Tensioning mechanism, belt transmission mechanism and robot

Abstract

The utility model discloses a tensioning mechanism, a belt transmission mechanism and a robot, and relates to the technical field of belt transmission. The tensioning mechanism is used for tensioning a synchronous belt arranged on the periphery of the driving belt wheel and the periphery of the driven belt wheel in a sleeving mode, the driving belt wheel is connected to the output end of the motor, the motor is installed on the linkage piece, and the tensioning mechanism comprises a supporting assembly, a tensioning piece, a control assembly and a reset piece. Wherein the tensioning piece is movably arranged on the supporting assembly in the first direction, and the tensioning piece is used for being connected with the linkage piece; the control assembly is movably arranged on the supporting assembly in the second direction, and the control assembly abuts against the tensioning part to drive the tensioning part to move in the first direction so as to push the linkage part to move in the first direction; a non-zero included angle is formed between the first direction and the second direction; the first end of the reset piece is installed on the supporting assembly, the second end of the reset piece is installed on the tensioning piece, the reset piece is used for driving the tensioning piece to reset, and the synchronous belt transmission system using the tensioning mechanism needs a small installation space.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of belt drive, more particularly to a tensioning mechanism, in addition, the utility model relates to a belt drive mechanism comprising the tensioning mechanism and a robot comprising the belt drive mechanism. BACKGROUND

[0002] The synchronous belt drive has been widely applied to the joint transmission of industrial robots, and the synchronous belt often has a reduced tension force after being used for a period of time, so that a tensioning mechanism is usually needed to adjust the synchronous belt.

[0003] The tensioning device of the synchronous belt drive system usually has three types of periodic tensioning device, automatic tensioning device structure and tensioning wheel, but no matter which method is adopted, the occupied space and the required space for movement are relatively large, and are not suitable for some small industrial robots.

[0004] In summary, how to reduce the required space for the operation of the synchronous belt drive system is a problem that needs to be solved by the technical personnel in the field. UTILITY MODEL CONTENTS

[0005] Therefore, the utility model aims to provide a tensioning mechanism that can realize the tensioning of the synchronous belt and requires a smaller installation space for the synchronous belt drive system using the tensioning mechanism.

[0006] Another object of the utility model is to provide a belt drive mechanism comprising the tensioning mechanism and a robot comprising the belt drive mechanism.

[0007] To achieve the above object, the utility model provides the following technical scheme:

[0008] A tensioning mechanism for tensioning a synchronous belt sleeved on the outer periphery of a driving pulley and a driven pulley, wherein the driving pulley is connected to the output end of a motor, and the motor is installed on a linkage member, comprising:

[0009] a supporting assembly;

[0010] a tensioning member movably arranged in the supporting assembly along a first direction, wherein the tensioning member is used to be connected to the linkage member;

[0011] a manipulating assembly movably arranged in the supporting assembly along a second direction, wherein the manipulating assembly abuts against the tensioning member to drive the tensioning member to move along the first direction, and to push the linkage member to move along the first direction; the first direction and the second direction have a non-zero included angle;

[0012] A reset member, having a first end mounted to the support assembly and a second end mounted to the tensioning member, for driving the tensioning member to reset.

[0013] In some possible embodiments, the support assembly has an accommodating cavity inside, the operating assembly has an operating end and a first transmission end, and the tensioning member has a second transmission end and a linkage end;

[0014] The first transmission end and the second transmission end are in transmission cooperation and are both located in the accommodating cavity.

[0015] The linkage end is used to push the linkage member, the operating end is used for an operator to adjust the position of the operating assembly, and the linkage end and the operating end both extend out of the peripheral wall of the support assembly to the outside of the support assembly.

[0016] In some possible embodiments, the included angle between the first direction and the second direction is 90 degrees, and the accommodating cavity is a rectangular cavity.

[0017] In some possible embodiments, the end faces of the first transmission end and the second transmission end in transmission cooperation are both wedge-shaped faces and are in abutment.

[0018] In some possible embodiments, the operating assembly includes a pushing member and an action member.

[0019] The pushing member is in threaded connection with the support assembly, one end of the pushing member is the operating end, and the other end is used to abut against the action member.

[0020] The end of the action member away from the pushing member is the first transmission end, and the end face of the first transmission end is the wedge-shaped face.

[0021] In some possible embodiments, the tensioning member includes a support part, a connecting part, and two wedge-shaped parts.

[0022] The wedge-shaped parts and the connecting part are both located at the top of the support part and are connected to the support part, and the two wedge-shaped parts are spaced apart and located at the two ends of the support part, the connecting part is located between the two wedge-shaped parts, and the connecting part is connected to the wedge-shaped parts at the two ends thereof.

