Tensioning device and transfer robot

Abstract

The utility model provides a tensioning device and a transfer robot. The tensioning device comprises a mounting piece, a first clamping piece, a second clamping piece, an elastic piece and a first fixing piece. The first clamping piece is arranged on one side, in the second direction, of the installation face and connected with the installation piece. The first clamping piece is used for clamping the first end of the transmission piece. The second clamping piece is arranged on the other side, in the second direction, of the installation face and connected with the installation piece. The second clamping piece is used for clamping the second end of the transmission piece. The first fixing piece is located on the side, away from the first clamping piece, of the second clamping piece, and the elastic piece is connected between the first fixing piece and the second clamping piece in an abutting mode. When the transmission part extends, the elastic part can drive the second clamping part to drive the second end to move towards the first end so that the transmission part can be automatically tensioned, the tensioning device can enable the transmission part to have the phenomena of edge loosening and tooth skipping in the operation process of the transfer robot, and meanwhile the transmission part can have the long service life.

Description

Technical Field

[0001] The present application relates to the field of logistics warehousing technology, and in particular to a tensioning device and a handling robot. Background Art

[0002] With the development of artificial intelligence and automation technology, handling robots are playing an important role in transportation, logistics and other industries, replacing manual handling operations.

[0003] The handling machine includes a lifting device, which includes a transmission member and two transmission wheels, and the two transmission wheels are respectively arranged at the two ends of the structural member. The transmission member is arranged around the two opposite sides of the two transmission wheels, and the two ends of the transmission member are tightened to form a closed loop. The transmission member will stretch under load, resulting in loose edges of the transmission member, which in turn causes tooth jumping. In order to avoid tooth jumping caused by loose edges, a pre-tensioning force will be given to the transmission member through a tensioning device at the beginning of installation to tighten the transmission member and avoid the appearance of loose edges.

[0004] However, during the operation of the handling robot, the loose edge may be too long or the length of the loose edge may change suddenly. The existing tensioning device cannot adjust the tension of the transmission part in real time during the operation of the handling robot. Utility Model Content

[0005] The embodiments of the present application provide a tensioning device and a transport robot, which can adjust the tensioning force of the transmission parts in real time according to environmental changes during the operation of the transport robot when the tensioning force of the transmission parts is insufficient, so as to automatically tension the transmission parts to prevent loose edges and tooth jumping of the transmission parts, and at the same time, can make the transmission parts have a longer service life.

[0006] In a first aspect, an embodiment of the present application provides a tensioning device, the tensioning device comprising:

[0007] A mounting member having a mounting surface on one side in the first direction;

[0008] A first clamping member is disposed on one side of the mounting surface in the second direction, the first clamping member is connected to the mounting member and is fixed relative to the mounting member; the first clamping member is used to clamp the first end of the transmission member;

[0009] A second clamping member is disposed on the other side of the mounting surface in the second direction, the second clamping member is connected to the mounting member, and can move relative to the mounting member along the second direction; the second clamping member is used to clamp the second end of the transmission member;

[0010] The tensioning module includes an elastic member and a first fixing member installed on a mounting surface. Along the second direction, the first fixing member is located on a side of the second clamping member away from the first clamping member, and the elastic member abuts between the first fixing member and the second clamping member. When the transmission member is extended, the elastic member can drive the second clamping member to drive the second end to move toward the first end.

[0011] In some embodiments, the first fixing member includes a fixing portion, which is disposed on the mounting surface and located on a side of the second clamping member away from the first clamping member;

[0012] The elastic member is abutted between the fixing portion and the second clamping member.

[0013] In some embodiments, the first fixing member further includes a connecting portion connected to a side of the fixing member facing the second clamping member;

[0014] The second clamping member has a through hole therein, the connecting portion passes through the through hole and is mounted on the mounting member;

[0015] The elastic member is sleeved on the connecting part, and is used for driving the second clamping member to move along the connecting part toward the first clamping member when the transmission member is extended.

[0016] In some embodiments, the mounting member includes a first protrusion disposed on the mounting surface, the first protrusion is located on a side of the second clamping member facing the first clamping member, and there is a distance between the first protrusion and the second clamping member;

[0017] The connecting portion passes through the through hole and is installed on the first protruding portion.

[0018] In some embodiments,

[0019] The first clamping member is installed on a side of the first protruding portion away from the second clamping member.

[0020] In some embodiments, the second clamping member includes a pressing portion and a clamping portion, the pressing portion is disposed on the mounting surface; the pressing portion is connected to the mounting member and can move relative to the mounting member along the second direction; the elastic member abuts against the pressing portion;

[0021] Along the third direction, the clamping portion is arranged on a side of the pressing portion away from the elastic member.

[0022] In some embodiments, the clamping portion includes an abutment section and a clamping section. Along the third direction, the clamping section is arranged on the side of the pressing portion away from the elastic member and is opposite to the pressing portion; along the second direction, the pressing portion has a clamping groove on the side away from the elastic member; the abutment section is arranged in the clamping groove and abuts against the pressing portion; the clamping section is constructed to be clamped with the second end.

[0023] In some embodiments, the pressing portion has a first hole section, the abutting section has a second hole section, the second hole section is coaxially arranged with the first hole section, and a through hole is formed;

[0024] The connecting portion passes through the first hole section and the second hole section and is mounted on the mounting piece.

[0025] In some embodiments, the fixing portion is connected to the mounting surface, and the second clamping member is slidably disposed on the mounting surface along the second direction.

[0026] In some embodiments, the tensioning device further comprises a second fixing member, the fixing member is provided with a strip-shaped hole, and the length direction of the strip-shaped hole is parallel to the second direction;

[0027] The second fixing piece is passed through the strip hole and installed on the second clamping piece, and the second fixing piece can move along the length direction of the strip hole.

[0028] In some embodiments, the mounting member further comprises a second protrusion disposed on the mounting surface, and along the third direction, the second protrusion is opposite to the second clamping member;

[0029] The strip-shaped hole is arranged on the second protruding portion.

[0030] In a second aspect, an embodiment of the present application further provides a handling robot, the handling robot comprising a robot body and a tensioning device as described above, the robot body comprising a structural member and a lifting device, the lifting device comprising a transmission member and two transmission wheels, the two transmission wheels are respectively arranged at two ends of the structural member, and the transmission member is arranged around two opposite sides of the two transmission wheels to connect the two transmission wheels;

[0031] The first end of the transmission member is clamped by the first clamping member of the tensioning device, and the second end of the transmission member is clamped by the second clamping member of the tensioning device.

