Transmission belt tension correcting device of transmission mechanism

Abstract

The utility model relates to a transmission belt tension correction device of a transmission mechanism. The transmission belt tension calibration device comprises a mounting assembly, a pre-tightening assembly and a measuring assembly, the mounting assembly comprises two mounting wheels which are arranged at an interval and can be used for mounting the transmission belt, and the two mounting wheels can tension the transmission belt; the pre-tightening assembly can adjust the tension of the transmission belt; the measuring assembly comprises a first measuring element and a second measuring element; the first measuring element can measure the tension of the transmission belt, and the second measuring element can measure the first vibration frequency of the transmission belt when the tension reaches a preset value and the second vibration frequency of the transmission belt installed on the transmission mechanism. According to the tension correction device, a force sensor in the RCM transmission mechanism does not need to be utilized, the tension of the transmission belt on the RCM transmission mechanism can be conveniently adjusted to the preset value, and the reliability of the RCM transmission mechanism is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of transmission belt tension detection, and in particular to a transmission belt tension calibration device for a transmission mechanism. Background Technology

[0002] The remote center of motion (RCM) transmission mechanism is a core component of laparoscopic surgical robots. During minimally invasive surgery, it can pass through tiny incisions in the patient's body to access the lesion site. To ensure the transmission accuracy, rigidity, and reliability of the RCM, a steel belt is typically used as the transmission medium. After the steel belt is installed in the transmission mechanism, it needs to be pre-tensioned to achieve the desired tension. If the steel belt tension is too low, the transmission accuracy and rigidity of the mechanism will be insufficient, affecting the stability of the surgery; if the steel belt tension is too high, the lifespan of the steel belt will be significantly shortened, affecting the lifespan and reliability of the entire mechanism.

[0003] Because of the limited space within the transmission mechanism, it is difficult to detect the tension of the steel belt by installing force sensors or similar methods. Therefore, during the gradual pre-tensioning of the steel belt, adjustments are made based on experience, resulting in inconsistent tension after assembly – sometimes too high, sometimes too low, failing to meet requirements. Utility Model Content

[0004] Therefore, it is necessary to provide a transmission belt tension calibration device for a transmission mechanism to address the aforementioned technical problems.

[0005] A transmission belt tension calibration device for a transmission mechanism, comprising:

[0006] The mounting assembly includes two spaced-apart mounting wheels capable of mounting a drive belt, and the two mounting wheels are capable of tensioning the drive belt;

[0007] A pretensioning assembly capable of adjusting the tension of the drive belt; and

[0008] The measuring component includes a first measuring element and a second measuring element; the first measuring element is capable of measuring the tension of the transmission belt, and the second measuring element is capable of measuring a first vibration frequency of the transmission belt when the tension reaches a preset value, and a second vibration frequency of the transmission belt mounted on the transmission mechanism.

[0009] In one embodiment, the transmission belt tension calibration device further includes a base, the mounting wheel is mounted on the base, and at least one of the mounting wheels is movable;

[0010] The pretensioning assembly can drive the movable mounting wheel to move toward or away from the other mounting wheel to adjust the tension of the drive belt; or, the pretensioning assembly can drive at least one movable mounting wheel to rotate relative to the base to adjust the tension of the drive belt.

[0011] In one embodiment, the pretensioning assembly includes a first mounting base movably disposed on the base and connected to the first measuring element, at least one movable mounting wheel disposed on the first mounting base, the first mounting base being movable along the line connecting the two mounting wheels to adjust the distance between the two mounting wheels.

[0012] In one embodiment, the pretensioning assembly further includes a second mounting base and an adjusting member;

[0013] The second mounting base is disposed on the base and through which the adjusting member passes; the adjusting member is connected to the first mounting base and, when in motion, can drive the first mounting base to move along the line connecting the two mounting wheels.

[0014] In one embodiment, the second mounting base is provided with a first optical hole, the first mounting base is provided with a first screw hole, the adjusting member is rotatably inserted through the first optical hole, and the adjusting member cooperates with the first screw hole. When the adjusting member rotates, it can drive the first mounting base to move along the line connecting the two mounting wheels.

[0015] In one embodiment, the pretensioning assembly further includes a guide rail and a slider; the guide rail is disposed on the base and extends along the line connecting the two mounting wheels; the slider is disposed on the first mounting base and is movable along the guide rail.

[0016] In one embodiment, at least one movable mounting wheel has a first distance from the base in its own axial direction;

[0017] The transmission belt tension calibration device further includes a third mounting base, which is connected to the first measuring element and has a first mounting portion extending away from the first mounting base and a second mounting portion extending axially along the corresponding movable mounting wheel. The first mounting portion extends into the first gap and is connected to the movable mounting wheel, and the second mounting portion is connected to the first measuring element.

