Synchronous belt anti-skipping mechanism and SCARA robot

Abstract

The application discloses a synchronous belt anti-tooth skipping mechanism and a SCARA robot. The synchronous belt anti-tooth skipping mechanism comprises a sliding seat and contact wheels arranged on the sliding seat. The sliding seat is arranged on one side of a driving pulley of a synchronous belt transmission mechanism, and the sliding seat can move horizontally relative to the driving pulley along the radial direction of the driving pulley. The contact wheels are arranged in two, and the two contact wheels are arranged on the two sides of the driving pulley along the radial direction of the driving pulley. The center distance between the two contact wheels is not greater than the sum of the diameter of the contact wheel, the diameter of the driving pulley and twice the thickness of the synchronous belt. The gap between the contact wheel and the driving pulley is less than the tooth height of the synchronous belt along the direction of the line connecting the center of the contact wheel and the center of the driving pulley. By pressing the synchronous belt on one side of the driving pulley through the contact wheel, the phenomenon of tooth skipping of the synchronous belt transmission mechanism under heavy load transmission conditions can be effectively avoided, and the machining quality and machining efficiency of the SCARA robot are ensured.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a synchronous belt anti-tooth skipping mechanism and a SCARA robot. Background Technology

[0002] Most existing SCARA robots (planar articulated robots) use synchronous belt drives between their third and fourth axes. Due to the material characteristics of synchronous belts, a tensioning mechanism is usually required to ensure the belt is tensioned, thus preventing it from coming loose or skipping teeth. This ensures the stability and accuracy of the synchronous belt drive mechanism. The tensioning mechanism can also guide the belt's direction and adjust its arrangement, making it easier to adapt to the limited space on the SCARA robot's forearm.

[0003] However, for the synchronous belt drive mechanism between the third and fourth axes of a SCARA robot, even with a tensioning mechanism in place, when the robot end effector is under heavy load or the fourth axis generates a large moment of inertia due to high-speed rotation, the meshing between the synchronous belt teeth and the drive pulley teeth can easily become loose, resulting in the synchronous belt skipping. For the fourth axis of a SCARA robot, which requires high-precision motion, this will seriously affect the repeatability of the fourth axis, thereby affecting the machining quality and efficiency of the SCARA robot. Furthermore, the reduced positioning accuracy can also easily lead to collisions between the actuator connected to the fourth axis of the SCARA robot and the workpiece to be processed, resulting in damage to the workpiece, the actuator, or even the entire SCARA robot.

[0004] This shows that existing technologies still have certain shortcomings. Utility Model Content

[0005] The purpose of this invention is to provide a synchronous belt anti-tooth skipping mechanism and a SCARA robot, in order to solve the problem of synchronous belt tooth skipping that exists in the existing four-axis SCARA robot using synchronous belt drive between the third and fourth axes.

[0006] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, this utility model provides a synchronous belt anti-tooth skipping mechanism, including a sliding seat and contact wheels disposed on the sliding seat. The sliding seat is disposed on one side of the driving pulley of the synchronous belt transmission mechanism, and the sliding seat can move horizontally relative to the driving pulley along the radial direction of the driving pulley. Two contact wheels are provided, and along the radial direction of the driving pulley, the two contact wheels are disposed opposite each other on both sides of the driving pulley, and the center distance between the two contact wheels is not greater than the sum of the diameter of the contact wheel, the diameter of the driving pulley, and twice the thickness of the synchronous belt. Along the line connecting the center of the contact wheel and the center of the driving pulley, the gap between the contact wheel and the driving pulley is less than the tooth height of the synchronous belt.

[0007] In the above solution, by pressing the synchronous belt against the drive pulley via a contact wheel, tooth skipping in the synchronous belt drive mechanism under heavy load conditions can be effectively prevented. This helps ensure the repeatability and positioning accuracy of the fourth axis of the SCARA robot, thus guaranteeing the machining quality and efficiency of the SCARA robot. Furthermore, the anti-tooth skipping mechanism in this solution is simple in structure, flexible in its installation, and can adapt to the limited installation space in the forearm of a SCARA robot or other types of industrial robots.

[0008] In a preferred embodiment of this application, the drive pulley is disposed on the mounting base, and the sliding seat is connected to the mounting base and is capable of horizontally reciprocating relative to the mounting base along the radial direction of the drive pulley.

