning mechanism on the tensioning wheel, including: Using a limiting structure to limit the rotational freedom of the shaft assembly; Driving the wheel assembly to rotate along the first rotation direction through a driver to increase the length of the second flexible transmission member wound on the wheel assembly.

[0016] Optionally, using a limiting structure to limit the rotational freedom of the shaft assembly, including: Moving the fastener close until it is inserted into the shaft assembly to fix the shaft assembly at the current rotation angle; Or, Driving the chuck to approach the shaft assembly through the actuator until the chuck clamps the shaft assembly to fix the current rotation angle of the shaft assembly.

[0017] The beneficial technical effects brought by the technical solutions provided by the embodiments of the present application include: In the embodiments of the present application, the shaft portion and the ring portion are fixedly connected. The ring portion is sleeved on the outer periphery of one end of the shaft portion. The relative positional relationship between the shaft portion and the ring portion is fixed, and the ring portion and the shaft portion can rotate or remain stationary synchronously. The wheel assembly is relatively rotatably sleeved on the outer periphery of the shaft portion. The shaft assembly can be fixedly connected to one end of the first flexible transmission member, and part of the first flexible transmission member is wound around the shaft assembly. The wheel assembly can be fixedly connected to one end of the second flexible transmission member, and part of the second flexible transmission member is wound around the wheel assembly.

[0018] Compared with the related art in which only ropes can be wound around the wheel, in the embodiments of the present application, the flexible transmission members (including the first flexible transmission member and the second flexible transmission member) can not only be wound around the wheel assembly, but also be wound around the shaft assembly, increasing the total winding amount of the flexible transmission members wound around the tensioning wheel.

[0019] In the embodiments of the present application, a one-way rotating member is provided between the shaft portion and the wheel assembly. The one-way rotating member provides rotational support for the wheel assembly relative to the shaft portion. At the same time, setting the one-way rotating member can restrict the relative rotation direction between the wheel assembly and the shaft portion to be one-way, so that the wheel assembly can rotate arbitrarily along the one-way direction relative to the shaft portion.

[0020] By setting the one-way rotating member, in the tensioning force adjustment mode, the wheel assembly and the shaft assembly can rotate relative to each other in a single direction, thereby increasing the length of the second flexible transmission member wound around the wheel assembly and / or the first flexible transmission member wound around the shaft assembly, achieving the purpose of tensioning the second flexible transmission member and the first flexible transmission member, and being able to accurately control the tensioning amount.

[0021] In the embodiments of the present application, by controlling the rotation of the wheel assembly and / or the shaft assembly, the total winding amount of the second flexible transmission member and the first flexible transmission member wound around the tensioning wheel can be increased, so that the second flexible transmission member and the first flexible transmission member can obtain a larger tensioning amount during the installation process, and the tensioning process of the second flexible transmission member and the first flexible transmission member can be made easier and more convenient. Moreover, the requirements for the lengths of the second flexible transmission member and the first flexible transmission member themselves are reduced, and the dependence on the accuracy of the lengths of the second flexible transmission member and the first flexible transmission member themselves can be reduced. The tensioning wheel provided by the embodiments of the present application can effectively and accurately control the tensioning force and the tensioning amount, greatly increasing the tensioning amount, so as to obtain a larger tensioning amount.

[0022] Additional aspects and advantages of the present application will be given in part in the following description, which will become apparent from the following description, or can be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, in which: Figure 1Schematic cross-sectional structure diagram of a tensioning wheel provided by an embodiment of the present application; Figure 2 Schematic structure diagram of a tensioning mechanism provided by an embodiment of the present application; Figure 3 Exploded schematic diagram of a partial structure of a tensioning mechanism provided by an embodiment of the present application; Figure 4 For Figure 3 Top view structure diagram of the tensioning mechanism in Figure 5 For Figure 4 Cross-sectional structure diagram of the tensioning mechanism in

[0024] Reference numerals: 1000 - Tensioning mechanism; 100 - Tensioning wheel; 10 - Shaft assembly; 11 - Shaft portion; 111 - First shaft section; 112 - Second shaft section; 113 - Third shaft section; 114 - Stop portion; 12 - Ring portion; 13 - Second assembly hole; 14 - Second groove; 15 - Bushing; 20 - Wheel assembly; 21 - First assembly hole; 22 - Wire winding groove; 23 - First groove; 24 - First inner wall; 25 - Second inner wall; 26 - Main body portion; 27 - Connecting portion; 30 - One-way rotating member; 40 - Bearing; 41 - Projection; 200 - Driving wheel; 300 - First flexible transmission member; 400 - Second flexible transmission member. Detailed implementation manners

[0025] The embodiments of the present application will be described below with reference to the accompanying drawings in the present application. It should be understood that the implementation manners described below in conjunction with the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application, and do not constitute limitations on the technical solutions of the embodiments of the present application.

[0026] Those skilled in the art of the present technology can understand that unless specifically stated, the "the" and "this" used here can also include the plural form. It should be further understood that the term "including" used in the specification of the present application means the presence of the described features, integers, steps, operations, and / or components, but does not exclude the implementation of other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the art of the present technology. The term "and / or" used here means at least one of the items defined by the term, for example, "A and / or B" can be implemented as "A", or implemented as "B", or implemented as "A and B".

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0028] Current tensioning mechanisms often use chutes and screws, or eccentric shafts, etc. to tension the wire axially. However, in current tensioning mechanisms, due to the limited tensioning amount of the tensioning mechanism, the manufacturing accuracy requirements in the length direction of the rope are higher. If it is too short, it cannot be inserted, and if it is too long, it cannot be tensioned. Moreover, due to the assembly problems caused by the higher manufacturing accuracy requirements in the length direction of the rope, the tensioning convenience is limited, resulting in the inability to achieve precise tension force control. Most of the tensioning forms based on the change in the axial length of the rope caused by screw rotation cannot accurately control the magnitude of the tension force.

[0029] The tensioning wheel, tensioning mechanism, and its control method provided in this application aim to solve the technical problems in the related art, such as the limited tensioning amount and tensioning convenience of the tensioning mechanism, and the inability to accurately control the magnitude of the tension force.

[0030] The following will specifically describe the technical solutions of this application and how the technical solutions of this application solve the above technical problems with specific embodiments. It should be noted that the following embodiments can refer to, draw on, or combine with each other. For the same terms, similar features, and similar implementation steps in different embodiments, they will not be described repeatedly.

[0031] An embodiment of this application provides a tensioning wheel 100. The structural schematic diagram of the tensioning wheel 100 is as Figure 1 shown, including: a shaft assembly 10, a wheel assembly 20, and a one-way rotating member 30.

[0032] The shaft assembly 10 includes a shaft portion 11 and an annular portion 12 fixedly connected to the outer periphery of one end of the shaft portion 11, and is configured to be fixedly connected to one end of a first flexible transmission member 300 and for part of the first flexible transmission member 300 to be wound around it; the wheel assembly 20 is sleeved around the shaft portion 11 and is rotatably connected to the shaft portion 11 relatively, and is configured to be fixedly connected to one end of a second flexible transmission member 400 and for part of the second flexible transmission member 400 to be wound around it; the one-way rotating member 30 is disposed between the shaft portion 11 and the wheel assembly 20, and is configured to make the wheel assembly 20 rotate relative to the shaft assembly 10 in a single direction in the tension force adjustment mode to tension the first flexible transmission member 300 and the second flexible transmission member 400.