[0023] The end of the wedge-shaped part close to the operating assembly is the second transmission end, the end face of the second transmission end is the wedge-shaped face, the wedge-shaped faces of the two wedge-shaped parts are both in abutment against the wedge-shaped face of the action member, and the end of the tensioning member away from the operating assembly and located outside the support assembly is the linkage end.

[0024] The support part, the connecting part and the two wedge-shaped parts form a stroke slot, and during movement of the tensioning member in the first direction, the support assembly is inserted into the stroke slot through the side wall on one side, so as to achieve the preset stroke of the tensioning member moving in the first direction.

[0025] In some possible embodiments, the support assembly comprises a base and a top cover, and the top cover covers the opening of the base.

[0026] The base has a bottom plate part, a first side plate part, a first end plate part and a second end plate part, the first side plate part, the first end plate part and the second end plate part are vertically arranged on the top of the bottom plate part, and the first end plate part, the second end plate part and the first side plate part form a U-shaped structure.

[0027] The top cover has a top plate part and a second side plate part, the top plate part is mounted on the U-shaped structure, and the top plate part is opposite to the bottom plate part, and the second side plate part is opposite to the first side plate part.

[0028] The reset member is inserted into the stroke slot, and the first end of the reset member is mounted on the second side plate part, and the second end is connected to the connecting part.

[0029] The top plate part has a threaded hole for threadedly connecting the pushing member.

[0030] The second side plate part and the first end plate part, the second side plate part and the second end plate part, and the second side plate part and the bottom plate part all have gaps for the linkage end of the tensioning member to pass through.

[0031] In some possible embodiments, the reset member is a spring, the second side plate part has a mounting through hole, a plug is inserted into the mounting through hole, and the first end of the reset member is inserted into the mounting through hole and abuts against the plug.

[0032] A belt transmission mechanism comprising a linkage member and a motor, and further comprising the tensioning mechanism of any one of the above, the motor is arranged on the linkage member, and the tensioning member is connected to the linkage member to drive the linkage member to move in the first direction.

[0033] A robot comprising the belt transmission mechanism.

[0034] The tensioning mechanism provided by the utility model, the supporting assembly is used for mounting and supporting the tensioning piece, the operating assembly and the like, and the tensioning piece can move along the first direction through the sliding slot or the linear slide rail and the like on the supporting assembly, and the operating assembly can move along the second direction through the sliding slot or the linear slide rail and the like on the supporting assembly, and the end part of the tensioning piece close to the operating assembly is contacted, so that the movement of the operating assembly along the second direction can drive the tensioning piece to move along the first direction; in order to ensure that the tensioning piece moving along the first direction can reset, a resetting piece is arranged on the supporting assembly, one end of the resetting piece is arranged on the supporting assembly, and the other end is arranged on the tensioning piece, and under the action of the extension or attraction force of the resetting piece, the tensioning piece can be reset.

[0035] In use, the linkage is movably arranged at a preset position of the robot along the first direction, the tensioning mechanism is installed at the preset position of the robot on the side of the linkage through the supporting assembly, the operating assembly is adjusted, the tensioning piece is driven to move along the first direction, the linkage is directly pushed to move along the first direction, the motor arranged on the linkage moves along the first direction, and the driving pulley is driven to move along the first direction, so that the synchronous belt around the driving pulley is tensioned. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only the embodiments of the utility model, and other drawings can be obtained according to the provided drawings without creative labor for the ordinary skilled in the art.

[0037] Figure 1 The structural schematic diagram of the tensioning mechanism of the specific embodiment provided by the utility model;

[0038] Figure 2 The first state schematic diagram of the tensioning mechanism of the specific embodiment provided by the utility model;

[0039] Figure 3 The second state schematic diagram of the tensioning mechanism of the specific embodiment provided by the utility model;

[0040] Figure 4 The use schematic diagram of the belt transmission mechanism of the specific embodiment provided by the utility model;

[0041] Figure 5Still another use schematic view of the belt transmission mechanism provided by the specific embodiment of the utility model;

[0042] Figure 6 Another structure schematic view of the tensioning mechanism provided by the specific embodiment of the utility model;

[0043] Figure 7 Still another structure schematic view of the tensioning mechanism provided by the specific embodiment of the utility model.

