Tensioning device and automation equipment

Abstract

The utility model belongs to the technical field of automation equipment, and relates to a tensioning device and automation equipment, the tensioning device comprises a mounting support, a movable shaft and a linear moving mechanism, and the mounting support is provided with a mounting hole and a communicating hole communicating with the mounting hole; the movable shaft is inserted into the mounting hole, and the end part of the movable shaft is rotationally connected with a second transmission wheel of the transmission assembly on the outer side of the mounting bracket; the linear moving mechanism is inserted into the communicating hole and extends to the mounting hole to be connected with the movable shaft so as to drive the movable shaft and the second transmission wheel connected with the movable shaft to move in the first direction relative to the mounting support through rotation. According to the tensioning device, the transmission assembly is directly installed on one side of the installation support through the movable shaft, the end of the linear moving mechanism is rotated to drive the movable shaft and the second transmission wheel to move together in the first direction, so that the distance between the second transmission wheel and the first transmission wheel in the first direction is adjusted, and the tensioning adjustment operation is very simple, convenient and rapid; and parts are shared with the mounting structure of the transmission assembly, so that the structure is simpler and more compact.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a tensioning device and automation equipment. Background Art

[0002] In automation equipment, cylinders, motors and other driving parts usually need to use transmission mechanisms such as belt transmission mechanisms and chain transmission mechanisms to transmit power to actuators to complete various operations or actions. Taking the belt transmission mechanism as an example, the belt transmission mechanism generally includes a driving wheel, a driven wheel and a transmission belt. In addition, in order to provide and / or adjust the tension of the transmission belt so that the transmission belt remains in a tensioned state during operation, the belt transmission mechanism also includes a tensioning device.

[0003] However, the structure of the tensioning device of the existing transmission mechanism is relatively complex, and it is not convenient to adjust the tension, which is time-consuming and labor-intensive. This problem is particularly prominent when the automated equipment needs to complete a variety of complex actions and has multiple drive mechanisms. Utility Model Content

[0004] The purpose of the embodiments of the present application is to solve the technical problems that the tensioning device of the existing automation equipment has a complex structure and is inconvenient to adjust the tensioning force.

[0005] In order to solve the above technical problems, the present application provides a tensioning device, which adopts the following technical solution:

[0006] The tensioning device is used to adjust the tensioning force of at least one transmission assembly in the transmission member, the transmission assembly includes a first transmission wheel, a second transmission wheel and a flexible transmission member, the first transmission wheel and the second transmission wheel are arranged at intervals along a first direction, and the first transmission wheel and the second transmission wheel rotate around the flexible transmission member; the tensioning device includes:

[0007] A mounting bracket having a mounting hole and a connecting hole communicating with the mounting hole;

[0008] A movable shaft, inserted into the mounting hole, with an end portion rotatably connected to the second transmission wheel of the transmission assembly on the outside of the mounting bracket;

[0009] The linear moving mechanism is inserted into the connecting hole and extends to the mounting hole to be connected with the movable shaft, so as to drive the movable shaft and the second transmission wheel connected thereto to move relative to the mounting bracket along the first direction through rotation.

[0010] In order to solve the above technical problems, an embodiment of the present application further provides an automation equipment, which adopts the following technical solution: the automation equipment includes the above-mentioned tensioning device.

[0011] In some embodiments of the present application, the automation device further includes:

[0012] body;

[0013] A first arm, used for being rotatably connected to the fuselage; the first arm is provided with the tensioning device;

[0014] The second arm is slidably connected to the first arm along a first direction; the first direction is an extension direction of the first arm;

[0015] A driving mechanism, the driving mechanism is used to drive the first arm and the second arm to rotate as a whole relative to the fuselage, and drive the second arm to move linearly along the first direction relative to the first arm; the driving mechanism is provided with tensioning force by the tensioning device.

[0016] Compared with the prior art, the tensioning device and automation equipment provided by the embodiments of the present application mainly have the following beneficial effects:

[0017] The tensioning device directly installs the transmission component on one side of the mounting bracket through a movable shaft, and inserts the linear moving mechanism into the connecting hole, and one end of the linear moving mechanism extends to the mounting hole of the mounting bracket and is connected to the movable shaft, so that by rotating the other end of the linear moving mechanism, one end of the linear moving mechanism drives the movable shaft and the second transmission wheel to move along the first direction, thereby adjusting the spacing between the second transmission wheel and the first transmission wheel in the first direction. Obviously, the tensioning adjustment of the tensioning device is very simple and quick, and by sharing the movable shaft, mounting bracket and other parts with the mounting structure of the transmission component, the overall structure of the tensioning device, the transmission component and even the automation equipment is greatly simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the scheme in the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application or corresponding prior arts. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] in:

[0020] Figure 1 It is a three-dimensional structural schematic diagram of a tensioning device in an example of the present application assembled on a transmission assembly;

[0021] Figure 2 is another three-dimensional structural schematic diagram of a tensioning device in an example of the present application assembled on a transmission assembly;

[0022] Figure 3 yes Figure 1 Schematic diagram of the three-dimensional explosion;

[0023] Figure 4is a schematic diagram of the three-dimensional structure of the mounting bracket of the tensioning device in the example of the present application from one perspective;

[0024] Figure 5 is a schematic diagram of the three-dimensional structure of the mounting bracket of the tensioning device in the example of the present application from another perspective;

[0025] Figure 6 It is a three-dimensional structural schematic diagram of the movable shaft of the tensioning device in the example of the present application;

[0026] Figure 7 It is a three-dimensional structural schematic diagram of the tensioning device in the example of the present application assembled on two transmission components;

[0027] Figure 8 yes Figure 7 Schematic diagram of the three-dimensional explosion;

[0028] Fig. 9 is a longitudinal cross-sectional view of the tensioning device in the example of the present application assembled on two transmission assemblies;

[0029] Fig.10 yes Fig. 9 Sectional view of the AA section;

[0030] Fig.11 It is a schematic plan view of the automation equipment in the example of the present application; if the automation equipment is a robot, the figure omits the feet or wheels, etc., and mainly shows the main parts improved by the present application;

[0031] Fig.12 It is a schematic diagram of the three-dimensional structure of one of the mechanical legs of the automation equipment in the example of this application;

[0032] Fig.13 yes Fig.12 A longitudinal section view of the middle mechanical leg;

[0033] Fig.14 yes Fig.13 A partial enlarged view of the middle A;

[0034] Fig.15 yes Fig.12 Schematic diagram of the three-dimensional explosion of the mechanical leg.