[0018] In one embodiment, at least one of the mounting wheels is provided with a first groove for fixing the head or tail of the transmission belt;

[0019] At least one of the mounting wheels has a mating surface on its outer peripheral surface adjacent to the opening of the first groove. The curvature of the mating surface is greater than the curvature of the outer peripheral surface of the corresponding mounting wheel, so that the mating surface extends in an arc toward the rotation axis of the corresponding mounting wheel, thereby being able to abut against the transmission belt.

[0020] In one embodiment, the base has at least three mounting positions, and the two mounting wheels can be mounted on any two of the mounting positions to adjust the distance between the two mounting wheels.

[0021] In one embodiment, the belt tension calibration device further includes a display;

[0022] The display is electrically connected to the first measuring element to display the tension value of the transmission belt measured by the first measuring element; and / or, the display is electrically connected to the second measuring element to display the vibration frequency value of the transmission belt measured by the second measuring element.

[0023] The aforementioned transmission belt tension calibration device can adjust the tension of the transmission belt on the mounting assembly via a pre-tensioning component. For example, until the transmission belt tension measured by the first measuring element reaches a preset value, the second measuring element measures the first vibration frequency of the transmission belt when the tension is adjusted to the preset value and the second vibration frequency of the transmission belt mounted on the RCM transmission mechanism. By comparing the first and second vibration frequencies, the tension of the transmission belt on the RCM transmission mechanism is adjusted accordingly until the tension of the transmission belt reaches the expected value. The entire tension adjustment process does not require the use of a force sensor within the RCM transmission mechanism. Therefore, using this tension calibration device, the tension of the transmission belt on the RCM transmission mechanism can be easily adjusted to a preset value, ensuring the reliability of the RCM transmission mechanism. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the RCM transmission mechanism provided in one embodiment of this application.

[0025] Figure 2 for Figure 1 The diagram shows the positions of the drive arm and transmission arm of the linkage assembly after the drive arm has rotated through a certain angle.

[0026] Figure 3 for Figure 1 A schematic diagram of the internal structure of the fixed arm of the provided RCM transmission mechanism.

[0027] Figure 4 This is a schematic diagram of a transmission belt tension calibration structure provided in an embodiment of this application.

[0028] Figure 5 for Figure 4The provided schematic diagram shows the structure of the transmission belt tension calibration when the adjustment component is not installed.

[0029] Figure 6 for Figure 5 The provided diagram shows a partially enlarged view of the transmission belt tension calibration at point M.

[0030] Figure 7 for Figure 4 A schematic diagram of the structure of the third mounting bracket for adjusting the tension of the transmission belt.

[0031] Figure 8 This is a schematic diagram of a transmission belt tension calibration without the transmission belt installed, provided as an embodiment of this application.

[0032] Figure 9 and Figure 10 for Figure 4 and Figure 8 The diagram shows the structure of the mounting wheel on the left side at different angles.

[0033] Figure 11 and Figure 12 for Figure 4 and Figure 8 The diagram shows the structure of the mounting wheel on the left side at different angles.

[0034] Figure 13 for Figure 8 The provided diagram shows the structure of the transmission belt tension calibration under the installed transmission belt.

[0035] The labels in the attached diagram are explained as follows:

[0036] 100. Belt tension calibration device; 110. Base; 111. Mounting position; 120. Mounting assembly; 121. Mounting wheel; 1211. First groove; A. Opening of the first groove; B. Second aperture; C. Second screw hole; 1212. Mating surface; 130. Pre-tightening assembly; 131. First mounting seat; 1311. First screw hole; 1312. Second groove; 132. Second mounting seat; 1321. First aperture; 1322. Third groove; 133. Adjusting component; 134. Guide rail; 135. Slider; 1351. Fourth... 140. Groove; 141. Measuring component; 142. First measuring element; 142. Second measuring element; P. First interval; 150. Third mounting base; 151. First mounting part; 1511. Fifth groove; 152. Second mounting part; 1521. Sixth groove; 1522. Seventh groove; 160. Display; 171. First threaded part; 172. Second threaded part; 200. Transmission mechanism; 210. Fixed arm; 220. Linkage assembly; 221. Active arm; 222. Transmission arm; 230. Transmission belt; 231. Fixed block; 300. Power module; 400. Load module; 500. Medical device. Detailed Implementation

[0037] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0038] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0039] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0043] As one of the core components of the laparoscopic surgical robot, the RCM transmission mechanism 200 has a telecentric fixed point when rotating. By adjusting the overall position of the transmission mechanism 200, the telecentric fixed point of the transmission mechanism 200 can be made to coincide with the position of the incision. Thus, the transmission mechanism 200 can rotate within a certain angle range in space with the telecentric fixed point as the hinge point to adjust to the appropriate position to complete the minimally invasive surgery.