[0009] In the above solution, the movement of the sliding seat relative to the drive pulley can adapt to the belt pressing needs of drive pulleys of different specifications, and is conducive to adapting to the installation limitations of different installation spaces, which is conducive to improving the installation flexibility and versatility of the anti-tooth skipping mechanism in this application.

[0010] In a preferred embodiment of this application, the mounting base is provided with a moving track, the sliding seat is slidably engaged with the moving track, the sliding seat is generally U-shaped, the two contact wheels are disposed opposite to the ends of the protruding arms on both sides of the U-shaped structure, and the middle of the U-shaped structure has a receiving groove for accommodating the drive pulley.

[0011] In the above scheme, by setting up a moving track, it is not only convenient for the horizontal movement of the sliding seat, but also to guide and limit the movement of the sliding seat. This helps to ensure the accuracy of the horizontal movement adjustment of the sliding seat, and thus ensures that the center distance between the two contact wheels and the gap between the contact wheel and the drive pulley meet the requirements for preventing tooth skipping. At the same time, the U-shaped structure of the sliding seat can adapt well to the structure of the drive pulley, and the U-shaped structure can establish a connection between the two extended arms, which can improve the load resistance of the two extended arms in the radial direction of the drive pulley, and ensure the accurate and stable position of the contact wheel.

[0012] In a preferred embodiment of this application, the sliding seat includes a central body and two extension arms symmetrically connected to both sides of the central body. The two extension arms are detachably rotatably connected to the central body. The central body and / or the extension arms are provided with anti-rotation limiting members, which are used to limit the rotation of the central body and the extension arms. The central body slides in conjunction with the moving track.

[0013] In the above scheme, the detachable rotating connection between the extension arm and the central body facilitates the flexible replacement of extension arms of different specifications and sizes according to actual needs, and the adjustment of the included angle between the two extension arms and the central body to adjust the distance between the ends of the two extension arms, that is, to adjust the center distance between the two contact wheels. This allows it to adapt to the installation restrictions of different specifications of drive pulleys, different thicknesses of synchronous belts, and different sizes of contact wheels on the anti-tooth skipping mechanism, greatly improving the adaptability and versatility of the anti-tooth skipping mechanism in this application.

[0014] In a preferred embodiment of this application, the moving track is a track groove formed on the mounting base plate, and the track groove extends radially along the drive pulley; a sliding block is provided on the side of the sliding seat facing the mounting base plate, and the sliding block slides in cooperation with the track groove.

[0015] In the above scheme, the use of the track groove structure can make full use of the installation space below the upper surface of the mounting base, thereby reducing the use of the upper installation space of the mounting base. On the one hand, it is convenient to install the anti-skid tooth mechanism, and on the other hand, it is also beneficial to reduce the vertical dimension of the upper structure of the mounting base, which helps to lower the center of gravity of the entire SCARA robot forearm structure to ensure the stability of the forearm structure when performing horizontal rotation.

[0016] In a preferred embodiment of this application, the moving track is an I-beam rail disposed on the mounting base, the I-beam rail extending radially along the drive pulley; the sliding seat is provided with an I-beam groove adapted to the I-beam rail on the side facing the mounting base, and the sliding seat is slidably connected to the mounting base through the cooperation between the I-beam groove and the I-beam rail.

[0017] In the above scheme, the combination of I-beam rail and I-beam groove can provide guidance and limit for the radial horizontal movement of the sliding seat relative to the active pulley. On the other hand, it can also limit the sliding seat in the circumferential direction through the combination of I-beam rail and I-beam groove, without the need for a separate axial limiting device / structure. Moreover, the combination structure between I-beam groove and I-beam rail is simple and compact, which is conducive to the miniaturization of the entire anti-skid tooth structure and adapts to the limited installation space inside the SCARA robot forearm structure.

[0018] As a preferred embodiment of this application, a limiting block is also included, which is disposed on the side of the sliding seat away from the driving pulley.

[0019] In the above scheme, by setting a limit block, the movement of the sliding seat can be restricted within the movable range, so as to prevent the moving distance of the sliding seat from exceeding the travel distance of the aforementioned moving track.

[0020] In a preferred embodiment of this application, a buffer layer is provided on the side wall of the receiving groove facing the drive pulley.

