Tensile force self-correction system, method, synchronous belt system, device and medium

Abstract

A tensile force self-correction system, a method, a synchronous belt system, a device and a medium, relating to the technical field of automation and aiming to ameliorate the problem of inaccurate tensile force measurement. The system comprises: a pressure application module (201), a measurement module (202) and a controller (203). The pressure application module (202) is in contact with the midpoint of a synchronous belt and is used for applying a contact pressure to the synchronous belt; the measurement module (202) is used for acquiring the downward pressure displacement generated by the synchronous belt under the action of the contact pressure; the controller (203) is configured to: determine the real-time tensile force of the synchronous belt on the basis of multiple groups of contact pressures and downward pressure displacements, and adjust the contact pressure applied by the pressure application module (201) to the synchronous belt until the real-time tensile force is the same as a rated tensile force.

Description

Tensioning force self-correction system, method, synchronous belt system, equipment and medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on January 22, 2024, with application number 2024100947965 and application name “Tensioning force self-correction system, method, synchronous belt system, equipment and medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of automation technology, and in particular to a tension self-correction system, method, synchronous belt system, equipment and medium. Background Art

[0003] In industrial applications, most robotic arms and production lines utilize synchronous belts for transmission. To ensure proper engagement between the belt and pulleys and transmission efficiency, the belt must be properly tensioned to maintain a certain tension, known as the belt tension. If the belt tension falls outside the rated tolerance, it can affect its proper operation and, in turn, its service life. Therefore, it's important to adjust the belt tension to the rated value to ensure proper operation. Summary of the Invention

[0004] The embodiments of the present application provide a tension self-correction system, method, synchronous belt system, device and medium for improving the problem of inaccurate tension measurement.

[0005] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0006] In the first aspect, the present application provides a tension self-correction system, which includes: a pressure module, a measuring module and a controller; the pressure module contacts the midpoint of the synchronous belt and is used to apply contact pressure to the synchronous belt; the measuring module is used to obtain the downward displacement generated by the synchronous belt under the action of contact pressure; the controller is configured to: determine the real-time tension of the synchronous belt based on multiple sets of contact pressure and downward displacement; and adjust the contact pressure applied to the synchronous belt by the pressure module until the real-time tension is the same as the rated tension.

[0007] In existing solutions, when measuring the tension, in order to ensure the measurement accuracy, it is necessary to measure when the synchronous belt is shut down for maintenance, which will affect the normal use of the synchronous belt. The tension self-correction system provided by the present application can apply contact pressure to the synchronous belt through the pressure module during the normal operation of the synchronous belt, and obtain the downward displacement of the synchronous belt under the contact pressure. Then, based on the corresponding relationship between the downward displacement and the contact pressure, the real-time tension of the synchronous belt is determined. Finally, the applied contact pressure is adjusted in real time according to the relationship between the real-time tension of the synchronous belt and the rated tension, thereby realizing online measurement and online adjustment of the tension.

[0008] In one possible implementation, the controller is specifically configured to determine a tension coefficient and an initial tension of the synchronous belt based on multiple sets of contact pressures and downward displacements; the contact pressures, downward displacements, tension coefficients, and initial tensions satisfy:

[0009] Where F is the contact pressure, Δh is the downward displacement, k is the tension coefficient, Δx is the initial tension, and L is the center distance of the synchronous belt;

[0010] The initial tensioning force is determined based on the tensioning coefficient and the initial tensioning amount; the tensioning coefficient, the initial tensioning amount and the initial tensioning force satisfy: T0=kΔx

[0011] Where T0 is the initial tension;

[0012] Determine the real-time tension based on the initial tension; the initial tension and the real-time tension satisfy:

[0013] Among them, T1 is the real-time tension.

[0014] In a possible embodiment, the pressure module includes a pressure head cantilever, a first slide, a first elastic member and a measuring pressure head; the first slide is fixedly connected to the pressure head cantilever, the first elastic member is accommodated in the first slide, one end of the first elastic member is connected to the first end of the pressure head cantilever, and the other end of the first elastic member is connected to the measuring pressure head; when the first elastic member is deformed, it drives the measuring pressure head to displace along the extension direction of the first slide.

