Belt tensioning wheel mechanism and robot joint driving structure

Abstract

The utility model relates to a belt tensioning wheel mechanism and a robot joint driving structure, the belt tensioning wheel mechanism comprises a shell, a roller support and a roller, the roller is rotatably arranged at one end of the roller support, the other end of the roller is provided with a column, the column penetrates through the shell, a spring is further sleeved on the column, and the shell is provided with a spring. The two ends of the spring abut against the shell and the roller support respectively, and the end, away from the roller, of the column is further provided with a clamping spring for preventing the column from disengaging. The tensioning wheel structure is suitable for a belt tensioning function in a belt wheel transmission mechanism of a robot, the belt transmission precision is improved, and the transmission delay is reduced; meanwhile, the tensioning wheel of the structure has the advantages of being easy to install, self-adaptive in tensioning force and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of outdoor leisure carts, and in particular relates to a belt tensioner mechanism and a robot joint driving structure. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Currently, it has important uses in industry, medicine, agriculture, and even the military.

[0003] In order to enhance the sense of interaction with users, civilian robots are often designed in human form. Humanoid robots simulate human movement patterns such as walking, running, and jumping, which requires the robot's structure to contain many power joints. The power joints generally include two parts: a motor and a reducer. The motor and the reducer are connected by gear meshing transmission or belt transmission. The above two transmission methods will cause wear after long-term use, especially the belt transmission method, which affects the accuracy of the robot's overall movement. Utility Model Content

[0004] In order to solve the above technical problems, the first purpose of the utility model is to provide a belt tensioner mechanism, which improves the belt transmission accuracy and the tensioning force can be adaptively adjusted. The second purpose of the utility model is to provide a robot joint drive structure.

[0005] In order to achieve the above first utility model purpose, the utility model adopts the following technical solutions:

[0006] A belt tensioner mechanism comprises a shell, a roller bracket and a roller, wherein the roller is rotatably arranged at one end of the roller bracket, and a column is provided at the other end of the roller. The column passes through the shell, and a spring is sleeved on the column. The two ends of the spring are respectively against the shell and the roller bracket, and a retaining spring is provided at the end of the column away from the roller to prevent the column from falling out.

[0007] As a preferred solution: the roller bracket includes two side plates, both sides of the roller are inserted into the side plates through rollers, and bearings are also provided between the rollers and the side plates.

[0008] As a preferred solution: a limiting step is further provided between the roller bracket and the column, a receiving groove matching the shape of the limiting step is further provided on the shell, and two ends of the spring respectively abut against the bottom of the receiving groove and the limiting step.

[0009] As a preferred solution: an anti-rotation hole is further provided on the shell, the anti-rotation hole is communicated with the accommodating groove, and the column passes through the anti-rotation hole.

[0010] As a preferred solution: the limiting step is cylindrical, and the cross-sectional shape of the column is the same as the cross-sectional shape of the anti-rotation hole, which is rectangular, square, triangular or polygonal.

[0011] As a preferred solution: the side wall of one end of the column passing through the shell is further provided with a groove, and the retaining spring is embedded in the groove.

[0012] In order to achieve the above second utility model purpose, the utility model adopts the following technical solutions:

[0013] The robot joint driving structure includes a support plate, a motor and a reducer, wherein the reducer and the motor are respectively fixed on the upper and lower parts of the support plate, and the motor and the reducer are driven by a synchronous belt. The support plate is also provided with a tensioning wheel mechanism for tightening the synchronous belt, and the tensioning wheel mechanism is as described in any one of the above items.

[0014] The tensioner wheel structure of the utility model is suitable for the belt tensioning function in the belt wheel transmission mechanism of the robot, improves the belt transmission accuracy, and reduces the transmission delay; at the same time, the tensioner wheel of the structure has the characteristics of easy installation and adaptive adjustment of the tensioning force. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model from one angle;

[0017] Figure 2 It is a schematic diagram of the overall structure of the utility model from another angle.

[0018] Figure 3 It is a schematic diagram of the exploded structure of the utility model after cutting;

[0019] Figure 4 It is a schematic diagram of the cross-sectional structure of the utility model.

[0020] Figure 5 This is a schematic diagram of the application of the utility model in a certain power transmission scenario of a robot.