[0033] In the embodiment of the present application, the shaft portion 11 and the ring portion 12 are fixedly connected. The ring portion 12 is sleeved on the outer periphery of one end of the shaft portion 11. The relative positional relationship between the shaft portion 11 and the ring portion 12 is fixed. The ring portion 12 and the shaft portion 11 can rotate synchronously or be stationary. The wheel assembly 20 is relatively rotatably sleeved on the periphery of the shaft portion 11. The shaft assembly 10 can be fixedly connected to one end of the first flexible transmission member 300, and a part of the first flexible transmission member 300 is wound around the shaft assembly 10. The wheel assembly 20 can be fixedly connected to one end of the second flexible transmission member 400, and a part of the second flexible transmission member 400 is wound around the wheel assembly 20.

[0034] Compared with the related art where only ropes can be wound around wheels, in the embodiment of the present application, the flexible transmission members (including the first flexible transmission member 300 and the second flexible transmission member 400) can not only be wound around the wheel assembly 20, but also be wound around the shaft assembly 10 (specifically, the ring portion 12), increasing the total winding amount of the flexible transmission members wound around the tensioning wheel 100.

[0035] Moreover, the wheel assembly 20 and the shaft assembly 10 are relatively rotatably arranged, such that: by controlling the rotation angle or number of turns of the shaft assembly 10, the length of the first flexible transmission member 300 wound around the shaft assembly 10 can be increased, thereby being able to tension the first flexible transmission member 300 and accurately control the tension amount of the first flexible transmission member 300; or by controlling the rotation angle or number of turns of the wheel assembly 20, the length of the second flexible transmission member 400 wound around the wheel assembly 20 can be increased, thereby being able to tension the second flexible transmission member 400 and accurately control the tension amount of the second flexible transmission member 400; or by controlling the rotation angle or number of turns of the shaft assembly 10 and the wheel assembly 20, the length of the first flexible transmission member 300 wound around the shaft assembly 10 and the length of the second flexible transmission member 400 wound around the wheel assembly 20 can be increased, thereby being able to tension the first flexible transmission member 300 and the second flexible transmission member 400 and accurately control the tension amounts of the first flexible transmission member 300 and the second flexible transmission member 400.

[0036] In the embodiment of the present application, a one-way rotating member 30 is provided between the shaft portion 11 and the wheel assembly 20. The one-way rotating member 30 provides rotational support for the wheel assembly 20 relative to the shaft portion 11. At the same time, setting the one-way rotating member 30 can restrict the relative rotation direction between the wheel assembly 20 and the shaft portion 11 to be one-way, such that the wheel assembly 20 can rotate arbitrarily along one-way relative to the shaft portion 11 by any angle.

[0037] By setting the one-way rotating member 30, in the tensioning force adjustment mode, the wheel assembly 20 and the shaft assembly 10 can rotate relative to each other in a single direction (such as the first rotation direction), so as to increase the length of the second flexible transmission member 400 wound around the wheel assembly 20 and / or the first flexible transmission member 300 wound around the shaft assembly 10, achieving the purpose of tensioning the second flexible transmission member 400 and the first flexible transmission member 300, and being able to accurately control the tensioning amount.

[0038] In the embodiment of the present application, by controlling the rotation of the wheel assembly 20 and / or the shaft assembly 10, the total winding amount of the second flexible transmission member 400 and the first flexible transmission member 300 wound around the tensioning wheel 100 can be increased, so that the second flexible transmission member 400 and the first flexible transmission member 300 can obtain a larger tensioning amount during the installation process, and the tensioning process of the second flexible transmission member 400 and the first flexible transmission member 300 can be made easier and more convenient. Moreover, the requirements for the self-lengths of the second flexible transmission member 400 and the first flexible transmission member 300 are reduced, and the dependence on the accuracy of the self-lengths of the second flexible transmission member 400 and the first flexible transmission member 300 can be reduced.

[0039] Compared with the related technologies that use chutes and screws, or eccentric shafts, etc. to perform tensioning, the tensioning wheel 100 provided by the embodiment of the present application can effectively and accurately control the tensioning force and the tensioning amount, greatly increasing the tensioning amount, so as to obtain a larger tensioning amount.

[0040] It should be noted that in the embodiment of the present application, the total winding amount of the first flexible transmission member 300 and the second flexible transmission member 400 wound around the tensioning wheel 100 refers to the sum of the length of the first flexible transmission member 300 wound around the shaft assembly 10 and the length of the second flexible transmission member 400 wound around the wheel assembly 20.

[0041] The increase in the total winding amount includes: the length of the first flexible transmission member 300 wound around the shaft assembly 10 and the length of the second flexible transmission member 400 wound around the wheel assembly 20 each increase; or, the length of the second flexible transmission member 400 wound around the wheel assembly 20 increases, the length of the first flexible transmission member 300 wound around the shaft assembly 10 remains unchanged or decreases, but the decrease amount of the length of the first flexible transmission member 300 wound around the shaft assembly 10 is less than the increase amount of the length of the second flexible transmission member 400 wound around the wheel assembly 20; or, the length of the first flexible transmission member 300 wound around the shaft assembly 10 increases, the length of the second flexible transmission member 400 wound around the wheel assembly 20 remains unchanged or decreases, but the decrease amount of the length of the second flexible transmission member 400 wound around the wheel assembly 20 is less than the increase amount of the length of the first flexible transmission member 300 wound around the shaft assembly 10.

[0042] Optionally, in the embodiments of the present application, the one-way rotating member 30 includes, but is not limited to, a ratchet mechanism, an overrunning clutch, or a one-way bearing.

[0043] Optionally, in the embodiments of the present application, the one-way rotating member 30 adopts a wedge-type one-way clutch, which can ensure one-way stepless rotation at any angle and can be locked at any angle. It should be noted that stepless rotation means that the rotational movement has no fixed gears or steps and can achieve continuous and smooth rotation.

[0044] Optionally, in the embodiments of the present application, the one-way rotating member 30 includes an outer ring, an inner ring, and a plurality of wedges. The outer ring is fixedly connected to the wheel assembly 20 (specifically, the main body portion 26), and the inner ring is fixedly connected to the shaft portion 11. The plurality of wedges are arranged between the outer ring and the inner ring to limit the outer ring to rotate relative to the inner ring only in a single direction (for example, the first rotation direction).

[0045] When the outer ring rotates relative to the inner ring in this single direction (for example, the first rotation direction), the wedges are pushed to tilt, creating a certain space between the inner ring and the outer periphery, enabling the outer ring to rotate smoothly relative to the inner ring in this single direction. The one-way rotating member 30 allows its outer ring to rotate relative to the inner ring in this single direction at any time. Of course, it also allows its inner ring to rotate relative to the outer periphery in the direction opposite to this single direction (for example, the second rotation direction opposite to the first rotation direction).

[0046] When the outer ring attempts to rotate relative to the inner ring in the direction opposite to this single direction (for example, the second rotation direction), due to the geometric shape of the wedges, they will be stuck between the inner ring and the outer ring and unable to move, thus locking the inner ring and the outer ring together. That is, once the wedges lock the inner ring and the outer ring, the one-way rotating member 30 is locked, preventing the outer ring from rotating relative to the inner ring in this opposite direction (for example, the second rotation direction). Of course, the inner ring also cannot rotate relative to the outer ring in this single direction (for example, the first rotation direction).