[0035] The reference numerals in the accompanying drawings are as follows:

[0036] 1000. Automation equipment;

[0037] 1. Tensioning device; 11. Mounting bracket; 111. Mounting hole; 112. Connecting hole; 113. Positioning protrusion; 12. Movable shaft; 121. Screw hole; 122. Protruding rib; 123. Connecting hole; 13. Linear moving mechanism; 131. Adjusting screw; 14. Positioning shaft; 15. Guide member; 151. Guide member; 152. Slide groove; 16. Fixing screw;

[0038] 2. Transmission assembly; 2a. First transmission assembly; 2b. Second transmission assembly; 21. First transmission wheel; 22. Second transmission wheel; 23. Flexible transmission member; 24. First bearing; 25. Second bearing;

[0039] 100, fuselage;

[0040] 200, mechanical leg; 210, first arm; 211, first mounting seat; 2111, avoidance hole; 212, second mounting seat; 213, guide wheel; 2131, arc groove; 220, second arm; 221, telescopic groove; 222, guide rail;

[0041] 300, driving mechanism; 310, first driving member; 311, first motor; 312, first transmission assembly; 313, first connecting shaft; 314, first baffle; 320, second driving member; 321, second motor; 322, second transmission assembly; 323, second connecting shaft; 324, second baffle;

[0042] 400, sliding assembly; 410, guide rod; 411, first guide rod; 412, second guide rod; 420, sliding member; 421, first slider; 422, second slider;

[0043] 500, rack. DETAILED DESCRIPTION

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of this application; the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the directions or positions indicated by the terms "length", "width", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the drawings, which are only for the convenience of description and cannot be understood as limitations on the present technical solution.

[0045] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions; the terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. "Multiple" means two or more, unless otherwise clearly and specifically limited.

[0046] In the specification and claims of this application and the above-mentioned drawings, when an element is referred to as being "fixed to" or "mounted on" or "disposed on" or "connected to" another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it may be directly or indirectly connected to the other element.

[0047] In addition, reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] The embodiment of the present application provides a tensioning device 1, which can be used to adjust the tension of at least one transmission component 2 in the transmission member, for example, the tension of one transmission component 2 can be adjusted separately, or the tension of the first transmission component 2a and the second transmission component 2b can be adjusted simultaneously. In addition, the tensioning device 1 can be applied to fields including but not limited to robots, cleaning equipment, automobiles, air conditioners, mechanical processing, etc.

[0049] It should be noted that the transmission assembly 2 described here generally includes a first transmission wheel 21, a second transmission wheel 22 and a flexible transmission member 23, wherein the first transmission wheel 21 and the second transmission wheel 22 are arranged at intervals along the first direction, and the first transmission wheel 21 and the second transmission wheel 22 rotate around the flexible transmission member 23. Specifically, the flexible transmission member 23 can be a transmission belt, a transmission chain, a transmission rope, etc., which is not particularly limited here. For example, when the flexible transmission member 23 is a transmission belt, the first transmission wheel 21, the second transmission wheel 22 and the flexible transmission member 23 in the transmission assembly 2 together form a belt transmission structure.

[0050] It should also be noted that, in the present application, the first direction can be defined as the extension direction of the mounting bracket 11 / first arm 210, the second direction is perpendicular to the first direction, and the first direction, the second direction and the third direction are perpendicular to each other; for example, if the mounting bracket 11 is a plate, the first direction can be the length direction of the mounting bracket 11, the second direction is the thickness direction of the mounting bracket 11, and the third direction is the width direction of the mounting bracket 11; or, taking the robot's mechanical leg 200 as an example, the first direction is the length direction of the mechanical leg 200, the second direction is the left and right swing direction of the mechanical leg 200, and the third direction is the front and back swing direction of the mechanical leg 200.

[0051] like Figures 1 to 3 As shown, the tensioning device 1 includes a mounting bracket 11, a movable shaft 12 and a linear moving mechanism 13, wherein the movable shaft 12 and the linear moving mechanism 13 are both mounted on the mounting bracket 11, and the transmission component 2 is mounted on the mounting bracket 11 through the movable shaft 12, and the flexible transmission member 23 in the transmission component 2 is tensioned and the tensioning force is adjusted through the linear moving mechanism 13.

[0052] In the embodiments of the present application, Figures 3 to 5 As shown, the mounting bracket 11 is provided with a mounting hole 111, wherein the movable shaft 12 is inserted into the mounting hole 111, and the end of the movable shaft 12 is rotatably connected to the second transmission wheel 22 of the transmission assembly 2 outside the mounting bracket 11, so that one end of the transmission assembly 2 is rotatably mounted on the mounting bracket 11. It should be noted that the other end of the transmission assembly 2 can be rotatably mounted on the mounting bracket 11, and can also be rotatably mounted on other components, which is not particularly limited here.

[0053] Exemplarily, in order to make the overall structure more compact, the mounting hole 111 is opened along the thickness direction of the mounting bracket 11 , and the transmission assembly 2 is arranged on one side of the mounting bracket 11 along the length direction of the mounting bracket 11 .

[0054] Also illustratively, if Figure 1 , Figure 3 and Fig. 9 As shown, the tensioning device 1 further includes a fixing screw 16, and correspondingly, a connecting hole 123 is axially opened at the end of the movable shaft 12, wherein the fixing screw 16 is threadedly connected to the connecting hole 123, so as to firmly and rotationally connect the second transmission wheel 22 of the transmission assembly 2 to the movable shaft 12. Of course, in other embodiments, the stable connection of the transmission assembly 2 can also be achieved through other suitable structures.

[0055] In the embodiments of the present application, Figures 3 to 5 As shown, the mounting bracket 11 is also provided with a connecting hole 112 communicating with the mounting hole 111. Figure 1 , Figure 2 and Fig. 9As shown, the linear moving mechanism 13 is inserted into the connecting hole 112 and extends to the mounting hole 111 to be connected to the movable shaft 12, so as to drive the movable shaft 12 and the second transmission wheel 22 connected to the movable shaft 12 to move along the first direction relative to the mounting bracket 11 through rotation. It can be understood that the linear moving mechanism 13 is arranged on one end of the transmission assembly 2 close to the second transmission wheel 22, so as to adjust the distance between the second transmission wheel 22 and the first transmission wheel 21 in the first direction by moving the second transmission wheel 22 in the first direction, thereby achieving the tensioning of the flexible transmission member 23 in the transmission assembly 2 and the adjustment of the tensioning force after the flexible transmission member 23 is tensioned, so as to prevent the flexible transmission member 23 from loosening, sliding, jumping teeth, etc., so as to improve the transmission efficiency, reliability and service life.