[0021] The accompanying drawings are marked as follows: 1. shell; 11. anti-rotation hole; 12. accommodating groove; 21. roller bracket; 22. limiting step; 23. column; 24. groove; 3. roller; 4. bearing; 5. retaining spring; 6. spring; 31. support plate; 32. motor; 33. reducer; 34. belt; 36. tensioner mechanism. DETAILED DESCRIPTION

[0022] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0023] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0024] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0028] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0029] like Figure 1 Zhihe Figure 4 A belt tensioner mechanism shown in the figure comprises a housing 1, a roller bracket 21 and a roller 3, wherein the roller 3 is rotatably arranged at one end of the roller bracket 21, and a column 23 is arranged at the other end of the roller 3, wherein the column 23 passes through the housing 1, and a spring 6 is sleeved on the column 23, and the two ends of the spring 6 are respectively against the housing 1 and the roller bracket 21, and a retaining spring 5 is arranged at one end of the column 23 away from the roller 3 to prevent the column 23 from coming out. A groove 24 is also arranged on the side wall of the end of the column 23 passing through the housing 1, and the retaining spring 5 is embedded in the groove 24.

[0030] The roller bracket 21 includes two side plates, and the two sides of the roller 3 are inserted into the side plates through rollers, and a bearing 4 is provided between the roller and the side plates. The roller in the utility model has an interference fit with the roller, and is connected to the roller bracket through an oil-free bearing, which ensures that the roller is smooth and has good stability.

[0031] A limiting step 22 is further provided between the roller bracket 21 and the column 23 , and a receiving groove 12 matching the shape of the limiting step 22 is further provided on the housing 1 , and two ends of the spring 6 respectively abut against the bottom of the receiving groove 12 and the limiting step 22 .

[0032] In the free state, due to the spring force acting on the cylindrical limiting step 22 of the bracket, the roller extends forward and is clamped by the end retaining spring; in the working state, the belt acts on the roller, compressing the spring, and the column of the bracket moves in the shell and is limited by the bottom of the bracket and the end face of the shell.

[0033] The housing 1 is also provided with an anti-rotation hole 11, which is connected to the receiving groove 12, and the column 23 passes through the anti-rotation hole 11. The limiting step 22 is cylindrical, and the cross-sectional shape of the column 23 is the same as that of the anti-rotation hole 11, which is rectangular, square, triangular or polygonal.

[0034] like Figure 5 As shown, the robot joint driving structure includes a support plate 31, a motor 32 and a reducer 33. The reducer 33 and the motor 32 are respectively fixed on the upper and lower parts of the support plate 31, and the motor 32 and the reducer 33 are transmitted through a synchronous belt 34. The support plate 31 is also provided with a tensioning wheel mechanism 36 for tightening the synchronous belt 34. The tensioning wheel mechanism 36 is as described above.

[0035] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0036] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A belt tensioner mechanism, characterized in that: The invention comprises a housing (1), a roller bracket (21) and a roller (3), wherein the roller (3) is rotatably arranged at one end of the roller bracket (21), and a column (23) is provided at the other end of the roller (3), wherein the column (23) passes through the housing (1), and a spring (6) is sleeved on the column (23), wherein the two ends of the spring (6) respectively abut against the housing (1) and the roller bracket (21), and a retaining spring (5) is provided at one end of the column (23) away from the roller (3) to prevent the column (23) from falling out.

2. A belt tensioner mechanism according to claim 1, characterized in that: The roller bracket (21) comprises two side plates, and the two sides of the roller (3) are inserted into the side plates via roller shafts, and a bearing bush (4) is also provided between the roller shaft and the side plates.

3. A belt tensioner mechanism according to claim 1, characterized in that: A limiting step (22) is also provided between the roller bracket (21) and the column (23), and a receiving groove (12) matching the shape of the limiting step (22) is also provided on the housing (1), and two ends of the spring (6) respectively abut against the bottom of the receiving groove (12) and the limiting step (22).

4. A belt tensioner mechanism according to claim 3, characterized in that: The housing (1) is also provided with an anti-rotation hole (11), the anti-rotation hole (11) being in communication with the accommodating groove (12), and the column (23) passing through the anti-rotation hole (11).

5. A belt tensioner mechanism according to claim 4, characterized in that: The limiting step (22) is cylindrical, and the cross-sectional shape of the column (23) is the same as the cross-sectional shape of the anti-rotation hole (11), which is rectangular, square, triangular or polygonal.

6. A belt tensioner mechanism according to claim 1, characterized in that: A groove (24) is also provided on the side wall of one end of the column (23) that passes through the housing (1), and the clamping spring (5) is embedded in the groove (24).

7. The robot joint driving structure is characterized by: The invention comprises a support plate (31), a motor (32) and a reducer (33); the reducer (33) and the motor (32) are respectively fixed to the upper and lower parts of the support plate (31); and the motor (32) and the reducer (33) are driven by a belt (34); a tensioning wheel mechanism (36) for tightening the belt (34) is also provided on the support plate (31); the tensioning wheel mechanism (36) is as described in any one of claims 1 to 6.

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