Tensioning wheel, tensioning mechanism and control method thereof

Abstract

The present application provides a tensioning wheel, a tensioning mechanism, and a control method thereof. The tensioning wheel comprises: a shaft assembly, comprising a shaft portion and a ring 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 to allow a portion of the first flexible transmission member to be wound around; a wheel assembly, sleeved on the outer periphery of the shaft portion and rotatably connected to the shaft portion, configured to be fixedly connected to one end of a second flexible transmission member and to allow a portion of the second flexible transmission member to be wound around; and a one-way rotating member, disposed between the shaft portion and the wheel assembly, configured to rotate the wheel assembly in a single direction relative to the shaft assembly in a tensioning force adjustment mode to tension the first and second flexible transmission members. The present application achieves accurate control of the tensioning force and tensioning amount.

Description

Technical Field

[0001] The present application relates to the field of tensioning technology, and in particular to a tensioning wheel, a tensioning mechanism and a control method thereof. Background Art

[0002] The tensioning mechanism is a common component in a wire-driven robot or a wire-driven structure. It is used to tension the closed wire-driven system so that the transmission system with the wire-driven system has a certain preload force, thereby improving transmission accuracy and smoothness.

[0003] Current tensioning mechanisms often use a slide and screw, or an eccentric shaft, to tighten the wire axially. However, the limited tensioning capacity of current tensioning mechanisms requires higher manufacturing precision along the length of the rope. If the rope is too short, it won't fit, and if it's too long, it won't tighten, increasing the difficulty of installation and maintenance. Summary of the Invention

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

[0005] In a first aspect, an embodiment of the present application provides a tensioning pulley, comprising:

[0006] The shaft assembly includes a shaft portion and a ring portion fixedly connected to the outer periphery of one end of the shaft portion, and is configured to be fixedly connected to one end of the first flexible transmission member and to be partially wound around the first flexible transmission member;

[0007] a wheel assembly, sleeved on the outer periphery of the shaft portion and rotatably connected to the shaft portion, and configured to be fixedly connected to one end of the second flexible transmission member and to allow a portion of the second flexible transmission member to be wound around;

[0008] The one-way rotating member is disposed between the shaft portion and the wheel assembly and is configured to rotate the wheel assembly in a single direction relative to the shaft assembly in a tensioning force adjustment mode to tension the first flexible transmission member and the second flexible transmission member.

[0009] Optionally, the tensioning wheel further comprises at least one bearing, the bearing being disposed between the shaft portion and the wheel assembly;

[0010] The bearings and the one-way rotating parts are distributed along the axial direction of the shaft.

[0011] Optionally, 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;

[0012] In a plane perpendicular to the axial direction, the first bearing is arranged between the first shaft segment and the corresponding wheel assembly, the one-way rotating member and the second bearing are arranged 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;

[0013] The first bearing, the one-way rotating member, the second bearing and the ring portion are distributed in sequence along the axial direction.

[0014] Optionally, the shaft portion further includes a stop portion, which is arranged on a side of the first shaft segment away from the second shaft segment;

[0015] The diameter of the outer circumferential wall of the stop portion is larger than the diameter of the outer circumferential wall of the first shaft segment, and the stop portion is configured to stop the first bearing.

[0016] Optionally, along the axial direction of the shaft portion, both ends of the inner circumferential wall of the wheel assembly are respectively provided with a first groove, and the outer walls of the two bearings are respectively provided with a protrusion;

[0017] The protrusions of the two bearings respectively cooperate with the first grooves at both ends of the wheel assembly and are constructed to axially limit the wheel assembly.

[0018] Optionally, the tensioning wheel includes at least one of the following:

[0019] The wheel assembly is provided with at least one first assembly hole for being fixedly connected to the driver;

[0020] The wheel assembly is provided with a winding groove for winding the second flexible transmission member;

[0021] The shaft is provided with a second assembly hole for limiting the rotational freedom by the limiting structure in the tensioning force adjustment mode;

[0022] The one-way rotating member includes a ratchet mechanism or an overrunning clutch.

[0023] In a second aspect, an embodiment of the present application provides a tensioning mechanism, comprising:

[0024] Such as the tension pulley mentioned above;

[0025] transmission wheel;

[0026] 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 wrapped around the outer peripheral wall of the ring portion, and the other end of which is fixedly connected to the transmission wheel;

[0027] A second flexible transmission member, one end of which is fixedly connected to the wheel assembly of the tensioning wheel and partially wrapped around the outer peripheral wall of the wheel assembly, and the other end of which is fixedly connected to the transmission wheel;

[0028] The tensioning mechanism is constructed as follows: in the tensioning force adjustment mode, the wheel assembly rotates in a single direction relative to the shaft assembly through the one-way rotating member to tension the first flexible transmission member and the second flexible transmission member; and in the transmission mode, the wheel assembly drives the second flexible transmission member, the transmission wheel, the first flexible transmission member and the shaft assembly to rotate in sequence, or the wheel assembly drives the shaft assembly to rotate through the one-way rotating member, the wheel assembly drives the transmission wheel through the second flexible transmission member, and the shaft assembly drives the transmission wheel through the first flexible transmission member.

[0029] Optionally, the tensioning mechanism further comprises:

[0030] a driver, drivingly connected to the wheel assembly;

[0031] The limiting structure is located on a side of the shaft assembly away from the driver and is configured to be movable in a direction away from and toward the shaft assembly so as to limit or release the rotational freedom of the shaft assembly.

[0032] Optionally, the limiting structure includes:

[0033] a fastener movably disposed on the outer housing, the fastener being configured to engage with or disengage from the second assembly hole on the shaft assembly to restrict or release the relative position between the shaft assembly and the outer housing;

[0034] or,

[0035] The actuator and the chuck connected to the actuator are used to drive the chuck to move closer to or away from the shaft assembly. The chuck is used to clamp or loosen the shaft assembly to limit the shaft assembly to a corresponding position or release the limit.

[0036] In a third aspect, an embodiment of the present application provides a control method for the tensioning mechanism as described above, comprising:

[0037] In the tensioning force adjustment mode, the wheel assembly of the tensioning wheel of the tensioning mechanism is controlled to rotate relative to the shaft assembly in a first rotation direction via the 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;

[0038] In the transmission mode, the control wheel assembly rotates along the first rotation direction, driving the second flexible transmission member, the transmission wheel, the first flexible transmission member and the shaft assembly to rotate in sequence; or, the control wheel assembly rotates along the 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.

[0039] Optionally, in the tensioning 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 via a one-way rotating member to increase a total winding amount of the first flexible transmission member and the second flexible transmission member of the tensioning mechanism on the tensioning wheel includes:

[0040] Using a limiting structure to limit the rotational freedom of the shaft assembly;

[0041] The wheel assembly is driven by a driver to rotate along a first rotation direction to increase the length of the second flexible transmission member wound around the wheel assembly.