[0032] The embodiment of the present application provides a tensioning device and a handling robot, wherein the tensioning device includes a tensioning module, and the tensioning module includes an elastic member and a first fixing member. Since the first fixing member is located on a side of the second clamping member away from the first clamping member, and the elastic member abuts between the first fixing member and the second clamping member, the elastic member provides a pre-tensioning force for the transmission member, so that the transmission member can be tensioned under the clamping of the first clamping member and the second clamping member, thereby preventing the transmission member from having loose edges, thereby avoiding the transmission member from jumping teeth on the transmission wheel of the handling robot. Furthermore, since the first fixing member is mounted on the mounting surface, and the second clamping member is connected to the mounting member of the tensioning device and can move relative to the mounting member in the second direction, when the transmission member is stretched due to insufficient tensioning force during the operation of the handling robot, the elastic member can drive the second clamping member to move toward the first clamping member to drive the second end to move toward the first end, so that the transmission member can be automatically tensioned, so that the tensioning device of the present application can make real-time adjustments to the insufficient pre-tightening force of the transmission member according to environmental changes during the operation of the handling robot, and can effectively deal with the occurrence of loose edge length and loose edge length mutation of the transmission member, so that the transmission member is automatically tensioned, and the transmission member is prevented from jumping teeth on the transmission wheel during the operation of the handling robot. In addition, by introducing the elastic member, while solving the problem of tooth jumping of the transmission member during the operation of the handling robot, it can also avoid excessive pre-tightening force of the transmission member, so that the transmission member has a longer service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0034] Figure 1 A schematic diagram of the structure of a transport robot provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of a tensioning device and a transmission member provided in the related art;

[0036] Figure 3 yes Figure 2 A magnified view at point A;

[0037] Figure 4 A schematic diagram of the structure of a tensioning device provided in an embodiment of the present application at a first viewing angle;

[0038] Figure 5 A schematic diagram of the structure of a tensioning device provided in an embodiment of the present application at a second viewing angle;

[0039] Figure 6 yes Figure 5 Enlarged view at B;

[0040] Figure 7 yes Figure 6 Schematic diagram of another deformation structure;

[0041] Figure 8 yes Figure 4 Cross-section in CC direction;

[0042] Fig. 9 yes Figure 8 Enlarged view at D;

[0043] Fig.10 is a schematic structural diagram of a tensioning device provided in an embodiment of the present application at a third viewing angle;

[0044] Fig.11 yes Fig.10 Local cross-section in the EE direction;

[0045] Fig.12 yes Figure 8 Enlarged view at F.

[0046] Reference numerals:

[0047] 100- handling robot;

[0048] 10-Structural parts;

[0049] 20- handling device;

[0050] 30-transmission member; 31-first end; 32-second end;

[0051] 40- tensioning device;

[0052] 41-fixed plate;

[0053] 42-mounting member; 421-mounting surface; 422-first protrusion; 423-second protrusion; 4231-strip hole;

[0054] 43-first clamping member;

[0055] 44- second clamping member; 441- pressing portion; 442- clamping portion; 4421- clamping section; 4422- abutting section;

[0056] 45- tensioning adjustment member;

[0057] 46-tensioning module; 461-elastic member; 462-first fixing member; 4621-fixing portion; 4622-connecting portion;

[0058] 47- second fixing member;

[0059] 48- third fixing member;

[0060] 49-Fourth fixing member. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] The embodiment of the present application provides a tensioning device and a handling robot using the tensioning device. The handling robot is used to pick up and place goods. The handling robot can be applied to the logistics distribution of industrial production lines, the entry and exit of inventory products in the manufacturing industry, the entry and exit of products in the retail industry, and can also be applied to different fields such as the express entry and exit of e-commerce logistics. The products or goods transported by the handling robot can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc. The embodiment of the present application does not make specific restrictions on this. In the following, "goods" will be used to refer to the handling objects of the handling robot, and no specific examples will be given.

[0063] Figure 1 The structural diagram of one type of transport robot 100 is schematically shown, and other transport robot structures using the tensioning device are not described here in detail.

[0064] See also Figure 1 As shown, the handling machine includes a robot body. The robot body includes a structural member 10, a handling device 20 and a lifting device, and the handling device 20 is arranged on the structural member 10 to move along the height direction of the structural member 10. For example, the structural member 10 can be a column, and the handling device 20 can be a fork. The lifting device includes a transmission member 30 and two transmission wheels, and the two transmission wheels are respectively arranged at both ends of the structural member 10. For example, the two transmission wheels can be arranged at both ends of the structural member 10 along the height direction of the structural member 10. The height direction of the structural member 10 is direction a. The transmission member 30 is arranged around the two opposite sides of the two transmission wheels to connect the two transmission wheels. In addition, the two ends of the transmission member 30 will be tightened to form a closed loop.

[0065] See also Figure 1 As shown, the handling device 20 is connected to the transmission member 30. When the two transmission wheels rotate, the transmission member 30 drives the handling device 20 to move on the structure 10, so that the handling device 20 can move up and down along the height direction of the structure 10 to achieve the taking or storage of goods at different heights.

[0066] It should be noted that the lifting device also includes a motor, which can be connected to one of the transmission wheels to drive the transmission wheel to rotate, and then drive the other transmission wheel to rotate through the transmission member 30. When the two transmission wheels rotate, the transmission member 30 can drive the handling device 20 to perform lifting and lowering movements along the height direction of the structural member 10.

[0067] The number of the structural member 10 may be one or two. Figure 1 As shown, when there are two structural members 10, the two structural members 10 can be spaced apart in the direction b. In this case, a lifting device can be respectively provided on the two structural members 10. The handling device 20 can be connected to the transmission members 30 of the two lifting devices at the same time, so that the handling device 20 can be driven by the two transmission members 30 to perform lifting and lowering motions in the height direction of the structural member 10.

[0068] The transmission member 30 is a synchronous belt or other transmission structure that can drive the handling device 20 to perform lifting motion along the height direction of the structural member 10. The following takes the transmission member 30 as a synchronous belt as an example to further explain the structure of the handling robot and the tensioning device.

[0069] Since the transmission member 30 is usually an elastic body, it will stretch under load, resulting in loose edges of the transmission member 30, which in turn causes tooth jumping on the transmission member 30. When tooth jumping occurs, the transmission member 30 is separated from the transmission wheel, resulting in poor fit between the transmission member 30 and the transmission wheel, which will affect the installation of the transmission member 30 on the transmission wheel and the driving of the transport device 20 by the transmission member 30.

