A tension adjusting mechanism of a two-stage speed reduction device of a four-axis robot

Abstract

The utility model provides a kind of four-axis robot two-stage speed reduction device's tension adjusting mechanism, belong to mechanical technical field, for balancing transmission efficiency and synchronous belt life. Four-axis robot includes small arm and its built-in motor. Two-stage speed reduction device includes the driving wheel one of fixed connection motor rotating shaft, the driven wheel one, two and driven wheel two of small arm inner rotation connection, driven wheel one and driving wheel two fixed connection;Driving wheel one and driven wheel one are driven by synchronous belt one, and driving wheel two and driven wheel two are driven by synchronous belt two. Tension adjusting mechanism includes the support one, two that small arm inner can slide positioning along length direction, motor is fixed in support one, and driving wheel two is rotationally connected in support two;Adjusting screw one, two are rotationally arranged in small arm, adjusting screw one is pulled by thread transmission support one, and adjusting screw two is pulled by thread transmission support two. The tension adjusting mechanism of the utility model can improve the service life of synchronous belt while ensuring transmission efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical technology and relates to a tension adjustment mechanism for a two-stage reduction device of a four-axis robot. Background Technology

[0002] Four-axis robots, due to their multi-joint coordination, can replace manual labor in different postures to perform tasks such as picking up and unloading goods, assembling parts, and packaging. They are indispensable mechanical devices in modern manufacturing.

[0003] Due to the actual needs of the work, there are extremely high requirements for the smoothness of the elbow axis and the wrist axis operation and the precision of motion control. In this regard, the existing technology often uses a two-stage reduction device to meet the above requirements. For example, the transmission device of the horizontal multi-joint robot wrist rotation axis disclosed in Chinese Patent (application publication number: CN105965499A) includes a base, a lower arm and an upper arm connected to the lower arm on the base, a motor fixed on the upper arm, a wrist flange and a spline shaft connected to the wrist flange below the upper arm, the spline shaft and the motor are connected through a transmission mechanism, the transmission mechanism includes a first pulley connected to the output shaft of the motor, a second pulley located inside the upper arm, a third pulley coaxially connected to the second pulley, and a fourth pulley sleeved on the outside of the spline shaft. The first pulley and the second pulley are connected by a first belt, and the third pulley and the fourth pulley are connected by a second belt.

[0004] Combined with paragraph 0014 of its instruction manual and appendix Figure 2 It can be seen that after the motor shaft rotates, the structure drives the first pulley to rotate, and drives the second and third pulleys to rotate through the first belt. The third pulley drives the fourth pulley, the drive shaft and the spline nut to rotate through the second belt. The spline nut then drives the spline shaft and the wrist flange to rotate.

[0005] The first and second belts are crucial components in the transmission process. In existing technologies, since the positions of each pulley are fixed, the tension of the first and second belts cannot be adjusted. If the tension of the two belts is too low, slippage will occur, resulting in a decrease in transmission efficiency. Therefore, to ensure the reliability of the transmission, the first and second belts are often assembled with high tension. However, if the tension of the two belts is too high, it will increase the load on the belts and shorten their lifespan. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a tension adjustment mechanism for a two-stage reduction gear in a four-axis robot. The technical problem this invention aims to solve is: how to improve the service life of the synchronous belt while ensuring transmission efficiency.

[0007] The objective of this utility model can be achieved through the following technical solution: a tension adjustment mechanism for a two-stage reduction gear of a four-axis robot. The four-axis robot includes a forearm and a motor installed inside the forearm. The two-stage reduction gear includes a first drive wheel fixed to the motor shaft, a first driven wheel, a second drive wheel, and a second driven wheel rotatably connected inside the forearm. The first driven wheel and the second drive wheel are fixedly connected and are connected by a synchronous belt. The second drive wheel and the second driven wheel are connected by a synchronous belt. The tension adjustment mechanism includes a first support and a second support located inside the forearm. The first support and the second support can slide and be positioned along the length of the forearm. The motor is fixed to the first support, and the second drive wheel is rotatably connected to the second support. The tension adjustment mechanism also includes an adjusting screw and an adjusting screw rotatably connected inside the forearm. The first adjusting screw can pull the first support through threaded transmission, and the second adjusting screw can pull the second support through threaded transmission.