[0042] Optionally, limiting the rotational freedom of the shaft assembly by using a limiting structure includes:

[0043] Move the fastener closer until it is inserted into the shaft assembly, fixing the shaft assembly at the current rotation angle;

[0044] or,

[0045] The chuck is driven by the actuator to approach the shaft assembly until the chuck clamps the shaft assembly to fix the current rotation angle of the shaft assembly.

[0046] The beneficial technical effects brought about by the technical solutions provided in the embodiments of the present application include:

[0047] In an embodiment of the present application, the shaft and the ring are fixedly connected, and the ring is mounted around one end of the shaft. The relative positional relationship between the shaft and the ring is fixed, and the ring and the shaft can rotate or remain stationary in sync. The wheel assembly is relatively rotatably mounted around the shaft. The shaft assembly can be fixedly connected to one end of the first flexible transmission member, and a portion of the first flexible transmission member can be wound around the shaft assembly. The wheel assembly can be fixedly connected to one end of the second flexible transmission member, and a portion of the second flexible transmission member can be wound around the wheel assembly.

[0048] Compared with the related technology that can only wrap the rope around the wheel, the flexible transmission member (including the first flexible transmission member and the second flexible transmission member) in the embodiment of the present application can not only be wrapped around the wheel assembly, but also can be wrapped around the shaft assembly, thereby increasing the total wrapping amount of the flexible transmission member wrapped around the tensioning wheel.

[0049] In an embodiment of the present application, a one-way rotating member is provided between the shaft and the wheel assembly, and the one-way rotating member provides rotational support for the wheel assembly relative to the shaft. At the same time, the provision of the one-way rotating member can constrain the relative rotation direction between the wheel assembly and the shaft to be one-way, so that the wheel assembly can rotate in one direction at any angle relative to the shaft.

[0050] By setting a one-way rotating part, the wheel assembly and the shaft assembly can rotate relative to each other in a single direction in the tensioning force adjustment mode, thereby increasing the length of the second flexible transmission member wrapped around the wheel assembly and / or the first flexible transmission member wrapped 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.

[0051] In the embodiment of the present application, by controlling the rotation of the wheel assembly and / or the shaft assembly, the total 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 amount of tension 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. In addition, the requirements for the length of the second flexible transmission member and the first flexible transmission member themselves are reduced, and the dependence on the accuracy of the length of the second flexible transmission member and the first flexible transmission member themselves can be reduced. The tensioning wheel provided by the embodiment of the present application can achieve effective and accurate control of the tensioning force and tensioning amount, greatly increasing the tensioning amount, thereby obtaining a larger tensioning amount.

[0052] 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 will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0054] Figure 1 A schematic cross-sectional view of a tensioning pulley provided in an embodiment of the present application;

[0055] Figure 2 A schematic structural diagram of a tensioning mechanism provided in an embodiment of the present application;

[0056] Figure 3 An exploded schematic diagram of a portion of the structure of a tensioning mechanism provided in an embodiment of the present application;

[0057] Figure 4 for Figure 3 A schematic diagram of the top view of the tensioning mechanism;

[0058] Figure 5 for Figure 4 Schematic diagram of the cross-sectional structure of the tensioning mechanism.

[0059] Reference numerals:

[0060] 1000-tensioning mechanism;

[0061] 100-tension pulley;

[0062] 10-axis assembly;

[0063] 11- shaft portion; 111- first shaft section; 112- second shaft section; 113- third shaft section; 114- stop portion;

[0064] 12-ring portion; 13-second assembly hole; 14-second groove; 15-bushing;

[0065] 20-wheel assembly;

[0066] 21 - first assembly hole; 22 - winding groove; 23 - first groove; 24 - first inner wall; 25 - second inner wall; 26 - main body; 27 - connecting portion;

[0067] 30- one-way rotating member;

[0068] 40-bearing;

[0069] 41- bulge;

[0070] 200- transmission wheel;

[0071] 300-first flexible transmission member;

[0072] 400 - second flexible transmission member. DETAILED DESCRIPTION

[0073] The following describes the embodiments of the present application in conjunction with the accompanying drawings. It should be understood that the embodiments 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 a limitation on the technical solutions of the embodiments of the present application.

[0074] Those skilled in the art will understand that, unless otherwise stated, the terms "said" and "the" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of this application refers to 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 their combinations supported by the technical field. The term "and / or" used herein refers to at least one of the items defined by the term, for example, "A and / or B" can be implemented as "A", or as "B", or as "A and B".

[0075] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0076] Current tensioning mechanisms often use slides and screws, or eccentric shafts, to tighten the wire axially. However, the limited tensioning capacity of current tensioning mechanisms requires higher manufacturing precision along the length of the rope. If the rope is too short, it won't fit, and if it's too long, it won't tighten. Furthermore, this higher manufacturing precision requirement along the length of the rope leads to assembly issues, which limits tensioning convenience and makes it impossible to accurately control the tensioning force. Most tensioning methods that rely on the axial length of the rope changing as the screw rotates cannot accurately control the tensioning force.

[0077] The tensioning wheel, tensioning mechanism and control method thereof provided in this application are intended to solve technical problems existing in related technologies, such as the limited tensioning amount and tensioning convenience of the tensioning mechanism, and the inability to accurately control the tensioning force.

[0078] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments. It should be noted that the following embodiments can refer to, draw on, or combine with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0079] The embodiment of the present application provides a tensioning wheel 100, the structural diagram of the tensioning wheel 100 is as shown in FIG. Figure 1 As shown, it includes: a shaft assembly 10, a wheel assembly 20 and a one-way rotating member 30.

[0080] The shaft assembly 10 includes a shaft portion 11 and a ring portion 12 fixedly connected to the outer periphery of one end of the shaft portion 11, and is constructed to be fixedly connected to one end of the first flexible transmission member 300 and to allow part of the first flexible transmission member 300 to be wound around; the wheel assembly 20 is sleeved on the outer periphery of the shaft portion 11 and is relatively rotatably connected to the shaft portion 11, and is constructed to be fixedly connected to one end of the second flexible transmission member 400 and to allow part of the second flexible transmission member 400 to be wound around; the one-way rotating member 30 is arranged between the shaft portion 11 and the wheel assembly 20, and is constructed to make the wheel assembly 20 rotate in a single direction relative to the shaft assembly 10 in the tensioning force adjustment mode to tension the first flexible transmission member 300 and the second flexible transmission member 400.

[0081] In the embodiment of the present application, the shaft portion 11 and the ring portion 12 are fixedly connected, and the ring portion 12 is mounted 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, and the ring portion 12 and the shaft portion 11 can rotate or remain stationary in synchronization. The wheel assembly 20 is relatively rotatably mounted on the outer 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 portion of the first flexible transmission member 300 can be 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 portion of the second flexible transmission member 400 can be wound around the wheel assembly 20.