[0047] Taking the single direction in the embodiments of the present application as the first rotation direction, that is, the one-way rotating member 30 restricts the wheel assembly 20 from rotating relative to the shaft assembly 10 in the first rotation direction (the shaft assembly 10 rotates relative to the wheel assembly 20 in the second rotation direction opposite to the first rotation direction) as an example, the situation where the wheel assembly 20 rotates relative to the shaft assembly 10 in a single direction is described as follows: Situation 1: The shaft assembly 10 can be fixed, and the wheel assembly 20 is controlled to rotate relative to the stationary shaft assembly 10 in the first rotation direction, increasing the length of the second flexible transmission member 400 wound around the wheel assembly 20. At this time, when the wheel assembly 20 has a tendency to move in the second rotation direction opposite to the first rotation direction, the one-way rotating member 30 will lock the wheel assembly 20 and the shaft assembly 10 (the wheel assembly 20 and the shaft assembly 10 are relatively stationary), preventing the wheel assembly 20 from rotating in the second rotation direction.

[0048] Case 2: The wheel assembly 20 can be fixed, and the shaft assembly 10 is controlled to rotate relative to the stationary wheel assembly 20 in the second rotation direction, increasing the length of the first flexible transmission member 300 wound around the shaft assembly 10. At this time, when the shaft assembly 10 has a tendency to move in the first rotation direction, the one-way rotating member 30 will lock the shaft assembly 10 and the wheel assembly 20 (the wheel assembly 20 and the shaft assembly 10 are relatively stationary), so that the shaft assembly 10 cannot rotate in the first rotation direction.

[0049] Case 3: The wheel assembly 20 can be controlled to rotate in the first rotation direction, and the shaft assembly 10 is controlled to rotate in the second rotation direction, increasing the length of the second flexible transmission member 400 wound around the wheel assembly 20 and the length of the first flexible transmission member 300 wound around the shaft assembly 10. At this time, when the wheel assembly 20 has a tendency to move in the second rotation direction, and / or the shaft assembly 10 has a tendency to move in the first rotation direction, the one-way rotating member 30 will lock the wheel assembly 20 and the shaft assembly 10 (the wheel assembly 20 and the shaft assembly 10 are relatively stationary), so that the wheel assembly 20 cannot rotate in the second rotation direction and the shaft assembly 10 cannot rotate in the first rotation direction.

[0050] Optionally, in the embodiments of the present application, the first rotation direction may be the clockwise direction, and at this time the second rotation direction is the counterclockwise direction; or, the first rotation direction is the counterclockwise direction, and at this time the second rotation direction is the clockwise direction.

[0051] Optionally, as Figure 4 and Figure 5 shown, in the embodiments of the present application, the shaft portion 11 includes a first shaft segment 111, a second shaft segment 112, and a third shaft segment 113 that are sequentially connected. Along the axial direction of the shaft portion 11, the outer peripheral wall diameters of the first shaft segment 111, the second shaft segment 112, and the third shaft segment 113 decrease in sequence. The one-way rotating member 30 is sleeved on a part of the outer peripheral wall of the second shaft segment 112, and the ring portion 12 is sleeved on the outer peripheral wall of the third shaft segment 113.

[0052] In the embodiments of the present application, the first shaft segment 111, the second shaft segment 112, and the third shaft segment 113 are sequentially connected along the axial direction of the shaft portion 11, and the outer peripheral wall diameters decrease in sequence, so that the shaft portion 11 is in a stepped shape. Along the axial direction of the shaft portion 11, the one-way rotating member 30 and the ring portion 12 are respectively sleeved on a part of the outer peripheral wall of the second shaft segment 112 and the outer peripheral wall of the third shaft segment 113. Designing the shaft portion 11 into a stepped shape with a decreasing outer peripheral wall diameter facilitates installation.

[0053] Optionally, as Figure 1 , Figure 4 and Figure 5As shown, the ring portion 12 is fixed to the outer periphery of the third shaft segment 113. The ring portion 12 and the shaft portion 11 are separately provided, which is convenient for assembly. Of course, in other alternative embodiments of the present application, according to actual needs, the ring portion 12 and the shaft portion 11 can also be integrally formed.

[0054] Of course, in other alternative embodiments of the present application, according to actual needs, the outer peripheral wall diameters of the first shaft segment 111 and the third shaft segment 113 can be made larger than the outer peripheral wall diameter of the second shaft segment 112 respectively, that is, the shaft portion 11 is in a dumbbell shape with a thinner middle and thicker ends along the axial direction; or, the outer peripheral wall diameters of the first shaft segment 111, the second shaft segment 112 and the third shaft segment 113 can be made the same, that is, the outer peripheral wall diameter of the shaft portion 11 remains unchanged along the axial direction.

[0055] Optionally, as Figure 1 , Figure 4 and Figure 5 shown, in the embodiment of the present application, the tensioner 100 further includes at least one bearing 40, and the bearing 40 is arranged between the shaft portion 11 and the wheel assembly 20; the bearing 40 and the one-way rotating member 30 are distributed along the axial direction of the shaft portion 11.

[0056] In the embodiment of the present application, the shaft portion 11 and the wheel assembly 20 are relatively rotatably arranged through the bearing 40, and the bearing 40 plays a role of centering and bearing. The relative rotation direction between the shaft portion 11 and the wheel assembly 20 is restricted by the one-way rotating member 30. By arranging the bearing 40 while arranging the one-way rotating member 30, the support effect between the shaft portion 11 and the wheel assembly 20 and the smooth effect of rotation can be improved.

[0057] Optionally, in the embodiment of the present application, the bearing 40 includes but is not limited to rolling bearings, such as deep groove ball bearings.

[0058] Optionally, as Figure 1 , Figure 4 and Figure 5 shown, in the embodiment of the present application, the number of bearings 40 is two; in a plane perpendicular to the axial direction, the second bearing 40 is arranged between a part of the second shaft segment 112 and the corresponding wheel assembly 20 (specifically, the main body portion 26); along the axial direction, the second bearing 40 is located between the one-way rotating member 30 and the ring portion 12; in a plane perpendicular to the axial direction, the first bearing 40 is arranged between the first shaft segment 111 and the corresponding wheel assembly 20 (specifically, the main body portion 26), and along the axial direction, the first bearing 40 is located on the side of the one-way rotating member 30 away from the second bearing 40.

[0059] In the embodiment of the present application, the first shaft section 111, the one-way rotating member 30, the second bearing 40 and the ring portion 12 are sequentially distributed along the axial direction of the shaft portion 11, and the one-way rotating member 30 and the second bearing 40 are sandwiched between the first shaft section 111 and the ring portion 12. The first shaft section 111 and the ring portion 12 can play a certain axial limiting role on the one-way rotating member 30 and the second bearing 40 to prevent them from moving along the axial direction of the shaft portion 11. The two bearings 40 are distributed on both sides of the one-way rotating member 30 along the axial direction of the shaft portion 11, which can provide more balanced and stable support for the shaft portion 11 and the wheel assembly 20, making the rotation more stable.

[0060] In the embodiment of the present application, in a plane perpendicular to the axial direction, the first bearing 40 is disposed between the first shaft segment 111 and the corresponding wheel assembly 20, the one-way rotating member 30 and the second bearing 40 are disposed between the second shaft segment 112 and the corresponding wheel assembly 20, and the ring portion 12 is sleeved on the outer peripheral wall of the third shaft segment 113. The first bearing 40, the one-way rotating member 30, the second bearing 40 and the ring portion 12 are sequentially distributed along the axial direction.

[0061] Of course, in other optional embodiments of the present application, the number of bearings 40 can be three or more according to actual needs, wherein a portion of the bearings 40 is arranged as the second bearing sleeve on a portion of the outer circumferential wall of the second shaft segment 112 and is axially distributed between the one-way rotating member 30 and the ring portion 12, and another portion of the bearings 40 is arranged as the first bearing sleeve on the outer circumferential wall of the first shaft segment 111 and is distributed axially.

