Tensioning device and transport robot

Abstract

Provided in the present application are a tensioning device and a transport robot. The tensioning device comprises a mounting member, a first clamping member, a second clamping member, an elastic member and a first fixing member. The first clamping member is arranged on one side of a mounting surface in a second direction and is connected to the mounting member. The first clamping member is configured to clamp a first end of a transmission member. The second clamping member is arranged on the other side of the mounting surface in the second direction and is connected to the mounting member. The second clamping member is configured to clamp a second end of the transmission member. The first fixing member is located on the side of the second clamping member away from the first clamping member, and the elastic member abuts between the first fixing member and the second clamping member. When the transmission member is extended, the elastic member can drive the second clamping member to move the second end towards the first end, such that the transmission member is automatically tensioned, the tensioning device can prevent slack side and tooth jumping phenomena of the transmission member during the operation of the transport robot. Moreover, the transmission member can have a longer service life.

Description

Tensioning device and carrying robot

[0001] The present application claims priority to the Chinese patent application No. 202421529638.X, filed on June 28, 2024, and entitled "Tensioning device and carrying robot", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehouse logistics, in particular to a tensioning device and a carrying robot. BACKGROUND

[0003] With the development of artificial intelligence and automation technology, carrying robots play an important role in transportation, logistics and other industries to replace manual carrying operations.

[0004] The carrying robot includes a lifting device, and the lifting device includes a transmission member and two transmission wheels, and the two transmission wheels are respectively arranged at two ends of a structural member. The transmission member is arranged around two sides opposite to each other of the two transmission wheels, and two ends of the transmission member are pulled tight to form a closed loop. The transmission member will be elongated under load, which will cause the transmission member to have a loose side, and further cause the teeth to jump. In order to avoid the jumping of the teeth caused by the loose side, the transmission member is given a pre-tightening force by the tensioning device at the beginning of installation, so that the transmission member is tensioned and the loose side is avoided.

[0005] However, during the operation of the carrying robot, the loose side may be too long or the length of the loose side may suddenly change, and the existing tensioning device cannot adjust the tension of the transmission member in real time during the operation of the carrying robot. SUMMARY

[0006] The present application provides a tensioning device and a carrying robot, which can adjust the tension of the transmission member in real time when the tension of the transmission member is insufficient according to the change of the environment during the operation of the carrying robot, so that the transmission member is automatically tensioned to prevent the transmission member from having a loose side and tooth jumping phenomenon, and the transmission member has a long service life.

[0007] In a first aspect, an embodiment of the present application provides a tensioning device, which comprises:

[0008] a mounting member, having a mounting surface on one side in a first direction;

[0009] a first clamping member arranged on one side of the mounting surface in a second direction, the first clamping member being connected to the mounting member and fixed relative to the mounting member; the first clamping member is used to clamp a first end of the transmission member;

[0010] The second clamping member is arranged on the other side of the mounting surface in the second direction, and is connected with the mounting member and can move relative to the mounting member in the second direction; the second clamping member is used for clamping the second end of the transmission member;

[0011] The tensioning module comprises an elastic member and a first fixing member arranged on the mounting surface, and in the second direction, the first fixing member is arranged on the side of the second clamping member away from the first clamping member, and the elastic member abuts between the first fixing member and the second clamping member; when the transmission member is elongated, the elastic member can drive the second clamping member to move the second end towards the first end.

[0012] In some embodiments, the first fixing member comprises a fixed part arranged on the mounting surface and located on the side of the second clamping member away from the first clamping member;

[0013] The elastic member abuts between the fixed part and the second clamping member.

[0014] In some embodiments, the first fixing member further comprises a connecting part connected to the side of the fixed part facing the second clamping member;

[0015] The second clamping member has a through hole, and the connecting part penetrates through the through hole and is arranged on the mounting member;

[0016] The elastic member is sleeved on the connecting part, and the elastic member is used for driving the second clamping member to move along the connecting part towards the first clamping member when the transmission member is elongated.

[0017] In some embodiments, the mounting member comprises a first protruding part arranged on the mounting surface, the first protruding part is located on the side of the second clamping member facing the first clamping member, and the first protruding part has a spacing with the second clamping member;

[0018] The connecting part penetrates through the through hole and is arranged on the first protruding part.