[0056] Exemplarily, the connecting hole 112 is opened along the length direction (i.e., the first direction) of the mounting bracket 11, and the linear moving mechanism 13 is inserted into the connecting hole 112 along the first direction, and one end extends into the mounting hole 111 and is connected to the movable shaft 12, and the other end is exposed from the mounting bracket 11. Taking the tensioning operation as an example, by manually rotating the portion of the linear moving mechanism 13 exposed from the mounting bracket 11, the portion of the linear moving mechanism 13 connected to the movable shaft 12 can drive the movable shaft 12 to move along the first direction, for example, away from the first transmission wheel 21. At the same time, the movable shaft 12 can drive the second transmission wheel 22 connected thereto to move along the first direction, thereby increasing the distance between the second transmission wheel 22 and the first transmission wheel 21 in the first direction, and therefore, the flexible transmission member 23 surrounding the first transmission wheel 21 and the second transmission wheel 22 can be tensioned.

[0057] In summary, compared with the prior art, the tensioning device 1 has at least the following beneficial effects:

[0058] The tensioning device 1 directly installs the transmission component 2 on one side of the mounting bracket 11 through the movable shaft 12, and inserts the linear motion mechanism 13 into the connecting hole 112, and one end of the linear motion mechanism 13 extends to the mounting hole 111 of the mounting bracket 11 and is connected to the movable shaft 12, so that by rotating the other end of the linear motion mechanism 13, one end of the linear motion mechanism 13 drives the movable shaft 12 and the second transmission wheel 22 to move along the first direction, thereby adjusting the distance between the second transmission wheel 22 and the first transmission wheel 21 in the first direction. Obviously, the tensioning adjustment of the tensioning device 1 is very simple and quick, and by sharing the movable shaft 12, the mounting bracket 11 and other parts with the mounting structure of the transmission component 2, the overall structure of the tensioning device 1 and the transmission component is greatly simplified.

[0059] Embodiment 1 of the tensioning device 1 of the present application

[0060] In order to make the technical personnel in this field better understand the present application scheme, the following will be combined with the attached Figures 1 to 10, clearly and completely describe the technical solution in Example 1 of the present application.

[0061] In the first embodiment of the present application, Figure 1 As shown, when the transmission assembly 2 is provided with one, the transmission assembly 2 is provided on one side of the mounting bracket 11; or Figure 7 As shown, when two transmission assemblies 2 are provided, one transmission assembly 2 is provided on opposite sides of the mounting bracket 11 , and the second transmission wheels 22 of the two transmission assemblies 2 are coaxially arranged.

[0062] Specifically in this embodiment, Figures 7 to 9 As shown, the second transmission wheels 22 of the two transmission assemblies 2 are installed on the mounting bracket 11 through the same movable shaft 12 to realize the coaxial setting of the two second transmission wheels 22, and when the linear moving mechanism 13 drives the movable shaft 12 to move along the first direction, the second transmission wheels 22 of the two transmission assemblies 2 will move with the movable shaft 12 at the same time. In this way, only one tensioning operation is needed to realize the tensioning of the flexible transmission parts 23 of the two transmission assemblies 2 and the adjustment of the tensioning force after tensioning, which greatly simplifies the tensioning adjustment operation of multiple transmission assemblies 2 and the structure of the transmission components.

[0063] In the first embodiment of the present application, Figure 1 , Figure 3 and Figure 4 As shown, the tensioning device 1 further includes a positioning shaft 14, which is connected to the mounting bracket 11, or the positioning shaft 14 is integrally formed with the mounting bracket 11, wherein the positioning shaft 14 is rotatably connected to the first transmission wheel 21. It can be understood that the first transmission wheel 21 and the second transmission wheel 22 of the same transmission assembly 2 are both rotatably mounted on the same side of the mounting bracket 11 to further simplify the overall structure of the transmission component. In addition, to ensure smooth transmission of the transmission assembly 2, the central axes of the positioning shaft 14 and the movable shaft 12 are parallel to each other.

[0064] Specifically in this embodiment, the positioning shaft 14 is integrally formed on the mounting bracket 11; the transmission assembly 2 also includes a first bearing 24 and a second bearing 25, wherein the first bearing 24 is installed between the positioning shaft 14 and the first transmission wheel 21, and the second bearing 25 is installed between the movable shaft 12 and the second transmission wheel 22, so that the first transmission wheel 21 and the second transmission wheel 22 are both rotatably installed on the mounting bracket 11.

[0065] For example, Figure 1 and Figure 3As shown, a limiting protrusion 113 is provided on one side of the mounting bracket 11 facing the transmission assembly 2, wherein two limiting protrusions 113 are provided, and both limiting protrusions 113 are located between the first transmission wheel 21 and the second transmission wheel 22, and the two limiting protrusions 113 are located near the periphery of the first transmission wheel 21 and the second transmission wheel 22, respectively, so as to define the approximate installation range of the first transmission wheel 21 and the second transmission wheel 22, avoid large movement of the first transmission wheel 21 and the second transmission wheel 22 in the first direction, and help improve the reliability of the transmission component.

[0066] Also illustratively, if Figures 7 to 9 As shown, when there are two transmission assemblies 2 , two positioning shafts 14 are provided, and the two positioning shafts 14 are coaxially arranged on opposite sides of the mounting bracket 11 to achieve coaxial arrangement of the first transmission wheels 21 of the two transmission assemblies 2 .

[0067] Specifically in this embodiment, the structures and sizes of the first transmission wheels 21 / the second transmission wheels 22 of the two transmission components 2 are the same. Of course, in other embodiments, they may be different, depending on actual needs. Similarly, the structures, sizes, etc. of the first transmission wheel 21 and the second transmission wheel 22 of the same transmission component 2 may be the same or different, and are not particularly limited here.

[0068] In the first embodiment of the present application, in order to make the movable shaft 12 move along the first direction, the linear movement mechanism 13 includes an adjusting screw 131 and a screw hole 121, wherein, Figure 6 As shown, the screw hole 121 is opened on the movable shaft 12 along the first direction. Figure 2 and Figure 3 As shown, the adjusting screw 131 extends from the connecting hole 112 to the mounting hole 111 and is screwed to the screw hole 121. Understandably, the manually rotating adjusting screw 131 is exposed at the head of the mounting bracket 11. Since the adjusting screw 131 cannot move linearly, when the adjusting screw 131 rotates, the movable shaft 12 screwed to the adjusting screw 131 moves linearly along the adjusting screw 131, so that the second transmission wheel 22 moves linearly along the first direction, thereby achieving the tensioning of the flexible transmission member 23 of the transmission assembly 2 and the adjustment of the tensioning force after tensioning.

[0069] It should be noted that in order to ensure the reliability of the linear moving mechanism 13, the linear moving mechanism 13 may also include a nut (not shown), wherein the nut is threadedly sleeved on the end of the adjusting screw 131 to ensure that the adjusting screw 131 does not move linearly. When the adjusting screw 131 is rotated, the linear movement of the movable shaft 12 is smoother.