[0044] like Figure 1 As shown, the RCM transmission mechanism 200 may include a fixed arm 210 and a linkage assembly 220; the linkage assembly 220 is rotatable relative to the fixed arm 210. The linkage assembly 220 includes a drive arm 221 and a transmission arm 222, which are rotatably connected and form two adjacent sides of a parallelogram. The drive arm 221 is rotatably connected to the fixed arm 210.

[0045] Regarding the two sides of the parallelogram formed by the active arm 221 and the transmission arm 222, such as Figure 2 As shown, the active arm 221 corresponds to the first side S1, and the transmission arm 222 corresponds to the second side S2. The third side S3 and the fourth side S4 can be connected without a physical structure. The intersection point P of the third side S3 and the fourth side S4 is the telecentric fixed point.

[0046] The input end of the RCM transmission mechanism 200, i.e., the proximal end of the fixed arm 210, is equipped with a power module 300. The power module 300 serves as the power source for the transmission mechanism 200, driving the connecting rod assembly 220 to rotate via the transmission of the fixed arm 210. The output end of the RCM transmission mechanism 200, i.e., the distal end of the transmission arm 222, is equipped with a load module 400. The load module 400 can be fitted with medical instruments 500 such as endoscopes.

[0047] like Figure 3 As shown, the fixed arm 210, the active arm 221, and the transmission arm 222 all have fixed pulleys, rotating pulleys, and transmission belts 230 wound around the fixed pulleys and rotating pulleys. Through the cooperation of the fixed pulleys, rotating pulleys, and transmission belts 230, the power of the power module 300 can be transmitted from the input end to the output end of the transmission mechanism 200. The transmission belt 230 can be a single loop wound around the corresponding fixed pulleys and rotating pulleys. Alternatively, the transmission belt 230 can be two independent parts, for example... Figure 3 The upper and lower drive belts shown are configured such that both ends of the upper drive belt are fixed to corresponding fixed pulleys and rotating pulleys, respectively, and both ends of the lower drive belt are also fixed to corresponding fixed pulleys and rotating pulleys, respectively. The drive belt 230 can be a leather belt or a steel belt.

[0048] During assembly, after the transmission belt 230 is installed on the transmission mechanism 200, it needs to be pre-tightened to ensure that the tension of the transmission belt 230 reaches the expected level. If the tension of the transmission belt 230 is too low, the transmission accuracy and rigidity of the transmission mechanism 200 will be insufficient, affecting the stability of the surgery; if the tension of the transmission belt 230 is too high, the service life of the transmission belt 230 will be severely shortened, affecting the lifespan and reliability of the entire mechanism. However, the internal space of the arm housings of the fixed arm 210, the active arm 221, and the transmission arm 222 is very small, making it impossible to install force sensors or other measuring elements to measure the tension of the transmission belt 230. Therefore, the tension of the steel belt must be adjusted based on experience, resulting in inconsistent tension after assembly, sometimes high and sometimes low, failing to meet actual expectations.

[0049] In this regard, such as Figure 4 As shown, one embodiment of this application provides a transmission belt tension calibration device 100. This device 100 assists in the installation of the transmission belt 230 on the RCM transmission mechanism 200 and can indirectly detect the tension of the transmission belt 230 to ensure that the tension of the transmission belt 230 reaches the expected level. It should be noted that the transmission belt tension calibration device 100 is not only applicable to the RCM transmission mechanism 200, but can also be applied to other transmission devices where space constraints make it inconvenient to detect the tension of the transmission belt 230.

[0050] The belt tension calibration device 100 includes a base 110, a mounting assembly 120, a pre-tensioning assembly 130, and a measuring assembly 140. The base 110 serves as the carrier of the entire device and can be mounted on an operating platform to prevent the belt tension calibration device 100 from shaking during the measurement of the tension and vibration frequency of the belt 230. The base 110 can be fixed to the operating platform by means of screwing, welding, or snap-fitting.

[0051] Among them, Figure 4 As shown, the base 110 has at least three mounting positions 111, and two mounting wheels 121 can be mounted on any two mounting positions 111 to adjust the distance between the two mounting wheels 121. By changing the mounting positions of the mounting wheels 121, the belt tension calibration device 100 can be adapted to belts 230 of different lengths. It should be noted that the mounting positions 111 can be directly set on the wall of the base 110, or they can be set in the upper area of ​​the base 110. For example, Figure 4 The mounting positions 111 shown are set to 3. The two mounting positions 111 on the left are located on the wall of the base 110 and are used to install the left mounting wheel 121. The mounting position 111 on the right is located in the upper area of ​​the base 110 and is used to install the right mounting wheel 121.