[0082] Compared with the related technology that can only wrap the rope around the wheel, the flexible transmission member (including the first flexible transmission member 300 and the second flexible transmission member 400) in the embodiment of the present application can not only be wrapped around the wheel assembly 20, but also can be wrapped around the shaft assembly 10 (specifically the ring portion 12), thereby increasing the total winding amount of the flexible transmission member wrapped around the tensioning wheel 100.

[0083] Moreover, the wheel assembly 20 and the shaft assembly 10 are relatively rotatably arranged, so that: by controlling the angle or number of turns of the shaft assembly 10, the length of the first flexible transmission member 300 wrapped around the shaft assembly 10 can be increased, thereby being able to tension the first flexible transmission member 300 and accurately control the tensioning amount of the first flexible transmission member 300; or by controlling the angle or number of turns of the wheel assembly 20, the length of the second flexible transmission member 400 wrapped around the wheel assembly 20 can be increased, thereby being able to tension the second flexible transmission member 400 and accurately control the tensioning amount of the second flexible transmission member 400; or by controlling the angle or number of turns of the shaft assembly 10 and the wheel assembly 20, the length of the first flexible transmission member 300 wrapped around the shaft assembly 10 and the length of the second flexible transmission member 400 wrapped 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 tensioning amount of the first flexible transmission member 300 and the second flexible transmission member 400.

[0084] In an embodiment of the present application, a one-way rotating member 30 is provided between the shaft 11 and the wheel assembly 20. The one-way rotating member 30 provides rotational support for the wheel assembly 20 relative to the shaft 11. At the same time, the one-way rotating member 30 is provided to constrain the relative rotation direction between the wheel assembly 20 and the shaft 11 to be one-way, so that the wheel assembly 20 can rotate in one direction at any angle relative to the shaft 11.

[0085] By setting a 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 (for example, the first rotation direction), thereby increasing the length of the second flexible transmission member 400 wrapped around the wheel assembly 20 and / or the first flexible transmission member 300 wrapped around the shaft assembly 10, thereby 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.

[0086] In an embodiment of the present application, by controlling the rotation of the wheel assembly 20 and / or the shaft assembly 10, the total amount of winding of the second flexible transmission member 400 and the first flexible transmission member 300 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 amount of tension 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, and the requirements for the length of the second flexible transmission member 400 and the first flexible transmission member 300 themselves are reduced, which can reduce the dependence on the accuracy of the length of the second flexible transmission member 400 and the first flexible transmission member 300 themselves.

[0087] Compared with related technologies that use slide grooves and screws, or eccentric shafts for tensioning, the tensioning wheel 100 provided by the embodiment of the present application can achieve effective and accurate control of the tensioning force and tensioning amount, greatly increase the tensioning amount, and thus obtain a larger tensioning amount.

[0088] It should be noted that, in the embodiment of the present application, the total amount of winding of the first flexible transmission member 300 and the second flexible transmission member 400 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.

[0089] The increase in the total winding amount includes: the length of the first flexible transmission member 300 wrapped around the shaft assembly 10 and the length of the second flexible transmission member 400 wrapped around the wheel assembly 20 each increase; or, the length of the second flexible transmission member 400 wrapped around the wheel assembly 20 increases, and the length of the first flexible transmission member 300 wrapped around the shaft assembly 10 remains unchanged or decreases, but the decrease in the length of the first flexible transmission member 300 wrapped around the shaft assembly 10 is less than the increase in the length of the second flexible transmission member 400 wrapped around the wheel assembly 20; or, the length of the first flexible transmission member 300 wrapped around the shaft assembly 10 increases, and the length of the second flexible transmission member 400 wrapped around the wheel assembly 20 remains unchanged or decreases, but the decrease in the length of the second flexible transmission member 400 wrapped around the wheel assembly 20 is less than the increase in the length of the first flexible transmission member 300 wrapped around the shaft assembly 10.

[0090] Optionally, in the embodiment 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.

[0091] Optionally, in the embodiment of the present application, the one-way rotating member 30 adopts a wedge-type one-way clutch, which can ensure one-way infinite rotation at any angle and can be locked at any angle. It should be noted that infinite rotation means that the rotation motion has no fixed gears or steps, and can achieve continuous and smooth rotation.

[0092] Optionally, in the embodiment 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 26), and the inner ring is fixedly connected to the shaft 11. The plurality of wedges are disposed between the outer ring and the inner ring to restrict the outer ring to rotation relative to the inner ring in a single direction (e.g., a first rotational direction).

[0093] When the outer ring rotates relative to the inner ring in a single direction (e.g., the first rotational direction), the wedge is pushed and tilted, creating a certain space between the inner ring and the outer periphery, allowing the outer ring to rotate smoothly relative to the inner ring in the single direction. The one-way rotating member 30 always allows its outer ring to rotate relative to the inner ring in the single direction, and of course also allows its inner ring to rotate relative to the outer periphery in a direction opposite to the single direction (e.g., a second rotational direction opposite to the first rotational direction).

[0094] When the outer ring attempts to rotate relative to the inner ring in a direction opposite to the single direction (for example, the second rotation direction), the wedge will be stuck between the inner ring and the outer ring due to its geometric shape and cannot move, thereby locking the inner ring and the outer ring together. That is, once the wedge is stuck between the inner ring and the outer ring, the one-way rotating member 30 is locked, so that the outer ring cannot rotate relative to the inner ring in the opposite direction (for example, the second rotation direction), and of course the inner ring cannot rotate relative to the outer ring in the single direction (for example, the first rotation direction).

[0095] The following describes the case where the wheel assembly 20 rotates in a single direction relative to the shaft assembly 10, taking the embodiment of the present application in which the single direction is the first rotation direction, that is, the one-way rotation member 30 restricts the wheel assembly 20 from rotating in the first rotation direction relative to the shaft assembly 10 (the shaft assembly 10 rotates in a second rotation direction opposite to the first rotation direction relative to the wheel assembly 20) as an example:

[0096] In the first scenario, the shaft assembly 10 can be fixed, and the wheel assembly 20 can be controlled to rotate in a first rotational direction relative to the stationary shaft assembly 10, thereby increasing the length of the second flexible transmission member 400 wrapped around the wheel assembly 20. In this case, when the wheel assembly 20 tends to move in a second rotational direction opposite to the first rotational 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 rotational direction.

[0097] In the second scenario, the wheel assembly 20 can be fixed, and the shaft assembly 10 can be controlled to rotate in the second rotational direction relative to the stationary wheel assembly 20, thereby increasing the length of the first flexible transmission member 300 wrapped around the shaft assembly 10. In this case, when the shaft assembly 10 tends to move in the first rotational 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), preventing the shaft assembly 10 from rotating in the first rotational direction.