[0070] Figure 2 Schematic diagram of the structure of a tensioning device 40a and a transmission member 30a provided in the related art. Figure 2 As shown, the handling robot in the related art is additionally provided with a tensioning device 40a on the structural member. When the tensioning device 40a is installed on the structural member, the tensioning device 40a can clamp both ends of the transmission member 30a, and can provide a pre-tensioning force for the transmission member 30a at the beginning of the installation of the transmission member 30a, so that the transmission member 30a is tensioned to avoid the appearance of loose edges, thereby avoiding the occurrence of tooth jumping.

[0071] Figure 3 yes Figure 2 Magnified view at A. See Figure 3As shown, the tensioning device 40a includes a fixing plate 41a, a mounting member 42a, a first clamping member 43a and a second clamping member 44a. The fixing plate 41a is mounted on the structural member and can move relative to the structural member along the direction a. The mounting member 42a is mounted on the fixing plate 41a and fixed relative to the fixing plate 41a. The fixing member 42a is provided with a first protrusion 422a. The first clamping member 43a and the second clamping member 44a are mounted on the fixing member 42a, and along the length direction of the fixing member 42a, the first clamping member 43a and the second clamping member 44a are provided on both sides of the first protrusion 422a.

[0072] The first clamping member 43a can clamp the first end 31a of the transmission member 30a, and the second clamping member 44a can clamp the second end 32a of the transmission member 30a. When the transmission member 30a drives the transport device to move along direction a, it will drive the first clamping member 43a and the second clamping member 44a to move along direction a at the same time.

[0073] For ease of description, the thickness direction of the mounting member 42a is defined as the first direction, which can be referred to as the Z direction, the length direction of the mounting member 42a is defined as the second direction, which can be referred to as the Y direction, and the width direction of the mounting member 42a is defined as the third direction, which can be referred to as the X direction. The first direction, the second direction, and the third direction are perpendicular to each other. For example, the first direction is perpendicular to the second direction and the third direction, and the second direction is perpendicular to the third direction.

[0074] It should be noted that when the tensioning device 40a is installed on the structural member, the length direction of the mounting member 42a is parallel to the height direction of the structural member, that is, the Y direction is parallel to the a direction mentioned above.

[0075] Since the fixing plate 41a can move relative to the structural member along the a direction, and when the tensioning device 40a is installed on the structural member, the Y direction is parallel to the a direction mentioned above, so that the tensioning device 40a can move relative to the structural member along the a direction, so that when the transmission member 30a drives the transport device to move, it can drive the first clamping member 43a and the second clamping member 44a to move simultaneously.

[0076] See also Figure 3As shown, the tensioning device 40a also includes an adjustment component. The adjustment component is arranged between the first clamping member 43a and the first protrusion 422a. The adjustment component includes at least one tensioning adjustment member 45a. For example, the tensioning adjustment member 45a can be a gasket. When the number of tensioning adjustment members 45a is at least two, at least two tensioning adjustment members 45a can be stacked between the first clamping member 43a and the first protrusion 422a along the second direction (Y direction). At least one tensioning adjustment member 45a is pressed by the first clamping member 43a on the side of the first protrusion 422a away from the second clamping member 44a. By adjusting the number of tensioning adjustment members 45a, the pre-tensioning force of the transmission member 30a can be adjusted so that the transmission member 30a can be tensioned at the beginning of installation to avoid the appearance of loose edges.

[0077] For example, when the preload force of the transmission member 30a is small at the beginning of installation and the preload force needs to be increased, the number of tensioning adjustment members 45a can be reduced to move the first end 31a toward the second end 32a, so that the transmission member 30a is elongated and tightened, thereby increasing the preload force of the transmission member 30a at the beginning of installation.

[0078] For another example, when the preload force of the transmission member 30a at the beginning of installation is too large and needs to be reduced, the number of tensioning adjustment members 45a can be increased to move the first end 31a toward the side away from the second end 32a, so that the transmission member 30a contracts and is tightened, thereby reducing the preload force of the transmission member 30a at the beginning of installation.

[0079] The tensioning device 40a in the related art can solve the tensioning problem of the transmission member 30a within a certain range.

[0080] As the usage scenario changes, the transmission device layout scheme changes, and other environmental changes, the transmission member 30a will stretch, resulting in excessive loose edge length, sudden changes in the loose edge length, etc. At this time, the preload force of the transmission member 30a is insufficient, and a higher demand is placed on the tensioning force of the transmission member 30a.

[0081] After the tensioning device 40a in the related art adjusts the pre-tensioning force of the transmission member 30a, the first clamping member 43a is locked on the mounting member 42a. At this time, the first clamping member 43a is connected to the mounting member 42a and is relatively fixed, and the number of tensioning adjustment members 45a between the first clamping member 43a and the first protrusion 422a is also relatively fixed. Therefore, the tensioning device 40a in the related art cannot adjust the tension of the transmission member 30a according to environmental changes during the operation of the handling robot, and the method of pre-tensioning the transmission member 30a becomes unreliable. During the operation of the handling robot, the transmission member 30a will be stretched due to environmental changes, resulting in excessive length of the loose edge, sudden change in the length of the loose edge, etc., which will cause the tooth skipping phenomenon.

[0082] It should be noted that the usage scenario changes mentioned above may be changes in the rotation speed of the transmission member 30a during the operation of the transport robot, etc.

[0083] In view of this, the embodiment of the present application provides a tensioning device 40. The handling robot 100 includes the tensioning device 40. The first end 31 of the transmission member 30 is clamped by the first clamping member 43 of the tensioning device 40, and the second end 32 of the transmission member 30 is clamped by the second clamping member 44 of the tensioning device 40.

[0084] The tensioning device 40 also includes a tensioning module 46. The tensioning module 46 includes an elastic member 461. When the transmission member 30 is extended, the elastic member 461 can drive the second clamping member 44 to drive the second end 32 to move toward the first end 31, so that the transmission member 30 can be automatically tensioned as it is extended, so that during the operation of the handling robot 100, the insufficient pre-tightening force of the transmission member 30 can be adjusted in real time according to environmental changes, and the loose side length and sudden change of the loose side length of the transmission member 30 can be effectively dealt with, so that the transmission member 30 is automatically tensioned, and the transmission member 30 is prevented from jumping teeth on the transmission wheel during the operation of the handling robot 100.

[0085] The structure of the tensioning device 40 provided in the embodiment of the present application is further described below in conjunction with the drawings and embodiments.