[0070] In the first embodiment of the present application, Figure 2As shown, the tensioning device 1 further includes a guide member 15, wherein the guide member 15 is disposed between the movable shaft 12 and the hole wall of the mounting hole 111, and is used to guide the movable shaft 12 inserted in the mounting hole 111 to move along the first direction.

[0071] Exemplarily, when the adjusting screw 131 of the linear moving mechanism 13 drives the movable shaft 12 to move along the adjusting screw 131 , the guide member 15 can ensure that the movable shaft 12 always moves along the first direction.

[0072] Specifically, Figures 2 to 6 As shown, the guide member 15 includes a guide member 151 and a slide groove 152, wherein one of the outer wall of the movable shaft 12 and the hole wall of the mounting hole 111 is provided with a guide member 151 extending along a first direction, and the other is provided with a slide groove 152. When the movable shaft 12 is inserted into the mounting hole 111, the guide member 151 and the slide groove 152 are matched in a concave-convex manner and can slide relative to each other along the first direction.

[0073] For example, Figure 4 and Figure 5 As shown, the guide member 151 is protruded from the hole wall of the mounting hole 111 of the mounting bracket 11, and the guide member 151 extends linearly along the length direction of the mounting bracket 11; the slide groove 152 is formed on the outer wall of the movable shaft 12. Of course, in other embodiments, the guide member 151 can also be protruded from the outer wall of the movable shaft 12, and the slide groove 152 is formed on the hole wall of the mounting hole 111 of the mounting bracket 11.

[0074] Alternatively, if Figure 6 As shown, two convex ribs 122 are radially protruded from the outer wall of the movable shaft 12, and the two convex ribs 122 are arranged on the same side of the movable shaft 12 along the axial gap of the movable shaft 12 to form the above-mentioned slide groove 152 together with the outer wall of the movable shaft 12. Of course, the slide groove 152 can also be formed in other ways, such as directly being recessed on the outer wall of the movable shaft 12.

[0075] Optionally, in order to improve the movement stability of the movable shaft 12, the center line of the mounting bracket 11 and the center axis of the movable shaft 12 are located on the same straight line. In addition, two guide members 151 and two slide grooves 152 are provided, wherein the two guide members 151 are symmetrically arranged relative to the center line of the mounting bracket 11, and the two slide grooves 152 are symmetrically arranged relative to the center axis of the movable shaft 12.

[0076] For example, in order to further improve the smoothness of the linear movement of the movable shaft 12, as Figure 2 and Figure 5 As shown, the mounting hole 111 of the mounting bracket 11 is a double round key hole. In addition, the end wall surfaces of the two ribs 122 are arc surfaces that match the hole wall of the mounting hole 111 (see Figure 6 ).

[0077] Embodiment 2 of the tensioning device 1 of the present application

[0078] The main technical features of the second embodiment are substantially the same as those of the first embodiment, and the main difference between the second embodiment and the first embodiment is that the specific structure of the linear motion mechanism is different.

[0079] In the second embodiment of the present application, the linear motion mechanism (not shown) includes an adjusting rotating member (not shown) and an inner slider (not shown), wherein the adjusting rotating member is rotatably plugged into the connecting hole 112 of the mounting bracket 11, and one end of the adjusting rotating member is exposed at one end of the mounting bracket 11, and the other end is provided with a threaded hole along the first direction. Correspondingly, one end of the inner slider is screwedly connected to the adjusting rotating member in the threaded hole, and the other end is connected to the movable shaft 12.

[0080] Understandably, in the second embodiment, the adjusting rotating member does not directly drive the movable shaft 12 to move, but drives the movable shaft 12 to move through the inner slider screwed to the threaded hole of the adjusting rotating member. Exemplarily, when the end of the adjusting rotating member exposed to the mounting bracket 11 is manually rotated, the inner slider screwed to the inside of the adjusting rotating member will move linearly in the threaded hole along the first direction, thereby moving the movable shaft 12 connected to the inner slider linearly along the first direction.

[0081] Of course, in other embodiments, the linear motion mechanism may also adopt existing or newly created other suitable structures to achieve the linear motion of the movable shaft 12 along the first direction, which will not be listed here one by one.

[0082] Based on the above-mentioned tensioning device 1, as Fig.11 As shown, the embodiment of the present application further provides an automation device 1000, wherein the automation device 1000 includes the above-mentioned tensioning device 1. The automation device 1000 adopts the above-mentioned tensioning device 1, so that the tensioning adjustment of the transmission component 2 is very simple and quick, which is conducive to simplifying the overall structure of the automation device 1000, and is also conducive to improving the transmission efficiency, transmission reliability, and service life.

[0083] It should be noted that the automation device 1000 may be a robot, such as a wheeled robot, or other suitable devices. For the convenience of introduction, the following mainly takes the automation device 1000 as a robot as an example for description.

[0084] In some embodiments of the present application, Fig.11As shown, the automation equipment 1000 further includes a body 100, a mechanical leg 200 and a driving mechanism 300, wherein the mechanical leg 200 includes a first arm 210 and a second arm 220, wherein the first arm 210 can be used to be rotatably connected to the body 100, and the second arm 220 is slidably connected to the first arm 210 along a first direction. The driving mechanism 300 can be used to drive the first arm 210 and the second arm 220 to rotate as a whole relative to the body 100, and drive the second arm 220 to move linearly relative to the first arm 210 along a first direction, so that the mechanical leg 200 of the robot has a telescopic function, and a forward and backward swinging function, thereby ensuring that the robot maintains self-balance when in a state such as walking or standing, which is beneficial to the self-balancing control of the robot.

[0085] For example, when the robot's mechanical leg 200 needs to be extended or retracted, in order to ensure that the body 100 remains basically stationary, the first arm 210 usually remains stationary in a first direction relative to the body 100, and under the drive of the driving mechanism 300, the second arm 220 moves linearly in the first direction relative to the first arm 210.

[0086] It can be understood that the second arm 220 and the first arm 210 of the mechanical leg 200 can move relatively linearly along the first direction to achieve the extension and retraction of the mechanical leg 200. On the one hand, it can ensure that the mechanical leg 200 has sufficient extension and retraction without increasing the lateral (i.e., the second direction) volume of the robot, so as to increase the robot's mobility in a limited space; on the other hand, the load force arm of the power source (such as a motor) of the driving mechanism 300 can remain unchanged during the extension and retraction of the mechanical leg 200, and the force arm is relatively short, which is conducive to improving the load capacity, and improving the accuracy and response speed of the robot's movement, and can improve the energy efficiency of the robot at any extension and retraction position, thereby reducing the total energy consumption of the robot; thirdly, the overall structure of the robot can be made more compact, providing more room for the robot's appearance design, so as to design a robot that is more ergonomic and aesthetic.