[0098] In the third scenario, the wheel assembly 20 can be controlled to rotate in the first rotational direction, and the shaft assembly 10 can be controlled to rotate in the second rotational direction, thereby increasing the length of the second flexible transmission member 400 wrapped around the wheel assembly 20 and the length of the first flexible transmission member 300 wrapped around the shaft assembly 10. In this case, when the wheel assembly 20 has a tendency to move in the second rotational direction and / or the shaft assembly 10 has a tendency to move in the first rotational 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 rotational direction and the shaft assembly 10 from rotating in the first rotational direction.

[0099] Optionally, in an embodiment of the present application, the first rotation direction may be clockwise, in which case the second rotation direction is counterclockwise; or, the first rotation direction is counterclockwise, in which case the second rotation direction is clockwise.

[0100] Alternatively, as Figure 4 and Figure 5 As shown, in this embodiment 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, which are connected in sequence. The outer circumferential diameters of the first shaft segment 111, the second shaft segment 112, and the third shaft segment 113 decrease in order along the axial direction of the shaft portion 11. The one-way rotating member 30 is sleeved over a portion of the outer circumferential wall of the second shaft segment 112, and the ring portion 12 is sleeved over the outer circumferential wall of the third shaft segment 113.

[0101] In the embodiment 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 sequentially, giving the shaft portion 11 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 onto portions of the outer peripheral wall of the second shaft segment 112 and the outer peripheral wall of the third shaft segment 113. The stepped design of the shaft portion 11, with its outer peripheral wall diameter decreasing sequentially, facilitates installation.

[0102] Alternatively, as Figure 1 、 Figure 4 and Figure 5 As 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 provided separately for easy assembly. Of course, in other optional embodiments of the present application, the ring portion 12 and the shaft portion 11 can also be integrally formed according to actual needs.

[0103] Of course, in other optional embodiments of the present application, according to actual needs, the outer wall diameters of the first shaft segment 111 and the third shaft segment 113 can be respectively larger than the outer wall diameter of the second shaft segment 112, that is, the shaft portion 11 is axially thin in the middle and thick at both ends, similar to a dumbbell shape; or, the outer wall diameters of the first shaft segment 111, the second shaft segment 112 and the third shaft segment 113 can be the same, that is, the outer wall diameter of the shaft portion 11 remains unchanged along the axial direction.

[0104] Alternatively, as Figure 1 、 Figure 4 and Figure 5 As shown, in the embodiment of the present application, the tensioning wheel 100 further includes at least one bearing 40 , which is disposed between the shaft 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 11 .

[0105] In this embodiment, the shaft 11 and wheel assembly 20 are rotatably mounted relative to each other via a bearing 40, which serves as both a centering and load-bearing mechanism. A one-way rotating member 30 limits the relative rotational direction between the shaft 11 and wheel assembly 20. The simultaneous provision of the one-way rotating member 30 and the bearing 40 enhances the support and smooth rotation between the shaft 11 and wheel assembly 20.

[0106] Optionally, in the embodiment of the present application, the bearing 40 includes but is not limited to a rolling bearing, such as a deep groove ball bearing.

[0107] Alternatively, as Figure 1 、 Figure 4 and Figure 5 As 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 portion of the second shaft segment 112 and the corresponding wheel assembly 20 (specifically, the main body 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 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.

[0108] 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 arranged along the axial direction of the shaft portion 11. 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 provide a certain axial limit for the one-way rotating member 30 and the second bearing 40, preventing them from axially moving along the shaft portion 11. The two bearings 40 are arranged on both sides of the one-way rotating member 30 along the axial direction of the shaft portion 11, providing more balanced and stable support for the shaft portion 11 and the wheel assembly 20, ensuring smoother rotation.

[0109] In this embodiment, 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 circumferential 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 arranged in sequence along the axial direction.

[0110] 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 part of the bearings 40 is arranged as the second bearing on a part of the outer peripheral 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 part of the bearings 40 is arranged as the first bearing on the outer peripheral wall of the first shaft segment 111 and is distributed axially.

[0111] Alternatively, as 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 peripheral wall diameter of the stop portion 114 is larger than the outer peripheral wall diameter of the first shaft segment 111, and is constructed to stop the first bearing 40.

[0112] 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 axially along the shaft portion 11. The stopper 114 can also stop the first bearing 40 to prevent it from dislodging from the end of the first shaft segment 111 away from the second shaft segment 112. The stopper 114 is connected to the first shaft segment 111.

[0113] Alternatively, as Figure 4 and Figure 5 As shown, the stop portion 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 .

[0114] Alternatively, as Figure 5 As shown, in the embodiment of the present application, along the axial direction of the shaft portion 11, a first groove 23 is respectively provided at both ends of the inner circumferential wall of the wheel assembly 20, and a protrusion 41 is respectively provided on the outer wall of the two bearings 40; the protrusions 41 of the two bearings 40 respectively cooperate with the first grooves 23 at both ends of the wheel assembly 20, and are constructed to axially limit the wheel assembly 20.

[0115] In the embodiment of the present application, the first of the two first grooves 23 is located on the inner circumferential wall of the wheel assembly 20 facing the ring portion 12, and the second of the first grooves 23 is located on the inner circumferential wall of the wheel assembly 20 away from the ring portion 12. Of the two protrusions 41, the first protrusion 41 is located on the outer circumferential wall of the second bearing 40 facing the ring portion 12, and the second protrusion is located on the outer circumferential wall of the first bearing 40 away from the ring portion 12.

[0116] The first protrusion 41 cooperates with the first first groove 23 to prevent the wheel assembly 20 from moving axially along the shaft 11 toward the ring portion 12. The second protrusion 41 cooperates with the second first groove 23 to prevent the wheel assembly 20 from moving axially along the shaft 11 toward the ring portion 12. Through the corresponding cooperation of the two protrusions 41 and the two first grooves 23, axial limitation of the wheel assembly 20 can be achieved.

[0117] Alternatively, as Figure 5 As shown, in the embodiment of the present application, the inner circumferential wall of the wheel assembly 20 further includes a first inner wall 24 and a second inner wall 25, which 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 larger than the diameter of the second inner wall 25. The first inner wall 24 is connected to the outer wall of the one-way rotating member 30 and the first bearing 40, respectively, and the second inner wall 25 is connected to the outer wall of the second bearing 40.

[0118] Alternatively, as Figure 5 As shown, in the embodiment of the present application, the diameter of the first first groove 23 is larger than the diameter of the second inner wall 25 and smaller than the diameter of the first inner wall 24. The diameter of the second first groove 23 is larger than the diameter of the first inner wall 24.