[0015] In a possible implementation, the measurement module includes a first displacement sensor configured to collect a first deformation of the first elastic member; and the controller is further configured to determine the contact pressure according to the first deformation.

[0016] In a possible embodiment, the pressure module also includes a second slide, a second elastic member, a driving member and a transmission member; the second slide is fixedly connected to the pressure head cantilever, the second elastic member is accommodated in the second slide, one end of the second elastic member is connected to the second end of the pressure head cantilever, and the other end of the second elastic member is connected to the driving member; one end of the transmission member is connected to the pressure head cantilever, and the other end of the transmission member is connected to the driving member; the driving member is used to apply a force in a first direction to the pressure head cantilever through the transmission member; the second elastic member is used to apply a force in a second direction to the pressure head cantilever.

[0017] In one possible embodiment, the measurement module also includes a second displacement sensor, which is configured to collect a second deformation of the second elastic member; the controller is further configured to: when the contact pressure is equal to the contact pressure threshold, determine the downward displacement based on the second deformation and the first deformation.

[0018] In the second aspect, the present application provides a tension self-correction method, which is applied to the tension self-correction system of the first aspect. The method includes: obtaining the contact pressure applied to the synchronous belt and the downward displacement generated by the synchronous belt under the action of the contact pressure; determining the real-time tension of the synchronous belt based on multiple sets of contact pressures and downward displacements; adjusting the contact pressure according to the difference between the real-time tension and the rated tension until the real-time tension is the same as the rated tension.

[0019] In one possible implementation, determining the real-time tension of the synchronous belt based on multiple sets of contact pressures and downward displacements includes:

[0020] According to multiple sets of contact pressure and downward displacement, the tension coefficient and initial tension of the synchronous belt are determined; the contact pressure, downward displacement, tension coefficient and initial tension satisfy:

[0021] Where F is the contact pressure, Δh is the downward displacement, k is the tension coefficient, Δx is the initial tension, and L is the center distance of the synchronous belt;

[0022] The initial tensioning force is determined based on the tensioning coefficient and the initial tensioning amount; the tensioning coefficient, the initial tensioning amount and the initial tensioning force satisfy: T0=kΔx

[0023] Where T0 is the initial tension;

[0024] Determine the real-time tension based on the initial tension; the initial tension and the real-time tension satisfy:

[0025] Among them, T1 is the real-time tension.

[0026] In a third aspect, the present application provides a synchronous belt system, which includes a synchronous belt and a tension self-correction system according to any one of the first aspects above, wherein the tension self-correction system is provided on the synchronous belt.

[0027] In a fourth aspect, the present application provides an automation device, comprising an automation device main body and the synchronous belt system in the third aspect above, wherein the synchronous belt system is arranged on the automation device.

[0028] In a fifth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer-executable instructions; after the computer-executable instructions are executed, any one of the methods in the above-mentioned second aspect can be implemented.

[0029] It can be understood that the technical effects of the second to fifth aspects can refer to the technical effects of the first aspect and any of its embodiments, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a schematic diagram of measuring tension based on acoustic waves according to an embodiment of the present application;

[0031] FIG2 is a schematic diagram of the functional modules of the tensioning force self-correction system provided in an embodiment of the present application;

[0032] FIG3 is a first perspective view of the tension self-correction system provided by an embodiment of the present application;

[0033] FIG4 is a second perspective view of the tension self-correction system provided by an embodiment of the present application;

[0034] FIG5 is a schematic flow chart of a tension self-correction method provided in an embodiment of the present application;

[0035] FIG6 is a schematic flow chart of another tensioning force self-calibration method provided in an embodiment of the present application;

[0036] FIG7 is a schematic diagram of a calibration process of tension self-calibration provided in an embodiment of the present application;

[0037] FIG8 is a logic block diagram of a tensioning force self-correction method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and claims of the present application, the singular expressions "a", "a", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one or more (including two). The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0039] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized. The term "connected" includes direct and indirect connections, unless otherwise stated.