[0008] Compared to existing technologies, this application differs in that: Based on the original structure, a first bracket for mounting the motor and a second bracket for mounting the second drive wheel are added to the forearm. The first and second brackets can slide along the length of the forearm and can be positioned after being controlled by the operator. Furthermore, an adjusting screw first and an adjusting screw second are rotatably connected inside the forearm. The adjusting screw first is connected to the first bracket, and the adjusting screw second is connected to the second bracket. The sliding action of the first bracket is achieved through the threaded engagement between the adjusting screw first and the first bracket, and the sliding action of the second bracket is achieved through the threaded engagement between the adjusting screw second and the second bracket. In actual assembly, based on the prior art disclosed in the comparative documents, due to the structural limitations of the secondary reduction gear, the assembly of the entire transmission mechanism generally involves first installing the second synchronous belt, and then installing the synchronous belt. In this process, after the operator assembles the second synchronous belt, they can first adjust the tension of the second synchronous belt by sliding the second bracket within the forearm using the second adjusting screw. This allows the tension of the second synchronous belt to be adjusted adaptively to a suitable range. Then, the second bracket is locked in place to ensure that the second synchronous belt always maintains this tension. Next, the first synchronous belt is assembled. Since the driven pulley one and the driving pulley two are in a follow-up relationship, the position of the first bracket is adjusted adaptively by adjusting the first adjusting screw according to the actual position of the driven pulley one. That is, the first bracket is slid within the forearm by adjusting the first adjusting screw to adjust the tension of the first synchronous belt. This allows the tension of the first synchronous belt to be adjusted adaptively to a suitable range. Then, the first bracket is locked in place to ensure that the first synchronous belt always maintains this tension. This ensures that the first and second synchronous belts used for transmission operate under appropriate tension, effectively guaranteeing their service life.

[0009] In the tension adjustment mechanism of the above-mentioned four-axis robot two-stage reduction device, the bracket 1 includes a plate-shaped body with a through-shaft hole, the drive wheel 1 is located below the through-shaft hole, the motor shaft passes through the through-shaft hole and is fixedly connected to the drive wheel 1, the body has a number of strip holes 1 arranged along the length of the forearm, the tension adjustment mechanism also includes a number of locking screws 1, each locking screw 1 passes through the strip hole 1 and is screwed to the forearm, so that the body is pressed tightly on the forearm. The motor's shaft is arranged through a through-hole, allowing it to rotate towards the drive pulley. The plate-shaped body, which forms the main structure of the support, is secured by several locking screws and slotted holes, ensuring the support is positioned within the forearm. Loosening the locking screws allows the adjusting screws to pull the support within the length range of each slotted hole, thus adaptively adjusting the positions of the support and the motor. Furthermore, the change in the motor shaft position adjusts the position of the drive pulley accordingly, thereby regulating the tension of the synchronous belt.

[0010] In the tension adjustment mechanism of the above-mentioned four-axis robot two-stage reduction device, the bracket one also includes an L-shaped connecting plate, which is fixed to one side edge of the body. The connecting plate has a connecting hole one, and the forearm has a fixing post one. The fixing post one has a fixing hole on its upper side. The adjusting screw one is screwed to the connecting hole one and inserted into the fixing hole, and the adjusting screw one and the fixing hole are rotatably connected. The tension adjustment of synchronous belt one is carried out after the tension of synchronous belt two has been adjusted. As can be seen from the above scheme, the movement of bracket two will cause driving wheel two and driven wheel one to move towards driving wheel one. Although this can achieve tension of synchronous belt two, it will cause the tension of synchronous belt one to decrease. In this application, a fixed column one is used as a support structure. The adjusting screw one is inserted into the fixing hole on the fixed column one to keep the position of the adjusting screw one. Then, the adjusting screw one is screwed into the connecting hole one of the connecting plate. Under the action of the thread, the connecting plate drives the body to move towards the front end of the forearm, that is, the driving wheel one moves away from the driven wheel one to increase the distance between the two, thereby tightening the synchronous belt. The tension of synchronous belt one is controlled by adjusting the thread feed of the adjusting screw one and the connecting hole one.

[0011] In the tension adjustment mechanism of the four-axis robot's two-stage reduction gear described above, a positioning nut is screwed onto the adjusting screw, and the positioning nut abuts against the side of the connecting plate opposite to the fixed post. The positioning nut engages with the adjusting screw and abuts against the side of the connecting plate opposite to the fixed post, thus locking the adjusting screw and effectively preventing it from falling off during subsequent robot operation.

