Synchronous belt tensioning mechanism, synchronous belt conveying device, mechanical arm and robot

Abstract

The utility model discloses a synchronous belt tensioning mechanism, a synchronous belt conveying device, a mechanical arm and a robot, the synchronous belt tensioning mechanism comprises a fixed base, a supporting frame, a rotating shaft and bearings, the rotating shaft is arranged on the supporting frame in a penetrating mode through a mounting hole, and the bearings capable of rotating relatively are arranged at the two ends of the rotating shaft; a traditional tensioning device is composed of a supporting frame, a rotating shaft and a bearing, a fixing base is fixedly arranged at the bottom of the supporting frame, the fixing base has elasticity and can generate certain deformation quantity, and when tolerance becomes large due to abrasion during work of all parts, the tensioning force can be different, and the tensioning force cannot be changed. At the moment, the elastic fixing base can deform in a self-adaptive mode under the condition that external force is exerted on the elastic fixing base, so that the tensioning force difference caused by tolerance of all parts is made up, and the problem of tensioning force attenuation caused by aging of the synchronous belt is solved.

Description

Technical Field

[0001] The present application relates to the technical field of synchronous belt transmission devices, and in particular to a synchronous belt tensioning mechanism, a synchronous belt transmission device, a mechanical arm and a robot. Background Art

[0002] With the continuous development of science and technology and the rapid development of mechanical engineering, synchronous belts, as a transmission component with high precision, good wear resistance, low noise and simple installation, have been widely used in automation equipment, machinery manufacturing, automobile industry, medical equipment, steel, aviation, shipbuilding, electricity and other fields. With the continuous advancement of science and technology and the continuous expansion of application needs, the application field of synchronous belt transmission will continue to expand and deepen.

[0003] Due to long-term use and uneven wear of the synchronous belt, the synchronous belt will become loose and jump teeth, which will affect the transmission efficiency and safety. Therefore, the synchronous belt must be used within a reasonable tension range. There are currently two commonly used methods to adjust the tension range: 1. Adjust the tension by changing the distance between the two synchronous belt pulley shafts; 2. Adjust the tension through a tensioning pulley. Although the first method of adjusting the tension by changing the distance between the two synchronous belt pulley shafts does not require the addition of additional mechanisms, it can save material costs, assembly costs and reduce the failure rate, but it is only applicable to scenarios where the relative position of the two synchronous belt pulleys can be moved; the second method of using a tensioning mechanism to adjust the tension is applicable to many scenarios, but it requires manual adjustment of the tension during the assembly stage, which increases the difficulty of assembly.

[0004] In the process of implementing this application, the inventors found that there are at least the following technical problems in the prior art:

[0005] At present, the traditional fixed tensioning mechanism will have tensioning force differences due to tolerance of various components during long-term working wear, which will cause the tensioning mechanism to fail to achieve the expected tensioning effect. Utility Model Content

[0006] In view of this, the present application provides a synchronous belt tensioning mechanism, a synchronous belt transmission device, a mechanical arm and a robot, so as to at least compensate for the tensioning force difference caused by the tolerance of each component.

[0007] To achieve the above objectives, this application provides the following technical solutions:

[0008] In a first aspect, an embodiment of the present application provides a synchronous belt tensioning mechanism for a robotic arm, wherein the robotic arm comprises a plurality of joint action components and a synchronous belt transmission device disposed on one side of the joint action components, wherein the synchronous belt transmission device comprises a motor, a driving wheel, a driven wheel and a synchronous belt, and is characterized in that it comprises:

[0009] A fixed base, which is arranged on one side of the joint action component and has elasticity;

[0010] A support frame is arranged on the fixed base, and a mounting hole is provided through one end of the support frame away from the fixed base along the width direction of the fixed base;

[0011] A rotating shaft is arranged in the mounting hole;

[0012] Bearings are provided at both ends of the rotating shaft, the bearings can rotate relative to the rotating shaft, and the bearings are used to support the synchronous belt and provide tension for it

[0013] In a feasible embodiment, the support frame includes a support truss, a first support arm and a second support arm, the support truss is arranged on the fixed base, the first support arm and the second support arm are both arranged on the side of the support truss away from the fixed base, wherein the first support arm and the second support arm are symmetrically arranged about the center line of the length direction of the fixed base.