[0086] Figure 4 and Figure 5 The schematic diagrams respectively show the structure of the tensioning device 40 at different viewing angles.

[0087] See also Figure 4 and Figure 5 As shown, the tensioning device 40 includes a mounting member 42 and a first clamping member 43. The mounting member 42 has a mounting surface 421 on one side of the first direction (Z direction). The second direction and the third direction of the mounting member 42 are both parallel to the mounting surface 421. The first clamping member 43 is arranged on one side of the mounting surface 421 in the second direction. The first clamping member 43 is connected to the mounting member 42 and is fixed relative to the mounting member 42. In other words, the positions of the first clamping member 43 and the mounting member 42 are relatively fixed. The first clamping member 43 is used to clamp the first end 31 of the transmission member 30.

[0088] See also Figure 4 and Figure 5As shown, the tensioning device 40 also includes a fixing plate 41, which is mounted on the structural member 10, and a mounting member 42 is mounted on the fixing plate 41 and fixed relative to the fixing plate 41. For example, the mounting member 42 can be mounted on the fixing plate 41 by screw connection, clamping, welding, etc. The fixing plate 41 can be used to realize the installation of the tensioning module 46 on the structural member 10. The installation method of the fixing plate 41 on the structural member 10 can refer to the relevant description of the tensioning device 40a in the related art above, which will not be repeated here.

[0089] It should be noted that see Figure 1 As shown, when the handling robot 100 has two structural members 10 , a tensioning device 40 can be provided on each of the two structural members 10 , so as to realize automatic tensioning of the transmission member 30 on the corresponding structural member 10 through the tensioning device 40 .

[0090] See also Figure 4 and Figure 5 As shown, the tensioning device 40 further includes a second clamping member 44. The second clamping member 44 is disposed on the other side of the mounting surface 421 in the second direction. The second clamping member 44 is connected to the mounting member 42 and can move relative to the mounting member 42 along the second direction. In other words, while the second clamping member 44 is connected to the mounting member 42, the second clamping member 44 can move relative to the mounting member 42 along the second direction. The second clamping member 44 is used to clamp the second end 32 of the transmission member 30. By disposing the first clamping member 43 and the second clamping member 44, the tensioning device 40 can clamp the two ends of the transmission member 30.

[0091] Figure 6 Shows Figure 5 Enlarged view at B. See Figure 6 As shown, the tensioning device 40 also includes a tensioning module 46. The tensioning module 46 includes an elastic member 461 and a first fixing member 462 installed on the mounting surface 421. Along the second direction, the first fixing member 462 is located on the side of the second clamping member 44 away from the first clamping member 43. The elastic member 461 abuts between the first fixing member 462 and the second clamping member 44. When the transmission member 30 is extended, the elastic member 461 can drive the second clamping member 44 to drive the second end 32 to move toward the first end 31. Among them, when the elastic member 461 abuts between the first fixing member 462 and the second clamping member 44, it can be in a compressed state, so that the elastic member 461 can drive the second clamping member 44 to drive the second end 32 to move toward the first end 31.

[0092] Since the first fixing member 462 is located on the side of the second clamping member 44 away from the first clamping member 43, the elastic member 461 is in contact between the first fixing member 462 and the second clamping member 44, and the elastic member 461 is in a compressed state, the elastic member 461 provides a pre-tensioning force for the transmission member 30, so that the transmission member 30 can be tensioned under the clamping of the first clamping member 43 and the second clamping member 44, preventing the transmission member 30 from having loose edges, thereby avoiding the transmission member 30 from jumping teeth on the transmission wheel of the handling robot 100. The transmission member 30 is tensioned under the action of the pre-tensioning force, and a pulling force is generated on both the first clamping member 43 and the second clamping member 44.

[0093] Furthermore, when the transmission member 30 is stretched due to insufficient tensioning force during the operation of the transport robot 100, the pulling force of the second end 32 on the second clamping member 44 will be reduced, causing the pressure of the second clamping member 44 on the elastic member 461 to be reduced. At this time, the elastic member 461 will release elastic potential energy and generate a rebound force, and the generated rebound force will be applied to the second clamping member 44 and the first fixing member 462.

[0094] Since the first fixing member 462 is installed on the mounting surface 421, and the second clamping member 44 is connected to the mounting member 42 of the tensioning device 40 and can move relative to the mounting member 42 in the second direction, when the transmission member 30 is elongated due to insufficient pre-tightening force, the elastic member 461 will drive the second clamping member 44 to move toward the first clamping member 43 under the action of the rebound force, thereby driving the clamped second end 32 to move toward the first end 31, so that the transmission member 30 can be automatically tensioned, so that the tensioning device 40 of the present application can make real-time adjustments to the insufficient pre-tightening force of the transmission member 30 according to environmental changes during the operation of the handling robot 100, and can effectively deal with the occurrence of loose edge length, sudden change in loose edge length, etc. of the transmission member 30, and avoid the transmission member 30 from jumping teeth on the transmission wheel during operation.

[0095] If the tensioning device 40a in the above-mentioned related technology is used to prevent the transmission member 30a from jumping teeth on the transmission wheel during the operation of the transport robot 100, the number of tensioning adjustment members 45a needs to be increased to increase the pre-tensioning force of the transmission member 30a. However, the transmission member 30a may have an insufficient life due to excessive pre-tensioning force.

[0096] The tensioning device 40 of the embodiment of the present application introduces an elastic member 461. Since it is able to adjust the tensioning force of the transmission member 30 in real time during the operation of the transport robot 100 to solve the tooth jumping phenomenon of the transmission member 30 during the operation of the transport robot 100, it is possible to avoid excessive pre-tensioning force of the transmission member 30, so that the transmission member 30 has a longer service life.

[0097] See also Figure 6 As shown, in some embodiments, the first fixing member 462 includes a fixing portion 4621. The fixing portion 4621 is disposed on the mounting surface 421 and is located on a side of the second clamping member 44 away from the first clamping member 43. The elastic member 461 abuts between the fixing portion 4621 and the second clamping member 44. By disposing the fixing portion 4621, the fixing portion 4621 and the second clamping member 44 can be pressed at both ends of the elastic member 461 to fix the elastic member 461 on the mounting member 42, so that the elastic member 461 is in a compressed state. At the same time, the elastic member 461 can abut between the first fixing member 462 and the second clamping member 44, so that when the transmission member 30 is extended, the rebound force of the elastic member 461 can drive the second clamping member 44 to move toward the first clamping member 43, so as to drive the second end 32 to move toward the first end 31, so that the transmission member 30 is automatically tensioned.