[0012] In the tension adjustment mechanism of the aforementioned four-axis robot two-stage reduction device, the second bracket is C-shaped, and a second connecting hole is provided on the side of the second bracket, which extends through the side of the second bracket. A second fixing post is located inside the forearm, and a fixing groove is located at the top of the second fixing post. The second adjusting screw is rotatably connected to the fixing groove and screwed into the second connecting hole. Specifically, for adjusting the tension of the second synchronous belt, the second adjusting screw is limited by the fixing groove at the top of the second fixing post. Ensuring that the second adjusting screw can only rotate circumferentially, the second adjusting screw is screwed into the second connecting hole on the side wall of the second bracket. The rotation of the second adjusting screw pulls the second bracket and the second driving wheel mounted on the second bracket towards the first driving wheel, increasing the distance between the second driving wheel and the second driven wheel, thus adjusting the originally low-tensioned second synchronous belt to a suitable tension.

[0013] In the tension adjustment mechanism of the aforementioned four-axis robot's two-stage reduction gear, a positioning nut is screwed onto the adjusting screw, and the positioning nut abuts against the outer wall of the fixed column. The positioning nut locks the adjusting screw, effectively preventing it from falling off during subsequent robot operation.

[0014] In the tension adjustment mechanism of the aforementioned four-axis robot two-stage reduction gear, the top and bottom of the bracket two have mounting ports, each containing a fixed bearing. The top and bottom of the drive wheel two have connecting protrusions, with two connecting protrusions corresponding to and extending out of the mounting ports, respectively, and the connecting protrusions at the top of the driven wheel one and the drive wheel two are fixed together. Specifically, the drive wheel two is connected and fixed to the bearing inner rings mounted at the upper and lower ends of the bracket two through the connecting protrusions at its two ends. Simultaneously, the upper connecting protrusion cooperates with the driven wheel one, thereby realizing the power transmission between the synchronous belt one and the synchronous belt two.

[0015] In the tension adjustment mechanism of the aforementioned four-axis robot two-stage reduction device, several strip-shaped holes are provided on both sides of the top of the bracket two along the length of the forearm. The tension adjustment mechanism includes several locking screws, each of which passes through the strip-shaped holes and is screwed onto the forearm, pressing the bracket two firmly onto the forearm. Similarly, the bracket two is also locked and positioned by several locking screws and several adjustment holes after the tension of the timing belt two has been adjusted, preventing displacement of the bracket two from affecting the tension of the timing belt two.

[0016] In the tension adjustment mechanism of the four-axis robot's two-stage reduction gear described above, several receiving grooves are also provided on both sides of the top of the bracket two along the length of the forearm. These receiving grooves are arranged one-to-one around several strip holes two, and the heads of several locking screws two are embedded one-to-one in the receiving grooves. This arrangement effectively accommodates each locking screw two, preventing the heads of each locking screw two from protruding too much and interfering with the top of the bracket two.

[0017] Compared with existing technologies, the tension adjustment mechanism of this four-axis robot's two-stage reduction gear has the following advantages:

[0018] The motor and the drive pulley 1 fixed on the motor shaft are supported by bracket 1, and the drive pulley 2 and the driven pulley 1 fixed to the drive pulley 2 are supported by bracket 2. During assembly, the operator can first drive bracket 2 to move by adjusting screw 2, so that the distance between drive pulley 2 and driven pulley 2 is increased, so that the originally low tension of the timing belt 2 is brought to a suitable tension. Then, the operator can drive bracket 1 to move by adjusting screw 1, so that the distance between drive pulley 1 and driven pulley 1 is increased, so that the originally low tension of the timing belt 1 is brought to a suitable tension. This ensures transmission efficiency while improving the service life of the timing belt. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the tension adjustment mechanism of the two-stage reduction gear of this four-axis robot.

[0020] Figure 2 This is a structural schematic diagram of the tension adjustment mechanism of the two-stage reduction gear of this four-axis robot from another perspective.

[0021] Figure 3 This is a schematic diagram of the tension adjustment mechanism of the two-stage reduction gear of this four-axis robot after removing the motor, bracket 1, and driven wheel 1.

[0022] Figure 4 This is a structural schematic diagram of bracket one.