[0052] The mounting assembly 120 includes two spaced-apart mounting wheels 121 capable of mounting the transmission belt 230. The two mounting wheels 121 are mounted on the base 110 and can tension the transmission belt 230. The mounting wheels 121 must be the same size as the corresponding transmission wheels (i.e., the fixed wheel 240 or rotating wheel 250 mentioned above) on the RCM transmission mechanism 200 to ensure the measurement accuracy of the transmission belt tension calibration device 100 on the transmission belt 230. Here, the transmission belt 230 refers to the transmission belt 230 of the RCM transmission mechanism 200. That is, before assembling the transmission belt 230 onto the RCM transmission mechanism 200, the transmission belt 230 must be mounted onto the mounting assembly 120 of the transmission belt tension calibration device 100, and corresponding measurements must be performed using the measuring assembly 140.

[0053] The pretensioning assembly 130 is mounted on the base 110 and can adjust the tension of the transmission belt 230, for example, to a preset value. The pretensioning assembly 130 can tension the transmission belt 230 by driving the mounting wheel 121, so that the tension of the transmission belt 230 reaches the preset value; wherein, at least one mounting wheel 121 is movably mounted on the base 110, and the measuring assembly 140 is connected to the pretensioning assembly 130 and the corresponding movable mounting wheel 121.

[0054] As an example, the pretensioning assembly 130 can drive the movable mounting wheel 121 to move closer to or further away from the other mounting wheel 121, adjusting the tension of the drive belt 230 by adjusting the linear distance between the two mounting wheels 121. Both mounting wheels 121 may be movable, or only one of the mounting wheels 121 may be movable. Optionally, one of the mounting wheels 121 (e.g.) Figure 4 The mounting wheel 121 shown on the left is fixed to the base 110, and another mounting wheel 121 (e.g., the one on the left) is fixed to the base 110. Figure 4 The mounting wheel 121 shown on the right is movably mounted on the base 110. This configuration allows for tensioning of the drive belt 230 and also reduces the number of pretensioning components 130 and the first measuring element 141, thus simplifying the structure of the drive belt tension calibration device 100.

[0055] As another example, the pretensioning assembly 130 can drive at least one movable mounting wheel 121 to rotate relative to the base 110 to wind up and unwind the drive belt 230, thereby adjusting the tension of the drive belt 230. As an example, one mounting wheel 121 may rotate relative to the base 110, while the other mounting wheel 121 may remain stationary relative to the base 110.

[0056] The measuring assembly 140 includes a first measuring element 141 and a second measuring element 142. The first measuring element 141 is connected to the pretensioning assembly 130 and a corresponding movably mounted wheel 121, and is capable of measuring the tension of the transmission belt 230. The first measuring element 141 can be a pressure sensor.

[0057] The second measuring element 142 can measure the first vibration frequency f1 of the transmission belt 230 when the tension reaches a preset value and the second vibration frequency f2 of the transmission belt 230 mounted on the transmission mechanism 200. When the first measuring element 141 detects that the tension of the transmission belt 230 has reached the set value, the tension of the transmission belt 230 in the calibration device 100 is maintained, and under this tension, the transmission belt 230 is moved. The second measuring element 142 detects the first vibration frequency f1 of the transmission belt 230. Then, the transmission belt 230 is installed on the RCM transmission mechanism 200, the transmission belt 230 is moved, and the second measuring element 142 is brought close to the transmission belt 230 to measure the second vibration frequency f2 of the transmission belt 230. If f1 and f2 are equivalent (i.e., f2 = f1 ± 2Hz, for example, if f1 is 158Hz, then f2 between 156Hz and 160Hz is sufficient, and the closer to 158Hz, the better the tension meets the requirements), it means that the current tension of the transmission belt 230 is at the expected tension, and the assembly of the transmission belt 230 is complete. Otherwise, the tension of the transmission belt 230 is adjusted and the vibration frequency f2 of the adjusted transmission belt 230 is detected until the tension of the transmission belt 230 reaches the expected value.

[0058] Optionally, the second measuring element 142 can be a Boeing-type tension meter, which can be positioned close to the transmission belt 230. During measurement, simply place the probe of the second measuring element 142 close to the transmission belt 230 within the RCM transmission mechanism 200, facilitating adjustment of the tension of the transmission belt 230. When an external force is applied to the transmission belt 230, the belt initially vibrates in multiple modes, starting at a high frequency and gradually decreasing in amplitude before vibrating at the fundamental frequency. However, the high-frequency vibration decays faster than the fundamental frequency vibration. Thus, the continuous sinusoidal waveform retained from the fundamental frequency vibration corresponds to the tension of the transmission belt 230. By acquiring the fundamental frequency of the transmission belt 230 and processing this fundamental frequency and related data, the vibration curve at the corresponding frequency and the corresponding tension of the transmission belt 230 can be obtained; that is, the tension of the transmission belt 230 corresponds one-to-one with the fundamental frequency.