[0019] In some embodiments,

[0020] The first clamping member is arranged on the side of the first protruding part away from the second clamping member.

[0021] In some embodiments, the second clamping member comprises a pressing part and a clamping part, the pressing part is arranged on the mounting surface; the pressing part is connected with the mounting member and can move relative to the mounting member in the second direction; the elastic member abuts on the pressing part;

[0022] In the third direction, the clamping part is arranged on the side of the pressing part away from the elastic member.

[0023] In some embodiments, the clamping part comprises an abutting section and a clamping section, the clamping section is arranged on the side of the pressing part away from the elastic member and opposite to the pressing part along the third direction, the pressing part has a clamping groove on the side away from the elastic member along the second direction, the abutting section is arranged in the clamping groove and abuts against the pressing part, and the clamping section is configured to be clamped with the second end.

[0024] In some embodiments, the pressing part has a first hole section, the abutting section has a second hole section, the second hole section is coaxially arranged with the first hole section and forms a through hole.

[0025] The connecting part penetrates the first hole section and the second hole section and is mounted on the mounting member.

[0026] In some embodiments, the fixing part is connected with the mounting surface, and the second clamping member is arranged on the mounting surface to slide along the second direction.

[0027] In some embodiments, the tensioning device further comprises a second fixing member, the mounting member is provided with a strip-shaped hole, and the length direction of the strip-shaped hole is parallel to the second direction.

[0028] The second fixing member penetrates the strip-shaped hole and is mounted on the second clamping member, and the second fixing member can move along the length direction of the strip-shaped hole.

[0029] In some embodiments, the mounting member further comprises a second protruding part arranged on the mounting surface, and the second protruding part is opposite to the second clamping member along the third direction.

[0030] The strip-shaped hole is arranged in the second protruding part.

[0031] In the second aspect, the embodiments of the present application further provide a carrying robot, which comprises a robot body and the tensioning device according to any one of the above, the robot body comprises a structural member and a lifting device, the lifting device comprises a transmission member and two transmission wheels, the two transmission wheels are arranged at two ends of the structural member respectively, and the transmission member is arranged around the two sides opposite to the two transmission wheels to connect the two transmission wheels.

[0032] The first end of the transmission member is clamped by the first clamping member of the tensioning device, and the second end of the transmission member is clamped by the second clamping member of the tensioning device.

[0033] The embodiment of the application provides a tensioning device and a carrying robot, the tensioning device comprises a tensioning module, the tensioning module comprises an elastic piece and a first fixing piece. Since the first fixing piece is located on the side of the second clamping piece away from the first clamping piece, the elastic piece abuts between the first fixing piece and the second clamping piece, therefore, the elastic piece can provide a pre-tightening force for the transmission piece, so that the transmission piece can be tensioned under the clamping of the first clamping piece and the second clamping piece, and the transmission piece is prevented from generating a loose side, thereby avoiding the phenomenon of tooth skipping of the transmission piece on the transmission wheel of the carrying robot. Moreover, since the first fixing piece is installed on the mounting surface, and the second clamping piece is connected with the mounting piece of the tensioning device and can move relative to the mounting piece in the second direction, when the transmission piece is elongated due to insufficient tensioning force and the like during the operation of the carrying robot, the elastic piece can drive the second clamping piece to move towards the first clamping piece, so as to drive the second end to move towards the first end, so that the transmission piece can be automatically tensioned, the tensioning device of the application can adjust the pre-tightening force of the transmission piece in real time according to the change of the environment during the operation of the carrying robot, and can effectively cope with the occurrence of the loose side length, sudden change of the loose side length and the like of the transmission piece, so that the transmission piece is automatically tensioned, and the phenomenon of tooth skipping of the transmission piece on the transmission wheel during the operation of the carrying robot is avoided. In addition, by introducing the elastic piece, the phenomenon of tooth skipping of the transmission piece during the operation of the carrying robot is solved, and the pre-tightening force of the transmission piece is prevented from being too large, so that the transmission piece has a long service life. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the application or the related art, the following will briefly introduce the drawings needed to be used in the embodiment or the related art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0035] FIG. 1 is a structural schematic diagram of a carrying robot provided by an embodiment of the application;