[0040] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0041] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0042] A robotic arm's synchronous belt drive system is an engineering system used to transmit and control the movement of a robotic arm. This system connects the robotic arm's key components, such as joints or arm segments, via synchronous belts to achieve coordinated movement. The movement of the synchronous belts is controlled by a drive system, typically comprised of components such as motors, reducers, and sensors. This drive system offers precision and controllability, ensuring the synchronized and coordinated movement of the robotic arm's various components, enabling efficient tasks such as precise positioning, assembly, and handling. In a robotic arm's synchronous belt drive system, the tension of the synchronous belt not only affects the belt's transmission accuracy but also significantly impacts the service life and reliability of the system.

[0043] On the one hand, when the timing belt tension is too low, it may cause tooth skipping and slippage. This situation can seriously affect the motion accuracy of the robot arm's timing belt drive system, resulting in inaccurate positioning and even safety issues. In addition, too little tension can cause the timing belt to vibrate during transmission, reducing motion accuracy.

[0044] On the other hand, when the tension of the synchronous belt is too large, it may cause excessive fatigue of the synchronous belt and cause it to break. This not only shortens the service life of the synchronous belt and increases maintenance costs, but also may have a negative impact on the working stability of the robot arm's synchronous belt drive system.

[0045] Therefore, precise control of the timing belt tension is crucial. To address this issue, the timing belt tension self-calibration system can implement adaptive correction based on the measured real-time timing belt tension, ensuring that the tension always remains within the rated range. This self-calibration mechanism not only improves the motion accuracy of the robot arm's timing belt drive system, but also effectively extends its service life and reduces maintenance costs.

[0046] As for the synchronous belt tension self-correction system, the current problems mainly focus on the measurement of tension. There are two ways to measure tension:

[0047] The first method is manual measurement, typically performed by experienced engineers through a series of steps based on their experience. First, the engineer presses the center point of the belt with their finger to feel its elasticity and resilience to determine the tension. Engineers can also use specialized gauges to measure the belt's deflection. Deflection refers to the degree to which a belt bends under external forces. By measuring the belt's deflection and comparing it with the deflection value corresponding to the rated belt tension specified in national standards, engineers can assess the belt's tension.

[0048] Manual measurement has some limitations. It is easily affected by human factors, such as the engineer's experience level and judgment criteria. Secondly, manual measurement requires a lot of time and manpower, making it unsuitable for large-scale synchronous belt inspection.

[0049] The second method is based on acoustic wave measurement (see Figure 1). This method is typically implemented using an acoustic wave tension tester. First, the length, width, and mass of the timing belt to be tested are entered into the acoustic wave tension tester. Next, the acoustic wave tension tester's probe is placed close to the timing belt to be tested. The probe transmits acoustic wave energy to the timing belt and collects acoustic wave data. During operation, the probe and the timing belt must be kept parallel to ensure accurate test results. The timing belt is then manually vibrated to a specific frequency and amplitude. Finally, the acoustic wave tension tester collects acoustic wave data from the timing belt as it vibrates for a specified period of time. This data is then used to internally calculate the timing belt tension. The acoustic wave tension tester processes and analyzes the collected acoustic wave data to calculate the timing belt tension.

[0050] Acoustic wave measurement offers the advantages of non-contact and non-destructive testing, but it is costly and requires demanding testing conditions. Using an acoustic wave tension tester requires measuring multiple points on the timing belt and averaging the results. However, due to limitations in equipment space and the structural design of the pulley mechanism, problems such as inconvenient belt springing and insufficient operating space often arise. These issues can lead to significant discrepancies in test results, making it difficult to accurately determine the tension.

[0051] An embodiment of the present application provides a tension self-correction system. The tension self-correction system provided by the present application will be described below. Referring to Figure 2, the tension self-correction system of the present application includes a pressure module 201, a measuring module 202 and a controller 203. The pressure module 201 contacts the midpoint of the synchronous belt and is used to apply contact pressure to the synchronous belt. The measuring module 202 is used to obtain the downward displacement generated by the synchronous belt under the action of the contact pressure; the controller 203 is configured to: determine the real-time tension of the synchronous belt based on multiple sets of contact pressure and downward displacement; adjust the contact pressure applied to the synchronous belt by the pressure module 201 until the real-time tension is the same as the rated tension.