[0044] Reference signs:

[0045] 1-support assembly;11-top cover;111-top plate part;112-second side plate part;12-base;121-bottom plate part;122-first side plate part;123-first end plate part;124-second end plate part;

[0046] 2-tensioning member;21-supporting part;22-connecting part;23-wedge-shaped part;24-stroke groove;25-tensioning part;

[0047] 3-operation assembly;311-push member;312-action member;

[0048] 4-resetting member;

[0049] 5-plug;

[0050] 6-motor;7-driving pulley;8-synchronous belt;9-linkage;

[0051] X-first direction;Y-second direction. Specific embodiments

[0052] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model, obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0053] The core of the utility model is to provide a kind of tensioning mechanism, the tensioning mechanism can realize the tensioning of synchronous belt, and the synchronous belt transmission system using the tensioning mechanism required installation space is smaller. Another core of the utility model is to provide a kind of belt transmission mechanism comprising the above-mentioned tensioning mechanism, robot comprising the above-mentioned belt transmission mechanism.

[0054] It should be noted that, generally, as Figure 4 And Figure 5As shown, the motor 6 is mounted on the linkage 9, which can be a plate structure or any other type of seat structure, and the driving pulley 7 is fixed on the output end of the motor 6, so that the driving pulley 7 can rotate under the driving of the motor 6, the rotation shaft of the driven pulley is parallel to that of the driving pulley 7, and the synchronous belt 8 is wound around the outer periphery of the driving pulley 7 and the driven pulley, so that the rotation of the driving pulley 7 can drive the synchronous belt to move.

[0055] In order to tension the above-mentioned synchronous belt 8, the utility model provides a tensioning mechanism, which comprises a supporting assembly 1, a tensioning piece 2, an operating assembly 3 and a reset piece 4. Wherein, the tensioning piece 2 is movably arranged on the supporting assembly 1 along a first direction, and the tensioning piece 2 is used for being connected with the linkage 9; the operating assembly 3 is movably arranged on the supporting assembly 1 along a second direction, and the operating assembly 3 abuts against the tensioning piece 2 to drive the tensioning piece 2 to move along the first direction and push the linkage 9 to move along the first direction; the first direction and the second direction have a non-zero included angle; the first end of the reset piece 4 is installed on the supporting assembly 1, and the second end is installed on the tensioning piece 2, which is used for driving the tensioning piece 2 to reset.

[0056] It should be noted that, as shown in the figure, Figures 1 to 7 The first direction refers to the X direction, and the second direction refers to the Y direction.

[0057] As shown in the figure, Figures 1 to 3 The supporting assembly 1 is used for installing and supporting the tensioning piece 2 and the operating assembly 3, and the tensioning piece 2 can move along the X direction through the sliding slot or linear sliding rail on the supporting assembly 1, and the operating assembly 3 can move along the Y direction through the sliding slot or linear sliding rail on the supporting assembly 1, and the left end of the tensioning piece 2 contacts the lower end of the operating assembly 3, so that the movement of the operating assembly 3 along the Y direction can drive the tensioning piece 2 to move along the X direction.

[0058] In order to ensure that the tensioning piece 2 moving along the X direction can reset and continuously cooperate with the operating assembly 3, the reset piece 4 is arranged on the supporting assembly 1, one end of the reset piece 4 is arranged on the supporting assembly 1, and the other end is arranged on the tensioning piece 2, and the reset piece 4 can adopt a spring or positive and negative magnetic poles.

[0059] In use, as shown in the figure, Figure 4As shown, the linkage 9 is movably arranged at the preset position of the robot along the X direction, the tensioning mechanism is installed at the preset position of the robot on the side of the linkage 9 through the support assembly 1, the operating assembly 3 is adjusted to drive the tensioning member 2 to move right along the X direction to directly push the linkage 9 to move right along the X direction, the motor 6 arranged on the linkage 9 moves right along the X direction, and then drives the driving pulley 7 to move right along the X direction, so that the synchronous belt 8 wound around the driving pulley 7 is tensioned. Since the side of the motor 6 and the linkage 9 usually has a large space, the tensioning mechanism is installed on the side of the motor 6 and the linkage 9 to realize the tensioning of the synchronous belt 8, so that the commonly used tensioning pulley and other components for tensioning the synchronous belt 8 are not needed, and the installation space of the synchronous belt 8 transmission system is effectively reduced.

[0060] On the basis of the above embodiment, the support assembly 1 has a containing cavity inside, the operating assembly 3 has an operating end and a first transmission end, and the tensioning member 2 has a second transmission end and a linkage end; the first transmission end and the second transmission end are in transmission cooperation and are both located in the containing cavity; the linkage end is used to push the linkage 9, and the operating end is used to adjust the position of the operating assembly 3, and the linkage end and the operating end both pass through the peripheral wall of the support assembly 1 and extend to the outside of the support assembly 1.