[0014] In a feasible embodiment, positioning bosses are provided on the sides of the rotating shaft that are in contact with the first supporting arm and the second supporting arm.

[0015] In a feasible embodiment, the supporting truss is arranged at a central position of the fixed base.

[0016] In a feasible implementation, the supporting truss is fixedly connected to the fixing base by means of screws.

[0017] In a feasible implementation, the fixed base is a spring steel sheet.

[0018] In a feasible implementation, fixing holes are provided at the four corners of the fixing base.

[0019] In the second aspect, the embodiment of the present application also provides a synchronous belt transmission device, which is composed of a motor, a driving wheel, a driven wheel, and a synchronous belt, and is used for a robotic arm including several joint action components. The robotic arm is overall arc-shaped, and also includes at least one synchronous belt tensioning mechanism as in the above-mentioned first aspect embodiment, the driving wheel, the synchronous tensioning mechanism and the driven wheel are all fixedly arranged on the joint action component, the synchronous belt is simultaneously mounted on the driving wheel and the driven wheel, and the synchronous belt is supported and tensioned by the bearing, so that the driving wheel can drive the driven wheel to rotate, wherein the axial centerline of the driving wheel and the axial centerline of the driven wheel are perpendicular to each other.

[0020] In a third aspect, an embodiment of the present application further provides a robotic arm comprising a plurality of joint motion components, which uses a synchronous belt transmission device as provided in the embodiment of the second aspect described above.

[0021] In a fourth aspect, an embodiment of the present application also provides a robot, which uses a robotic arm as provided in the embodiment of the third aspect above.

[0022] The synchronous belt tensioning mechanism, synchronous belt transmission device, mechanical arm and robot provided by the embodiments of the present application have at least the following beneficial effects:

[0023] The synchronous belt tensioning mechanism in the present application mainly includes a fixed base, a support frame, a rotating shaft and a bearing, wherein the rotating shaft is passed through the support frame through a mounting hole, and bearings that can rotate relative to each other are arranged at both ends of the rotating shaft. The support frame, the rotating shaft and the bearings constitute a traditional tensioning device, while in the present application, a fixed base is fixedly arranged at the bottom of the support frame. The fixed base is elastic and can produce a certain amount of deformation. When the tolerance of each part increases due to wear during operation, it will cause differences in tensioning force. At this time, the elastic fixed base can adaptively deform when subjected to external force to compensate for the tensioning force difference caused by the tolerance of each component, thereby solving the problem of tensioning force attenuation caused by aging of the synchronous belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 is a structural schematic diagram of a synchronous belt tensioning mechanism provided by an embodiment of the present application;

[0026] Figure 2 is a first-view structural schematic diagram of a mechanical arm using the synchronous belt tensioning mechanism provided by another embodiment of the present application;

[0027] Figure 3 It is a schematic diagram of the cross-sectional structure from a second viewing angle of a robotic arm using the synchronous belt tensioning mechanism provided in an embodiment of the present application.

[0028] The specific reference numerals are as follows:

[0029] Fixed base 1, support frame 2, support truss 201, first support arm 202, second support arm 203, rotating shaft 3, bearing 4, positioning boss 5, fixing hole 6, driving wheel 100, driven wheel 200, synchronous belt 300, synchronous belt tensioning mechanism 400. DETAILED DESCRIPTION

[0030] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0032] Due to long-term use and uneven wear of the synchronous belt, the synchronous belt will become loose and jump teeth, which will affect the transmission efficiency and safety. Therefore, the synchronous belt must be used within a reasonable tension range. The traditional fixed tensioning mechanism will have tension differences due to tolerances of various components during long-term working wear, which will cause the tensioning mechanism to fail to achieve the expected tensioning effect.

[0033] In order to solve the problems of the prior art, the applicant has improved the structure of the synchronous belt tensioning mechanism. The embodiments of the present application are further described below.

[0034] In order to better understand this application, Figures 1 to 3 The embodiments of the present application are described.

[0035] In the first aspect, an embodiment of the present application provides a synchronous belt tensioning mechanism 400, which is used for a synchronous belt transmission device composed of a motor, a driving wheel 100, a driven wheel 200 and a synchronous belt 300, and includes an elastic fixed base 1; a support frame 2 is arranged on the fixed base 1, and an installation hole (not shown in the figure) is arranged at one end of the support frame 2 away from the fixed base 1 through the width direction of the fixed base 1; a rotating shaft 3 is arranged in the installation hole; bearings 4 are arranged at both ends of the rotating shaft 3, and the bearings 4 can rotate relative to the rotating shaft 3.