[0052] The pressure module's primary function is to contact the midpoint of the synchronous belt and apply contact pressure. When the synchronous belt is subjected to contact pressure, it deforms, resulting in a corresponding downward displacement. To accurately record the deformation of the synchronous belt under contact pressure, the system also includes a measurement module, which includes sensors and signal processing circuitry. These components work together to measure and process the deformation of the synchronous belt under contact pressure in real time. Through precise measurement and data processing, the system can obtain deformation data under pressure, providing a basis for subsequent tension adjustment. The core function of the controller is to perform calculations based on the measurement module's measurement results. By analyzing these results, the controller determines the correspondence between contact pressure and downward displacement. Based on this correspondence and the difference between the real-time tension and the rated tension of the synchronous belt, the pressure module adjusts the contact pressure applied to the synchronous belt in real time. This adjustment process gradually brings the real-time tension of the synchronous belt closer to the rated tension, ensuring stable operating conditions at all times.

[0053] Through the coordinated operation of the pressure module, measurement module, and controller, the tension self-calibration system automatically adjusts the timing belt tension, ensuring it remains stable under various operating conditions. This online automatic adjustment function not only improves system stability and reliability, but also reduces operating and maintenance costs.

[0054] To determine real-time tension, a nonlinear system of equations is constructed using multiple sets of contact pressures and corresponding downward displacements. This system of equations can be used to calibrate the tension of the timing belt. By solving this system of equations, the actual tension of the timing belt under different external forces can be obtained. This calibration process accurately determines the tension state of the timing belt under various operating conditions.

[0055] In a feasible embodiment, in order to realize the function of applying contact pressure to the synchronous belt, referring to FIG3 , the structure of the pressure module may include: a pressure head cantilever 301 , a first slide 302 , a first elastic member 303 and a measuring pressure head 304 .

[0056] The first slide 302 is fixedly connected to the first end of the indenter cantilever 301. A first elastic member 303 is housed within the first slide 302. One end of the first elastic member 303 is connected to the first end of the indenter cantilever 301, and the other end of the first elastic member 303 is connected to the measuring indenter 304. When the first elastic member 303 deforms, it drives the measuring indenter 304 to move along the extension direction of the first slide 302. Before calibration, the indenter cantilever 301 is first pushed to its initial limit position. At this time, the first elastic member 303 is in a natural state, that is, unaffected by external forces, ensuring that the system position is reset to zero. In the uncalibrated state, the indenter cantilever 301, first slide 302, first elastic member 303, and measuring indenter 304 remain relatively stable and in a reference position. After calibration begins, when contact pressure needs to be applied to the synchronous belt, the indenter cantilever 301 is driven downward by the driving force. The downward movement of the pressure head cantilever 301 drives the movement of the entire pressure module, including the first slide 302, the first elastic member 303 and the measuring pressure head 304. As the pressure head cantilever 301 moves downward, the movement of the first slide 302 causes the first elastic member 303 to deform. Since one end of the first elastic member 303 is connected to the pressure head cantilever 301 and the other end is connected to the measuring pressure head 304, the deformation causes the measuring pressure head 304 to move downward as a whole. Ultimately, the measuring pressure head 304 is in direct contact with the synchronous belt and applies contact pressure. Therefore, during the calibration process, the pressure head cantilever 301 is driven downward by external force, and the entire system works together to ensure that the measuring pressure head 304 can accurately contact the synchronous belt, thereby achieving the purpose of applying contact pressure to the synchronous belt.

[0057] The pressure head cantilever is a movable structure. It can be a transverse rod or bracket connected to the first slideway. The first slideway, as the structure connecting the pressure head cantilever, can be a groove or guide rail. The synergistic action of the pressure head cantilever and the first slideway enables directional control of the measuring pressure head. The first elastic member is housed in the first slideway. It can be a spring or other similar material, with the characteristic of deforming when subjected to force. The first end of the first elastic member is connected to the pressure head cantilever, and the second end is connected to the measuring pressure head. To reduce the frictional effect on the synchronous belt, the contact point between the measuring pressure head and the synchronous belt can be spherical. This reduces the frictional resistance between the measuring pressure head and the synchronous belt, thereby reducing interference and impact on the synchronous belt. The combination of the pressure head cantilever, the first slideway, the first elastic member, and the measuring pressure head applies contact pressure to the synchronous belt. The synergistic action of the pressure head cantilever and the first slideway provides a mechanism for movement and directional control, while the combination of the first elastic member and the measuring pressure head ensures sensitive detection of changes in the measuring pressure head's position.