[0098] See also Figure 6 As shown, in some embodiments, the first fixing member 462 may further include a connecting portion 4622. The connecting portion 4622 is connected to the side of the fixing portion 4621 facing the second clamping member 44. For example, the first fixing member 462 may be a screw, a bolt, etc. The second clamping member 44 has a through hole, and the connecting portion 4622 passes through the through hole and is installed on the mounting member 42. By setting the connecting portion 4622, the first fixing member 462 can be installed on the mounting surface 421.

[0099] The elastic member 461 is sleeved on the connecting portion 4622. The elastic member 461 is used to drive the second clamping member 44 to move along the connecting portion 4622 toward the first clamping member 43 when the transmission member 30 is extended, so as to drive the second end 32 to move toward the first end 31, so as to automatically tighten the transmission member 30. At the same time, through the setting of the connecting portion 4622, the elastic member 461 can be limited when the elastic member 461 is extended or retracted, so as to avoid the elastic member 461 from deviating relative to the second clamping member 44 along the third direction when the elastic member 461 is extended or retracted, and reduce the rebound force of the elastic member 461 on the second clamping member 44, so as to ensure that the elastic member 461 can drive the second clamping member 44 to move along the connecting portion 4622 toward the first clamping member 43.

[0100] Furthermore, by providing the connection portion 4622 , the movement of the second clamping member 44 can be limited to ensure that the second clamping member 44 can drive the second end 32 to move toward the first end 31 , so that the transmission member 30 is automatically tensioned.

[0101] The size of the fixing portion 4621 should be larger than the size of the connecting portion 4622, so that the elastic member 461 is sleeved on the connecting portion 4622 and the elastic member 461 can abut against the fixing portion 4621. For example, the size of the fixing portion 4621 and the size of the connecting portion 4622 can be a radius.

[0102] Figure 7Indicated Figure 6 Schematic diagram of another deformation structure. Figure 7 As shown, in other embodiments, the first fixing member 462 may also include only a fixing portion 4621. In this case, the fixing portion 4621 is connected to the mounting surface 421. The fixing portion 4621 may be clamped, bonded, connected with a fastener, or welded to the mounting surface 421. For example, the fastener may be a screw or a bolt. Along the second direction, the second clamping member 44 is slidably disposed on the mounting surface 421, so that the second clamping member 44 moves toward the first clamping member 43 under the action of the rebound force of the elastic member 461. At the same time, the arrangement of the connecting portion 4622 can be reduced to simplify the structure of the first fixing member 462.

[0103] The structure of the tensioning device 40 is further described below by taking the structure of the first fixing member 462 including the fixing portion 4621 and the connecting portion 4622 as an example.

[0104] Figure 8 Indicated Figure 4 Cross-section view in CC direction. Figure 8 As shown, the length direction of the connecting portion 4622 and the axial direction of the through hole are parallel to the second direction, so that when the connecting portion 4622 passes through the through hole and is installed on the mounting member 42, the second clamping member 44 and the first clamping member 43 can be relative to each other in the second direction, so that when the second clamping member 44 moves toward the first clamping member 43, the transmission member 30 can be quickly tightened.

[0105] See also Figure 8 As shown, the connection portion 4622 and the through hole are clearance-matched, so that the connection portion 4622 can smoothly pass through the through hole and be installed on the installation member 42 .

[0106] See also Figure 8 As shown, the mounting member 42 includes a first protrusion 422 disposed on the mounting surface 421. The first protrusion 422 is located on the side of the second clamping member 44 facing the first clamping member 43, and there is a distance between the first protrusion 422 and the second clamping member 44. The connecting portion 4622 passes through the through hole and is mounted on the first protrusion 422, so that the connecting portion 4622 and the first fixing member 462 are installed on the mounting surface 421 through the first protrusion 422.

[0107] Furthermore, due to the setting of the distance between the first protrusion 422 and the second clamping member 44, a moving space can be reserved for the second clamping member 44, so that the second clamping member 44 moves toward the first clamping member 43 under the drive of the elastic member 461 until the second clamping member 44 abuts against the first protrusion 422. Therefore, according to the length of the transmission member 30 that may be loose during the operation of the handling robot 100, the distance between the first protrusion 422 and the second clamping member 44 can be designed so that when the second clamping member 44 moves to abut against the first protrusion 422, the transmission member 30 can be tightened to prevent loose edges and tooth skipping.

[0108] The first protrusion 422 may have a threaded hole on one side facing the second clamping member 44. The connecting portion 4622 is screwed into the threaded hole. By fitting the connecting portion 4622 in the threaded hole, the connecting portion 4622 can be detachably mounted on the first protrusion 422, so as to facilitate the replacement of the elastic member 461.

[0109] Furthermore, by controlling the screwing depth of the connecting portion 4622 in the threaded hole, the distance between the fixing portion 4621 and the first protruding portion 422 can be controlled to ensure that after the connecting portion 4622 is screwed into the threaded hole, the elastic member 461 can abut between the fixing portion 4621 and the first protruding portion 422 and be in a compressed state.

[0110] In some embodiments, on the basis of ensuring that the elastic member 461 abuts between the fixing portion 4621 and the first protrusion 422 and is in a compressed state, the connecting portion 4622 can also be installed in the first protrusion 422 and snap-fitted with the first protrusion 422, so as to achieve a detachable installation of the connecting portion 4622 on the first protrusion 422, and at the same time, it can also facilitate the replacement of the elastic member 461.

[0111] It should be noted that, without considering the replacement of the elastic member 461 , the connecting portion 4622 can also be installed in the first protruding portion 422 by welding or other methods that are not easy to disassemble.

[0112] See also Figure 8 As shown, the second clamping member 44 includes a pressing portion 441 and a clamping portion 442, and the pressing portion 441 is arranged on the mounting surface 421. The pressing portion 441 is connected to the mounting member 42 and can move relative to the mounting member 42 along the second direction. The elastic member 461 abuts against the pressing portion 441. Along the third direction (X direction), the clamping portion 442 is arranged on a side of the pressing portion 441 away from the elastic member 461. Through the pressing of the pressing portion 441 on the second end 32 and the clamping of the clamping portion 442 on the second end 32, the second clamping member 44 can clamp the second end 32.