[0036] For details, please refer to Figure 1 The support frame 2, the rotating shaft 3 and the bearing 4 constitute a traditional tensioning device, while in the embodiment of the present application, a fixed base 1 is fixedly arranged at the bottom of the support frame 2. The fixed base 1 is elastic and can produce a certain amount of deformation. When the tolerance of each part increases due to wear during operation, it will cause a difference in tension. At this time, the elastic fixed base 1 can adaptively deform under the external force to compensate for the tension difference caused by the tolerance of each component, solve the tension attenuation problem caused by the aging of the synchronous belt 300, and by setting the elastic fixed base 1, it can also slow down the tension change caused by the verticality of the synchronous belt transmission device, resulting in excessive swing amplitude and grinding of the synchronous belt 300. In terms of the number of overall parts, only the fixed base 1 is added compared to the traditional tensioning device, while ensuring that the structure of the synchronous belt tensioning mechanism 400 is compact and the installation is simple and convenient. The minimum number of moving parts also reduces the subsequent maintenance cost.

[0037] It is not difficult to understand that the fixed base 1 in this embodiment can be but is not limited to spring steel sheets, rubber sheets, manganese steel sheets, stainless steel sheets and other materials that can undergo elastic deformation. The specific selection can be based on the cost of the material, the range of elastic deformation and the service life. It is not limited in the embodiments of the present application. In the embodiments of the present application, the connection method between the support frame 2 and the fixed base 1 can be but is not limited to screw connection, welding, etc., or the support frame 2 and the fixed base 1 are integrally formed.

[0038] In some other embodiments of this application, please refer to Figure 1 The support frame 2 includes a support truss 201, a first support arm 202 and a second support arm 203. The support truss 201 is arranged on the fixed base 1. The first support arm 202 and the second support arm 203 are both arranged on the side of the support truss 201 away from the fixed base 1, wherein the first support arm 202 and the second support arm 203 are symmetrically arranged about the center line of the length direction of the fixed base 1, and the support truss 201 can be arranged at the center position of the fixed base 1. Arranging the support frame 2 as the support truss 201, the first support arm 202 and the second support arm 203 can save materials and material costs, and at the same time can reduce the weight of the entire synchronous belt tensioning mechanism 400.

[0039] In addition, please continue to refer to Figure 1 The rotating shaft 3 is in contact with the side surfaces of the first support arm 202 and the second support arm 203, and a positioning boss 5 is provided. The positioning boss 5 can be connected to the first support arm 202 and the second support arm 203 by screws or by welding. By providing the positioning boss 5, not only the inner ring of the bearing 4 can be pressed, but also the installation distance of the bearings 4 on both sides of the rotating shaft 3 can be ensured to be symmetrical.

[0040] In the second aspect, the embodiment of the present application also provides a synchronous belt transmission device, which is composed of a motor (not shown in the figure), a driving wheel 100, a driven wheel 200, and a synchronous belt 300, which is used for a mechanical arm including several joint action components, and the mechanical arm is arc-shaped as a whole. The synchronous belt transmission device includes at least one synchronous belt tensioning mechanism 400 provided in the first aspect above. In addition, please refer to Figure 2 and Figure 3 The driving wheel 100, the synchronous belt tensioning mechanism 400 and the driven wheel 200 are all fixedly arranged on the same side of the joint action component. The synchronous belt 300 is simultaneously mounted on the driving wheel 100 and the driven wheel 200, and the synchronous belt 300 is supported and tensioned by the bearing 4, so that the driving wheel 100 can drive the driven wheel 200 to rotate, wherein the axial centerline of the driving wheel 100 and the axial centerline of the driven wheel 200 are perpendicular to each other.