[0036] FIG. 2 is a structural schematic diagram of a tensioning device and a transmission piece provided in the related art;

[0037] FIG. 3 is an enlarged view of A in FIG. 2;

[0038] FIG. 4 is a structural schematic diagram of a tensioning device provided by an embodiment of the application in a first perspective view;

[0039] FIG. 5 is a structural schematic diagram of a tensioning device provided by an embodiment of the application in a second perspective view;

[0040] FIG. 6 is an enlarged view of B in FIG. 5;

[0041] Fig. 7 is another variant structure of Fig. 6;

[0042] Fig. 8 is a sectional view of Fig. 4 in the direction of C-C;

[0043] Fig. 9 is an enlarged view of Fig. 8 at D;

[0044] Fig. 10 is a structure schematic view of a tensioning device provided by an embodiment of the present application in a third perspective view;

[0045] Fig. 11 is a partial sectional view of Fig. 10 in the direction of E-E;

[0046] Fig. 12 is an enlarged view of Fig. 8 at F.

[0047] Reference signs: 100 - handling robot; 10 - structural member; 20 - handling device; 30 - transmission member; 31 - first end; 32 - second end; 40 - tensioning device; 41 - fixing plate; 42 - mounting member; 421 - mounting surface; 422 - first protruding portion; 423 - second protruding portion; 4231 - strip-shaped hole; 43 - first clamping member; 44 - second clamping member; 441 - pressing portion; 442 - clamping portion; 4421 - clamping segment; 4422 - abutting segment; 45 - tensioning adjusting member; 46 - tensioning module; 461 - elastic member; 462 - first fixing member; 4621 - fixing portion; 4622 - connecting portion; 47 - second fixing member; 48 - third fixing member; 49 - fourth fixing member. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0049] The embodiments of the present application provide a tensioning device and a handling robot applying the same. The handling robot is used for picking and placing goods, and can be applied to logistics distribution of an industrial production line, warehouse in and out of manufacturing industry, warehouse in and out of retail industry, and express in and out of e-commerce logistics, etc. The products or goods involved in the handling robot can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., which are not limited by the embodiments of the present application. Hereinafter, the objects to be handled by the handling robot will be referred to as "goods", and no specific examples will be given.

[0050] Fig. 1 schematically shows a structural diagram of one kind of handling robot 100, and other handling robot structures using the tensioning device are not described herein.

[0051] Referring to Fig. 1, the handling robot includes a robot body. The robot body includes a structural member 10, a handling device 20, and a lifting device. The handling device 20 is arranged on the structural member 10 and moves along the height direction of the structural member 10. For example, the structural member 10 can be a column, and the handling device 20 can be a fork. The lifting device includes a transmission member 30 and two transmission wheels. The two transmission wheels are arranged at two ends of the structural member 10, respectively. For example, the two transmission wheels can be arranged at the two ends of the structural member 10 along the height direction of the structural member 10. The height direction of the structural member 10 is the a direction. The transmission member 30 is arranged around the two sides opposite to each other of the two transmission wheels to connect the two transmission wheels. Moreover, the two ends of the transmission member 30 are pulled tight to form a closed loop.

[0052] Referring to Fig. 1, the handling device 20 is connected with the transmission member 30. When the two transmission wheels rotate,

[0053] The transmission member 30 drives the handling device 20 to move on the structural member 10, so that the handling device 20 can move up and down along the height direction of the structural member 10 to realize the picking or storing of goods at different heights.

[0054] It should be noted that the lifting device further includes a motor. The motor can be connected with one of the transmission wheels to drive the transmission wheel to rotate, and then drive the other transmission wheel to rotate through the transmission member 30. When the two transmission wheels rotate, the transmission member 30 can drive the handling device 20 to move up and down along the height direction of the structural member 10.

[0055] The number of the structural members 10 can be one or two. Referring to Fig. 1, when the number of the structural members 10 is two, the two structural members 10 can be arranged in the b direction. At this time, one lifting device can be arranged on each of the two structural members 10. The handling device 20 can be simultaneously connected with the transmission members 30 of the two lifting devices, so as to drive the handling device 20 to move up and down along the height direction of the structural member 10 through the two transmission members 30.