[0023] Figure 5 This is a structural schematic diagram of support bracket two.

[0024] Figure 6 This is a schematic diagram of the forearm structure.

[0025] Figure 7 This is a schematic diagram of the structure of the second active wheel.

[0026] In the diagram: 1. Forearm; 11. Motor; 12. Bracket 1; 121. Body; 1211. Through-shaft hole; 1212. Strip hole 1; 122. Connecting plate; 1221. Connecting hole 1; 13. Bracket 2; 131. Connecting hole 2; 132. Mounting port; 1321. Bearing; 133. Strip hole 2; 134. Receiving groove; 14. Adjusting screw 1; 141. Positioning nut 1; 15. Adjusting screw 2; 151. Positioning nut 2; 16. Fixing post 1; 161. Fixing hole; 17. Fixing post 2; 171. Fixing groove; 2. Drive wheel 1; 3. Driven wheel 1; 4. Drive wheel 2; 41. Connecting protrusion; 5. Driven wheel 2; 6. Synchronous belt 1; 7. Synchronous belt 2; 8. Locking screw 1; 9. Locking screw 2. Detailed Implementation

[0027] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0028] like Figure 1-3 As shown, in the tension adjustment mechanism of the two-stage reduction device of this four-axis robot, the four-axis robot includes a forearm 1 and a motor 11 installed in the forearm 1. The two-stage reduction device includes a drive wheel 2 fixed on the rotating shaft of the motor 11, a driven wheel 3, a drive wheel 4, and a driven wheel 5 rotatably connected in the forearm 1. The drive wheel 2 and the driven wheel 3 are connected and driven by a synchronous belt 6, and the drive wheel 4 and the driven wheel 5 are connected and driven by a synchronous belt 7. The driven wheel 3 and the drive wheel 4 are fixedly connected. That is to say, the power output by the motor 11 can be transmitted and output outward through the cooperation of each drive wheel, each driven wheel, and each synchronous belt, and the power is smoothly transmitted by means of two-stage transmission.

[0029] Combination Figure 4-6 The tension adjustment mechanism includes a bracket 12, a bracket 2 13, an adjusting screw 14, and an adjusting screw 2 15 located inside the forearm 1. Adjusting screw 14 and adjusting screw 2 15 are both hexagonal socket head cap screws. The bracket 12 specifically includes a plate-shaped body 121 and an L-shaped connecting plate 122 fixed to one edge of the body 121. The motor 11 is vertically mounted and locked to the body 121 of the bracket 12 by fastening screws. A shaft hole 1211 is formed at the center of the body 121. The drive wheel 2 is located below the body 121, and its center coincides with the center of the shaft hole 1211. The shaft of the motor 11 passes through the shaft hole 1211 and is keyed to the drive wheel 2. A fixing post 16 is located on the inner bottom wall of the forearm 1 in front of the motor 11. A fixing hole 161 is provided on the outer wall of one side facing the front end of the forearm 1. The connecting plate 122 specifically includes two parts: a horizontal section and a vertical section. The horizontal section abuts against the edge of the body 121 and is locked by connecting screws. A connecting plate 122 is provided on its vertical section, which runs through the side walls of both sides. An adjusting screw 14 is screwed to the connecting plate 122 and inserted into the fixing hole 161. The adjusting screw 14 abuts against the inner bottom wall of the fixing hole 161. A positioning nut 141 is also screwed onto the adjusting screw 14. Several spaced strip holes 1212 are provided on both sides of the body 121 along the length of the forearm 1. Each strip hole 1212 is provided with a locking screw 8, which is screwed to the forearm 1, thereby pressing the entire bracket 12 onto the forearm 1.