[0061] As shown in Figures 1 to 3 , the containing cavity is arranged in the inside of the support assembly 1, that is, the support assembly 1 has a hollow structure, the left second transmission end of the tensioning member 2 and the lower first transmission end of the operating assembly 3 both extend into the containing cavity and move therein, and the right side wall of the support assembly 1 has a channel to pass the tensioning member 2, so that the right linkage end of the tensioning member 2 is located outside the linkage 1, and the linkage end is used to push the linkage 9 on the side of the tensioning mechanism; the upper side wall of the support assembly 1 also has a channel to pass the operating assembly 3, so that the upper operating end of the operating assembly 3 is located outside the linkage 1 to facilitate the adjustment of the operating end by the operator. In this way, the overall strength of the tensioning mechanism is high, which is beneficial to protect the structure inside the support assembly 1 from external interference.

[0062] On the basis of the above embodiment, the angle between the X direction and the Y direction is 90 degrees, and the containing cavity is a rectangular chamber, as shown in Figure 2 and Figure 3 , the moving direction of the operating assembly 3 along the support assembly 1 is perpendicular to the moving direction of the tensioning member 2 along the support assembly 1. In this way, the tensioning mechanism is convenient for positioning, processing and assembling of the internal components.

[0063] On the basis of the above embodiment, the end faces of the first transmission end and the second transmission end in transmission cooperation are both wedge-shaped surfaces and are in abutment.

[0064] As shown in Figures 1 to 3As shown, the end face of the first transmission end of the lower side of the operating assembly 3 and the end face of the second transmission end of the left side of the tensioning piece 2 are both wedge-shaped faces, and the wedge-shaped faces have a non-zero angle with the X direction and the Y direction, and preferably, the angle between the wedge-shaped face and the X direction is 45°. The operating assembly 3 and the tensioning piece 2 are in sliding fit through the wedge-shaped face. In this way, on the basis of pushing the tensioning piece 2 through the operating assembly 3, the tensioning mechanism is simple in structure and low in cost.

[0065] On the basis of the above embodiment, the operating assembly 3 comprises a pushing piece 311 and an action piece 312. The pushing piece 311 is in threaded connection with the supporting assembly 1. One end of the pushing piece 311 is an operating end, and the other end is used for abutting against the action piece 312. The end of the action piece 312 away from the pushing piece 311 is a first transmission end, and the end face of the first transmission end is a wedge-shaped face.

[0066] As shown in the figure, Figures 1 to 3 The supporting assembly 1 is provided with a threaded hole extending along the Y direction. The outer surface of the pushing piece 311 is provided with external threads, and the pushing piece 311 is inserted into the threaded hole and in threaded fit with the threaded hole. The upper end of the pushing piece 311 is the operating end mentioned above, and the operating end is located outside the supporting assembly 1. The lower end of the pushing piece 311 abuts against the upper end of the action piece 312. When the pushing piece 311 is twisted to move downward along the Y direction, the action piece 312 can be pushed to move downward along the Y direction. In cooperation, the lower end of the action piece 312 is the first transmission end of the operating assembly 3 mentioned above. The end face of the lower end of the action piece 312 is a wedge-shaped face to cooperate with the tensioning piece 2. In this way, the displacement of the tensioning piece 2 can be controlled, and the pushing piece 311 is not easy to displace and thus fail. The reliability of the tensioning mechanism in tensioning the synchronous belt 8 is higher.

[0067] Preferably, the pushing piece 311 is a bolt. As shown in the figure, Figure 1 When in use, the pushing piece 311 can be twisted by using a common tool such as a wrench or a screwdriver, and the use is convenient.

[0068] On the basis of the above embodiment, the diameter of the threaded shaft section of the pushing piece 311 is M3, and the pitch is 0.5 mm. When in use, one rotation of the pushing piece 311 can drive the tensioning piece 2 to move rightward by 0.5 mm. Alternatively, the diameter of the threaded shaft section of the pushing piece 311 is M4, and the pitch is 0.7 mm. When in use, one rotation of the pushing piece 311 can drive the tensioning piece 2 to move rightward by 0.7 mm.

[0069] On the basis of the above embodiment, the tensioning member 2 includes a supporting portion 21, a connecting portion 22 and a wedge-shaped portion 23; the wedge-shaped portion 23 and the connecting portion 22 are both located at the top of the supporting portion 21 and connected to the supporting portion 21, and the two wedge-shaped portions 23 are spaced apart and arranged at both ends of the supporting portion 21, the connecting portion 22 is located between the two wedge-shaped portions 23, and the connecting portion 22 is connected to the wedge-shaped portions 23 located at both ends thereof; the end of the wedge-shaped portion 23 close to the operating component 3 is a second transmission end, and the end face of the second transmission end is a wedge-shaped surface, and the wedge-shaped surfaces of the two wedge-shaped portions 23 are both in contact with the wedge-shaped surface of the actuating member 312, and the end of the tensioning member 2 away from the operating component 3 and located outside the support component 1 is a linkage end; the supporting portion 21, the connecting portion 22 and the two wedge-shaped portions 23 are surrounded to form a travel groove 24, and during the movement of the tensioning member 2 along the X direction, the side wall of the support component 1 through which the tensioning member 2 passes can be inserted into the travel groove 24 to achieve the preset travel of the tensioning member 2 along the X direction.