[0113] Since the pressing part 441 is connected to the mounting member 42 and can move relative to the mounting member 42 along the second direction, the second clamping member 44 is connected to the mounting member 42, and the pressing part 441 can move along the second direction. In addition, since the elastic member 461 abuts against the pressing part 441, when the transmission member 30 extends and the pressure of the second clamping member 44 on the elastic member 461 is reduced, the rebound force generated when the elastic member 461 releases the elastic potential energy can drive the pressing part 441 to move toward the first pressing member along the second direction.

[0114] Furthermore, since the second end 32 is clamped by the second clamping member 44 , when the pressing portion 441 moves, the second end 32 can also move toward the first end 31 at the same time, so that the transmission member 30 is automatically tensioned.

[0115] Fig. 9 Shows Figure 8 Enlarged view at D. Fig.10 A schematic structural diagram of a tensioning device 40 at a third viewing angle is shown. Fig.11 yes Fig.10 A partial cross-sectional view in the EE direction. It should be noted that: Fig.11 The structure of the transmission member 30 is omitted.

[0116] See also Figures 9 to 11 As shown, the clamping portion 442 includes an abutting section 4422 and a clamping section 4421 . Along the third direction (X direction), the clamping section 4421 is disposed on a side of the pressing portion 441 away from the elastic member 461 and opposite to the pressing portion 441 .

[0117] It should be noted that, in the present application, the phrase "A and B are opposite to each other in one direction" can be understood as "A and B are opposite to each other in this direction". For example, the phrase "A and B are opposite to each other in one direction" can be understood as "A and B are opposite to each other in this direction". For example, the phrase "A and B are opposite to each other in one direction" can be understood as "A and B are opposite to each other in this direction".

[0118] Along the second direction, the pressing portion 441 has a slot on the side away from the elastic member 461. The abutting section 4422 is disposed in the slot and abuts against the pressing portion 441. The clamping section 4421 is configured to be clamped with the second end 32. At this time, the clamping portion 442 and the pressing portion 441 are two independent structural members 10, so that the second end 32 is clamped on the second clamping member 44. For example, the second end 32 may be first clamped on the clamping section 4421, and then the pressing portion 441 may be installed.

[0119] By pressing the second end 32 by the pressing portion 441 and pressing the second end 32 by the clamping section 4421 , the second clamping member 44 can stably clamp the transmission member 30 .

[0120] Furthermore, the clamping section 4421 is clamped to the second end 32, so that the transmission member 30 exerts a pulling force on the clamping portion 442, so that the clamping portion 442 can move toward one side of the elastic member 461 under the pulling force of the transmission member 30, and push the pressing portion 441 and abut against the pressing portion 441, so that the pressing portion 441 and the fixing portion 4621 jointly compress the elastic member 461, so that the elastic member 461 is in a compressed state. At the same time, the clamping section 4421 is clamped to the second end 32, so that the second end 32 can be prevented from being separated from the second clamping member 44 when the clamping portion 442 and the pressing portion 441 move relative to each other.

[0121] When the handling robot 100 is in operation, if the transmission member 30 is stretched and the loose edge is too long or the length of the loose edge changes suddenly, the pulling force of the second end 32 of the transmission member 30 on the clamping part 442 is reduced, and the pressing force of the abutting section 4422 on the pressing part 441 is also reduced, so that the pressing force of the pressing part 441 on the elastic member 461 is also reduced. At this time, the elastic member 461 releases the elastic force and drives the pressing part 441 to move toward the first clamping member 43 under the rebound force. In the process of the pressing part 441 moving, it will push the abutting section 4422 to move toward the first clamping member 43, thereby driving the entire clamping part 442 to move toward the first clamping member 43.

[0122] Since the clamping section 4421 is engaged with the second end 32 , when the clamping portion 442 moves the second clamping member 44 toward the first clamping member 43 , the second end 32 of the transmission member 30 is driven to move toward the first end 31 , so that the transmission member 30 is automatically tensioned.

[0123] See also Fig.11 As shown, in some embodiments, the tensioning module 46 may further include fasteners, and the abutment section 4422 may further be installed on the clamping portion 441 by means of fasteners, clamping, bonding, etc., so that the abutment section 4422 abuts against the clamping portion 441 while the structure of the abutment section 4422 and the clamping portion 441 can be relatively fixed, thereby ensuring the clamping effect of the second clamping member 44 on the second end 32, and also realizing automatic tensioning of the transmission member 30.

[0124] See also Fig. 9 and Fig.11 As shown, along the second direction (Y direction), the second end 32 and the clamping section 4421 have inner concave parts and outer convex parts arranged alternately on one side facing the pressing portion 441. When the second end 32 is clamped by the second clamping member 44, the inner concave part on the second end 32 is arranged in the outer convex part of the clamping section 4421, and the inner concave part on the second end 32 is arranged in the outer convex part of the clamping section 4421, so that the second end 32 is clamped with the clamping section 4421, thereby enhancing the clamping effect of the second clamping member 44 on the second end 32 of the transmission member 30.

[0125] It should be noted that, in some embodiments, the pressing portion 441 can also be clamped with the second end 32 in the same manner as the clamping section 4421. At this time, when the abutting section 4422 is located in the clamping groove, it can also be installed on the pressing portion 441 by clamping, fasteners, bonding, etc., and the automatic tensioning of the transmission member 30 can also be achieved.

[0126] The structure of the tensioning device 40 is further described below by taking the clamping connection between the clamping section 4421 and the second end 32 as an example.

[0127] Due to the obstruction of the first protrusion 422, the distance between the abutment section 4422 and the first protrusion 422 is the maximum distance that the second clamping member can move. In the present application, the distance between the abutment section 4422 and the first protrusion 422 can be reasonably designed according to the length of the loose edge of the transmission member 30 that may appear during the operation of the handling robot 100, so as to ensure that when the second clamping member moves to abut against the first protrusion 422, the transmission member 30 can be automatically tensioned. In the present application, the distance between the abutment section 4422 and the first protrusion 422 is not particularly limited.

[0128] See also Fig. 9 As shown, the pressing portion 441 has a first hole section, and the abutting section 4422 has a second hole section. The second hole section is coaxially arranged with the first hole section to form a through hole.

[0129] The connecting portion 4622 passes through the first hole section and the second hole section and is mounted on the mounting member 42. Through the design of the first hole section and the second hole section, the connecting portion 4622 can pass through the pressing portion 441 and the abutting section 4422. In this way, under the drive of the elastic member 461 of the pressing portion 441 and the abutting section 4422, the connecting portion 4622 can only move toward the first clamping member 43 along the connecting portion 4622, which plays a better guiding role in the movement of the pressing portion 441 and the abutting section 4422.