[0058] In a feasible embodiment, in order to determine the downward displacement, it is necessary to obtain the first deformation of the first elastic member. In order to collect the first deformation of the first elastic member, referring to Figure 3, the measurement module includes a first displacement sensor 401, and the first displacement sensor 401 is configured to collect the first deformation of the first elastic member. The first deformation refers to the compression deformation of the first elastic member in the pressure state compared to the initial state. The initial state of the first deformation refers to the state where the measuring pressure head is on the synchronous belt and the first elastic member is not deformed.

[0059] The first displacement sensor is a displacement measuring device used to collect the deformation of the first elastic member. The first displacement sensor can be a resistive displacement sensor, a capacitive displacement sensor, a photoelectric displacement sensor, etc. The first displacement sensor can be installed at a position in contact with the first elastic member so as to measure the displacement caused by the deformation of the first elastic member in real time. The working principle of the first displacement sensor is based on the change of physical quantities, such as resistance, capacitance, or optical signals, which depends on the type of the first displacement sensor. The signal collected by the first displacement sensor is transmitted to the controller, and the controller performs analog-to-digital conversion on the signal collected by the first displacement sensor, converting the continuously changing analog signal into a discrete digital signal so that the controller can obtain the first deformation of the first elastic member.

[0060] In a feasible embodiment, referring to FIG3 , the pressure module further includes a second slide 305, a second elastic member 306, a driving member 307, and a transmission member 308, which can drive the pressure head cantilever to move. The second slide 305 is fixedly connected to the second end of the pressure head cantilever 301, and the second elastic member 306 is accommodated in the second slide 305. One end of the second elastic member 306 is connected to the second end of the pressure head cantilever 301, and the other end of the second elastic member 306 is connected to the driving member 307; one end of the transmission member 308 is connected to the pressure head cantilever 301, and the other end of the transmission member 308 is connected to the driving member 307; the driving member 307 is used to apply a force in a first direction to the pressure head cantilever 301 through the transmission member 308; and the second elastic member 306 is used to apply a force in a second direction to the pressure head cantilever.

[0061] When the driving member starts running, the driving member transmits the driving force to the transmission member, driving the transmission member to move in the first extension direction of the second slide. For example, the displacement in the first extension direction of the second slide can be moving in the direction close to the synchronous belt. The other end of the transmission member is connected to the pressure head cantilever, so through the force transmission between the driving member and the transmission member, the pressure head cantilever can be driven to move downward, thereby achieving contact pressure applied to the synchronous belt and putting the second elastic member in a compressed state. When the driving member stops running, under the action of the elastic force, the second elastic member will slowly return to normal, thereby driving the pressure head cantilever to move along the second extension direction of the second slide. For example, the displacement in the second extension direction of the second slide can be moving above the second slide. Thereby reducing the contact pressure applied to the synchronous belt.

[0062] The second elastic member can be a spring or other similar material, which has the characteristic of deforming when subjected to force. The driving member can be a driving motor for providing driving force, and the transmission member can be a driving screw.

[0063] In a feasible embodiment, referring to FIG4 , in order to fix the tension self-correction system on the synchronous belt, the synchronous belt and the tension self-correction system can be fixed by a fixed base 309 , and the fixed base 309 can be a fixing device such as a clamp.

[0064] In a feasible embodiment, in order to determine the downward displacement, it is necessary to obtain the first deformation of the second elastic member. In order to collect the second deformation of the second elastic member, referring to Figure 3, the measurement module also includes a second displacement sensor 402. The second displacement sensor 402 is configured to collect the second deformation of the second elastic member. The second deformation refers to the compression deformation of the second elastic member in the pressure state compared to the initial state. The initial state of the second deformation refers to the state where the cantilever is in the limit position and the second elastic member is not deformed.