[0021] In the above solution, by setting a buffer layer, damage to the drive pulley and timing belt caused by collision between the receiving groove and the drive pulley during assembly and use can be prevented. Preferably, the buffer layer can be a buffer rubber layer with a certain degree of elasticity made of rubber material, or a flexible buffer layer made of flexible materials such as sponge.

[0022] In a preferred embodiment of this application, the sliding seat is provided with a contact wheel mounting part, which includes a mounting base, a small shaft for mounting the contact wheel, and a mounting cover plate. The lower end of the small shaft is connected to the mounting base, and the mounting cover plate is disposed on the upper part of the small shaft.

[0023] In the above scheme, the installation structure of the contact wheel is simple and practical. By setting the installation cover plate, it can limit and support the small shaft at both ends, so as to avoid the small shaft bending and deforming during long-term use due to only one end being stressed, which would increase the gap between the contact wheel and the drive pulley and prevent it from playing the role of preventing tooth skipping.

[0024] As a preferred embodiment of this application, it further includes an auxiliary contact wheel, wherein one or more auxiliary contact wheels are provided around the circumference of the drive pulley, and the auxiliary contact wheel is disposed between two of the contact wheels.

[0025] In the above solution, by setting an auxiliary contact wheel, the contact limit position with the synchronous belt can be increased, thereby better pressing the synchronous belt onto the drive pulley to avoid tooth skipping. Furthermore, the auxiliary contact wheel can distribute the contact pressure between the two contact wheels and the synchronous belt, which is beneficial for adapting to the anti-tooth skipping belt pressing requirements of different specifications of synchronous belts and drive pulley mating structures. It also makes it easier to reduce the size of the two contact wheels, adapting to usage scenarios with limited installation space, such as inside the forearm of a SCARA robot, and improving the versatility of the synchronous belt anti-tooth skipping structure in this application.

[0026] Secondly, this application also provides a SCARA robot, which includes the timing belt anti-tooth-skipping mechanism described above. The SCARA robot described in this utility model has the same beneficial effects as the aforementioned timing belt anti-tooth-skipping mechanism, and will not be repeated here. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a SCARA robot in an example; Figure 2 This is a schematic diagram of the mounting structure of a synchronous belt anti-tooth skipping mechanism on the forearm of a SCARA robot, as shown in an example. Figure 3 This is a cross-sectional view of the mating structure between the contact wheel and the sliding seat from BB's perspective. Figure 4 This is a cross-sectional view of the partial mating structure of the drive pulley, contact pulley, and transmission base from a CC perspective.

[0028] List of components and reference numerals: 1. Forearm, 2. Drive pulley, 3. Contact pulley, 4. Sliding seat, 5. Tensioning mechanism, 6. Synchronous belt, 7. Driven pulley, 8. Fourth shaft, 9. Small shaft, 10. Fixing screw, 11. Mounting screw, 12. Retaining ring. Detailed Implementation

[0029] To more clearly illustrate the overall concept of this utility model, a detailed description will be provided below with reference to the accompanying drawings.

[0030] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0031] like Figures 1-4As shown, a synchronous belt 6 anti-tooth skipping mechanism is provided, which includes a sliding seat 4 and a contact wheel 3 disposed on the sliding seat 4. The sliding seat 4 is disposed on one side of the driving pulley 2 of the synchronous belt 6 transmission mechanism, and the sliding seat 4 can move horizontally relative to the driving pulley 2 along the radial direction of the driving pulley 2. There are two contact wheels 3, which are disposed opposite to each other on both sides of the driving pulley 2 along the radial direction of the driving pulley 2, and the center distance between the two contact wheels 3 is not greater than the sum of the diameter of the contact wheel 3, the diameter of the driving pulley 2 and twice the thickness of the synchronous belt 6. Along the line connecting the center of the contact wheel 3 and the center of the driving pulley 2, the gap between the contact wheel 3 and the driving pulley 2 is less than the tooth height of the synchronous belt 6. In the above scheme, by limiting the center distance between the two contact wheels 3 and the clearance between the contact wheel 3 and the drive pulley 2, the synchronous belt 6 is pressed down to prevent tooth skipping under heavy-load transmission conditions. This also avoids excessive pressing force from the contact wheel 3 on the synchronous belt 6, which could cause difficulties in the operation of the synchronous belt 6 transmission mechanism. This reduces wear on the synchronous belt 6 and the drive pulley 2, extends the service life of each structure, and ensures transmission accuracy and efficiency. Consequently, it helps ensure the repeatability of the fourth axis 8 of the SCARA robot, guaranteeing the machining quality and efficiency of the SCARA robot. Furthermore, the anti-tooth skipping mechanism of the synchronous belt 6 in the above scheme is simple in structure and flexible in its installation, making it particularly suitable for the limited installation space in the forearm 1 of the SCARA robot or other types of industrial robot structures.