[0059] The following steps may be included in the use of the transmission belt tension calibration device 100:

[0060] Step (1): Install the transmission belt 230 on the mounting wheel 121 of the transmission belt tension calibration device 100, and adjust the tension of the transmission belt 230 using the pre-tensioning assembly 130 until the first measuring element 141 detects that the tension of the transmission belt 230 reaches the design requirement value or range.

[0061] Step (2): Use a pry bar or other tool to actuate the transmission belt 230, bringing the second measuring element 142 close to the actuation point (at this time, the distance between the probe of the second measuring element 142 and the actuation point of the transmission belt 230 is 1cm~2cm), and measure the first vibration frequency f1 of the transmission belt 230. Multiple sets of data can be measured, and then the average value is taken as the calibration value of the vibration frequency of the transmission belt 230 to avoid random numerical errors. The calibration value can be a numerical range, within which the tension of the corresponding transmission belt 230 can meet the design requirements.

[0062] Step (3): Install the transmission belt 230 onto the RCM drive, pre-tighten the transmission belt 230, and then use a paddle or other tool to paddle the steel belt. Place the probe of the second measuring element 142 close to the paddle point of the transmission belt 230 and measure the second vibration frequency f2 of the transmission belt 230 at the paddle point. If the second vibration frequency f2 is smaller than the calibration value in step (2), increase the tension of the transmission belt 230 and continue to measure the second vibration frequency f2 of the transmission belt 230; if the second vibration frequency f2 is larger than the calibration value in step (2), decrease the tension of the transmission belt 230 and continue to measure the second vibration frequency f2 of the transmission belt 230; repeat this step until the second vibration frequency f2 of the transmission belt 230 is consistent with the calibration value.

[0063] The belt tension calibration device 100 of this application can adjust the tension of the belt 230 on the mounting assembly 120 through the pre-tensioning component 130. For example, until the belt tension measured by the first measuring element 141 reaches a preset value, and the first vibration frequency f1 of the belt 230 when the tension is adjusted to the preset value and the second vibration frequency f2 of the belt 230 mounted on the RCM transmission mechanism 200 are measured by the second measuring element 142, by comparing the first vibration frequency f1 and the second vibration frequency f2, the tension of the belt 230 on the RCM transmission mechanism 200 is adjusted accordingly until the tension of the belt 230 reaches the expected value. The entire tension adjustment process does not require the use of a force sensor inside the RCM transmission mechanism 200. It can be seen that by using this belt tension calibration device 100, the tension of the belt 230 on the RCM transmission mechanism 200 can be easily adjusted to a preset value, ensuring the reliability of the RCM transmission mechanism 200.

[0064] like Figure 4 As shown, in some embodiments, the pretensioning assembly 130 includes a first mounting base 131 movably disposed on the base 110 and connected to the first measuring element 141, and at least one movable mounting wheel 121 disposed on the first mounting base 131. The first mounting base 131 is movable along the line connecting the two mounting wheels 121 to adjust the distance between the two mounting wheels 121. By moving the first mounting base 131, the corresponding movable mounting wheel 121 (e.g., Figure 4 The right-hand mounting wheel 121 shown is facing or away from the other mounting wheel 121 (e.g., Figure 4 The left mounting wheel 121 shown can be moved to decrease or increase the distance between the two mounting wheels 121, thereby reducing or increasing the tension of the transmission belt 230 and allowing the tension of the transmission belt 230 to be adjusted.

[0065] The first mounting base 131 can be connected to the first measuring element 141 by means of screwing, snap-fitting, welding, etc. As an example, such as... Figure 4 As shown, the transmission belt tension calibration device 100 also includes a first threaded component 171, which passes through the first mounting base 131 and is screwed to the first measuring element 141. The first threaded component 171 can be a screw.

[0066] See Figure 4To facilitate the installation of the first measuring element 141 and the first mounting base 131, a second groove 1312 is provided on the side of the first mounting base 131 facing the first measuring element 141, and the first measuring element 141 is accommodated in the second groove 1312. During assembly, the first measuring element 141 can be aligned with the first mounting base 131 and inserted into the second groove 1312. This avoids displacement of the first measuring element 141 when connecting it to the first mounting base 131 using the first threaded part 171, thus ensuring smooth installation of the first measuring element 141 and the first mounting base 131.

[0067] Furthermore, if Figure 4 As shown, in some embodiments, the pretensioning assembly 130 further includes a second mounting base 132 and an adjusting member 133; the second mounting base 132 is disposed on the base 110 and through which the adjusting member 133 passes; the adjusting member 133 is connected to the first mounting base 131 and, when movable, can drive the first mounting base 131 to move along the line connecting the two mounting wheels 121. The adjusting member 133 can be moved relative to the second mounting base 132, thereby driving the first mounting base 131 to move along the line connecting the two mounting wheels 121, so that the corresponding movable mounting wheel 121 moves toward or away from the other mounting wheel 121, thereby achieving the purpose of adjusting the tension of the transmission belt 230.