[0065] The second displacement sensor is a displacement measuring device used to measure the deformation of the second elastic member. The second displacement sensor can be of the same type as the first displacement sensor. The second displacement sensor can be installed in contact with the second elastic member to measure the displacement caused by the deformation of the second elastic member. The operating principle of the second displacement sensor can be the same as that of the first displacement sensor. The signal collected by the second displacement sensor is transmitted to the controller, which performs digital-to-analog conversion on the signal collected by the second displacement sensor to obtain the second deformation of the second elastic member.

[0066] The controller may not obtain the deformation of the second elastic member in real time. Instead, the controller may determine whether the current contact pressure has reached a preset contact pressure threshold based on the first deformation of the first elastic member. When the current contact pressure reaches the preset contact pressure threshold, the controller may obtain the second deformation of the second elastic member. For example, the elastic coefficient of the first elastic member is pre-calibrated, so the current contact pressure can be determined based on the elastic coefficient of the first elastic member and the first deformation of the first elastic member. After obtaining the second deformation of the second elastic member, the downward displacement can be determined based on the difference between the second deformation and the first deformation.

[0067] The tension self-correction system provided by the present application applies contact pressure to the synchronous belt through a pressure module during the normal operation of the synchronous belt, and obtains the downward displacement of the synchronous belt caused by the contact pressure. Then, based on the corresponding relationship between the downward displacement and the contact pressure, the real-time tension of the synchronous belt is determined. Finally, the applied contact pressure is adjusted in real time based on the relationship between the real-time tension of the synchronous belt and the rated value, thereby realizing online measurement and online adjustment of the tension. This ensures that the synchronous belt is in a stable working state and that the tension of the synchronous belt can be measured and adjusted without stopping the machine.

[0068] The tensioning force self-correction method of the present application will be described in detail below.

[0069] Referring to FIG5 , the flow of the control method is as follows:

[0070] S501: Acquire the contact pressure applied to the synchronous belt and the downward displacement of the synchronous belt caused by the contact pressure.

[0071] Before calibration, you need to obtain the rated tension of the synchronous belt. The rated tension is the maximum load specified in the synchronous belt design. Using this rated tension as a reference, select the contact pressure threshold within a certain range above and below the rated value. For example, if the rated tension is 500N, select multiple contact pressure thresholds within a range extending around the rated tension as the midpoint. For example, contact pressure threshold 1 might be 490N, contact pressure threshold 2 might be 495N, contact pressure threshold 3 might be 505N, and contact pressure threshold 4 might be 510N.

[0072] After determining multiple contact pressure thresholds, the system uses the pressure module of the tension self-calibration system to squeeze the synchronous belt at its midpoint, using each set of contact pressure thresholds as a test unit. The contact pressure is then gradually increased until the normal pressure on the pressure module reaches the preset contact pressure threshold. At this point, the downward displacement of the synchronous belt at this contact pressure threshold is measured. This process is repeated, measuring each set of contact pressure and downward displacement. This yields a dataset of downward displacement of the synchronous belt at different contact pressures.

[0073] S502: Determine the real-time tension of the synchronous belt according to the multiple sets of contact pressures and downward displacements.

[0074] By analyzing the above data sets, a nonlinear equation group can be established regarding the downward displacement and contact pressure of the synchronous belt under different tension conditions. By solving this nonlinear equation group, the real-time tension of the synchronous belt can be calculated.

[0075] Referring to FIG. 6 , the steps of calculating the real-time tension of the synchronous belt may include:

[0076] S5021: Determine the tension coefficient and initial tension of the synchronous belt based on multiple sets of contact pressure and downward displacement.

[0077] The material used for the synchronous belt body is generally isotropic. Isotropic materials refer to materials whose physical properties are the same in all directions. Regardless of the direction along which the material is measured, the performance of isotropic materials is uniform. In isotropic materials, the elastic modulus does not change with the change of observation direction. Referring to Figure 7, before measurement and calibration, the synchronous belt is in its initial state. In this state, the tension of the synchronous belt can be expressed as formula (1): T0 = kΔx0 (1)

[0078] In formula (1), T0 is the initial tension force, k is the tension coefficient, and Δx is the initial tension amount.