[0119] Alternatively, as Figure 1 and Figure 5 As shown, in the embodiment of the present application, the wheel assembly 20 is provided with at least one first assembly hole 21 for being fixedly connected to the driver.

[0120] In an embodiment 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 wrapped around the wheel assembly 20 be increased to achieve tensioning and improve convenience, but also the angle or number of turns of the wheel assembly 20 can be controlled by controlling the torque of the driver, and the number of turns of the second flexible transmission member 400 can be accurately controlled, thereby achieving accurate control of the tensioning amount of the second flexible transmission member 400.

[0121] Alternatively, as Figures 2 to 5As shown, in the embodiment of the present application, the wheel assembly 20 includes a main body 26 sleeved on the outer periphery of the shaft 11 and a connecting portion 27 fixedly connected to the main body 26, the first groove 23, the first inner wall 24 and the second inner wall 25 are arranged on the inner circumferential wall of the main body 26, and the first assembly hole 21 is arranged on the connecting portion 27.

[0122] Alternatively, as Figures 3 to 5 As shown, in the embodiment of the present application, the connecting portion 27 extends outward from the outer peripheral wall of the main body 26 away from the end of the ring portion 12. The connecting portion 27 and the main body 26 are integrally formed.

[0123] Alternatively, as Figures 2 to 5 As shown, in the embodiment of the present application, the connecting portion 27 provided with the first assembly hole 21 includes but is not limited to a flange.

[0124] Alternatively, as Figure 5 As shown, in the embodiment 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 optional embodiments of the present application, the axial direction of the first assembly hole 21 can also be designed to intersect with the axial direction of the shaft portion 11 at a certain angle according to actual needs, which is not limited here.

[0125] Alternatively, as Figure 1 and Figure 5 As shown, in the embodiment of the present application, the wheel assembly 20 is provided with a winding groove 22 for winding the second flexible transmission member 400. The winding groove 22 is provided to facilitate the second flexible transmission member 400 to be wound onto the wheel assembly 20.

[0126] Alternatively, as Figures 3 to 5 As shown, in the embodiment of the present application, the winding groove 22 is provided on the outer peripheral wall of the main body 26 .

[0127] Alternatively, as Figure 1 、 Figure 2 and Figure 5 As shown, in this embodiment of the present application, shaft portion 11 is provided with a second assembly hole 13 for limiting the rotational freedom of the shaft portion 11 by a limiting structure in the tension adjustment mode. In the tension adjustment mode, shaft portion 11 can be fixedly connected to the limiting structure (e.g., a fastener movably disposed on the external housing) through second assembly hole 13, thereby fixing the position of shaft assembly 10 and facilitating unidirectional rotation of wheel assembly 20 relative to shaft assembly 10, thereby tensioning second flexible transmission member 400.

[0128] Alternatively, as Figure 1 As 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 to be wound around the first flexible transmission member 300 .

[0129] Alternatively, as Figure 1 、 Figures 3 to 5As shown, in the embodiment of the present application, the diameter of the outer peripheral wall of the ring portion 12 is the same or nearly the same as the diameter of the outer peripheral wall of the main body portion 26, and the first flexible transmission member 300 can be simultaneously wound on the winding groove 22 of the outer peripheral wall of the ring portion 12 and the outer peripheral wall of the main body portion 26.

[0130] Alternatively, as Figures 1 to 5 As shown, in the embodiment of the present application, a second groove 14 is provided on the ring portion 12, and the shaft assembly 10 also includes a bushing 15, one end of the first flexible transmission member 300 is fixedly passed through the bushing 15, and the bushing 15 is fixed (for example, clamped) in the second groove 14, thereby fixing one end of the first flexible transmission member 300 on the ring portion 12.

[0131] Optionally, the tensioning wheel 100 provided in the embodiment of the present application can be applied to fields such as drum tensioning and transmission tensioning.

[0132] Based on the same inventive concept, the embodiment of the present application provides a tensioning mechanism 1000, the structural diagram of the tensioning mechanism 1000 is as shown in FIG. Figures 2 to 5 As shown, the tensioning mechanism 1000 includes: the tensioning wheel 100, the transmission wheel 200, the first flexible transmission member 300 and the second flexible transmission member 400 as described above.

[0133] 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 wrapped around the outer circumferential 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 wrapped around the outer circumferential wall of the wheel assembly 20, and the other end is fixedly connected to the transmission wheel 200.

[0134] The tensioning mechanism 1000 is constructed as follows: in the tensioning force adjustment mode, the wheel assembly 20 rotates in a single direction relative to the shaft assembly 10 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 through the second flexible transmission member 400, and the shaft assembly 10 drives the transmission wheel 200 through the first flexible transmission member 300.

[0135] 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 wrapped around the outer circumferential wall of the ring portion 12, and the other end is fixedly connected to the transmission wheel 200 and partially wrapped around the outer circumferential wall of the transmission wheel 200. The tensioning pulley 100 is transmission-connected to the transmission wheel 200 via 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 wrapped around the outer circumferential wall of the wheel assembly 20, and the other end is fixedly connected to the transmission wheel 200 and partially wrapped around the outer circumferential wall of the transmission wheel 200. The tensioning pulley 100 is transmission-connected to the transmission wheel 200 via the second flexible transmission member 400. The tensioning pulley 100 is rotatably disposed about an axis L1, and the transmission wheel 200 is rotatably disposed about an axis L2. The axial direction of the shaft portion 11 is parallel to the axis L1.

[0136] The tensioning mechanism 1000 has two working modes, namely a tensioning force adjustment mode and a transmission mode.

[0137] In the tensioning force adjustment mode, the wheel assembly 20 and the shaft assembly 10 of the tensioning wheel 100 are controlled to rotate relative to each other in a single direction (through a one-way rotating member 30 arranged between the wheel assembly 20 and the shaft assembly 10), so that the total winding amount of the second flexible transmission member 400 wrapped around the outer peripheral wall of the wheel assembly 20 and the first flexible transmission member 300 wrapped 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.

[0138] After completing the tensioning operation of the first flexible transmission member 300 and the second flexible transmission member 400 (ie, the operation in the tensioning force adjustment mode), the transmission operation can be performed (ie, entering the transmission mode).

[0139] In the transmission mode, when the control wheel assembly 20 rotates in a single direction limited 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 the motion state of the wheel assembly 20, and the shaft assembly 10 and the wheel assembly 20 are relatively stationary or close to relative stationary, so that 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, thereby 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), the one-way rotating member 30 locks the wheel assembly 20 and the shaft assembly 10, and the wheel assembly 20 cannot rotate in the opposite direction relative to the shaft assembly 10, so that the wheel assembly 20, the one-way rotating member 30 and the shaft assembly 10 rotate in the opposite direction as a whole, 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, thereby realizing power transmission.