[0070] like Figure 1 As shown, the right side of the support assembly 1 has an outlet for the linkage end of the tensioning member 2 to extend to the outside of the support assembly 1. Correspondingly, the bottom of the tensioning member 2 has a plate-shaped support portion 21, and the upper ends of the support portion 21 are each connected to a wedge-shaped portion 23, and the upper left end surface of the wedge-shaped portion 23 is a wedge-shaped surface to cooperate with the lower right end surface of the action member 312; and a sheet-shaped or rod-shaped connecting portion 22 is connected above the support portion 21, and the connecting portion 22 is located between the two wedge-shaped portions 23, and the connecting portion 22 is connected to the left side of the support portion 21, so that the right side structure of the support portion 21, the two wedge-shaped portions 23 and the connecting portion 22 are surrounded to form a travel groove 24, and the support assembly 1 The partial structure of the right side wall opposite to the connecting portion 22 is inserted in the stroke groove 24. During the movement of the tensioning member 2 to the right, the partial structure of the right side wall of the support assembly 1 opposite to the connecting portion 22 will move toward the left along the X-direction relative to the tensioning member 2. Optionally, the right end of the support portion 21 and the right end of the wedge-shaped portion 23 that form the stroke groove 24 can be close to or away from the right side wall of the support assembly 1; optionally, the right end of the support portion 21 and / or the right end of the wedge-shaped portion 23 that form the stroke groove 24 can pass through the right side wall of the support assembly 1, and the depth of the stroke groove 24 along the X-direction is greater than or equal to the above-mentioned preset stroke to meet the stroke requirement of the tensioning member 2 moving along the X-direction.

[0071] Such an arrangement is beneficial to improving the stability of the tensioning member 2 in moving along the X direction, and is beneficial to meeting the travel requirement of the tensioning member 2 in moving along the X direction while achieving a miniaturized design.

[0072] Furthermore, the tensioning member 2 also includes a tensioning portion 25, which can adopt a plate-like structure or a hook structure, and one end of the tensioning portion 25 is connected to the support portion 21 and / or the wedge-shaped portion 23, and the other end is away from the operating component 3 and extends to the outside of the support component 1, serving as a linkage end. The linkage end is used to be connected to the linkage member 9 by welding or hanging, so as to drive the linkage member 9 to move along the X direction.

[0073] Based on the above embodiment, the support assembly 1 includes a base 12 and a top cover 11. The top cover 11 is arranged to cover the opening of the base 12. The base 12 has a bottom plate portion 121, a first side plate portion 122, a first end plate portion 123, and a second end plate portion 124. The first side plate portion 122, the first end plate portion 123, and the second end plate portion 124 are all perpendicularly arranged on the top of the bottom plate portion 121, and the first end plate portion 123, the second end plate portion 124 and the first side plate portion 122 are arranged to form a U-shaped structure. The top cover 11 has a top plate portion 111 and a second side plate portion 112. The top plate portion 111 is installed in the U-shaped structure, and the top plate portion 111 is opposite to the bottom plate portion 121, and the second side plate portion 112 is opposite to the first side plate portion 122; the reset member 4 is inserted in the stroke groove 24, and the first end of the reset member 4 is installed on the second side plate portion 112, and the second end is connected to the connecting portion 22; the top plate portion 111 has a threaded hole for threaded connection to the pushing member 311; there are gaps between the second side plate portion 112 and the first end plate portion 123, between the second side plate portion 112 and the second end plate portion 124, and between the second side plate portion 112 and the bottom plate portion 121 for the linkage end in the tensioning member 2 to pass through.

[0074] like Figures 1 to 3 As shown, the trough-shaped base 12 is composed of a plate-shaped bottom plate portion 121, a first side plate portion 122, a first end plate portion 123 and a second end plate portion 124, wherein the two connected parts are perpendicular, so that the first side plate portion 122, the first end plate portion 123 and the second end plate portion 124 can form a U-shaped structure, and the bent top cover 11 is composed of a plate-shaped top plate portion 111 and a second side plate portion 112, and the top plate portion 111 and the second side plate portion 112 are perpendicular to each other.