[0068] In one embodiment, such as Figure 6 As shown, the second mounting base 132 has a first aperture 1321, and the first mounting base 131 has a first screw hole 1311. An adjusting member 133 is rotatably inserted through the first aperture 1321 and engages with the first screw hole 1311. When the adjusting member 133 rotates, it drives the first mounting base 131 to move along the line connecting the two mounting wheels 121. When the adjusting member 133 is rotated clockwise or counterclockwise, because it is screwed into the first screw hole 1311 of the first mounting base 131, and because the adjusting member 133 is axially fixed relative to the first aperture 1321, the first mounting base 131 can move along the adjusting member 133. This causes the corresponding movable mounting wheel 121 to move closer to or further away from the other mounting wheel 121, thereby achieving the purpose of adjusting the tension of the transmission belt 230. It is understood that the first screw hole 1311 is opposite to the first aperture 1321.

[0069] Since the adjusting member 133 is screwed into the first screw hole 1311 of the first mounting base 131, the adjusting member 133 can continuously adjust the moving length of the first mounting base 131, thereby continuously adjusting the tension of the transmission belt 230, and adjusting the tension of the transmission belt 230 to any preset value.

[0070] Of course, in another embodiment, the second mounting base 132 is provided with a first through hole, and the adjusting member 133 can pass through the first through hole and move axially along the first through hole. The adjusting member 133 is also connected to the first mounting base 131. The inner wall of the first through hole is provided with first locking positions (not shown in the figures) spaced apart along its own axial direction. The portion of the adjusting member 133 that passes through the first through hole is provided with second locking positions spaced apart along its own axial direction (not shown in the figures). By axially pushing and pulling the adjusting member 133, the second locking positions can be engaged with the first locking positions, thereby locking the first mounting base 131. This also achieves the purpose of adjusting the tension of the transmission belt 230. At least one of the first and second locking positions is provided with multiple positions spaced apart along the axial direction of the first through hole. Because the first and second locking positions are intermittently provided, the adjusting member 133 can only intermittently adjust the tension of the transmission belt 230.

[0071] Among them, Figure 6 As shown, the second mounting base 132 has a third groove 1322 on the side facing the first mounting base 131. The third groove 1322 can accommodate the head of the first threaded member 171. When the first mounting base 131 moves toward the second mounting base 132 and approaches the second mounting base 132, the third groove 1322 of the second mounting base 132 can accommodate the head of the first threaded member 171, thus avoiding the movement of the first mounting base 131.

[0072] Furthermore, in order to ensure that the first mounting base 131 can move linearly along the adjusting member 133, such as Figure 4 and Figure 6 As shown, in some embodiments, the pre-tightening assembly 130 further includes a guide rail 134 and a slider 135; the guide rail 134 is disposed on the side of the base 110 facing the first mounting seat 131 and extends along the line connecting the two mounting wheels 121; the slider 135 is disposed on the side of the first mounting seat 131 facing the base 110 and is movable along the guide rail 134. Through the cooperation of the guide rail 134 and the slider 135, the first mounting seat 131 can move linearly along the adjusting member 133.

[0073] In one embodiment, such as Figure 6 As shown, a fourth groove 1351 that mates with the guide rail 134 is provided on the side of the slider 135 facing the first mounting base 131. The fourth groove 1351 extends through the slider 135 along the line connecting the two mounting wheels 121. By providing the fourth groove 1351 on the slider 135, it can be ensured that the slider 135 can move smoothly along the guide rail 134. Of course, in some other embodiments, a fourth groove that mates with the slider 135 is provided on the side of the rail facing away from the first mounting base 131, and the fourth groove extends along the moving direction of the first mounting base 131.

[0074] like Figure 4 and Figure 5As shown, in some embodiments, at least one movable mounting wheel 121 has a first distance P from the base 110 in its own axial direction; the belt tension calibration device 100 also includes a third mounting base 150, which is connected to the first measuring element 141 and has a first mounting portion 151 extending away from the first mounting base 131 (see...). Figure 4 and Figure 7 The first mounting portion 151 extends into the first gap P and connects to the corresponding movable mounting wheel 121. The third mounting base 150 facilitates the connection between the first measuring element 141 and the corresponding movable mounting wheel 121.

[0075] Furthermore, such as Figure 4 and Figure 7 As shown, in one embodiment, the third mounting base 150 further has a second mounting portion 152 extending axially along the corresponding movable mounting wheel 121, the second mounting portion 152 being connected to the first measuring element 141. The second mounting portion 152 of the third mounting base 150 can be connected to the side of the first measuring element 141 facing away from the first mounting base 131, facilitating the connection between the third mounting base 150 and the first measuring element 141.