[0140] Alternatively, as Figures 1 to 5 As shown, in this embodiment of the present application, the tensioning pulley 100 includes a separate, relatively rotatable shaft assembly 10 and wheel assembly 20. The shaft assembly 10 and wheel assembly 20 can rotate in one direction relative to each other about an axis encompassed by the first flexible transmission member 300 and the second flexible transmission member 400 (the axis being parallel to the axis of the shaft portion 11). The further the first flexible transmission member 300 and the second flexible transmission member 400 rotate, the shorter the distance between them becomes, and the tighter they become. The first flexible transmission member 300 and the second flexible transmission member 400 are each fixedly connected at both ends to the tensioning pulley 100 and the transmission wheel 200, respectively, for ease of installation.

[0141] An embodiment of the present application provides a tensioning mechanism based on a split tensioning wheel and a control method thereof, which enables a larger tensioning amount 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.

[0142] 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, the tensioning mechanism 1000 provided in the embodiment of the present application also has the above-mentioned beneficial effects of the tensioning wheel 100 provided in the embodiment of the present application, which will not be repeated here.

[0143] Alternatively, 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 optional embodiments of the present application, 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 according to actual needs.

[0144] Alternatively, as Figures 2 to 5 As 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 optional embodiments of the present application, 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 according to actual needs.

[0145] Alternatively, as Figures 2 to 5 As 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 optional embodiments of the present application, the first flexible transmission member 300 and the second flexible transmission member 400 can also be made into a single flexible transmission member according to actual needs. In this case, one end of the flexible transmission member is fixed to the wheel assembly 20, and the other end is fixed to the ring portion 12 of the shaft assembly 10 after passing through the transmission wheel 200. The portion of the flexible transmission member wrapped around the transmission wheel 200 is fixed to the transmission wheel 200; optionally, there is at least one fixed connection point between the flexible transmission member and the transmission wheel 200.

[0146] Alternatively, as Figures 2 to 5 As 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.

[0147] Optionally, in the embodiment of the present application, the tensioning mechanism 1000 further includes: a driver and a limiting structure.

[0148] The driver is drivingly connected to the wheel assembly 20. The limiting structure is located on a side of the shaft assembly 10 away from the driver and is configured to be movable in a direction away from and toward the shaft assembly 10 to limit or release the rotational freedom of the shaft assembly 10.

[0149] In the embodiment of the present application, the driver can drive the wheel assembly 20 to rotate. The limiting structure can move.

[0150] In the tensioning force adjustment mode, the control limit structure is close to the shaft assembly 10. The limit structure can limit the rotational freedom of the shaft assembly 10 and fix the shaft assembly 10 in the corresponding position. At this time, the driver drives the wheel assembly 20 to rotate infinitely in one direction relative to the shaft assembly 10, increasing the length of the second flexible transmission member 400 wrapped around the wheel assembly 20, tensioning the second flexible transmission member 400, and the second flexible transmission member 400 drives the transmission wheel 200 to rotate. The transmission wheel 200 drives the first flexible transmission member 300 to be tensioned, and the driver can stop the wheel assembly 20 at any position, and can effectively and accurately control the rotation angle or number of turns of the wheel assembly 20, that is, it can effectively and accurately control the total winding amount of the second flexible transmission member 400 and the first flexible transmission member 300 wrapped around the tensioning wheel 100, thereby realizing accurate control of the tensioning amount of the second flexible transmission member 400 and the first flexible transmission member 300; through the adjustment of the external tensioning torque, the tensioning mechanism can effectively control the magnitude of the tensioning force.

[0151] In the transmission mode, the limiting structure is controlled to move away from the shaft assembly 10, and the limiting structure releases the restriction on the shaft assembly 10 (the shaft assembly 10 is in a free state). At this time, the driver drives the wheel assembly 20 to rotate, so that 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 to realize transmission.

[0152] Of course, in other optional embodiments of the present application, the driver can be connected to the shaft assembly 10 according to actual needs, and the limiting structure is used to limit or release the rotational freedom of the wheel assembly 20.

[0153] Optionally, in an embodiment of the present application, the driver includes but is not limited to a motor.

[0154] Optionally, in an embodiment of the present application, the limiting structure includes: a fastener movably provided on the external shell, the fastener being used to cooperate with or release the second assembly hole 13 on the shaft assembly 10 to limit or release the relative position between the shaft assembly 10 and the external shell.

[0155] In an embodiment of the present application, the external shell is used to carry a fastener, and the fastener is movable relative to the external shell. 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 external shell, so that the relative position of the shaft assembly 10 and the external shell is fixed; in the transmission mode, the fastener is disengaged from the second assembly hole 13 and moves away from the shaft assembly 10, so that the shaft assembly 10 is released from the external shell, so that the shaft assembly 10 (in a free state) can be driven to rotate.

[0156] Optionally, in an embodiment of the present application, the fastener includes but is not limited to a pin or a push rod.

[0157] Optionally, in the embodiment of the present application, the external housing may be a shell of a robot. Optionally, the robot includes but is not limited to a humanoid robot.

[0158] Of course, in other optional embodiments of the present application, the limiting structure can also include an actuator and a chuck connected to the actuator according to actual needs, and 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 restrict the shaft assembly to a corresponding position or release the restriction. The actuator drives the chuck to move. In the tension adjustment mode, the chuck approaches and tightens the shaft assembly 10, fixing the shaft assembly 10 in a corresponding position; in the transmission mode, the chuck releases the clamping force, loosens and moves away from the shaft assembly 10, and releases the shaft assembly 10, allowing the shaft assembly 10 (in a free state) to be driven to rotate.

[0159] Optionally, the tensioning mechanism 1000 provided in the embodiment of the present application may be applied to a transmission system.

[0160] Based on the same inventive concept, an embodiment of the present application provides a control method for the tensioning mechanism as described above, the control method comprising:

[0161] In the tensioning force adjustment mode, the wheel assembly 20 of the tensioning wheel 100 of the tensioning mechanism 1000 is controlled to rotate along the first rotation direction relative to the shaft assembly 10 through the one-way rotating member 30 to increase the total winding amount of the first flexible transmission member 300 and the second flexible transmission member 400 of the tensioning mechanism 1000 on the tensioning wheel 100.

[0162] In the transmission mode, the control wheel assembly 20 rotates along the first rotation direction, 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 in sequence; or, the control wheel assembly 20 rotates along the 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.

[0163] In an embodiment of the present application, the control method of the tensioning mechanism includes a tensioning step of tensioning the first flexible transmission member 300 and the second flexible transmission member 400 using the tensioning wheel 100 (the tensioning wheel 100 is in a tensioning force adjustment mode), and a transmission step of transmitting power to the transmission wheel 200 through the tensioned first flexible transmission member 300 and the second flexible transmission member 400 (the tensioning wheel 100 is in a transmission mode).