[0087] For example, Fig.11 As shown, the automation equipment 1000 also includes a frame 500, wherein the power source of the driving mechanism 300 can be installed on the body 100 of the automation equipment 1000 through the frame 500. Compared with the case where the power source is installed on other parts such as the first arm 210 or the second arm 220, the rotational inertia of the power source can be greatly reduced, thereby reducing the power consumption of the driving mechanism 300 and reducing the use cost of the automation equipment 1000.

[0088] It should be noted that in some embodiments of the present application, the driving mechanism 300 has at least one driving state among the first driving state, the second driving state and the third driving state, and the driving mechanism 300 can freely switch to one of the driving states to make the robot in a self-balancing state in different scenarios.

[0089] In the first driving state, the driving mechanism 300 is used to drive the first arm 210 and the second arm 220 to rotate relative to the body 100. For example, when the robot walks on a flat surface, the driving mechanism 300 can only drive the first arm 210 and the second arm 220 to rotate relative to the body 100, while realizing the forward or backward walking function of the robot leg 200 and maintaining a self-balancing state.

[0090] In the second driving state, the driving mechanism 300 is used to drive the second arm 220 to move linearly along the first direction relative to the first arm 210. For example, when the robot stands on an inclined surface, the driving mechanism 300 may only drive the second arm 220 to move linearly along the first direction relative to the first arm 210, so as to keep the robot in a self-balancing state by extending or shortening at least one mechanical leg 200.

[0091] In the third driving state, the driving mechanism 300 is used to drive the first arm 210 and the second arm 220 to rotate relative to the body 100, and is also used to drive the second arm 220 to move linearly along the first direction relative to the first arm 210. For example, when the robot walks on an uneven surface or an obstacle surface, the driving mechanism 300 not only needs to drive the first arm 210 and the second arm 220 to rotate relative to the body 100 to make the mechanical leg 200 walk, but also needs to drive the second arm 220 to move linearly along the first direction relative to the first arm 210 to extend or shorten at least one mechanical leg 200, so that the robot maintains a self-balancing state during walking.

[0092] In some embodiments of the present application, Fig.11 and Fig.12 As shown, the first arm 210 of the robot leg 200 is provided with the above-mentioned tensioning device 1, and the driving mechanism 300 is provided with tensioning force by the tensioning device 1 to ensure the normal operation of the driving mechanism 300 and to help increase the service life of the robot.

[0093] It should be noted that, in this embodiment, the mounting bracket 11 and other components of the tensioning device 1 are part of the first arm 210, that is, the tensioning device 1 and the first arm 210 share components, which is conducive to simplifying the overall structure of the mechanical leg 200 and facilitating the miniaturization and lightweight design of the robot. Of course, in other embodiments, other structures can be used to mount the tensioning device 1 on the first arm 210, which will not be described in detail here.

[0094] In some embodiments of the present application, Fig.11As shown, the driving mechanism 300 includes a first driving member 310 and a second driving member 320, wherein the first driving member 310 and the second driving member 320 are used to cooperate with each other to drive the first arm 210 and the second arm 220 to rotate relative to the body 100 as a whole, and are also used to cooperate with each other to drive the first arm 210 to move linearly along a first direction relative to the second arm 220. It can be understood that the rotation and / or telescopic movement of the mechanical leg 200 is achieved by the cooperation and joint drive of the first driving member 310 and the second driving member 320. In this way, by connecting the power sources of the first driving member 310 and the second driving member 320 in parallel, the parameters required for the power source drive can be effectively reduced, and the operation error can be reduced, which is conducive to improving the operation speed of the robot and also conducive to reducing the use cost.

[0095] Alternatively, if Fig.11 As shown, the first driving member 310 includes a first motor 311 and a first transmission assembly 312, and the second driving member 320 includes a second motor 321 and a second transmission assembly 322, wherein the first motor 311 and the second motor 321 are connected to the body 100, and the rotation axes of the first motor 311 and the second motor 321 are located on the same straight line as the rotation axis of the first arm 210. Fig.13 and Fig.14 As shown, the first transmission wheel 21 of the first transmission assembly 312 is connected to the output shaft of the first motor 311, and the first transmission wheel 21 of the second transmission assembly 322 is connected to the output shaft of the second motor 321. The first transmission assembly 312 and the second transmission assembly 322 are respectively located on opposite sides of the mounting bracket 11 of the tensioning device 1, and both the first transmission assembly 312 and the second transmission assembly 322 are slidably connected to the second arm 220 along the first direction through the mounting bracket 11.

[0096] It should be noted that, specifically in this embodiment, the tensioning device 1 can be used to tension the first transmission component 312 of the first driving member 310 and the second transmission component 322 of the second driving member 320 at the same time, and adjust the tensioning force after tensioning.

[0097] It can be understood that the first transmission component 312 of the first driving member 310 is the first transmission component 2a that needs to be tensioned and adjusted by the tensioning device 1, and the second transmission component 322 of the second driving member 320 is the second transmission component 2b that needs to be tensioned and adjusted by the tensioning device 1. In this way, the first transmission component 312 and the second transmission component 322 are tensioned and adjusted after tensioning at the same time through a tensioning device 1, which is beneficial to improve the transmission efficiency, make the structure of the mechanical leg 200 simpler and more compact, thereby reducing the mass and inertia of the mechanical leg 200, and helping to reduce the torque of the motor.

[0098] Further optionally, if Fig.13 and Fig.14As shown, the first motor 311 and the second motor 321 are arranged opposite to each other in the second direction. The first motor 311 is located on the side of the first transmission assembly 312 away from the second transmission assembly 322, and the second motor 321 is located on the side of the second transmission assembly 322 away from the first transmission assembly 312. In this way, the first motor 311, the first transmission assembly 312, the mounting bracket 11, the second transmission assembly 322 and the second motor 321 are arranged in sequence along the second direction, which can make the overall structure of the mechanical leg 200 more compact.

[0099] Of course, in other embodiments, the first motor 311 and the second motor 321 may also be located on the same side of the mounting bracket 11. Exemplarily, the output shafts of the first motor 311 and the second motor 321 face the same direction, and the output shaft of one of the first motor 311 and the second motor 321 is sleeved on the output shaft of the other, so that the rotation axes of the first motor 311 and the second motor 321 are coaxially arranged.