[0062] Alternatively, if Figure 4 and Figure 5 As shown, in the embodiment of the present application, the shaft portion 11 also includes a stop portion 114, which is arranged on the side of the first shaft segment 111 away from the second shaft segment 112; the outer circumferential wall diameter of the stop portion 114 is larger than the outer circumferential wall diameter of the first shaft segment 111, and is constructed to stop the first bearing 40.

[0063] In the embodiment of the present application, the first bearing 40 is located between the stopper 114 and the one-way rotating member 30. The stopper 114 and the one-way rotating member 30 can axially limit the first bearing 40 to prevent it from moving along the axial direction of the shaft portion 11. The stopper 114 can stop the first bearing 40 to prevent it from slipping out from the end of the first shaft section 111 away from the second shaft section 112. The stopper 114 is connected to the first shaft section 111.

[0064] Alternatively, if Figure 4 and Figure 5 As shown, the stopper 114 may be a protrusion formed by protruding outward from the outer peripheral wall of the first shaft segment 111 at one end away from the second shaft segment 112 .

[0065] Alternatively, if Figure 5As shown, in the embodiment of the present application, along the axial direction of the shaft portion 11, first grooves 23 are respectively provided at both ends of the inner peripheral wall of the wheel assembly 20, and protrusions 41 are respectively provided on the outer walls of the two bearings 40; the protrusions 41 of the two bearings 40 are respectively engaged with the first grooves 23 at both ends of the wheel assembly 20, and are configured to axially limit the wheel assembly 20.

[0066] In the embodiment of the present application, among the two first grooves 23, the first first groove 23 is located on the inner peripheral wall of the wheel assembly 20 at the end facing the ring portion 12, and the second first groove 23 is located on the inner peripheral wall of the wheel assembly 20 at the end away from the ring portion 12. Among the two protrusions 41, the first protrusion 41 is located on the outer peripheral wall of the second bearing 40 at the end facing the ring portion 12, and the second protrusion is located on the outer peripheral wall of the first bearing 40 at the end away from the ring portion 12.

[0067] The first protrusion 41 is engaged with the first first groove 23, which can prevent the wheel assembly 20 from axially moving along the shaft portion 11 towards the direction close to the ring portion 12. The second protrusion 41 and the second first groove 23 are engaged, which can prevent the wheel assembly 20 from axially moving along the shaft portion 11 towards the direction away from the ring portion 12. Through the corresponding engagement of the two protrusions 41 and the two first grooves 23, axial limitation of the wheel assembly 20 can be achieved.

[0068] Optionally, as Figure 5 shown, in the embodiment of the present application, the inner peripheral wall of the wheel assembly 20 further has a first inner wall 24 and a second inner wall 25 that are sequentially distributed along the axial direction of the shaft portion 11. The first inner wall 24 and the second inner wall 25 are located between the two first grooves 23, and the diameter of the first inner wall 24 is greater than the diameter of the second inner wall 25. The first inner wall 24 is respectively connected to the outer walls of the one-way rotating member 30 and the first bearing 40, and the second inner wall 25 is connected to the outer wall of the second bearing 40.

[0069] Optionally, as Figure 5 shown, in the embodiment of the present application, the diameter of the first first groove 23 is greater than the diameter of the second inner wall 25 and less than the diameter of the first inner wall 24. The diameter of the second first groove 23 is greater than the diameter of the first inner wall 24.

[0070] Optionally, as Figure 1 and Figure 5 shown, in the embodiment of the present application, at least one first assembly hole 21 for fixedly connecting with the driver is provided on the wheel assembly 20.

[0071] In the embodiments of the present application, the wheel assembly 20 is fixedly connected to the output shaft of the driver through the first assembly hole 21. By driving the wheel assembly 20 to rotate through the driver, not only can the length of the second flexible transmission member 400 wound around the wheel assembly 20 be increased to achieve tensioning, improving convenience, but also the angle or number of turns of the rotation of the wheel assembly 20 can be controlled by controlling the torque of the driver, accurately controlling the number of turns of the second flexible transmission member 400 wound, and achieving accurate control of the tension amount of the second flexible transmission member 400.

[0072] Optionally, as Figures 2 to 5 shown, in the embodiments of the present application, the wheel assembly 20 includes a main body portion 26 sleeved on the outer periphery of the shaft portion 11 and a connecting portion 27 fixedly connected to the main body portion 26. The first groove 23, the first inner wall 24, and the second inner wall 25 are provided on the inner peripheral wall of the main body portion 26, and the first assembly hole 21 is provided on the connecting portion 27.

[0073] Optionally, as Figures 3 to 5 shown, in the embodiments of the present application, the connecting portion 27 extends outward from the outer peripheral wall of the end of the main body portion 26 away from the ring portion 12. The connecting portion 27 and the main body portion 26 are integrally formed.

[0074] Optionally, as Figures 2 to 5 shown, in the embodiments of the present application, the connecting portion 27 provided with the first assembly hole 21 includes, but is not limited to, a flange.

[0075] Optionally, as Figure 5 shown, in the embodiments of the present application, the axial direction of the first assembly hole 21 is parallel to the axial direction of the shaft portion 11. Of course, in other alternative embodiments of the present application, according to actual needs, the axial direction of the first assembly hole 21 can also be designed to intersect the axial direction of the shaft portion 11 at a certain angle, which is not limited herein.

[0076] Optionally, as Figure 1 and Figure 5 shown, in the embodiments of the present application, a winding groove 22 for winding the second flexible transmission member 400 is provided on the wheel assembly 20. The provision of the winding groove 22 facilitates the winding of the second flexible transmission member 400 onto the wheel assembly 20.

[0077] Optionally, as Figures 3 to 5 shown, in the embodiments of the present application, the winding groove 22 is provided on the outer peripheral wall of the main body portion 26.

[0078] Optionally, as Figure 1 、 Figure 2 and Figure 5As shown, in the embodiment of the present application, a second assembly hole 13 for restricting the rotational freedom by a limiting structure in the tension adjustment mode is provided on the shaft portion 11. In the tension adjustment mode, the shaft portion 11 can be fixedly connected to the limiting structure (such as a fastener movably arranged on the outer housing) through the second assembly hole 13, so as to fix the position of the shaft assembly 10, which is convenient for controlling the one-way rotation of the wheel assembly 20 relative to the shaft assembly 10, and realizing the tensioning of the second flexible transmission member 400.

[0079] Optionally, as Figure 1 shown, in the embodiment of the present application, the ring portion 12 is configured to be fixedly connected to the first flexible transmission member 300 and for the first flexible transmission member 300 to wind around.

[0080] Optionally, as Figure 1 、 Figures 3 to 5 shown, in the embodiment of the present application, the outer peripheral wall diameter of the ring portion 12 is the same as or approximately the same as the outer peripheral wall diameter of the main body portion 26, and the first flexible transmission member 300 can be wound around the outer peripheral wall of the ring portion 12 and the winding groove 22 on the outer peripheral wall of the main body portion 26 at the same time.

[0081] Optionally, as Figures 1 to 5 shown, in the embodiment of the present application, a second groove 14 is provided on the ring portion 12, the shaft assembly 10 further includes a bushing 15, one end of the first flexible transmission member 300 is fixedly inserted into the bushing 15, and the bushing 15 is fixed (such as clamped) in the second groove 14, so as to fix one end of the first flexible transmission member 300 on the ring portion 12.

[0082] Optionally, the tensioning wheel 100 provided in the embodiment of the present application can be applied to fields such as wire reel tensioning and transmission tensioning.