[0032] This application also provides a SCARA robot that applies the above-mentioned synchronous belt 6-tooth anti-skip mechanism, continuing to refer to... Figure 2 As shown, the third and fourth axes 8 of the SCARA robot are connected by a synchronous belt 6 transmission mechanism. This synchronous belt 6 transmission mechanism includes the aforementioned driving pulley 2, synchronous belt 6, driven pulley 7, and tensioning mechanism 5. The aforementioned anti-tooth-skipping mechanism of the synchronous belt 6 is located between the third and fourth axes 8 of the SCARA robot and can cooperate with the tensioning mechanism 5 of the synchronous belt 6 transmission mechanism to prevent tooth skipping in the synchronous belt 6 transmission mechanism between the third and fourth axes 8 of the SCARA robot.

[0033] Preferred, refer to Figure 2 As shown, the active pulley 2 is mounted on the mounting base, i.e., the forearm 1 of the SCARA robot. The sliding seat 4 is connected to the mounting base and can reciprocate horizontally relative to the mounting base along the radial direction of the active pulley 2. In the above scheme, the movement of the sliding seat 4 relative to the active pulley 2 can adapt to the belt pressing needs of active pulleys 2 of different specifications, and is beneficial to adapting to the installation limitations of different installation spaces, thereby improving the installation flexibility and versatility of the anti-skip tooth mechanism of the synchronous belt 6 in this application.

[0034] In a preferred embodiment of this application, the mounting base is provided with a moving track, and the sliding seat 4 slides in conjunction with the moving track. (Continuing to refer to...) Figure 2 As shown, the sliding seat 4 has an overall U-shaped structure. Two contact wheels 3 are positioned opposite each other at the ends of the extended arms on both sides of the U-shaped structure. The middle of the U-shaped structure has a receiving groove to accommodate the drive pulley 2. By setting a moving track, the horizontal movement of the sliding seat 4 is facilitated, and it can also guide and limit the movement of the sliding seat 4, which helps to ensure the accuracy of the horizontal movement adjustment of the sliding seat 4. This ensures that the center distance between the two contact wheels 3 and the gap between the contact wheels 3 and the drive pulley 2 meet the anti-tooth skipping requirements. At the same time, the U-shaped structure of the sliding seat 4 can adapt well to the structure of the drive pulley 2, and the connection between the two extended arms using the U-shaped structure can improve the load resistance of the two extended arms in the radial direction of the drive pulley 2, ensuring the accurate and stable position of the contact wheels 3. Preferably, the sliding seat 4 includes a central body and extended arms symmetrically connected to both sides of the central body. The two extended arms are detachably rotatably connected to the central body. The central body and / or the extended arms are provided with anti-rotation limiting components to prevent rotation of the central body and the extended arms. The central body slides in conjunction with the moving track. It should be noted that this application does not specifically limit the structure of the sliding seat, the type of the anti-rotation limiting component, or the way it cooperates with the extension arm and the central body. The sliding seat can also be an integral structure, and the anti-rotation limiting component can be a limiting pin or a locking bolt. The extension arm and the central body have corresponding limiting pin holes or corresponding bolt holes. The limiting pin passes through the pin hole to limit the rotation of the extension arm, or the locking bolt passes through the bolt hole and cooperates with the nut to fix the central body and the extension arm, thereby limiting the rotation of the extension arm. Of course, other different configuration schemes can also be adopted.

[0035] In the above scheme, the detachable rotating connection between the extendable arm and the central body facilitates the flexible replacement of extendable arms of different specifications and sizes according to actual needs, and the adjustment of the included angle between the two extendable arms and the central body to adjust the distance between the ends of the two extendable arms, that is, to adjust the center distance between the two contact wheels 3. This can adapt to the installation restrictions of different specifications of drive pulleys 2, different thicknesses of synchronous belts 6 and different sizes of contact wheels 3 on the anti-tooth skipping mechanism of synchronous belt 6, greatly improving the adaptability and versatility of the anti-tooth skipping mechanism of synchronous belt 6 in this application.