[0100] In some embodiments of the present application, Figures 13 to 15 As shown, the tensioning device 1 is provided with two positioning shafts 14, wherein the two positioning shafts 14 are both located between the output shaft of the first motor 311 and the output shaft of the second motor 321, and the two positioning shafts 14 are respectively connected to the first transmission wheels 21 of the first transmission assembly 312 and the second transmission assembly 322 in rotation. And the central axes of the two positioning shafts 14 are coaxial with the rotation axis of the first arm 210 and the rotation axis of the first motor 311 and the second motor 321. In this way, through the two positioning shafts 14, firstly, the output shafts of the first motor 311 and the second motor 321 can be effectively aligned to play the role of coaxial limiting, which is conducive to improving the transmission efficiency and smoothness, and is also conducive to further improving the compactness of the structure; secondly, the first motor 311 and the second motor 321 can be supported, which is conducive to improving the installation stability of the first drive member 310 and the second drive member 320; thirdly, under the condition of ensuring smoothness and installation stability, the first motor 311 and the second motor 321 can be allowed to quickly adjust the acceleration, thereby improving the maneuverability / rapid response capability of the robot.

[0101] Alternatively, if Fig.13 and Fig.14As shown, in order to further improve the installation stability and reliability of the driving mechanism 300, the first driving member 310 also includes a first connecting member 313 and a first baffle 314, and correspondingly, the second driving member 320 also includes a second connecting member 323 and a second baffle 324. The first transmission assembly 312 and the second transmission assembly 322 also include a second bearing 25. The two positioning shafts 14 on the mounting bracket 11 of the tensioning device 1, one of the positioning shafts 14 is rotatably connected to the first transmission wheel 21 of the first transmission assembly 312 through the second bearing 25, and is connected to the output shaft of the first motor 311 through the first connecting member 313. On the side close to the mounting bracket 11, the first transmission wheel 21 of the first transmission assembly 312 is separated from the mounting bracket 11 by the first baffle 314, and is axially limited to prevent the first transmission wheel 21 from axial movement.

[0102] The other positioning shaft 14 can also be rotatably connected to the first transmission wheel 21 of the second transmission assembly 322 through the second bearing 25, and is connected to the output shaft of the second motor 321 through the second coupling 323. On the side close to the mounting bracket 11, the first transmission wheel 21 of the second transmission assembly 322 is separated from the mounting bracket 11 by the second baffle 324, and axially limited to prevent the first transmission wheel 21 from axial movement.

[0103] It should be noted that the structure in which the first motor 311 and the second motor 321 are rotatably connected to the mounting bracket 11 is not limited to the above structure, and the output shaft of the first motor 311 / the second motor 321 can also be directly connected to the first transmission wheel 21, and rotatably connected to the positioning shaft 14 through the second bearing 25. The opposite ends of the positioning shaft 14 can also be fixedly connected to the output shaft of the first motor 311 and the output shaft of the second motor 321, respectively, and the positioning shaft 14 is rotatably connected to the mounting bracket 11 through the bearings, and then the first transmission wheel 21 sleeved on the positioning shaft 14 is driven by the positioning shaft 14 to rotate together.

[0104] Optionally, the two positioning shafts 14 are integrally formed on the mounting bracket 11 to improve the installation stability of the driving mechanism 300. Of course, the two positioning shafts 14 can actually be fixedly installed or detachably installed on the mounting bracket 11, which is not particularly limited here.

[0105] In some embodiments of the present application, the flexible transmission member 23 of the first transmission component 312 is a first belt member, and the flexible transmission member 23 of the second transmission component 322 is a second belt member. Of course, in other embodiments, the flexible transmission member 23 of the first transmission component 312 and the second transmission component 322 is not limited to a belt member, but can also be a chain, a transmission rope, etc.

[0106] It should be noted that when the first motor 311 and the second motor 321 are arranged opposite to each other, the situation that one of the first motor 311 and the second motor 321 rotates counterclockwise and the other rotates clockwise can be regarded as the first motor 311 and the second motor 321 rotating in the same direction; the situation that the first motor 311 and the second motor 321 rotate counterclockwise or clockwise at the same time can be regarded as the first motor 311 and the second motor 321 rotating in opposite directions. Alternatively, when the first motor 311 and the second motor 321 are arranged on the same side, the situation that the first motor 311 and the second motor 321 rotate counterclockwise or clockwise at the same time can be regarded as the first motor 311 and the second motor 321 rotating in the same direction, and the situation that one of the first motor 311 and the second motor 321 rotates counterclockwise and the other rotates clockwise can be regarded as the first motor 311 and the second motor 321 rotating in opposite directions.

[0107] like Figures 13 to 15 As shown, in the first driving state of the driving mechanism 300 , the first motor 311 and the second motor 321 can be used to drive the first belt member and the second belt member to rotate in the same direction and at the same speed, so as to drive the first arm 210 and the second arm 220 to rotate as a whole relative to the body 100 .

[0108] Exemplarily, the first motor 311 and the second motor 321 have opposite directions of rotation and the same magnitude of torques of the first motor 311 and the second motor 321. When the first motor 311 and the second motor 321 respectively drive the first belt and the second belt to rotate in the same direction and at the same speed, the first motor 311 and the second motor 321 can make the forces on the second arm 220 of the mechanical leg 200 in the first direction opposite in direction and the same in magnitude, thereby locking the linear motion of the second arm 220 in the first direction. At the same time, the torques on the first arm 210 can also be made in the same direction, thereby driving the first arm 210 and the second arm 220 connected to the first arm 210 to rotate together in a third direction relative to the fuselage 100.

[0109] In the second driving state of the driving mechanism 300 , the first motor 311 and the second motor 321 can also be used to respectively drive the first belt member and the second belt member to rotate in opposite directions and at the same speed, so as to drive the second arm 220 to move relative to the first arm 210 along the first direction.

[0110] Exemplarily, the first motor 311 and the second motor 321 have the same direction of rotation and the same magnitude of torque. When the first motor 311 and the second motor 321 respectively drive the first belt member and the second belt member to rotate in opposite directions and at the same speed, the first motor 311 and the second motor 321 can make the torques on the first arm 210 of the mechanical leg 200 opposite in direction and the same in magnitude, thereby locking the rotation of the first arm 210. At the same time, the force direction of the second arm 220 in the first direction can be the same, thereby driving the second arm 220 to move linearly in the first direction relative to the first arm 210.

[0111] In a third driving state of the driving mechanism 300, the first motor 311 and the second motor 321 can also be used to respectively drive the first belt member and the second belt member to rotate in the same direction and at different speeds, so as to drive the second arm 220 to move in the first direction relative to the first arm 210 while driving the first arm 210 and the second arm 220 to rotate as a whole.

[0112] Exemplarily, the first motor 311 and the second motor 321 have the same direction of rotation, and the torques of the first motor 311 and the second motor 321 are different in magnitude. When the first motor 311 and the second motor 321 respectively drive the first belt member and the second belt member to rotate in the same direction and at different speeds, the first motor 311 and the second motor 321 can make the second arm 220 of the mechanical leg 200 receive forces in opposite directions in the first direction, but with different magnitudes, thereby driving the second arm 220 to move linearly in the first direction relative to the first arm 210, and at the same time making the torques received by the first arm 210 in the same direction, thereby driving the first arm 210 and the second arm 220 connected to the first arm 210 to rotate together in a third direction relative to the fuselage 100.