[0030] Combination Figure 7The bracket 2 13 is C-shaped, with a connecting hole 2 131 extending horizontally along its side. A fixing post 2 17 is located in front of the bracket 2 13 within the forearm 1. A fixing groove 171 is formed at the top of the fixing post 2 17. An adjusting screw 2 15 is rotatably connected to the fixing groove 171 and screwed into the connecting hole 2 131. The head of the adjusting screw 2 15 abuts against the side wall of the fixing post 2 17 facing away from the bracket 2 13. A positioning nut 2 151 is screwed onto the adjusting screw 2 15 on the side of the fixing post 2 17 facing the bracket 2 13. Mounting ports 132 are formed at both the top and bottom of the bracket 2 13. The two mounting ports 132 are identical in size and coaxially arranged. A bearing 1321 is fixed within each mounting port 132. The drive wheel 2 4 is cylindrical, with connecting holes at both its top and bottom. The two connecting protrusions 41 extend out of the two mounting ports 132 and are fixed to the inner ring of the bearing 1321. The driven wheel 3 is sleeved on the connecting protrusion 41 located at the upper end of the driving wheel 4 and locked by a positioning screw. Several spaced strip holes 133 are provided on both sides of the top of the bracket 13 along the length of the forearm 1. Each strip hole 133 is provided with a locking screw 9, and each locking screw 9 is screwed to the forearm 1, thereby pressing the entire bracket 12 onto the forearm 1. Furthermore, several receiving grooves 134 are provided on the top of the bracket 13, and the receiving grooves 134 are arranged around the strip holes 133 one by one. The heads of each locking screw are embedded in the receiving grooves 134 one by one, thereby preventing interference between the driven wheel 3 and the top of the bracket 13.

[0031] Operating principle: During assembly, first assemble the second stage structure of the two-stage reduction gear. Then, put the timing belt 7 around the driving pulley 4 and driven pulley 5. In this state, the timing belt 7 is not taut. At this time, the operator first loosens each locking screw 9 slightly. By turning the adjusting screw 15 counterclockwise, the adjusting screw 15 and the connecting hole 131 of the bracket 13 will cooperate to pull the bracket 13 towards the front end of the forearm 1. The range of movement is limited by the slotted hole 133 and the locking screw 9. Finally, the driving pulley 4... The distance between pulley 4 and driven pulley 5 is appropriately increased to ensure that the timing belt 7 is under suitable tension. All locking screws 9 are then tightened to ensure the stable positioning of bracket 13. Finally, the positioning nut 151 is tightened so that it and the fixing post 17 are pressed against the side of bracket 13, thus locking and positioning the adjusting screw 15. Furthermore, to improve the positioning stability, washers are placed on both sides of the adjusting screw 15 located on the fixing post 17, with one washer pressing against the head of the adjusting screw 15. Another washer and positioning nut 151 are tightened to further improve the locking stability. Then, the timing belt 6 is put on the outside of the driving pulley 2 and the driven pulley 3. Since the driven pulley 3 and the driving pulley 4 are assembled and fixed together, the forward movement of the bracket 13 causes the driven pulley 3 to move forward as well, resulting in a decrease in the distance between the driving pulley 2 and the driven pulley 3. At this time, the operator first loosens each locking screw 8 slightly, and then adjusts the adjusting screw 14 counterclockwise. The adjusting screw 14 and the connecting plate 122 cooperate with each other. Pull the bracket 12 towards the front end of the forearm 1. The range of movement is limited by the slot 1212 and the locking screw 8. This increases the distance between the drive wheel 2 and the driven wheel 3, ensuring that the timing belt 6 is under suitable tension. Tighten each locking screw 8 to ensure the stable positioning of the bracket 12. Finally, tighten the positioning nut 141 so that the positioning nut 141 and the side of the connecting plate 122 facing away from the fixed column 16 are pressed together, thereby locking and positioning the adjusting screw 14.

[0032] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0033] Although this document frequently uses terms such as forearm 1, motor 11, bracket 12, body 121, shaft hole 1211, strip hole 1212, connecting plate 122, connecting hole 1221, bracket 2 13, connecting hole 2 131, mounting port 132, bearing 1321, strip hole 2 133, receiving groove 134, adjusting screw 14, positioning nut 141, adjusting screw 2 15, positioning nut 2 151, fixing post 16, fixing hole 161, fixing post 2 17, fixing groove 171, driving wheel 1 2, driven wheel 1 3, driving wheel 2 4, connecting protrusion 41, driven wheel 2 5, timing belt 1 6, timing belt 2 7, locking screw 1 8, locking screw 2 9, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. A tension adjustment mechanism for a two-stage reduction gear of a four-axis robot, the four-axis robot including a forearm (1) and a motor (11) disposed in the forearm (1), the two-stage reduction gear including a drive wheel (2) fixedly connected to the rotating shaft of the motor (11), a driven wheel (3), a drive wheel (4) and a driven wheel (5) rotatably connected in the forearm (1), the driven wheel (3) and the drive wheel (4) being fixedly connected, the drive wheel (2) and the driven wheel (3) being connected and driven by a synchronous belt (6), and the drive wheel (4) and the driven wheel (5) being connected and driven by a synchronous belt (7), characterized in that, The tension adjustment mechanism includes a first bracket (12) and a second bracket (13) located in the forearm (1). The first bracket (12) and the second bracket (13) can slide and be positioned along the length of the forearm (1). The motor (11) is fixed on the first bracket (12). The second drive wheel (4) is rotatably connected in the second bracket (13). The tension adjustment mechanism also includes an adjustment screw (14) and an adjustment screw (15) rotatably connected in the forearm (1). The adjustment screw (14) can pull the first bracket (12) through threaded transmission, and the adjustment screw (15) can pull the second bracket (13) through threaded transmission.