[0036] In one example, the moving track is a track groove formed on the mounting base, extending radially along the drive pulley 2; a sliding block is provided on the side of the sliding seat 4 facing the mounting base, and the sliding block slides into the track groove. Using a track groove structure can fully utilize the mounting space below the upper surface of the mounting base, thereby reducing the use of the upper mounting space. This facilitates the installation of the anti-skid tooth mechanism of the synchronous belt 6 and also helps to reduce the vertical dimensions of the upper structure of the mounting base, thus lowering the center of gravity of the entire SCARA robot forearm 1 structure to ensure the stability of the forearm 1 structure during horizontal rotation.

[0037] In another example, the moving track is an I-beam rail mounted on the mounting base, extending radially along the drive pulley 2; the sliding seat 4 has an I-beam groove adapted to the I-beam rail on the side facing the mounting base, and the sliding seat 4 is slidably connected to the mounting base through the fit between the I-beam groove and the I-beam rail. The use of the I-beam rail and I-beam groove fit provides guidance and limitation for the radial horizontal movement of the sliding seat 4 relative to the drive pulley 2, and also limits the sliding seat 4 in the circumferential direction through the fit between the I-beam rail and the I-beam groove, eliminating the need for a separate axial limiting device / structure. Furthermore, the fit between the I-beam groove and the I-beam rail is simple and compact, which is beneficial for the miniaturization of the entire anti-skid tooth structure and adapts to the limited installation space inside the SCARA robot forearm 1 structure.

[0038] It should also be noted that the arrangement of the moving track and its cooperation with the sliding seat 4 in this application are not limited to the above examples. The above examples are only preferred examples of this application, and other different moving guide structures can also be used. This application does not make any specific limitations on this.

[0039] In a preferred embodiment of this application, a limiting block is also included, which is disposed on the side of the sliding seat 4 away from the drive pulley 2. By setting the limiting block, the movement of the sliding seat 4 can be restricted within its movable range, preventing the movement distance of the sliding seat 4 from exceeding the travel distance of the aforementioned moving track. In practical applications, the limiting block can also be replaced by the existing structure on the mounting base plate, that is, the horizontal movement travel of the sliding seat 4 can be directly limited by the original fixing structure on the mounting base plate. This setting method can further simplify the structure of the anti-skid tooth mechanism of the synchronous belt 6 and reduce the occupation of limited installation space. Of course, this is only one preferred embodiment of this application, and this application does not make any specific limitations on it.

[0040] In a preferred embodiment of this application, a buffer layer is provided on the side wall of the receiving groove facing the drive pulley 2. By providing the buffer layer, damage to the drive pulley 2 and the timing belt 6 caused by collisions between the receiving groove and the drive pulley 2 during assembly and use can be prevented. Preferably, the buffer layer can be a rubber layer with a certain degree of elasticity, or a flexible buffer layer made of flexible materials such as sponge. Of course, other different buffer layer structures can also be used, and this application does not specifically limit this.

[0041] Furthermore, referring to Figure 3 and Figure 4 As shown, the sliding seat 4 is provided with a contact wheel mounting part, which includes a mounting base, a small shaft 9 for mounting the contact wheel 3, and a mounting cover plate. The lower end of the small shaft 9 is connected to the mounting base, and a retaining ring 12 is provided on the upper part of the small shaft 9 to axially limit the contact wheel 3. The mounting cover plate is provided on the upper part of the small shaft 9. For details, refer to... Figure 3 As shown, the small shaft 9 is connected to the mounting base by fixing screws 10, and the mounting base is fixed to the sliding seat 4 by mounting screws 11. The above-mentioned mounting structure of the contact wheel 3 is simple and practical, and by setting the mounting cover plate, it can limit and support the small shaft 9 at both ends, avoiding the small shaft 9 from bending and deforming during long-term use due to only one end being stressed, which would increase the gap between the contact wheel 3 and the drive pulley 2 and prevent it from playing the role of preventing tooth skipping.