[0113] Alternatively, in another third driving state of the driving mechanism 300, the first motor 311 and the second motor 321 can also be used to respectively drive the first belt member and the second belt member to rotate in opposite directions and at different speeds, so as to drive the first arm 210 and the second arm 220 to rotate as a whole, while driving the second arm 220 to move in the first direction relative to the first arm 210.

[0114] Exemplarily, the first motor 311 and the second motor 321 have opposite directions of rotation, and the torques of the first motor 311 and the second motor 321 are different in magnitude. When the first motor 311 and the second motor 321 respectively drive the first belt member and the second belt member to rotate in opposite directions and at different speeds, the first motor 311 and the second motor 321 can cause the first arm 210 of the mechanical leg 200 to be subjected to torques of opposite directions and different magnitudes, thereby driving the first arm 210 and the second arm 220 connected to the first arm 210 to rotate together in the third direction relative to the fuselage 100. At the same time, the force direction of the second arm 220 in the first direction is the same, thereby driving the second arm 220 to move linearly along the first direction relative to the first arm 210.

[0115] In some embodiments of the present application, Fig.11 , Fig.12 and Fig.15As shown, in order to realize the relative sliding between the first arm 210 and the second arm 220, the automation device 1000 further includes a sliding assembly 400, wherein the second arm 220 is slidably connected to the first arm 210 through the sliding assembly 400. Exemplarily, the sliding assembly 400 includes a guide rod 410 disposed on the first arm 210 and a sliding member 420 disposed on the second arm 220, wherein the sliding member 420 includes a first slider 421 and a second slider 422 disposed oppositely in the third direction, and the guide rod 410 includes a first guide rod 411 and a second guide rod 412 disposed oppositely in the third direction. The first slider 421 is slidably connected to the first guide rod 411 and is connected to the first belt member on one side of the mounting bracket 11, and the second slider 422 is slidably connected to the second guide rod 412 and is connected to the second belt member on the other side of the mounting bracket 11.

[0116] Exemplarily, the first guide rod 411 and the second guide rod 412 are both extended along the first direction and arranged on the mounting bracket 11, and are arranged parallel to the gap along the second direction. When the part of the first belt connected to the first slider 421 and the part of the second belt connected to the second slider 422 move in the same direction toward the first motor 311 / the second motor 321, the second arm 220 is driven by the first slider 421 and the second slider 422 to retract relative to the first arm 210 along the corresponding guide rod. Conversely, when moving in the same direction away from the first motor 311 / the second motor 321, the second arm 220 is driven by the first slider 421 and the second slider 422 to extend relative to the first arm 210 along the corresponding guide rod.

[0117] It can be understood that through the cooperation of the first belt, the second belt, the sliding member 420 and the guide rod 410, a more complex multi-link mechanism can be replaced, which is conducive to simplifying the overall structure of the robot and reducing maintenance costs and operating difficulties; in addition, the compact arrangement of these components can also allow the mechanical leg 200 to achieve sufficient extension and retraction without increasing the size of the robot, so as to effectively improve the robot's ability to move in a limited space and improve space utilization.

[0118] In some embodiments of the present application, Figures 12 to 15As shown, the first arm 210 also includes a first mounting seat 211 and a second mounting seat 212 arranged along the first direction gap, wherein the first mounting seat 211 is arranged at one end of the mounting bracket 11 of the tensioning device 1 (specifically, the end close to the adjusting screw 131), and the second mounting seat 212 is arranged at the other end of the mounting bracket 11 (specifically, the end away from the adjusting screw 131), and the first guide rod 411 and the second guide rod 412 have one end on the same side (specifically, the end close to the adjusting screw 131) both arranged on the first mounting seat 211, and the other end on the same side (specifically, the end away from the adjusting screw 131) both arranged on the second mounting seat 212. In this way, on the one hand, the supporting strength of the first arm 210 can be strengthened, the overall structure of the automation equipment 1000 can be simplified, and its compactness can be improved; on the other hand, the sliding stability of the second arm 220 can be ensured.

[0119] In addition, if Fig.12 and Fig.13 As shown, the first mounting seat 211 is provided with an avoidance hole 2111 along the first direction, wherein the avoidance hole 2111 is communicated with the connecting hole 112 of the mounting bracket 11, and the aperture of the avoidance hole 2111 is larger than the connecting hole 112, so that the adjusting screw 131 connected to the movable shaft 12 through the avoidance hole 2111 and the connecting hole 112 can be hidden in the avoidance hole 2111 when its head is exposed to the mounting bracket 11, so that the overall appearance is more beautiful and it is beneficial to protect the adjusting screw 131.

[0120] Optionally, the end of the linear moving mechanism 13 exposed from the mounting hole 111 of the mounting bracket 11 is completely accommodated in the avoidance hole 2111 . Specifically, the head of the adjusting screw 131 is completely accommodated in the avoidance hole 2111 .

[0121] It should be noted that, in the present application, the adjusting screw 131 and the fixing screw 16 can be screws, bolts, screws, etc., and are not particularly limited here.

[0122] For example, Fig.12 and Fig.13 As shown, a telescopic groove 221 is concavely provided on one side of the second arm 220 facing the first arm 210, and a guide rail 222 extending along the first direction is arranged in the telescopic groove 221. Correspondingly, a guide wheel 213 is provided on one side of the first arm 210 facing the second arm 220, and an arc groove 2131 is concavely provided on the wheel surface of the guide wheel 213, wherein the arc groove 2131 of the guide wheel 213 is concavely matched with the guide rail 222, and when the second arm 220 slides relative to the first arm 210, the guide wheel 213 can slide along the guide rail 222, so as to further improve the stability, smoothness and reliability of the relative sliding of the second arm 220 and the first arm 210, and also further improve the overall strength of the mechanical leg 200.

[0123] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A tensioning device for adjusting the tension of at least one transmission assembly in a transmission member, wherein the transmission assembly comprises a first transmission wheel, a second transmission wheel and a flexible transmission member, wherein the first transmission wheel and the second transmission wheel are arranged at intervals along a first direction and the first transmission wheel and the second transmission wheel rotate around the flexible transmission member, characterized in that: The tensioning device comprises: A mounting bracket having a mounting hole and a connecting hole communicating with the mounting hole; A movable shaft, inserted into the mounting hole, with an end portion rotatably connected to the second transmission wheel of the transmission assembly on the outside of the mounting bracket; The linear moving mechanism is inserted into the connecting hole and extends to the mounting hole to be connected with the movable shaft, so as to drive the movable shaft and the second transmission wheel connected thereto to move relative to the mounting bracket along the first direction through rotation.