[0083] Based on the same inventive concept, the embodiment of the present application provides a tensioning mechanism 1000, and the structural schematic diagram of the tensioning mechanism 1000 is as Figures 2 to 5 shown, the tensioning mechanism 1000 includes: the tensioning wheel 100, a transmission wheel 200, a first flexible transmission member 300 and a second flexible transmission member 400 as described above.

[0084] One end of the first flexible transmission member 300 is fixedly connected to the ring portion 12 of the shaft assembly 10 of the tensioning wheel 100 and partially wound around the outer peripheral wall of the ring portion 12, and the other end is fixedly connected to the transmission wheel 200. One end of the second flexible transmission member 400 is fixedly connected to the wheel assembly 20 of the tensioning wheel 100 and partially wound around the outer peripheral wall of the wheel assembly 20, and the other end is fixedly connected to the transmission wheel 200.

[0085] The tensioning mechanism 1000 is configured such that, in the tensioning force adjustment mode, the wheel assembly 20 rotates relative to the shaft assembly 10 in a single direction through the one-way rotating member 30 to tension the first flexible transmission member 300 and the second flexible transmission member 400; and, in the transmission mode, the wheel assembly 20 drives the second flexible transmission member 400, the transmission wheel 200, the first flexible transmission member 300, and the shaft assembly 10 to rotate in sequence, or the wheel assembly 20 drives the shaft assembly 10 to rotate through the one-way rotating member 30, and the wheel assembly 20 drives the transmission wheel 200 to rotate through the second flexible transmission member 400, and the shaft assembly 10 drives the transmission wheel 200 to rotate through the first flexible transmission member 300.

[0086] In the embodiment of the present application, one end of the first flexible transmission member 300 is fixedly connected to the ring portion 12 and partially wound around the outer peripheral wall of the ring portion 12, and the other end is fixedly connected to the transmission wheel 200 and partially wound around the outer peripheral wall of the transmission wheel 200. The tensioning wheel 100 is in transmission connection with the transmission wheel 200 through the first flexible transmission member 300. One end of the second flexible transmission member 400 is fixedly connected to the wheel assembly 20 and partially wound around the outer peripheral wall of the wheel assembly 20, and the other end is fixedly connected to the transmission wheel 200 and partially wound around the outer peripheral wall of the transmission wheel 200. The tensioning wheel 100 is in transmission connection with the transmission wheel 200 through the second flexible transmission member 400. The tensioning wheel 100 is rotatably arranged around the axis L1, and the transmission wheel 200 is rotatably arranged around the axis L2. The axial direction of the shaft portion 11 is parallel to the axis L1.

[0087] The tensioning mechanism 1000 has two working modes, namely, the tensioning force adjustment mode and the transmission mode.

[0088] In the tensioning force adjustment mode, the wheel assembly 20 and the shaft assembly 10 of the tensioning wheel 100 (through the one-way rotating member 30 arranged between the wheel assembly 20 and the shaft assembly 10) perform relative rotation in a single direction, so that the total winding amount of the second flexible transmission member 400 wound around the outer peripheral wall of the wheel assembly 20 and the first flexible transmission member 300 wound around the outer peripheral wall of the ring portion 12 of the shaft assembly 10 increases, thereby tensioning the second flexible transmission member 400 and the first flexible transmission member 300.

[0089] After completing the tensioning operation of the first flexible transmission member 300 and the second flexible transmission member 400 (i.e., the operation in the tensioning force adjustment mode described above), the transmission operation can be performed (i.e., enter the transmission mode).

[0090] In the transmission mode, when the control wheel assembly 20 rotates in a single direction defined by the one-way rotating member 30 (at this time, the shaft assembly 10 is in a free state), the wheel assembly 20 can drive the transmission wheel 200 to rotate through the second flexible transmission member 400, and the transmission wheel 200 can drive the shaft assembly 10 to rotate through the first flexible transmission member 300, so that the motion state of the shaft assembly 10 is the same as or close to that of the wheel assembly 20, and the shaft assembly 10 and the wheel assembly 20 are relatively stationary or close to being relatively stationary. Thus, the tensioning wheel 100 drives the transmission wheel 200 to rotate through the second flexible transmission member 400 and the first flexible transmission member 300, realizing power transmission. When the control wheel assembly 20 rotates in a direction opposite to the single direction defined by the one-way rotating member 30 (at this time, the shaft assembly 10 is in a free state), since the one-way rotating member 30 locks the wheel assembly 20 and the shaft assembly 10, the wheel assembly 20 cannot rotate relative to the shaft assembly 10 in this opposite direction, so that the wheel assembly 20, the one-way rotating member 30 and the shaft assembly 10 rotate as a whole in this opposite direction, and the wheel assembly 20 drives the transmission wheel 200 to rotate through the second flexible transmission member 400, and the shaft assembly 10 drives the transmission wheel 200 to rotate through the first flexible transmission member 300, realizing power transmission.

[0091] Optionally, as Figures 1 to 5 shown, in the embodiment of the present application, the tensioning wheel 100 includes a split and relatively rotatable shaft assembly 10 and a wheel assembly 20. The shaft assembly 10 and the wheel assembly 20 can rotate relative to each other in one direction around the axis enveloped by the first flexible transmission member 300 and the second flexible transmission member 400 (this axis is parallel to the axis of the shaft portion 11). The more they rotate, the shorter and tighter the distance between the first flexible transmission member 300 and the second flexible transmission member 400 becomes. The two ends of the first flexible transmission member 300 and the second flexible transmission member 400 are respectively fixedly connected to the tensioning wheel 100 and the transmission wheel 200, which is convenient for installation.

[0092] The embodiment of the present application provides a tensioning mechanism based on a split tensioning wheel and its control method, making the tensioning amount larger during the installation process of the first flexible transmission member 300 and the second flexible transmission member 400, making the tensioning process easier and more convenient, and reducing the dependence on the length accuracy of the first flexible transmission member 300 and the second flexible transmission member 400.

[0093] It should be noted that since the tensioning mechanism 1000 provided in the embodiment of the present application includes the tensioning wheel 100 provided in the embodiment of the present application, therefore, the tensioning mechanism 1000 provided in the embodiment of the present application also has the above beneficial effects of the tensioning wheel 100 provided in the embodiment of the present application, which will not be elaborated here.

[0094] Optionally, as Figure 2 and Figure 3As shown, in the embodiment of the present application, the first flexible transmission member 300 and the second flexible transmission member 400 are connected in an 8-shaped transmission between the tensioning wheel 100 and the transmission wheel 200. Of course, in other alternative embodiments of the present application, according to actual needs, the first flexible transmission member 300 and the second flexible transmission member 400 can also be connected in a 0-shaped transmission between the tensioning wheel 100 and the transmission wheel 200.

[0095] Optionally, as Figures 2 to 5 shown, in the embodiment of the present application, the first flexible transmission member 300 and the second flexible transmission member 400 are respectively fixedly connected to different positions on the transmission wheel 200. Of course, in other alternative embodiments of the present application, according to actual needs, the first flexible transmission member 300 and the second flexible transmission member 400 can also be fixedly connected to the same position on the transmission wheel 200.

[0096] Optionally, as Figures 2 to 5 shown, in the embodiment of the present application, the first flexible transmission member 300 and the second flexible transmission member 400 are two independent flexible transmission members. Of course, in other alternative embodiments of the present application, according to actual needs, the first flexible transmission member 300 and the second flexible transmission member 400 can also be an integrally formed flexible transmission member. At this time, one end of the flexible transmission member is fixed on the wheel assembly 20, and the other end is fixed on the ring portion 12 of the shaft assembly 10 after passing around the transmission wheel 200. The part of the flexible transmission member wound around the transmission wheel 200 is fixed on the transmission wheel 200; optionally, there is at least one fixed connection point between the flexible transmission member and the transmission wheel 200.