[0041] During the operation of the synchronous belt transmission device, the motor generates power for the driving wheel 100, and the driving wheel 100 drives the driven wheel 200 to rotate in the same manner through the synchronous belt 300. During the movement of the synchronous belt 300, the driving wheel 100 and the driven wheel 200 will wear the synchronous belt 300, thereby causing the tension of the synchronous belt 300 to change. If it is not improved, it will cause the synchronous belt 300 to swing too much and cause grinding. Therefore, the tension of the synchronous belt 300 is adaptively adjusted through the synchronous belt tensioning mechanism 400. The synchronous belt tensioning mechanism 400 is fixed on the joint action component through the fixing hole 6 on the fixed base 1, and the synchronous belt 300 is supported by the bearing 4. The fixed base 1 is elastic and can undergo elastic deformation. When the tension changes, the fixed base 1 can be deformed under the action of the opposite force of the tension change, thereby offsetting the tension difference and ensuring that the tension of the synchronous belt 300 does not change.

[0042] Since the synchronous belt transmission device in the embodiment of the present application adopts the synchronous belt tensioning mechanism 400 in the embodiment of the first aspect, it has all the beneficial effects of the above-mentioned synchronous belt tensioning mechanism 400, which will not be repeated here.

[0043] In a third aspect, an embodiment of the present application further provides a robotic arm comprising a plurality of joint motion components, which uses the synchronous belt transmission device in the embodiment of the second aspect described above and has all the beneficial effects of the synchronous belt transmission device described above, which will not be described in detail here.

[0044] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A synchronous belt tensioning mechanism for a mechanical arm, the mechanical arm comprising a plurality of joint action components and a synchronous belt transmission device arranged on one side of the joint action components, the synchronous belt transmission device comprising a motor, a driving wheel (100), a driven wheel (200) and a synchronous belt (300), characterized in that: include: A fixed base (1), the fixed base (1) being arranged on one side of the joint action component, and the fixed base (1) being elastic; A support frame (2) is arranged on the fixed base (1), and an installation hole is provided through one end of the support frame (2) away from the fixed base (1) along the width direction of the fixed base (1); A rotating shaft (3) is arranged in the mounting hole; Bearings (4), both ends of the rotating shaft (3) are provided with the bearings (4), the bearings (4) can rotate relative to the rotating shaft (3), and the bearings (4) are used to support the synchronous belt (300) and provide tension for it.

2. The synchronous belt tensioning mechanism according to claim 1, characterized in that: The support frame (2) comprises a support truss (201), a first support arm (202) and a second support arm (203); the support truss (201) is arranged on the fixed base (1); the first support arm (202) and the second support arm (203) are both arranged on a side of the support truss (201) away from the fixed base (1); wherein the first support arm (202) and the second support arm (203) are symmetrically arranged about a center line in a length direction of the fixed base (1).

3. The synchronous belt tensioning mechanism according to claim 2, characterized in that: The side surfaces of the rotating shaft (3) that are in contact with the first supporting arm (202) and the second supporting arm (203) are both provided with positioning bosses (5).

4. The synchronous belt tensioning mechanism according to claim 2, characterized in that: The supporting truss beam (201) is arranged at the center position of the fixed base (1).

5. The synchronous belt tensioning mechanism according to claim 4, characterized in that: The supporting truss beam (201) and the fixed base (1) are fixedly connected by means of screws.

6. The synchronous belt tensioning mechanism according to claim 1, characterized in that: The fixed base (1) is a spring steel sheet.

7. The synchronous belt tensioning mechanism according to claim 6, characterized in that: Fixing holes (6) are provided at the four corners of the fixing base (1).

8. A synchronous belt transmission device, comprising a motor, a driving wheel (100), a driven wheel (200), and a synchronous belt (300), which is used for a mechanical arm including a plurality of joint action components, wherein the mechanical arm is in an arc shape as a whole, and is characterized in that: It also comprises at least one synchronous belt tensioning mechanism (400) as claimed in any one of claims 1 to 7, wherein the driving wheel (100), the synchronous belt tensioning mechanism (400) and the driven wheel (200) are all fixedly arranged on the joint action component, and the synchronous belt (300) is simultaneously sleeved on the driving wheel (100) and the driven wheel (200), and the synchronous belt (300) is supported and tensioned by the bearing (4), so that the driving wheel (100) can drive the driven wheel (200) to rotate, wherein the axial centerline of the driving wheel (100) and the axial centerline of the driven wheel (200) are perpendicular to each other.

9. A robotic arm comprising a plurality of joint action components, characterized in that: It comprises the synchronous belt conveyor as claimed in claim 8.

10. A robot, characterized in that: Comprising the robotic arm as claimed in claim 9.

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