[0075] When the top cover 11 is buckled onto the base 12, and the top cover 11 contacts and cooperates with the above-mentioned U-shaped structure, a shell structure with a rectangular inner cavity is formed, and the first end plate portion 123 is opposite to the second end plate portion 124, the first side plate portion 122 is opposite to the second side plate portion 112, and the top plate portion 111 is opposite to the bottom plate portion 121.

[0076] The threaded hole is formed on the top plate 111 , so that the pusher 311 can be inserted into the top plate 111 .

[0077] The stroke groove 24 of the tensioning member 2 is located at the right side of the tensioning member 2, the return member 4 extends in the X direction in the stroke groove 24, and the left end of the return member 4 is connected to the upper surface of the connecting portion 22, and the right end is connected to the upper surface of the second side plate portion 112 at the right side of the support assembly 1.

[0078] As shown in Figure 1 , the length of the second side plate portion 112 in the Z direction is less than the length of the first side plate portion 122 in the Z direction, and it should be noted that the Z direction is perpendicular to the X direction and the Y direction, so that there is a gap between the left side surface of the second side plate portion 112 and the first end plate portion 123 located at the left side, and a gap between the right side surface of the second side plate portion 112 and the second end plate portion 124 located at the right side, and the width of the second side plate portion 112 in the Y direction is less than the width of the first side plate portion 122 in the Y direction, so that there is a gap between the second side plate portion 112 and the bottom plate portion 121, and the above-mentioned gap is used for the linkage end of the tensioning member 2 to pass through, so that the linkage end of the tensioning member 2 is located outside the support assembly 1, and when in use, the tensioning member 2 is pushed to move to the Figure 2 position shown in Figure 1 , the left wedge-shaped portion 23 of the tensioning member 2 is inserted into the gap between the second side plate portion 112 and the first end plate portion 123, Figure 1 the right wedge-shaped portion 23 of the tensioning member 2 is inserted into the gap between the second side plate portion 112 and the second end plate portion 124, Figure 1 and the right side structure of the support portion 21 of the tensioning member 2 is inserted into the gap between the second side plate portion 112 and the bottom plate portion 121.

[0079] On the basis of the above-mentioned embodiment, the return member 4 is a spring, the second side plate portion 112 has a mounting through hole, a plug 5 is inserted into the mounting through hole, and the first end of the return member 4 is inserted into the mounting through hole and abuts against the plug 5.

[0080] As shown in Figure 1 , the return member 4 is a linear spring, and a mounting through hole is formed in the upper surface of the second side plate portion 112 for inserting the return member 4, and preferably, a plug-in hole is also formed in the upper surface of the connecting portion 22 for inserting the return member 4; the tensioning mechanism is provided with a plug 5 for inserting into the mounting through hole to block and position the return member 4, so that the positioning and assembly of the return member 4 are facilitated, and the displacement or falling off of the return member 4 is effectively prevented.

[0081] Further, as shown in Figure 1 , the number of return members 4 is greater than or equal to two, such as three or four, etc., and the return members 4 extend in the X direction, and each return member 4 is uniformly arranged in the Z direction, so that the tensioning member 2 is more stably supported, and the stability of the tensioning member 2 when moving in the X direction is further improved.

[0082] Based on any of the above embodiments, the support assembly 1 is further provided with a drive assembly, the output end of the drive assembly is fixedly connected to the operating end of the operating assembly 3 to drive the operating assembly 3 to move, thereby driving the tensioning member 2 to move; the tensioning mechanism also includes a controller and a tension sensor for detecting the tension of the synchronous belt 8, and the tension sensor and the drive assembly are both connected to the controller signal.

[0083] The driving component can adopt an electric push rod or any other device that outputs linear motion to push the operating component 3 to slide along the Y direction through the driving component; the tension sensor can be set on the side of the synchronous belt 8 or on the rotating shaft of the active pulley 7 that drives the synchronous belt 8 to move, etc. When in use, start the controller, driving component and tension sensor, the tension sensor detects the tension of the synchronous belt 8 in real time, and transmits the tension signal to the controller. The controller analyzes the received tension signal to control the start or stop of the driving component, etc., and drives the tensioning member 2 to drive the linkage member 9, the motor 6 arranged on it and the active pulley 7 installed at the output end of the motor 6 to move, so as to realize the tensioning of the synchronous belt 8. With such a setting, the tensioning mechanism can independently realize the tensioning of the synchronous belt 8, and the degree of automation is high.