[0042] As a preferred embodiment of this application, the anti-tooth-skipping mechanism of the synchronous belt 6 in this application is further provided with an auxiliary contact wheel 3. One or more auxiliary contact wheels 3 can be provided, arranged around the circumference of the drive pulley 2, with one or more auxiliary contact wheels 3 positioned between two contact wheels 3. By providing auxiliary contact wheels 3, the contact limiting position with the synchronous belt 6 can be increased, thereby better pressing the synchronous belt 6 onto the drive pulley 2 to prevent tooth skipping. Furthermore, the auxiliary contact wheels 3 can distribute the contact pressure between the two contact wheels 3 and the synchronous belt 6, which is beneficial for adapting to the anti-tooth-skipping pressure requirements of different specifications of synchronous belt 6 and drive pulley 2 mating structures. It also facilitates reducing the size of the two contact wheels 3, adapting to usage scenarios with limited installation space, such as inside the SCARA robot forearm 1, thus improving the versatility of the anti-tooth-skipping structure of the synchronous belt 6 in this application.

[0043] The technical solutions protected by this utility model are not limited to the above embodiments. It should be noted that any combination of the technical solutions of any embodiment with one or more other embodiments is within the protection scope of this utility model. Although this utility model has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of this utility model are within the scope of protection claimed by this utility model.

Claims

1. A timing belt anti-tooth skipping mechanism, characterized in that, The mechanism includes a sliding seat and contact wheels disposed on the sliding seat. The sliding seat is located on one side of the drive pulley of the synchronous belt drive mechanism and is capable of horizontal movement relative to the drive pulley along the radial direction. Two contact wheels are provided, arranged opposite each other on both sides of the drive pulley along the radial direction, with the center distance between the two contact wheels not greater than the sum of the diameter of the contact wheel, the diameter of the drive pulley, and twice the thickness of the synchronous belt. Along the line connecting the center of the contact wheel and the center of the drive pulley, the gap between the contact wheel and the drive pulley is less than the tooth height of the synchronous belt.

2. The synchronous belt anti-tooth skipping mechanism as described in claim 1, characterized in that, The drive pulley is disposed on the mounting base, and the sliding seat is connected to the mounting base and is capable of horizontally reciprocating relative to the mounting base along the radial direction of the drive pulley.

3. The synchronous belt anti-tooth skipping mechanism as described in claim 2, characterized in that, The mounting base is provided with a moving track, and the sliding seat slides in cooperation with the moving track. The sliding seat is U-shaped in general. The two contact wheels are arranged opposite to each other at the ends of the arms extending from both sides of the U-shaped structure. The middle of the U-shaped structure has a receiving groove that can accommodate the drive pulley.

4. The synchronous belt anti-tooth skipping mechanism as described in claim 3, characterized in that, The sliding seat includes a central body and two symmetrically connected extension arms on both sides of the central body. The two extension arms are detachably rotatably connected to the central body. The central body and / or the extension arms are provided with anti-rotation limiting members, which are used to limit the rotation of the central body and the extension arms. The central body slides in conjunction with the moving track.

5. The synchronous belt anti-tooth skipping mechanism as described in claim 3, characterized in that, The moving track is a track groove formed on the mounting base plate, and the track groove extends radially along the drive pulley; a sliding block is provided on the side of the sliding seat facing the mounting base plate, and the sliding block slides in engagement with the track groove.

6. The synchronous belt anti-tooth skipping mechanism as described in claim 3, characterized in that, The moving track is an I-beam rail disposed on the mounting base, and the I-beam rail extends radially along the drive pulley; the sliding seat is provided with an I-beam groove adapted to the I-beam rail on the side facing the mounting base, and the sliding seat is slidably connected to the mounting base through the cooperation between the I-beam groove and the I-beam rail.

7. The synchronous belt anti-tooth skipping mechanism as described in any one of claims 5 or 6, characterized in that, It also includes a limiting block, which is disposed on the side of the sliding seat away from the driving pulley; the side wall of the receiving groove facing the driving pulley is provided with a buffer layer.

8. The synchronous belt anti-tooth skipping mechanism as described in claim 7, characterized in that, The sliding seat is provided with a contact wheel mounting part, which includes a mounting base, a small shaft for mounting the contact wheel, and a mounting cover plate. The lower end of the small shaft is connected to the mounting base, and the mounting cover plate is disposed on the upper part of the small shaft.

9. The synchronous belt anti-tooth skipping mechanism as described in claim 8, characterized in that, It also includes auxiliary contact wheels, one or more of which are arranged around the circumference of the drive pulley, and the auxiliary contact wheels are disposed between two of the contact wheels.

10. A SCARA robot, characterized in that, Includes the synchronous belt anti-skip tooth mechanism as described in claim 9.

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