[0164] In an embodiment of the present application, in the tensioning force adjustment mode, the wheel assembly 20 is controlled to rotate and / or the shaft assembly 10 is controlled to rotate (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 a first rotation direction and the shaft assembly 10 is stationary; or, the shaft assembly 10 rotates in a 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), increasing the total amount of winding of the second flexible transmission member 400 around the outer peripheral wall of the wheel assembly 20 and the first flexible transmission member 300 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.

[0165] In transmission mode, the wheel assembly 20 is controlled to rotate (at this time, the shaft assembly 10 can be placed in a free state. Of course, the shaft assembly 10 can also be controlled to rotate and the wheel assembly 20 can be placed in a free state). When the wheel assembly 20 is controlled to rotate in the single direction defined by the one-way rotating member 30 (the wheel assembly 20 can rotate in this single direction relative to the shaft assembly 10), the wheel assembly 20 drives the transmission wheel 200 to rotate via the tensioned second flexible transmission member 400, and the transmission wheel 200 drives the shaft assembly 10 to rotate via the tensioned first flexible transmission member 300, so that the shaft assembly 10 and the wheel assembly 20 rotate synchronously, and the shaft assembly 10 and the wheel assembly 20 are relatively stationary, achieving the transmission purpose of the tensioning wheel 100 driving the transmission wheel 200 to rotate. When the control wheel assembly 20 rotates in a direction opposite to the single direction defined by the one-way rotating member 30, the wheel assembly 20 cannot rotate relative to the shaft assembly 10 in the opposite direction due to the one-way limiting effect of the one-way rotating member 30. The one-way rotating member 30 locks and locks the wheel assembly 20 and the shaft assembly 10. The wheel assembly 20, the one-way rotating member 30, and the shaft assembly 10 rotate as a whole under the driving force applied to the wheel assembly 20 in the opposite direction, causing the tensioning wheel 100 to drive the transmission wheel 200 to rotate via the first flexible transmission member 300 and the second flexible transmission member 400, thereby achieving the transmission purpose. The driving force applied to the wheel assembly 20 is transmitted to the transmission wheel 200 via the second flexible transmission member 400 and the first flexible transmission member 300.

[0166] 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), the control method of the tensioning mechanism provided in the embodiment of the present application also has the above-mentioned beneficial effects of the tensioning mechanism provided in the embodiment of the present application, and will not be repeated here.

[0167] Alternatively, as Figures 1 to 5As shown, in the embodiment of the present application, in the tensioning force adjustment mode, the wheel assembly 20 of the tensioning wheel 100 of the tensioning mechanism 1000 is controlled to rotate relative to the shaft assembly 10 along the first rotation direction through the one-way rotating member 30 to increase the total winding amount of the first flexible transmission member 300 and the second flexible transmission member 400 of the tensioning mechanism 1000 on the tensioning wheel 100, including:

[0168] The limiting structure is used to limit the rotational freedom of the shaft assembly 10; the driver drives the wheel assembly 20 to rotate along the first rotation direction to increase the length of the second flexible transmission member 400 wrapped around the wheel assembly 20.

[0169] In an embodiment of the present application, in the tensioning force adjustment mode, the shaft assembly 10 is fixed in a corresponding position by a limiting structure, and the wheel assembly 20 is driven by a driver to rotate in a single direction limited by the one-way rotating member 30, so that the length of the second flexible transmission member 400 wrapped around the wheel assembly 20 increases (at this time, the length of the first flexible transmission member 300 wrapped around the shaft assembly 10 may remain unchanged or may decrease, but the decrease is less than the increase in the length of the second flexible transmission member 400 wrapped around 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 wrapped around the tensioning wheel 100 increases), so that the second flexible transmission member 400 is tensioned, the second flexible transmission member 400 pulls the transmission wheel 200 so that the transmission wheel 200 has a rotation tendency, and the transmission wheel 200 pulls the first flexible transmission member 300 to tension the first flexible transmission member 300.

[0170] Optionally, in an embodiment of the present application, a limiting structure is used to limit the rotational freedom of the shaft assembly 10, including: bringing a fastener close to the shaft assembly 10 until it is inserted into the shaft assembly 10, thereby fixing the shaft assembly 10 at the current rotation angle.

[0171] In an embodiment of the present application, the fastener is manually or automatically brought close to the shaft assembly 10 and engaged with the second assembly hole 13 of the shaft assembly 10, so that the shaft assembly 10 is fixed to the external shell at the current rotation angle, so that the driving wheel assembly 20 can rotate relative to the shaft assembly 10 in a single direction defined by the one-way rotating member 30, thereby achieving tensioning.

[0172] Of course, in other optional embodiments of the present application, a limiting structure may be used to limit the rotational freedom of the shaft assembly 10 according to actual needs, including: using an actuator to drive a chuck close to the shaft assembly 10 until the chuck clamps the shaft assembly 10 to fix the current rotational angle of the shaft assembly 10. By driving the chuck close to and clamping the shaft assembly 10 by the actuator, the shaft assembly 10 is fixed at the current rotational angle, facilitating the rotation of the drive wheel assembly 20 relative to the shaft assembly 10 in a single direction defined by the one-way rotating member 30, thereby achieving tensioning.

[0173] Of course, in other optional embodiments of the present application, according to actual needs, in the tensioning force adjustment mode, the wheel assembly 20 of the tensioning wheel 100 of the tensioning mechanism 1000 is controlled to rotate relative to the shaft assembly 10 along the first rotation direction via 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 of the tensioning mechanism 1000 on the tensioning wheel 100, including:

[0174] The rotational freedom of the wheel assembly 20 is limited by a limiting structure, and the shaft assembly 10 is driven by a 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 wrapped around the outer peripheral wall of the ring portion 12 of the shaft assembly 10 or around the ring portion 12 and the outer peripheral wall of the wheel assembly 20 adjacent to the ring portion 12;

[0175] Alternatively, the drive shaft assembly 10 and the wheel assembly 20 each rotate in a single direction defined by the one-way rotating member 30 (for example, the wheel assembly 20 rotates in a first rotation direction, and the shaft assembly 10 rotates in a second rotation direction), increasing the length of the first flexible transmission member 300 wrapped 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 wrapped 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.

[0176] By applying the embodiments of the present application, at least the following beneficial effects can be achieved:

[0177] In an embodiment of the present application, the shaft and the ring are fixedly connected, and the ring is mounted around one end of the shaft. The relative positional relationship between the shaft and the ring is fixed, and the ring and the shaft can rotate or remain stationary in sync. The wheel assembly is relatively rotatably mounted around the shaft. The shaft assembly can be fixedly connected to one end of the first flexible transmission member, and a portion of the first flexible transmission member can be wound around the shaft assembly. The wheel assembly can be fixedly connected to one end of the second flexible transmission member, and a portion of the second flexible transmission member can be wound around the wheel assembly.