2. The tensioning device according to claim 1, characterized in that: The tensioning device further comprises a positioning shaft rotatably connected to the first transmission wheel, the positioning shaft is connected to the mounting bracket, or the positioning shaft and the mounting bracket are integrally formed.

3. The tensioning device according to claim 1, characterized in that: The linear moving mechanism includes an adjusting rotating member and an inner sliding block. The adjusting rotating member is rotatably inserted into the connecting hole, and one end of the adjusting rotating member is exposed at one end of the mounting bracket, and the other end is provided with a threaded hole along the first direction; one end of the inner sliding block is spirally connected to the adjusting rotating member in the threaded hole, and the other end is connected to the movable shaft.

4. The tensioning device according to claim 1, characterized in that: The linear moving mechanism comprises an adjusting screw and a screw connection hole opened on the movable shaft along a first direction. The adjusting screw extends from the connecting hole to the mounting hole and is screw-connected with the screw connection hole.

5. The tensioning device according to claim 1, characterized in that: The tensioning device further comprises a guide member, which is disposed between the movable shaft and a hole wall of the mounting hole and is used for guiding the movable shaft inserted in the mounting hole to move along a first direction.

6. The tensioning device according to claim 5, characterized in that: The guide component includes a guide member and a slide groove. One of the outer wall of the movable shaft and the hole wall of the mounting hole is provided with a guide member extending along a first direction, and the other is provided with the slide groove. When the movable shaft is inserted into the mounting hole, the guide member and the slide groove are matched in a concave-convex manner and can slide relatively along the first direction.

7. The tensioning device according to claim 6, characterized in that: The guide member is protruding from the hole wall of the mounting hole, and the slide groove is formed on the outer wall of the movable shaft; And / or, the mounting hole is a key hole with double round heads.

8. The tensioning device according to any one of claims 1 to 7, characterized in that: When the transmission assembly is provided with one, the transmission assembly is provided on one side of the mounting bracket; or When two transmission assemblies are provided, one transmission assembly is provided on opposite sides of the mounting bracket, and the second transmission wheels of the two transmission assemblies are coaxially arranged.

9. An automated device, characterized in that: The automated equipment comprises the tensioning device according to any one of claims 1 to 8.

10. The automation equipment according to claim 9, characterized in that: The automation equipment also includes: body; A first arm, used for being rotatably connected to the fuselage; the first arm is provided with the tensioning device; The second arm is slidably connected to the first arm along a first direction; the first direction is an extension direction of the first arm; A driving mechanism, the driving mechanism is used to drive the first arm and the second arm to rotate as a whole relative to the fuselage, and drive the second arm to move linearly along the first direction relative to the first arm; the driving mechanism is provided with tensioning force by the tensioning device.

11. The automation equipment according to claim 10, characterized in that: The driving mechanism includes a first driving member and a second driving member, which are used to cooperate with each other to drive the first arm and the second arm to rotate as a whole relative to the fuselage, and are also used to cooperate with each other to drive the first arm to move linearly along the first direction relative to the second arm.

12. The automation equipment according to claim 11, characterized in that: The first driving member includes a first motor and a first transmission assembly, and the second driving member includes a second motor and a second transmission assembly, the first motor and the second motor are connected to the fuselage, and the rotation axes of the first motor and the rotation axis of the first arm are located on the same straight line; The first transmission wheel of the first transmission assembly is connected to the output shaft of the first motor, and the first transmission wheel of the second transmission assembly is connected to the output shaft of the second motor; The first transmission assembly and the second transmission assembly are respectively located on opposite sides of the mounting bracket of the tensioning device, and both are slidably connected with the second arm along the first direction through the mounting bracket.

13. The automation equipment according to claim 12, characterized in that: The first motor and the second motor are arranged opposite to each other in a second direction, and the second direction is perpendicular to the first direction; The first motor is located on a side of the first transmission assembly away from the second transmission assembly, and the second motor is located on a side of the second transmission assembly away from the first transmission assembly.

14. The automation equipment according to claim 13, characterized in that: The tensioning device is provided with two positioning shafts, both of which are located between the output shaft of the first motor and the output shaft of the second motor, and are rotatably connected to the first transmission wheels of the first transmission assembly and the second transmission assembly respectively; Central axes of the two positioning shafts are coaxial with the rotation axis of the first arm and the rotation axes of the first motor and the second motor.

15. The automation equipment according to claim 12, characterized in that: The flexible transmission member of the first transmission assembly is a first belt member, and the flexible transmission member of the second transmission assembly is a second belt member; The first motor and the second motor are respectively used to drive the first belt member and the second belt member to rotate in the same direction and at the same speed, so as to drive the first arm and the second arm to rotate as a whole; The first motor and the second motor are further used to respectively drive the first belt member and the second belt member to rotate in opposite directions and at the same speed, so as to drive the second arm to move relative to the first arm along the first direction; The first motor and the second motor are further used to respectively drive the first belt member and the second belt member to rotate in the same direction and at different speeds, so as to drive the second arm to move relative to the first arm along the first direction and drive the first arm and the second arm to rotate as a whole; The first motor and the second motor are further used to respectively drive the first belt and the second belt to rotate in opposite directions and at different speeds, so as to drive the first arm and the second arm to rotate as a whole and drive the second arm to move along the first direction relative to the first arm.

16. The automation device according to claim 15, characterized in that: The automation device further comprises a sliding assembly, and the second arm is slidably connected to the first arm via the sliding assembly; The sliding assembly includes a guide rod arranged on the first arm and a sliding member arranged on the second arm, the sliding member includes a first sliding block and a second sliding block arranged opposite to each other in a third direction, and the guide rod includes a first guiding rod and a second guiding rod arranged opposite to each other in the third direction; the first direction and the second direction are perpendicular to the third direction in pairs; The first slider is slidably connected to the first guide rod and connected to the first belt member on one side of the mounting bracket, and the second slider is slidably connected to the second guide rod and connected to the second belt member on the other side of the mounting bracket.

17. The automation device according to claim 16, characterized in that: The first arm further comprises a first mounting seat and a second mounting seat provided in a gap along the first direction, the first mounting seat being provided at one end of a mounting bracket of the tensioning device, the second mounting seat being provided at the other end of the mounting bracket, and one end of the first guide rod and the second guide rod on the same side are both provided on the first mounting seat, and the other ends on the same side are both provided on the second mounting seat; The first mounting seat is provided with an avoidance hole along the first direction, the avoidance hole is communicated with the connecting hole of the mounting bracket, and the hole diameter is larger than the connecting hole.

18. The automation device according to claim 17, characterized in that: The end of the linear motion mechanism exposed from the mounting hole is completely accommodated in the avoidance hole.

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