[0084] Furthermore, the controller is arranged on the outside of the support assembly 1 and is located on the outer side of the second side plate portion 112. When in use, the controller is located between the support assembly 1 and the motor 6, which will not affect the adjustment of the operating assembly 3.

[0085] It should be noted that the types of the operating component 3 and the tensioning member 2 are not limited, as long as the movement of the operating component 3 along the Y direction can push the tensioning member 2 to move along the X direction. For example, optionally, Figure 7 As shown, in the operating assembly 3, the lower transmission end of the action member 312 is a rack structure, the pushing member 311 passes through the action member 312 and is inserted into the support assembly 1, and is threadedly connected with the support assembly 1 and the action member 312 to push the action member 312 to move along the Y direction. In coordination, the left transmission end of the tensioning member 2 is a rack structure, and a rotatable transmission gear is provided on the support assembly 1, and the transmission gear is located on the right side of the action member 312 and above the tensioning member 2. The lower transmission end of the action member 312 and the left side of the tensioning member 2 are connected. The side transmission ends are meshed with the transmission gear for transmission. After the pusher 311 is rotated to move it downward, the meshing transmission of the lower transmission end of the action member 312 and the transmission gear, and the meshing transmission of the left transmission end of the tensioning member 2 and the transmission gear, make the tensioning member 2 move rightward along the X direction. Correspondingly, the left end of the reset member 4 is connected to the connection structure between its own linkage end and the transmission end of the tensioning member 2, so that after the pusher 311 is rotated to move it upward, the tensioning member 2 is pushed to reset to the left; or, optionally, as Figure 6As shown, in the operating assembly 3, the pushing member 311 is inserted into the supporting assembly 1 through the action member 312 and is threadedly connected with the supporting assembly 1 and the action member 312 to push the action member 312 to move along the Y direction, the lower transmission end of the action member 312 is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the left transmission end of the tensioning member 2, then rotating the pushing member 311 to move it downward, the power is transmitted to the tensioning member 2 through the connecting rod to drive it to move along the X direction.

[0086] In addition to the above-mentioned tensioning mechanism, the utility model also provides a belt transmission mechanism comprising the tensioning mechanism disclosed in the above-mentioned embodiments, the belt transmission mechanism further comprises a motor 6 and a linkage 9, the motor 6 is arranged on the linkage 9, and the tensioning member 2 is connected to the linkage 9 to drive the linkage 9 to move along the first direction, as shown in the figure, Figure 4 and Figure 5 As shown, the general belt transmission system further comprises a driving pulley 7, a driven pulley and a synchronous belt 8 wound around the circumferences of the driving pulley 7 and the driven pulley, when tensioning is needed, the operating assembly 3 is adjusted to drive the tensioning member 2 to drive the linkage 9 to move along the X direction, then the motor 6 arranged on the linkage 9 will move along the X direction with the linkage 9, and further drive the driving pulley 7 to move along the X direction, so that the synchronous belt 8 can be tensioned.

[0087] In addition to the above-mentioned tensioning mechanism and belt transmission mechanism, the utility model also provides a robot comprising the belt transmission mechanism disclosed in the above-mentioned embodiments, the structures of other parts of the robot refer to the prior art, and will not be described herein.

[0088] It should be noted that the relationship terms such as "first" and "second" described above are only used to distinguish one entity from other entities, and do not necessarily require or imply any actual relationship or order between the entities; the "upper surface, lower surface" and the orientation words "up, down, left, right" described above are defined based on the drawings.

[0089] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0090] The tensioning mechanism, belt transmission mechanism and robot provided by the utility model are described in detail above. The principles and implementation manners of the utility model are described by applying specific examples in the text, and the description of the above embodiments is only used to help understand the method and core idea of the utility model. It should be pointed out that, for ordinary skilled persons in the technical field, some improvements and modifications can be made to the utility model without departing from the principles of the utility model, and these improvements and modifications also fall within the protection scope of the utility model.

Claims

1. A tensioning mechanism for tensioning a synchronous belt (8) sleeved on the outer periphery of a driving pulley (7) and a driven pulley, wherein the driving pulley (7) is connected to the output end of a motor (6), and the motor (6) is mounted on a linkage member (9), characterized in that: include: Support assembly (1); A tensioning member (2) is movably provided on the support assembly (1) along a first direction, and the tensioning member (2) is used to be connected to the linkage member (9); A manipulation component (3) is movably provided on the support component (1) along a second direction, and the manipulation component (3) abuts against the tensioning member (2) to drive the tensioning member (2) to move along the first direction, thereby pushing the linkage member (9) to move along the first direction; a non-zero angle is formed between the first direction and the second direction; A reset member (4) has a first end mounted on the support assembly (1) and a second end mounted on the tension member (2), and is used to drive the tension member (2) to reset.