[0097] Optionally, as Figures 2 to 5 shown, in the embodiment of the present application, the first flexible transmission member 300 includes but is not limited to a rope. The second flexible transmission member 400 includes but is not limited to a rope.

[0098] Optionally, in the embodiment of the present application, the tensioning mechanism 1000 further includes: a driver and a limiting structure.

[0099] The driver is drivingly connected to the wheel assembly 20. The limiting structure is located on the side of the shaft assembly 10 away from the driver and is configured to be movable in directions away from and towards the shaft assembly 10 to restrict or release the rotational freedom of the shaft assembly 10.

[0100] In the embodiment of the present application, the driver can drive the wheel assembly 20 to rotate. The limiting structure can move.

[0101] In the tension adjustment mode, the control limit structure is close to the shaft assembly 10. Through the limit structure, the rotational freedom of the shaft assembly 10 can be restricted, and the shaft assembly 10 is fixed at the corresponding position. At this time, the drive wheel assembly 20 is driven by the driver to rotate unidirectionally and infinitely relative to the shaft assembly 10, increasing the length of the second flexible transmission member 400 wound around the wheel assembly 20, tensioning the second flexible transmission member 400. The second flexible transmission member 400 drives the transmission wheel 200 to rotate, and the transmission wheel 200 drives the first flexible transmission member 300 to be tensioned. Moreover, the driver can stop the wheel assembly 20 at any position, effectively and accurately controlling the rotation angle or number of turns of the wheel assembly 20, that is, effectively and accurately controlling the total winding amount of the second flexible transmission member 400 and the first flexible transmission member 300 wound around the tensioning wheel 100, realizing the accurate control of the tension amount of the second flexible transmission member 400 and the first flexible transmission member 300. By adjusting the external tension torque, the tensioning mechanism can effectively control the magnitude of the tension force.

[0102] In the transmission mode, the control limit structure is far from the shaft assembly 10, and the limit on the shaft assembly 10 by the limit structure is released (the shaft assembly 10 is in a free state). At this time, by driving the wheel assembly 20 to rotate through the driver, the tensioning wheel 100 can drive the transmission wheel 200 to rotate through the second flexible transmission member 400 and the first flexible transmission member 300, realizing transmission.

[0103] Certainly, in other optional embodiments of the present application, according to actual needs, the driver can also be drivingly connected to the shaft assembly 10, and the limit structure is used to restrict or release the rotational freedom of the wheel assembly 20.

[0104] Optionally, in the embodiments of the present application, the driver includes but is not limited to a motor.

[0105] Optionally, in the embodiments of the present application, the limit structure includes: a fastener movably arranged on the outer housing, and the fastener is used to cooperate or release cooperation with the second assembly hole 13 on the shaft assembly 10 to restrict or release the relative position between the shaft assembly 10 and the outer housing.

[0106] In the embodiments of the present application, the outer housing is used to carry the fastener, and the fastener is movable relative to the outer housing. In the tension adjustment mode, the fastener is close to the shaft assembly 10 and cooperates with the second assembly hole 13 to fix the shaft assembly 10 on the outer housing, making the relative position between the shaft assembly 10 and the outer housing fixed. In the transmission mode, the fastener is released from cooperation with the second assembly hole 13 and moves away from the shaft assembly 10, releasing the fixation of the shaft assembly 10 from the outer housing, so that the shaft assembly 10 (in a free state) can be driven to rotate.

[0107] Optionally, in the embodiments of the present application, the fastener includes but is not limited to a pin shaft or a push rod.

[0108] Optionally, in the embodiments of the present application, the outer housing may be the housing of a robot. Optionally, the robot includes but is not limited to a humanoid robot.

[0109] Of course, in other alternative embodiments of the present application, according to actual needs, the limiting structure may further include an actuator and a chuck connected to the actuator. The actuator drives the chuck to move closer to or away from the shaft assembly 10. The chuck is used to clamp or loosen the shaft assembly to limit the shaft assembly in a corresponding position or release the limitation. The actuator drives the chuck to move. In the tension adjustment mode, the chuck is moved closer to and clamped on the shaft assembly 10 to fix the shaft assembly 10 in the corresponding position; in the transmission mode, the chuck is released from clamping, moved away from the shaft assembly 10, and the shaft assembly 10 is released from fixation, so that the shaft assembly 10 (in a free state) can be driven to rotate.

[0110] Optionally, the tensioning mechanism 1000 provided by the embodiments of the present application can be applied to a transmission system.

[0111] Based on the same inventive concept, the embodiments of the present application provide a control method for a tensioning mechanism as described above. The control method includes: In the tension adjustment mode, control the wheel assembly 20 of the tensioning wheel 100 of the tensioning mechanism 1000 to rotate relative to the shaft assembly 10 along a first rotation direction through the one-way rotating member 30, so as to increase the total winding amount of the first flexible transmission member 300 and the second flexible transmission member 400 on the tensioning wheel 100.

[0112] In the transmission mode, control the wheel assembly 20 to rotate along the first rotation direction, sequentially driving the second flexible transmission member 400, the transmission wheel 200, the first flexible transmission member 300, and the shaft assembly 10 of the tensioning wheel 100 to rotate; or, control the wheel assembly 20 to rotate along a second rotation direction opposite to the first rotation direction, and the one-way rotating member 30 locks the wheel assembly 20 and the shaft assembly 10 to drive the shaft assembly 10 to rotate along the second rotation direction, so that the wheel assembly 20 drives the transmission wheel 200 to rotate through the second flexible transmission member 400, and the shaft assembly 10 drives the transmission wheel 200 to rotate through the first flexible transmission member 300.

[0113] In the embodiments of the present application, the control method of the tensioning mechanism includes a tensioning step of using the tensioning wheel 100 to tension the first flexible transmission member 300 and the second flexible transmission member 400 (the tensioning wheel 100 is in the tension adjustment mode), and a transmission step of the tensioning wheel 100 transmitting power to the transmission wheel 200 through the tensioned first flexible transmission member 300 and second flexible transmission member 400 (the tensioning wheel 100 is in the transmission mode).

[0114] In the embodiment of the present application, in the tension adjustment mode, the control wheel assembly 20 rotates and / or the control shaft assembly 10 rotates (the wheel assembly 20 and the shaft assembly 10 generate relative rotation in a single direction through the one-way rotating member 30. For example, the wheel assembly 20 rotates in the first rotation direction and the shaft assembly 10 is stationary; or, the shaft assembly 10 rotates in the second rotation direction and the wheel assembly 20 is stationary; or, the wheel assembly 20 rotates in the first rotation direction and the shaft assembly 10 rotates in the second rotation direction), so as to increase the total winding amount of the second flexible transmission member 400 wound around the outer peripheral wall of the wheel assembly 20 and the first flexible transmission member 300 wound around the outer peripheral wall of the shaft assembly 10, thereby tensioning the first flexible transmission member 300 and the second flexible transmission member 400.