[0130] See also Fig.10 and Fig.11 As shown, in some embodiments, the tensioning device 40 further includes a second fixing member 47. The mounting member 42 is provided with a strip hole 4231, and the length direction of the strip hole 4231 is parallel to the second direction. The second fixing member 47 is inserted into the strip hole 4231 and mounted on the second clamping member 44, and the second fixing member 47 can move along the length direction of the strip hole 4231. In this way, the second clamping member 44 can be mounted on the mounting member 42 through the second fixing member 47. In addition, since the second fixing member 47 can move along the length direction of the strip hole 4231, the second clamping member 44 can be installed on the mounting member 42 and can also move along the second direction to drive the second end 32 to move, so that the transmission member 30 is automatically tensioned.

[0131] After the second fixing member 47 is inserted into the strip hole 4231, it can be installed on the pressing part 441 so that the pressing part 441 can move along the second direction. For example, when the second fixing member 47 is installed on the pressing part 441, the second fixing member 47 can be threadedly connected or clamped with the pressing part 441, so as to facilitate the disassembly of the second clamping member 44.

[0132] The structure of the tensioning device 40 is further described below by taking the threaded connection between the second fixing member 47 and the pressing portion 441 as an example.

[0133] See also Fig.11 As shown, the second fixing member 47 can be a screw, a bolt, etc. The structure of the second fixing member 47 is the same as that of the first fixing member 462, and the second fixing member 47 also has a fixing portion 4621 and a connecting portion 4622 connected to the fixing portion 4621. The connecting portion 4622 of the second fixing member 47 can be threadedly connected to the pressing portion 441. After the second fixing member 47 is installed on the second clamping member 44, part of the connecting portion 4622 of the second fixing member 47 can extend out of the mounting member 42, so that there is a spacing between the fixing portion 4621 of the second fixing member 47 and the mounting member 42, so that the fixing portion 4621 of the second fixing member 47 is not pressed against the mounting member 42, so that when the pressing portion 441 moves along the second direction, the second fixing member 47 can move relative to the mounting member 42 in the bar hole 4231.

[0134] See also Fig.11 As shown, in some embodiments, the mounting member 42 may further include a second protrusion 423 disposed on the mounting surface 421. Along the third direction, the second protrusion 423 is opposite to the second clamping member 44. The strip hole 4231 may be disposed on the second protrusion 423, so that when the second fixing member 47 is inserted into the strip hole 4231, it can be installed on the second clamping member 44. For example, along the third direction, the second protrusion 423 is opposite to the pressing portion 441, so that when the second fixing member 47 is inserted into the strip hole 4231, it can be installed on the pressing portion 441, so that the second fixing member 47 is installed on the second clamping member 44.

[0135] Since the fixing plate 41 is installed on the side of the mounting member 42 opposite to the mounting surface 421 and is connected to the structural member 10, when the strip hole 4231 is provided on the second protrusion 423, the second fixing member 47 and the fixing plate 41 can be located on different sides of the mounting member 42, so as to ensure that the second fixing member 47 can be installed on the second clamping member 44 while preventing the second fixing member 47 from affecting the connection between the fixing plate 41 and the mounting member 42 and the structural member 10.

[0136] It should be noted that if the second fixing member 47 can be prevented from affecting the connection between the fixing plate 41 and the mounting member 42 and the structural member 10 , the strip hole 4231 can also be opened on the mounting surface 421 . In this case, there is no need to set the second protrusion 423 on the mounting surface 421 .

[0137] See also Fig.10 As shown, in some embodiments, the first clamping member 43 can be installed on the side of the first protrusion 422 away from the second clamping member 44, and in this case, the first protrusion 422 can be located between the second clamping member 44 and the first clamping member 43. Alternatively, in some embodiments, the mounting member 42 can be provided with a protrusion between the second clamping member 44 and the first clamping member 43 for mounting the first clamping member 43.

[0138] Compared with adding a protrusion on the mounting member 42 to install the first clamping member 43, when the first clamping member 43 is installed on the side of the first protrusion 422 away from the second clamping member 44, the first clamping member 43 and the second clamping member 44 can share a first protrusion 422 to achieve installation on the mounting member 42, which can reduce the setting of the protrusion on the mounting member 42 and simplify the structure of the mounting member 42.

[0139] The structure of the tensioning device 40 is further described below by taking the example that the first clamping member 43 is installed on a side of the first protrusion 422 away from the second clamping member 44 .

[0140] Fig.12 Indicated Figure 8 Magnified view at F. See Fig.12 As shown, in some embodiments, the tensioning device 40 may further include an adjustment assembly similar to the tensioning device 40 a mentioned above. The adjustment assembly includes at least one tensioning adjustment member 45 .

[0141] It should be noted that the structure of the tensioning adjustment member 45 and the method of disposing at least two tensioning adjustment members 45 between the first clamping member 43 and the first protrusion 422 can be found in the above description of the tensioning device 40a, which will not be repeated here.

[0142] At least one tensioning adjustment member 45 is pressed by the first clamping member 43 on the side of the first protrusion 422 away from the second clamping member 44 to adjust the pre-tensioning force of the transmission member 30. By adjusting the number of tensioning adjustment members 45 pressed by the first clamping member 43, the pre-tensioning force of the transmission member 30 can be adjusted so that the transmission member 30 can be tensioned at the beginning of installation to avoid the appearance of loose edges and thus avoid the occurrence of tooth jumping.

[0143] See also Fig.12As shown, the structure of the first clamping member 43 is the same as that of the second clamping member 44. The structure of the first clamping member 43 can refer to the relevant description of the second clamping member 44, and no further description is given here. The first clamping member 43 and the second clamping member 44 can be symmetrically arranged on both sides of the first protrusion 422, so that the first clamping member 43 and the second clamping member 44 can clamp the two ends of the transmission member 30 and form a closed loop of the transmission member 30.

[0144] See also Fig.12 As shown, the tensioning device 40 may also include a third fixing member 48. The third fixing member 48 may sequentially penetrate the pressing portion 441, the abutting section 4422 and the tensioning adjusting member 45 of the first clamping member 43, and be installed on the first protruding portion 422, so that when the first clamping member 43 is installed on the first protruding portion 422, the first clamping member 43 and the tensioning adjusting member 45 can be pressed on the first protruding portion 422, so that the transmission member 30 can be tensioned at the beginning of installation to avoid the occurrence of loose edges. For example, the third fixing member 48 may be a screw, a bolt, etc., and is threadedly connected to the first protruding portion 422.