2. The tensioning mechanism according to claim 1, characterized in that: The support component (1) has an accommodating cavity inside, the operating component (3) has an operating end and a first transmission end, and the tensioning member (2) has a second transmission end and a linkage end; The first transmission end and the second transmission end are in transmission cooperation and are both located in the accommodating cavity; The linkage end is used to push the linkage member (9), and the operating end is used for an operator to adjust the position of the operating assembly (3), and both the linkage end and the operating end pass through the peripheral wall of the support assembly (1) and extend to the outside of the support assembly (1).

3. The tensioning mechanism according to claim 2, characterized in that: The angle between the first direction and the second direction is 90 degrees, and the accommodating cavity is a rectangular cavity.

4. The tensioning mechanism according to claim 3, characterized in that: The end faces of the first transmission end and the second transmission end that are in transmission cooperation are both wedge-shaped faces and are in abutment with each other.

5. The tensioning mechanism according to claim 4, characterized in that: The operating assembly (3) comprises a pushing member (311) and an action member (312); The pushing member (311) is threadedly connected to the supporting assembly (1); one end of the pushing member (311) is the operating end, and the other end is used to abut against the action member (312); One end of the action member (312) away from the pushing member (311) is the first transmission end, and the end surface of the first transmission end is the wedge surface.

6. The tensioning mechanism according to claim 5, characterized in that: The tensioning member (2) comprises a supporting portion (21), a connecting portion (22), and two wedge-shaped portions (23); The wedge-shaped portion (23) and the connecting portion (22) are both located at the top of the support portion (21) and connected to the support portion (21), and the two wedge-shaped portions (23) are spaced apart and arranged at both ends of the support portion (21), the connecting portion (22) is located between the two wedge-shaped portions (23), and the connecting portion (22) is connected to the wedge-shaped portions (23) located at both ends thereof; The end of the wedge-shaped portion (23) close to the operating assembly (3) is the second transmission end, the end surface of the second transmission end is the wedge-shaped surface, the wedge-shaped surfaces of the two wedge-shaped portions (23) are both in contact with the wedge-shaped surface of the actuating member (312), and the end of the tensioning member (2) away from the operating assembly (3) and located outside the supporting assembly (1) is the linkage end; The support portion (21), the connecting portion (22) and the two wedge-shaped portions (23) are arranged to form a travel groove (24), and during the movement of the tensioning member (2) along the first direction, the support assembly (1) allows the tensioning member (2) to pass through a side wall on one side and be inserted into the travel groove (24), so as to achieve a preset travel of the tensioning member (2) along the first direction.

7. The tensioning mechanism according to claim 6, characterized in that: The support assembly (1) comprises a base (12) and a top cover (11), wherein the top cover (11) is arranged to cover an opening of the base (12); The base (12) comprises a bottom plate portion (121), a first side plate portion (122), a first end plate portion (123) and a second end plate portion (124), wherein the first side plate portion (122), the first end plate portion (123) and the second end plate portion (124) are all vertically arranged on the top of the bottom plate portion (121), and the first end plate portion (123), the second end plate portion (124) and the first side plate portion (122) are arranged to form a U-shaped structure; The top cover (11) has a top plate portion (111) and a second side plate portion (112), the top plate portion (111) is mounted on the U-shaped structure, the top plate portion (111) is opposite to the bottom plate portion (121), and the second side plate portion (112) is opposite to the first side plate portion (122); The reset member (4) is inserted into the travel groove (24), and a first end of the reset member (4) is mounted on the second side plate portion (112), and a second end is connected to the connecting portion (22); The top plate portion (111) has a threaded hole for threaded connection to the pushing member (311); There are gaps between the second side plate portion (112) and the first end plate portion (123), between the second side plate portion (112) and the second end plate portion (124), and between the second side plate portion (112) and the bottom plate portion (121) for the linkage end of the tensioning member (2) to pass through.

8. The tensioning mechanism according to claim 7, characterized in that: The reset member (4) is a spring, the second side plate portion (112) has a mounting through hole, a plug (5) is inserted into the mounting through hole, and the first end of the reset member (4) is inserted into the mounting through hole and abuts against the plug (5).

9. A belt transmission mechanism, comprising a linkage member (9) and a motor (6), characterized in that: It also includes the tensioning mechanism according to any one of claims 1 to 8, wherein the motor (6) is provided on the linkage member (9), and the tensioning member (2) is connected to the linkage member (9) to drive the linkage member (9) to move along the first direction.

10. A robot, characterized in that: The belt transmission mechanism comprises the belt transmission mechanism according to claim 9.

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