[0115] In the transmission mode, the control wheel assembly 20 rotates (at this time, the shaft assembly 10 can be in a free state. Of course, the shaft assembly 10 can also be controlled to rotate and the wheel assembly 20 can be in a free state). When the control wheel assembly 20 rotates in the single direction defined by the one-way rotating member 30 (the wheel assembly 20 can rotate relative to the shaft assembly 10 in this single direction), the wheel assembly 20 drives the transmission wheel 200 to rotate through the tensioned second flexible transmission member 400, and the transmission wheel 200 drives the shaft assembly 10 to rotate through the tensioned first flexible transmission member 300, so that the shaft assembly 10 and the wheel assembly 20 rotate synchronously, and the relative position between the shaft assembly 10 and the wheel assembly 20 is stationary, realizing the transmission purpose that the tensioning wheel 100 drives the transmission wheel 200 to rotate. When the control wheel assembly 20 rotates in the direction opposite to the single direction defined by the one-way rotating member 30, due to the one-way limiting effect of the one-way rotating member 30, the wheel assembly 20 cannot rotate relative to the shaft assembly 10 in this opposite direction, and the one-way rotating member 30 locks and stops the wheel assembly 20 and the shaft assembly 10. The wheel assembly 20, the one-way rotating member 30 and the shaft assembly 10 will rotate as a whole in this opposite direction under the driving force applied to the wheel assembly 20, so that the tensioning wheel 100 drives the transmission wheel 200 to rotate through the first flexible transmission member 300 and the second flexible transmission member 400, realizing the transmission purpose. The driving force applied to the wheel assembly 20 is transmitted to the transmission wheel 200 through the second flexible transmission member 400 and the first flexible transmission member 300.

[0116] It should be noted that since the control method of the tensioning mechanism provided in the embodiment of the present application can be used to control the tensioning mechanism provided in the embodiment of the present application (including tensioning and transmission), therefore, the control method of the tensioning mechanism provided in the embodiment of the present application also has the above beneficial effects of the tensioning mechanism provided in the embodiment of the present application, which will not be elaborated here.

[0117] Optionally, as Figures 1 to 5As shown in the figure, in the tension adjustment mode of the embodiment of the present application, the wheel assembly 20 of the tensioning wheel 100 of the tensioning mechanism 1000 is controlled to rotate relative to the shaft assembly 10 in the first rotation direction through the one-way rotating member 30, so as to increase the total winding amount of the first flexible transmission member 300 and the second flexible transmission member 400 on the tensioning wheel 100, including: The rotation freedom of the shaft assembly 10 is restricted by using the limiting structure; the wheel assembly 20 is driven by the driver to rotate in the first rotation direction, so as to increase the length of the second flexible transmission member 400 wound on the wheel assembly 20.

[0118] In the embodiment of the present application, in the tension adjustment mode, the shaft assembly 10 is fixed at the corresponding position through the limiting structure, and the wheel assembly 20 is driven by the driver to rotate in the single direction defined by the one-way rotating member 30, so that the length of the second flexible transmission member 400 wound on the wheel assembly 20 is increased (at this time, the length of the first flexible transmission member 300 wound on the shaft assembly 10 may remain unchanged or may decrease, but the decrease amount is less than the increase amount of the length of the second flexible transmission member 400 wound on the wheel assembly 20, so as to ensure that the total winding amount of the first flexible transmission member 300 and the second flexible transmission member 400 wound on the tensioning wheel 100 is increased), thereby tensioning the second flexible transmission member 400. The second flexible transmission member 400 pulls the transmission wheel 200 to make the transmission wheel 200 have a rotation tendency, and the transmission wheel 200 pulls the first flexible transmission member 300 to tension the first flexible transmission member 300.

[0119] Optionally, in the embodiment of the present application, restricting the rotation freedom of the shaft assembly 10 by using the limiting structure includes: moving the fastener close until it is inserted into the shaft assembly 10, and fixing the shaft assembly 10 at the current rotation angle.

[0120] In the embodiment of the present application, the fastener is moved close to the shaft assembly 10 manually or automatically and is matched with the second assembly hole 13 of the shaft assembly 10, so as to fix the shaft assembly 10 at the current rotation angle on the outer housing, which is convenient for driving the wheel assembly 20 to rotate relative to the shaft assembly 10 in the single direction defined by the one-way rotating member 30, thereby realizing tensioning.

[0121] Certainly, in other optional embodiments of the present application, according to actual needs, restricting the rotation freedom of the shaft assembly 10 by using the limiting structure may also include: driving the chuck to move close to the shaft assembly 10 through the actuator until the chuck clamps the shaft assembly 10 to fix the current rotation angle of the shaft assembly 10. Driving the chuck to move close to and clamp the shaft assembly 10 makes the shaft assembly 10 fixed at the current rotation angle, which is convenient for driving the wheel assembly 20 to rotate relative to the shaft assembly 10 in the single direction defined by the one-way rotating member 30, thereby realizing tensioning.

[0122] Of course, in other alternative embodiments of the present application, according to actual needs, in the tension adjustment mode, the wheel assembly 20 of the tensioning wheel 100 of the tensioning mechanism 1000 can be controlled to rotate relative to the shaft assembly 10 in the first rotation direction through the one-way rotating member 30, so as to increase the total winding amount of the first flexible transmission member 300 and the second flexible transmission member 400 on the tensioning wheel 100, including: The rotation freedom of the wheel assembly 20 is restricted by the limiting structure, and the shaft assembly 10 is driven by the driver to rotate in a single direction defined by the one-way rotating member 30, so as to increase the length of the first flexible transmission member 300 wound around the outer peripheral wall of the ring portion 12 of the shaft assembly 10 or wound around the outer peripheral wall of the ring portion 12 and the wheel assembly 20 adjacent to the ring portion 12; Alternatively, the shaft assembly 10 and the wheel assembly 20 are each driven to rotate in a single direction defined by the one-way rotating member 30 (for example, the wheel assembly 20 rotates in the first rotation direction, and the shaft assembly 10 rotates in the second rotation direction), increasing the length of the first flexible transmission member 300 wound around the outer peripheral wall of the ring portion 12 or the outer peripheral wall of the ring portion 12 and the wheel assembly 20 adjacent to the ring portion 12, and increasing the length of the second flexible transmission member 400 wound around the outer peripheral wall of the wheel assembly 20, thereby tensioning the first flexible transmission member 300 and the second flexible transmission member 400.

[0123] Applying the embodiments of the present application can at least achieve the following beneficial effects: In the embodiments of the present application, the shaft portion and the ring portion are fixedly connected, the ring portion is sleeved on the outer periphery of one end of the shaft portion, the relative position relationship between the shaft portion and the ring portion is fixed, and the ring portion and the shaft portion can rotate or be stationary synchronously. The wheel assembly is rotatably sleeved on the periphery of the shaft portion. The shaft assembly can be fixedly connected to one end of the first flexible transmission member, and part of the first flexible transmission member is wound around the shaft assembly. The wheel assembly can be fixedly connected to one end of the second flexible transmission member, and part of the second flexible transmission member is wound around the wheel assembly.

[0124] Compared with the related art that can only wind a rope on a wheel, in the embodiments of the present application, the flexible transmission members (including the first flexible transmission member and the second flexible transmission member) can not only be wound around the wheel assembly, but also be wound around the shaft assembly, increasing the total winding amount of the flexible transmission members on the tensioning wheel.

[0125] In the embodiments of the present application, a one-way rotating member is provided between the shaft portion and the wheel assembly. The one-way rotating member provides rotational support for the wheel assembly relative to the shaft portion. At the same time, setting the one-way rotating member can restrict the relative rotation direction between the wheel assembly and the shaft portion to be one-way, so that the wheel assembly can rotate arbitrarily along the one-way relative to the shaft portion.