[0145] The method for adjusting the pre-tensioning force of the transmission member 30 can refer to the relevant description of the tensioning device 40a above, which will not be repeated here.

[0146] It should be noted that when the preload force is increased by reducing the number of tensioning adjusting members 45, the third fixing member 48 can be screwed inward toward the first protrusion 422, pushing the first clamping member 43 to move toward the first protrusion 422, and pressing the first clamping member 43 and the tensioning adjusting member 45 on the first protrusion 422, and the transmission member 30 is stretched and tightened. When the preload force is reduced by increasing the number of tensioning adjusting members 45, the third fixing member 48 can be screwed inward in the direction away from the first protrusion 422, so that the first clamping member 43 can move toward the side away from the first protrusion 422, so as to increase the tensioning adjusting member 45. After the tensioning adjusting member 45 is added, the third fixing member 48 will press the first clamping member 43 and the tensioning adjusting member 45 on the first protrusion 422 again, and the transmission member 30 will shrink and tighten.

[0147] See also Fig.12 As shown, the tensioning device 40 may further include a fourth fixing member 49. The first clamping member 43 may be mounted on the mounting member 42 through the fourth fixing member 49. Specifically, the fourth fixing member 49 may penetrate the second protruding portion 423 and be mounted on the pressing portion 441 of the first clamping member 43.

[0148] During the pre-tensioning force adjustment process of the transmission member 30, the fourth fixing member 49 can move relative to the mounting member 42. After the pre-tensioning force adjustment of the transmission member 30 is completed by the adjustment assembly, the first clamping member 43 can be fixed to the mounting member 42 by the fourth fixing member 49, so that the first clamping member 43 and the mounting member 42 are relatively fixed, and at this time, the fourth fixing member 49 is also relatively fixed relative to the mounting member 42.

[0149] It should be noted that the structure of the fourth fixing member 49 and the installation on the second protrusion 423 are the same as those of the second fixing member 47. For details, please refer to the relevant description of the second fixing member 47, which will not be further described here. The installation of the fourth fixing member 49 on the pressing portion 441 can also refer to the relevant description of the second fixing member 47, which will not be further described here.

[0150] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" 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 application 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 application.

[0151] In the description of the present application, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0152] Unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium, which can enable the internal connectivity of two elements or the interaction relationship between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tensioning device, characterized in that: include: A mounting member having a mounting surface on one side in a first direction; A first clamping member is provided on one side of the mounting surface in the second direction, the first clamping member is connected to the mounting member and is fixed relative to the mounting member; the first clamping member is used to clamp the first end of the transmission member; a second clamping member, disposed on the other side of the mounting surface in the second direction, the second clamping member being connected to the mounting member and being movable relative to the mounting member along the second direction; the second clamping member being used to clamp the second end of the transmission member; The tensioning module includes an elastic member and a first fixing member installed on the mounting surface. Along the second direction, the first fixing member is located on the side of the second clamping member away from the first clamping member, and the elastic member abuts between the first fixing member and the second clamping member. When the transmission member is extended, the elastic member can drive the second clamping member to drive the second end to move toward the first end.

2. The tensioning device according to claim 1, characterized in that: The first fixing member includes a fixing portion, and the fixing portion is arranged on the mounting surface and is located on a side of the second clamping member away from the first clamping member; The elastic member is abutted between the fixing portion and the second clamping member.

3. The tensioning device according to claim 2, characterized in that: The first fixing member further comprises a connecting portion, wherein the connecting portion is connected to a side of the fixing member facing the second clamping member; The second clamping member has a through hole therein, the connecting portion passes through the through hole and is mounted on the mounting member; The elastic member is sleeved on the connecting portion, and is used for driving the second clamping member to move along the connecting portion toward the first clamping member when the transmission member is extended.

4. The tensioning device according to claim 3, characterized in that: The mounting member comprises a first protrusion arranged on the mounting surface, the first protrusion is located on a side of the second clamping member facing the first clamping member, and there is a distance between the first protrusion and the second clamping member; The connecting portion passes through the through hole and is installed on the first protruding portion.

5. The tensioning device according to claim 4, characterized in that: The first clamping member is installed on a side of the first protrusion away from the second clamping member.

6. The tensioning device according to any one of claims 3 to 5, characterized in that: The second clamping member includes a pressing portion and a clamping portion, the pressing portion is arranged on the mounting surface; the pressing portion is connected to the mounting member and can move relative to the mounting member along the second direction; the elastic member abuts against the pressing portion; Along the third direction, the clamping portion is arranged on a side of the pressing portion away from the elastic member.

7. The tensioning device according to claim 6, characterized in that: The clamping portion comprises an abutting section and a clamping section, and along the third direction, the clamping section is arranged on a side of the pressing portion away from the elastic member and opposite to the pressing portion; Along the second direction, the pressing portion has a clamping groove on a side away from the elastic member; the abutting section is arranged in the clamping groove and abuts against the pressing portion, and the clamping section is configured to clamp with the second end.

8. The tensioning device according to claim 7, characterized in that: The pressing portion has a first hole section, the abutting section has a second hole section, the second hole section is coaxially arranged with the first hole section, and forms the penetration hole; The connecting portion passes through the first hole segment and the second hole segment and is mounted on the mounting member.

9. The tensioning device according to claim 2, characterized in that: The fixing portion is connected to the mounting surface, and the second clamping member is slidably disposed on the mounting surface along the second direction.

10. The tensioning device according to any one of claims 1 to 5, characterized in that: It also includes a second fixing member, the fixing member is provided with a strip hole, and the length direction of the strip hole is parallel to the second direction; The second fixing member is inserted into the strip-shaped hole and installed on the second clamping member, and the second fixing member can move along the length direction of the strip-shaped hole.

11. The tensioning device according to claim 10, characterized in that: The mounting member further comprises a second protrusion provided on the mounting surface, wherein the second protrusion is opposite to the second clamping member along the third direction; The strip-shaped hole is arranged on the second protruding portion.

12. A transport robot, characterized in that: The robot comprises a robot body and a tensioning device as claimed in any one of claims 1 to 11, wherein the robot body comprises a structural member and a lifting device, the lifting device comprises a transmission member and two transmission wheels, the two transmission wheels are respectively arranged at two ends of the structural member, and the transmission member is arranged around two opposite sides of the two transmission wheels to connect the two transmission wheels; The first end of the transmission member is clamped by the first clamping member of the tensioning device, and the second end of the transmission member is clamped by the second clamping member of the tensioning device.

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