[0076] The second mounting portion 152 of the third mounting base 150 can be connected to the first measuring element 141 by means of screwing, snap-fitting, welding, etc. As an example, such as... Figure 4 As shown, the transmission belt tension calibration device 100 also includes a second threaded member 172, which passes through the second mounting portion 152 of the third mounting base 150 and is screwed to the first measuring element 141. The second threaded member 172 can be a screw.

[0077] Among them, see Figure 5 The first mounting part 151 has a fifth groove 1511 on the side opposite to the base 110 and the second mounting part 152 has a sixth groove 1521 on the side opposite to the first measuring element 141. The fifth groove 1511 and the sixth groove 1521 are connected to accommodate the head of the second threaded part 172.

[0078] To facilitate the installation of the first measuring element 141 and the second mounting part 152, such as Figure 7 As shown, the second mounting portion 152 has a seventh groove 1522 on the side facing the first measuring element 141, and the first measuring element 141 is accommodated in the seventh groove 1522. During assembly, the first measuring element 141 can be aligned with the second mounting portion 152 and inserted into the seventh groove 1522. This avoids displacement of the first measuring element 141 when connecting it to the second mounting portion 152 using the second threaded part 172, and ensures smooth installation of the first measuring element 141 and the second mounting base 132.

[0079] As mentioned above, the transmission belt 230 in the RCM transmission mechanism 200 is either a full turn or a half turn. For the half-turn transmission belt 230, the head and tail of the transmission belt 230 are respectively provided with fixing blocks 231 (see...). Figure 4 The transmission belt 230 is mounted to the corresponding transmission pulley on the RCM transmission mechanism 200 via a fixing block 231. To achieve this, in order to mate with the fixing block 231 on the transmission belt 230, as follows... Figures 8 to 12 As shown, in some embodiments of this application, at least one mounting wheel 121 is provided with a first groove 1211 for fixing the head or tail of the transmission belt 230. For example, Figure 4 The mounting wheel 121 on the left side shown is provided with a first groove 1211, and the fixing block 231 of the head of the transmission belt 230 is accommodated in the first groove 1211. Figure 4 The mounting wheel 121 on the right side shown also has a first groove 1211, in which the fixing block 231 at the tail of the transmission belt 230 is accommodated; for example again, Figure 4 The mounting wheel 121 on the left side shown is provided with a first groove 1211, and the fixing block 231 of the head of the transmission belt 230 is accommodated in the first groove 1211; as another example, Figure 4 The mounting wheel 121 shown on the right side has a first groove 1211, and the fixing block 231 at the tail of the transmission belt 230 is accommodated in the first groove 1211.

[0080] in, Figures 9 to 12 As shown, at least one mounting wheel 121 has a mating surface 1212 on its outer peripheral surface adjacent to the opening A of the first groove. The curvature of the mating surface 1212 is greater than the curvature of the outer peripheral surface of the corresponding mounting wheel 121, so that the mating surface 1212 extends in an arc toward the rotation axis of the corresponding mounting wheel 121, thereby being able to abut against the transmission belt 230. When the fixing block 231 at the head or tail of the transmission belt 230 is installed into the first groove 1211, the portion of the transmission belt 230 adjacent to its own head or tail can abut against the outer peripheral surface of the mounting wheel 121, which can reduce the tensile stress between the transmission belt 230 and the fixing block 231 and prevent the head or tail of the transmission belt 230 from falling off the corresponding fixing block 231.

[0081] For example, Figure 4 The outer peripheral surfaces of the mounting wheel 121 on the left and right sides shown both have mating surfaces 1212 adjacent to the opening A of their own first groove; as another example, Figure 4 The outer peripheral surface of the mounting wheel 121 shown on the left has a mating surface 1212 adjacent to the opening A of its own first groove; as another example, Figure 4 The outer peripheral surface of the mounting wheel 121 shown on the right has a mating surface 1212 adjacent to the opening A of its own first groove.

[0082] Regarding the structure of the first groove 1211, this application does not impose specific limitations, as long as it can accommodate the corresponding fixing block 231. To facilitate the installation and removal of the transmission belt 230 on the calibration device, the fixing block 231 can be fixed to the corresponding mounting wheel 121 by screwing. Correspondingly, the transmission belt tension calibration device 100 also includes a third threaded component (not shown in the drawings). The third threaded component passes through the side wall of the corresponding first groove 1211 and is screwed to the corresponding fixing block 231, or the third threaded component passes through the corresponding fixing block 231 and is screwed to the side wall of the corresponding first groove 1211. The side wall of the first groove 1211 can... Figure 9 and Figure 10 The image shows a second aperture B, or as shown... Figure 11 and Figure 12 The diagram shows a second screw hole C. The second aperture B can be a through hole, and the second screw hole C can be a blind hole.