[0126] By providing a unidirectional rotating member, in the tensioning force adjustment mode, the wheel assembly and the shaft assembly can rotate relative to each other in a single direction, thereby increasing the length of the second flexible transmission member wound around the wheel assembly and / or the first flexible transmission member wound around the shaft assembly, achieving the purpose of tensioning the second flexible transmission member and the first flexible transmission member, and enabling accurate control of the tensioning amount.

[0127] In the embodiments of the present application, by controlling the rotation of the wheel assembly and / or the shaft assembly, the length of the second flexible transmission member and the first flexible transmission member wound can be adjusted, so that the second flexible transmission member and the first flexible transmission member can obtain a larger tensioning amount during the installation process, and the tensioning process of the second flexible transmission member and the first flexible transmission member can be made easier and more convenient. Moreover, the requirements for the lengths of the second flexible transmission member and the first flexible transmission member themselves are reduced, and the dependence on the accuracy of the lengths of the second flexible transmission member and the first flexible transmission member can be reduced. The tensioning wheel provided by the embodiments of the present application can effectively and accurately control the tensioning force and the tensioning amount, greatly increasing the tensioning amount, thereby obtaining a larger tensioning amount.

[0128] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0129] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0130] The above are only some embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the technical concept of the solution of the present application, other similar implementation means based on the technical idea of the present application also belong to the protection scope of the embodiments of the present application.

Claims

1. A tension pulley, characterized in that, Comprising: A shaft assembly including a shaft portion and an annular portion fixedly connected to the outer periphery of one end of the shaft portion, configured to be fixedly connected to one end of a first flexible transmission member and for part of the first flexible transmission member to be wound thereon; A wheel assembly sleeved on the outer periphery of the shaft portion and rotatably connected to the shaft portion relatively, configured to be fixedly connected to one end of a second flexible transmission member and for part of the second flexible transmission member to be wound thereon; A one-way rotating member disposed between the shaft portion and the wheel assembly, configured to enable the wheel assembly to rotate relative to the shaft assembly in a single direction in a tension adjustment mode to tension the first flexible transmission member and the second flexible transmission member.

2. The tension pulley according to claim 1, characterized in that, It further includes at least one bearing, and the bearing is disposed between the shaft portion and the wheel assembly; The bearing and the one-way rotating member are axially distributed along the shaft portion.

3. The tension pulley according to claim 2, wherein The number of the bearings is two; the shaft portion includes a first shaft segment, a second shaft segment and a third shaft segment connected in sequence; In a plane perpendicular to the axial direction, the first bearing is disposed between the first shaft segment and the corresponding wheel assembly, the one-way rotating member and the second bearing are disposed between the second shaft segment and the corresponding wheel assembly, and the annular portion is sleeved on the outer peripheral wall of the third shaft segment; The first bearing, the one-way rotating member, the second bearing and the annular portion are axially distributed in sequence.

4. The tensioning pulley according to claim 3, characterized in that, The shaft portion further includes a stop portion disposed on a side of the first shaft segment away from the second shaft segment; The outer peripheral wall diameter of the stop portion is greater than the outer peripheral wall diameter of the first shaft segment, configured to stop the first bearing.

5. The tension pulley according to claim 3, characterized in that, Axially along the shaft portion, first grooves are respectively provided at both ends of the inner peripheral wall of the wheel assembly, and protrusions are respectively provided on the outer walls of the two bearings; The protrusions of the two bearings respectively cooperate with the first grooves at both ends of the wheel assembly, configured to axially limit the wheel assembly.

6. The tension pulley according to claim 1, wherein, Including at least one of the following: At least one first assembly hole for fixedly connecting with a driver is provided on the wheel assembly; A winding groove for the second flexible transmission member to be wound around is provided on the wheel assembly; A second assembly hole for restricting the rotational freedom by a limiting structure in a tension adjustment mode is provided on the shaft portion; The one-way rotating member includes a ratchet mechanism or an overrunning clutch.

7. A tensioning mechanism, characterized in that, Including: A tensioning wheel according to any one of claims 1 to 6; A transmission wheel; A first flexible transmission member, one end of which is fixedly connected to the annular portion of the shaft assembly of the tensioning wheel and part of which is wound around the outer peripheral wall of the annular portion, and the other end of which is fixedly connected to the transmission wheel; A second flexible transmission member, one end of which is fixedly connected to the wheel assembly of the tensioning wheel and part of which is wound around the outer peripheral wall of the wheel assembly, and the other end of which is fixedly connected to the transmission wheel; The tensioning mechanism is configured to: in the tension force adjustment mode, enable the wheel assembly to rotate relative to the shaft assembly in a single direction through a one-way rotating member to tension the first flexible transmission member and the second flexible transmission member; and, in the transmission mode, enable the wheel assembly to drive the second flexible transmission member, the transmission wheel, the first flexible transmission member, and the shaft assembly to rotate in sequence, or enable the wheel assembly to drive the shaft assembly to rotate through the one-way rotating member, and the wheel assembly drives the transmission wheel to rotate through the second flexible transmission member, and the shaft assembly drives the transmission wheel to rotate through the first flexible transmission member.

8. The tensioning mechanism according to claim 7, characterized in that, Further comprising: a driver, drivingly connected to the wheel assembly; a limiting structure, located on a side of the shaft assembly away from the driver, configured to be movable in directions away from and towards the shaft assembly to limit or release the rotational freedom of the shaft assembly.

9. The tensioning mechanism according to claim 8, wherein, The limiting structure includes: a fastener movably arranged on an outer housing, the fastener being used to cooperate or release cooperation with a second fitting hole on the shaft assembly to limit or release the relative position between the shaft assembly and the outer housing; or, an actuator and a chuck connected to the actuator, the actuator driving the chuck to approach or move away from the shaft assembly, and the chuck being used to clamp or loosen the shaft assembly to limit the shaft assembly at a corresponding position or release the limitation.

10. A control method for a tensioning mechanism according to any one of claims 7 to 9, characterized in that, Comprising: In the tension force adjustment mode, controlling the wheel assembly of the tensioning wheel of the tensioning mechanism to rotate relative to the shaft assembly in a first rotation direction through a one-way rotating member to increase the total winding amount of the first flexible transmission member and the second flexible transmission member of the tensioning mechanism on the tensioning wheel; In the transmission mode, controlling the wheel assembly to rotate in the first rotation direction to drive the second flexible transmission member, the transmission wheel, the first flexible transmission member, and the shaft assembly to rotate in sequence; or, controlling the wheel assembly to rotate in a second rotation direction opposite to the first rotation direction, and the one-way rotating member locks the wheel assembly and the shaft assembly to drive the shaft assembly to rotate in the second rotation direction, so that the wheel assembly drives the transmission wheel to rotate through the second flexible transmission member, and the shaft assembly drives the transmission wheel to rotate through the first flexible transmission member.

11. The control method according to claim 10, characterized in that, In the tension force adjustment mode, controlling the wheel assembly of the tensioning wheel of the tensioning mechanism to rotate relative to the shaft assembly in a first rotation direction through a one-way rotating member to increase the total winding amount of the first flexible transmission member and the second flexible transmission member of the tensioning mechanism on the tensioning wheel, including: using the limiting structure to limit the rotational freedom of the shaft assembly; driving the wheel assembly to rotate in the first rotation direction through the driver to increase the length of the second flexible transmission member wound on the wheel assembly.

12. The control method according to claim 11, characterized in that, Using the limiting structure to limit the rotational freedom of the shaft assembly includes: moving the fastener close until it is inserted into the shaft assembly to fix the shaft assembly at the current rotation angle; or, driving the chuck to approach the shaft assembly through the actuator until the chuck clamps the shaft assembly to fix the current rotation angle of the shaft assembly.

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