[0178] Compared with the related technology that can only wrap the rope around the wheel, the flexible transmission member (including the first flexible transmission member and the second flexible transmission member) in the embodiment of the present application can not only be wrapped around the wheel assembly, but also can be wrapped around the shaft assembly, thereby increasing the total wrapping amount of the flexible transmission member wrapped around the tensioning wheel.

[0179] In an embodiment of the present application, a one-way rotating member is provided between the shaft and the wheel assembly, and the one-way rotating member provides rotational support for the wheel assembly relative to the shaft. At the same time, the provision of the one-way rotating member can constrain the relative rotation direction between the wheel assembly and the shaft to be one-way, so that the wheel assembly can rotate in one direction at any angle relative to the shaft.

[0180] By setting a one-way rotating part, the wheel assembly and the shaft assembly can rotate relative to each other in a single direction in the tensioning force adjustment mode, thereby increasing the length of the second flexible transmission member wrapped around the wheel assembly and / or the first flexible transmission member wrapped 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.

[0181] In the embodiment of the present application, by controlling the rotation of the wheel assembly and / or the shaft assembly, the winding length of the second flexible transmission member and the first flexible transmission member can be adjusted, so that the second flexible transmission member and the first flexible transmission member can obtain a larger tension 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. The requirements for the length of the second flexible transmission member and the first flexible transmission member themselves are reduced, and the dependence on the accuracy of the length of the second flexible transmission member and the first flexible transmission member themselves can be reduced. The tensioning wheel provided by the embodiment of the present application can achieve effective and accurate control of the tensioning force and tensioning amount, greatly increasing the tensioning amount, thereby obtaining a larger tensioning amount.

[0182] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0183] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0184] The above is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of the present application, other similar implementation methods based on the technical ideas of the present application also fall within the protection scope of the embodiments of the present application.

Claims

1. A tensioning mechanism, characterized in that: include: The tensioning pulley comprises: a shaft assembly comprising a shaft portion and a ring portion fixedly connected to the outer periphery of one end of the shaft portion; a wheel assembly sleeved on the outer periphery of the shaft portion and rotatably connected to the shaft portion; and a one-way rotating member disposed between the shaft portion and the wheel assembly; transmission wheel; a first flexible transmission member, one end of which is fixedly connected to the ring portion and partially wrapped 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 and partially wrapped around the outer peripheral wall of the wheel assembly, and the other end of which is fixedly connected to the transmission wheel; a driver, drivingly connected to the wheel assembly; a limiting structure, located on a side of the shaft assembly away from the driver, and configured to be movable in a direction away from and toward the shaft assembly so as to limit or release the rotational freedom of the shaft assembly; The tensioning mechanism is constructed as follows: in a tensioning force adjustment mode, the wheel assembly rotates in a single direction relative to the shaft assembly through a one-way rotating member to tension the first flexible transmission member and the second flexible transmission member; and in a transmission mode, the wheel assembly drives the second flexible transmission member, the transmission wheel, the first flexible transmission member and the shaft assembly to rotate in sequence, or the wheel assembly drives the shaft assembly to rotate through the one-way rotating member, the wheel assembly drives the transmission wheel through the second flexible transmission member, and the shaft assembly drives the transmission wheel through the first flexible transmission member.

2. The tensioning mechanism according to claim 1, characterized in that: The tensioning wheel further includes at least one bearing, the bearing being disposed between the shaft portion and the wheel assembly; The bearing and the one-way rotating member are distributed along the axial direction of the shaft portion.

3. The tensioning mechanism according to claim 2, characterized in that: The number of the bearings is two; the shaft portion comprises 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 arranged between the first shaft segment and the corresponding wheel assembly, the one-way rotating member and the second bearing are arranged 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 distributed in sequence along the axial direction.

4. The tensioning mechanism according to claim 3, characterized in that: The shaft portion further includes a stop portion, and the stop portion is arranged on a side of the first shaft segment away from the second shaft segment; The stopper has an outer circumferential wall diameter greater than that of the first shaft segment, and is configured to stop the first bearing.

5. The tensioning mechanism according to claim 3, characterized in that: Along the axial direction of the shaft, two ends of the inner circumferential wall of the wheel assembly are respectively provided with a first groove, and the outer walls of the two bearings are respectively provided with a protrusion; The protrusions of the two bearings respectively cooperate with the first grooves at both ends of the wheel assembly and are configured to axially limit the wheel assembly.

6. The tensioning mechanism according to claim 1, characterized in that: The tensioning wheel includes at least one of the following: The wheel assembly is provided with at least one first assembly hole for being fixedly connected to the driver; The wheel assembly is provided with a winding groove for winding the second flexible transmission member; The shaft portion is provided with a second assembly hole for limiting the rotational freedom by the limiting structure in the tensioning force adjustment mode; The one-way rotating member includes a ratchet mechanism or an overrunning clutch.

7. The tensioning mechanism according to claim 1, characterized in that: The limiting structure includes: a fastener movably provided on the outer housing, the fastener being used to engage with or release the second assembly hole on the shaft assembly to restrict or release the relative position between the shaft assembly and the outer housing; or, An actuator and a chuck connected to the actuator, wherein the actuator drives the chuck to move closer to or away from the shaft assembly, and the chuck is used to clamp or release the shaft assembly to restrict the shaft assembly to a corresponding position or release the restriction.

8. A method for controlling a tensioning mechanism according to any one of claims 1 to 7, characterized in that: include: In the tensioning force adjustment mode, the wheel assembly of the tensioning wheel of the tensioning mechanism is controlled to rotate relative to the shaft assembly in a first rotation direction via a one-way rotating member, so as 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, the wheel assembly is controlled to rotate along the first rotation direction, driving the second flexible transmission member, the transmission wheel, the first flexible transmission member and the shaft assembly to rotate in sequence; or, the wheel assembly is controlled 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.

9. The control method according to claim 8, characterized in that: In the tensioning 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 via 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, includes: Using a limiting structure to limit the rotational freedom of the shaft assembly; The wheel assembly is driven to rotate along the first rotation direction by a driver to increase the length of the second flexible transmission member wrapped around the wheel assembly.

10. The control method according to claim 9, characterized in that: The limiting structure is used to limit the rotational freedom of the shaft assembly, including: Move the fastener closer until it is inserted into the shaft assembly, fixing the shaft assembly at the current rotation angle; or, The chuck is driven by an actuator to approach the shaft assembly until the chuck clamps the shaft assembly to fix the rotation angle of the shaft assembly at that time.

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