[0079] When measuring the tension, the pressure module continuously increases the contact pressure on the midpoint of the synchronous belt. As shown in Figure 7, the synchronous belt will deform, and then produce a downward displacement. In this state, the tension of the synchronous belt can be expressed as follows: T1 = kΔx1 (2)

[0080] In formula (2), T1 is the real-time tension, k is the tension coefficient, and Δx1 is the tension of the synchronous belt under the initial tension and contact pressure state.

[0081] Continuing to refer to FIG7 , the force balance relationship between the contact pressure and the tension of the synchronous belt can be expressed as formula (3): F = 2T1sinθ (3)

[0082] In formula (3), F is the contact pressure, and θ is the angle between the synchronous belt and the horizontal plane.

[0083] Continuing to refer to FIG7 , the geometric relationship between the downward displacement and the center distance of the synchronous belt can be expressed as formula (4): tanθ=2Δh / L (4)

[0084] In formula (4), Δh is the downward displacement.

[0085] Continuing to refer to FIG7 , the relationship between the tension of the synchronous belt under the contact pressure state and the tension of the synchronous belt in the initial state can be expressed as formula (5):

[0086] Combining the above formulas, the relative relationship among contact pressure, downward displacement, tension coefficient and initial tension can be shown as formula (6):

[0087] Before the tension self-correction system starts to operate, the rated tension of the synchronous belt and the center distance of the synchronous pulley are input into the controller. The controller can solve the tension coefficient and the initial tension by substituting different contact pressures and corresponding downward displacements into formula (6).

[0088] S5022: Determine the initial tensioning force according to the tensioning coefficient and the initial tensioning amount.

[0089] S5023: Determine the real-time tensioning force according to the initial tensioning force.

[0090] After obtaining the tension coefficient and the initial tension, substitute the tension coefficient and the initial tension into formula (1) to obtain the initial tension of the synchronous belt before measurement and correction. After obtaining the initial tension, substitute the initial tension into formula (7) to obtain the real-time tension.

[0091] S503: Adjusting the contact pressure according to the difference between the real-time tensioning force and the rated tensioning force until the real-time tensioning force is equal to the rated tensioning force.

[0092] After obtaining the real-time tension through multiple calculations, the controller uses the difference between the real-time tension and the rated tension as a feedback target to adjust the contact pressure applied to the tension belt. The goal of this process is to make the real-time tension gradually approach and eventually equal the set rated tension, thereby achieving online correction of the synchronous belt tension.

[0093] Referring to Figure 8, the overall process of the tension self-correction method provided in the present application is explained. During the normal operation of the synchronous belt, first, contact pressure is applied to the synchronous belt. When the contact pressure reaches the pressure threshold, the corresponding downward displacement is obtained, and the above steps are repeated until the number of executions reaches the quantity threshold. Then, based on the correspondence between the downward displacement and the contact pressure, the real-time tension of the synchronous belt is calculated, and based on the difference between the real-time tension and the rated tension, the contact pressure applied to the synchronous belt is adjusted in real time until the real-time tension is the same as the rated tension.

[0094] An embodiment of the present disclosure further provides a synchronous belt system, which includes a synchronous belt and a tension self-correction system according to any one of the first aspects described above, wherein the tension self-correction system is provided on the synchronous belt.

[0095] An embodiment of the present disclosure further provides an automation device, comprising an automation device main body and the synchronous belt system of the third aspect described above.

[0096] In the several embodiments provided herein, it should be understood that the control and memory of the provided electronic device may be implemented in other ways. For example, the division of a module is merely a logical functional division, and in actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another system, or ignoring or not implementing certain features.

[0097] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0098] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A tension self-correction system, characterized in that, The system includes: a pressure application module, a measurement module, and a controller; The pressure application module contacts the midpoint of the synchronous belt and is used to apply a contact pressure to the synchronous belt; The measurement module is used to obtain the downward displacement generated by the synchronous belt under the action of the contact pressure; The controller is configured as follows: According to multiple sets of the contact pressure and the downward displacement, determine the real-time tension force of the synchronous belt; And adjust the contact pressure applied by the pressure application module to the synchronous belt until the real-time tension force is the same as the rated tension force.