[0083] like Figure 8 and Figure 13 As shown, in some embodiments of this application, the transmission belt tension calibration device further includes a display 160, which can display the measurement results of the measuring component 140, making it convenient for operators to obtain the measurement results.

[0084] As an example, such as Figure 8 and Figure 13 As shown, the display 160 is electrically connected to the first measuring element 141 to display the tension value of the drive belt 230 measured by the first measuring element 141. As another example, the display 160 is electrically connected to the second measuring element 142 to display the vibration frequency value of the drive belt 230 measured by the second measuring element 142. As yet another example, the display 160 is electrically connected to both the first measuring element 141 and the second measuring element 142 to display the vibration frequency value of the drive belt 230 measured by the second measuring element 142.

[0085] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A transmission belt tension calibration device for a transmission mechanism, characterized in that, include: The mounting assembly includes two spaced-apart mounting wheels capable of mounting a drive belt, and the two mounting wheels are capable of tensioning the drive belt; A pretensioning assembly capable of adjusting the tension of the drive belt; and The measuring component includes a first measuring element and a second measuring element; the first measuring element is capable of measuring the tension of the transmission belt, and the second measuring element is capable of measuring a first vibration frequency of the transmission belt when the tension reaches a preset value, and a second vibration frequency of the transmission belt mounted on the transmission mechanism.

2. The transmission belt tension calibration device according to claim 1, characterized in that, The transmission belt tension calibration device also includes a base, the mounting wheel is mounted on the base, and at least one of the mounting wheels is movable; The pretensioning assembly can drive the movable mounting wheel to move toward or away from the other mounting wheel to adjust the tension of the drive belt; or, the pretensioning assembly can drive at least one movable mounting wheel to rotate relative to the base to adjust the tension of the drive belt.

3. The transmission belt tension calibration device according to claim 2, characterized in that, The pretensioning assembly includes a first mounting base movably disposed on the base and connected to the first measuring element, and at least one movable mounting wheel disposed on the first mounting base. The first mounting base is movable along the line connecting the two mounting wheels to adjust the distance between the two mounting wheels.

4. The transmission belt tension calibration device according to claim 3, characterized in that, The pretensioning assembly also includes a second mounting base and an adjusting component; The second mounting base is disposed on the base and through which the adjusting member passes; the adjusting member is connected to the first mounting base and, when in motion, can drive the first mounting base to move along the line connecting the two mounting wheels.

5. The transmission belt tension calibration device according to claim 4, characterized in that, The second mounting base is provided with a first light hole, and the first mounting base is provided with a first screw hole. The adjusting member is rotatably inserted through the first light hole and engages with the first screw hole. When the adjusting member rotates, it can drive the first mounting base to move along the line connecting the two mounting wheels.

6. The transmission belt tension calibration device according to claim 5, characterized in that, The pre-tightening assembly further includes a guide rail and a slider; the guide rail is disposed on the base and extends along the line connecting the two mounting wheels; the slider is disposed on the first mounting seat and is capable of moving along the guide rail.

7. The transmission belt tension calibration device according to claim 2, characterized in that, At least one movable mounting wheel has a first distance from the base in its own axial direction; The transmission belt tension calibration device further includes a third mounting base, which is connected to the first measuring element and has a first mounting portion extending away from the first mounting base and a second mounting portion extending axially along the corresponding movable mounting wheel. The first mounting portion extends into the first gap and is connected to the movable mounting wheel, and the second mounting portion is connected to the first measuring element.

8. The transmission belt tension calibration device according to any one of claims 1 to 7, characterized in that, At least one of the mounting wheels is provided with a first groove for fixing the head or tail of the transmission belt; At least one of the mounting wheels has a mating surface on its outer peripheral surface adjacent to the opening of the first groove. The curvature of the mating surface is greater than the curvature of the outer peripheral surface of the corresponding mounting wheel, so that the mating surface extends in an arc toward the rotation axis of the corresponding mounting wheel, thereby being able to abut against the transmission belt.

9. The transmission belt tension calibration device according to any one of claims 1 to 7, characterized in that, The base has at least three mounting positions, and the two mounting wheels can be installed in any two of the mounting positions to adjust the distance between the two mounting wheels.

10. The transmission belt tension calibration device according to any one of claims 1 to 7, characterized in that, The transmission belt tension calibration device also includes a display; The display is electrically connected to the first measuring element to display the tension value of the transmission belt measured by the first measuring element; And / or, the display is electrically connected to the second measuring element to display the vibration frequency value of the drive belt measured by the second measuring element.

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