2. The tension adjustment mechanism of the four-axis robot two-stage reduction device according to claim 1, characterized in that, The bracket (12) includes a plate-shaped body (121) with a through hole (1211). The drive wheel (2) is located below the through hole (1211). The motor (11) shaft passes through the through hole (1211) and is fixedly connected to the drive wheel (2). The body (121) has several strip holes (1212) arranged along the length of the forearm (1). The tension adjustment mechanism also includes several locking screws (8). Each locking screw (8) passes through the strip hole (1212) and is screwed to the forearm (1), so that the body (121) is pressed onto the forearm (1).

3. The tension adjustment mechanism of the four-axis robot two-stage reduction device according to claim 2, characterized in that, The bracket (12) also includes an L-shaped connecting plate (122), which is fixed to one side edge of the body (121). The connecting plate (122) has a connecting hole (1221). The forearm (1) has a fixing post (16), which has a fixing hole (161) on the horizontal side. The adjusting screw (14) and the connecting hole (1221) are screwed together and inserted into the fixing hole (161), and the adjusting screw (14) and the fixing hole (161) are rotatably connected.

4. The tension adjustment mechanism of the four-axis robot two-stage reduction device according to claim 3, characterized in that, A positioning nut (141) is screwed onto the adjusting screw (14), and the positioning nut (141) and the side of the connecting plate (122) facing away from the fixing column (16) are pressed together.

5. The tension adjustment mechanism of the four-axis robot two-stage reduction gear according to any one of claims 1-4, characterized in that, The second bracket (13) is C-shaped. The second bracket (13) has a second connecting hole (131) on its side, and the second connecting hole (131) passes through the side of the second bracket (13). The forearm (1) has a second fixing post (17), and the top of the second fixing post (17) has a fixing groove (171). The second adjusting screw (15) is rotatably connected in the fixing groove (171) and screwed into the second connecting hole (131).

6. The tension adjustment mechanism of the four-axis robot two-stage reduction device according to claim 5, characterized in that, The adjusting screw 2 (15) is screwed with a positioning nut 2 (151), and the positioning nut 2 (151) and the outer wall of the fixing post 2 (17) are tightly pressed together.

7. The tension adjustment mechanism of the four-axis robot two-stage reduction device according to claim 6, characterized in that, The bracket 2 (13) has mounting holes (132) at the top and bottom, and each mounting hole (132) has a bearing (1321) fixed inside. The drive wheel 2 (4) has connecting protrusions (41) at the top and bottom. The two connecting protrusions (41) are fixed to the inner rings of the two bearings (1321) and extend out of the mounting holes (132). The driven wheel 1 (3) and the connecting protrusions (41) at the top of the drive wheel 2 (4) are fixed together.

8. The tension adjustment mechanism of the four-axis robot two-stage reduction device according to claim 7, characterized in that, The top of the bracket (13) has several strip holes (133) on both sides along the length of the forearm (1). The tension adjustment mechanism includes several locking screws (9). Each locking screw (9) passes through the strip hole (133) and screws into the forearm (1), pressing the bracket (13) onto the forearm (1).

9. The tension adjustment mechanism of the four-axis robot two-stage reduction device according to claim 8, characterized in that, On both sides of the top of the bracket (13) along the length of the forearm (1), there are several receiving grooves (134). The several receiving grooves (134) are arranged around the several strip holes (133) in a corresponding manner. The heads of several locking screws (9) are embedded in the several receiving grooves (134) in a corresponding manner.

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