2. The system according to claim 1, wherein The controller is specifically configured as follows: According to the multiple sets of the contact pressure and the downward displacement, determine the tension coefficient and the initial tension amount of the synchronous belt; The contact pressure, the downward displacement, the tension coefficient, and the initial tension amount satisfy: Wherein, F is the contact pressure, Δh is the downward displacement, k is the tension coefficient, Δx is the initial tension amount, and L is the center distance of the wheels of the synchronous belt; According to the tension coefficient and the initial tension amount, determine the initial tension force; The tension coefficient, the initial tension amount, and the initial tension force satisfy: T0 = kΔx Wherein, T0 is the initial tension force; According to the initial tension force, determine the real-time tension force; The initial tension force and the real-time tension force satisfy: Wherein, T1 is the real-time tension force.

3. The system according to claim 1, wherein The pressure application module includes a pressure head cantilever, a first slideway, a first elastic member, and a measurement pressure head; The first slideway is fixedly connected to the pressure head cantilever, the first elastic member is accommodated in the first slideway, one end of the first elastic member is connected to the first end of the pressure head cantilever, and the other end of the first elastic member is connected to the measurement pressure head; When the first elastic member deforms, drive the measurement pressure head to displace along the extension direction of the first slideway.

4. The system according to claim 3, wherein The measurement module includes a first displacement sensor, and the first displacement sensor is configured to collect the first deformation amount of the first elastic member; The controller is further configured to: determine the contact pressure according to the first deformation amount.

5. The system according to claim 4, wherein The pressure application module further includes a second slideway, a second elastic member, a driving member, and a transmission member; The second slideway is fixedly connected to the pressure head cantilever, the second elastic member is accommodated in the second slideway, one end of the second elastic member is connected to the second end of the pressure head cantilever, and the other end of the second elastic member is connected to the driving member; The transmission member is accommodated in the second elastic member, one end of the transmission member is connected to the pressure head cantilever, and the other end of the transmission member is connected to the driving member; The driving member is used to apply a force in a first direction to the pressure head cantilever through the transmission member; The second elastic member is used to apply a force in a second direction to the pressure head cantilever, wherein the first direction and the second direction are opposite.

6. The system according to claim 5, wherein The measurement module further includes a second displacement sensor, and the second displacement sensor is configured to collect the second deformation amount of the second elastic member; The controller is further configured to: when the contact pressure is equal to the contact pressure threshold, determine the downward displacement according to the second deformation amount and the first deformation amount.

7. A tension self-correction method, characterized in that, Applied to the tension force self-correction system according to any one of claims 1-6, the method includes: Obtain the contact pressure applied to the synchronous belt and the downward displacement generated by the synchronous belt under the action of the contact pressure; Determine the real-time tension force of the synchronous belt according to multiple sets of the contact pressure and the downward displacement; Adjust the contact pressure according to the difference between the real-time tension force and the rated tension force until the real-time tension force is the same as the rated tension force.

8. The method according to claim 7, wherein The determining the real-time tension force of the synchronous belt according to multiple sets of the contact pressure and the downward displacement includes: Determine the tension coefficient and the initial tension amount of the synchronous belt according to the multiple sets of the contact pressure and the downward displacement; The contact pressure, the downward displacement, the tension coefficient, and the initial tension amount satisfy: Wherein, F is the contact pressure, Δh is the downward displacement, k is the tension coefficient, Δx is the initial tension amount, and L is the center distance of the wheels of the synchronous belt; Determine the initial tension force according to the tension coefficient and the initial tension amount; The tension coefficient, the initial tension amount, and the initial tension force satisfy: T0 = kΔx Wherein, T0 is the initial tension force; Determine the real-time tension force according to the initial tension force; The initial tension force and the real-time tension force satisfy: Wherein, T1 is the real-time tension force.

9. A synchronous belt system, characterized in that, The synchronous belt system includes a synchronous belt and at least one tension force self-correction system according to any one of claims 1-6, and the tension force self-correction system is arranged on the synchronous belt.

10. An automated device, characterized in that, It includes an automation equipment main body and the synchronous belt system according to claim 9, and the synchronous belt system is arranged on the automation equipment main body.

11. A readable storage medium, characterized in that, The readable storage medium includes a stored program, wherein when the program runs, it controls the device where the readable storage medium is located to execute the method described in claim 7 or 8.

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