[0056] The transmission member 30 is a synchronous belt or other transmission structure capable of driving the handling device 20 to move up and down along the height direction of the structural member 10. Hereinafter, the transmission member 30 is taken as a synchronous belt as an example to further describe the structure of the handling robot and the tensioning device.

[0057] Since the transmission member 30 is usually an elastic body, elongation occurs under load, causing the transmission member 30 to slacken and thus causing the transmission member 30 to skip teeth. When the teeth skip, the transmission member 30 is disengaged from the transmission wheel, so that the transmission member 30 is poorly fitted to the transmission wheel, which affects the installation of the transmission member 30 on the transmission wheel and the driving of the carrying device 20 by the transmission member 30.

[0058] FIG. 2 schematically shows a structure of a tensioning device 40a and a transmission member 30a according to the related art. Referring to FIG. 2, the carrying robot according to the related art is provided with the tensioning device 40a on a structural member. The tensioning device 40a is installed on the structural member and can clamp both ends of the transmission member 30a and provide a pre-tensioning force to the transmission member 30a at the beginning of installation of the transmission member 30a, so that the transmission member 30a is tensioned and the slackening of the transmission member 30a is avoided, thus avoiding the occurrence of the tooth skipping.

[0059] FIG. 3 is an enlarged view of FIG. 2 at A. Referring to FIG. 3, the tensioning device 40a includes a fixed plate 41a, a mounting member 42a, a first clamping member 43a, and a second clamping member 44a. The fixed plate 41a is installed on the structural member and can move relative to the structural member in the a direction. The mounting member 42a is installed on the fixed plate 41a and is fixed relative to the fixed plate 41a. The mounting member 42a is provided with a first protruding portion 422a. The first clamping member 43a and the second clamping member 44a are installed on the mounting member 42a and are disposed on both sides of the first protruding portion 422a in the length direction of the mounting member 42a.

[0060] The first clamping member 43a can clamp the first end 31a of the transmission member 30a, and the second clamping member 44a can clamp the second end 32a of the transmission member 30a. When the transmission member 30a moves in the a direction to drive the carrying device to move in the a direction, the first clamping member 43a and the second clamping member 44a are simultaneously moved in the a direction.

[0061] For ease of description, the thickness direction of the mounting member 42a is defined as the first direction, which can be referred to as the Z direction, the length direction of the mounting member 42a is defined as the second direction, which can be referred to as the Y direction, and the width direction of the mounting member 42a is defined as the third direction, which can be referred to as the X direction. The first direction, the second direction, and the third direction are perpendicular to each other. For example, the first direction is perpendicular to the second direction and the third direction, and the second direction is perpendicular to the third direction.

[0062] It should be noted that when the tensioning device 40a is installed on the structural member, the length direction of the mounting member 42a is parallel to the height direction of the structural member, i.e., the Y direction is parallel to the a direction mentioned above.

[0063] Since the fixing plate 41a is capable of moving relative to the structure along the a direction, and the tensioning device 40a is installed on the structure, the Y direction is parallel to the a direction mentioned above, so that the tensioning device 40a is capable of moving relative to the structure along the a direction, so that the transmission member 30a is capable of driving the first clamping member 43a and the second clamping member 44a to move simultaneously when driving the carrying device to move.

[0064] Referring to FIG. 3, the tensioning device 40a further comprises an adjusting assembly. The adjusting assembly is arranged between the first clamping member 43a and the first protruding portion 422a. The adjusting assembly comprises at least one tensioning adjusting member 45a. For example, the tensioning adjusting member 45a can be a gasket. When the number of the tensioning adjusting members 45a is at least two, the at least two tensioning adjusting members 45a can be stacked between the first clamping member 43a and the first protruding portion 422a along the second direction (Y direction). The at least one tensioning adjusting member 45a is arranged on the side of the first protruding portion 422a away from the second clamping member 44a by the first clamping member 43a. By adjusting the number of the tensioning adjusting members 45a, the pre-tightening force of the transmission member 30a can be adjusted, so that the transmission member 30a can be initially tensioned to avoid the occurrence of loose edges.

[0065] For example, when the pre-tightening force of the transmission member 30a at the initial installation is small and needs to be increased, the number of the tensioning adjusting members 45a can be reduced, so that the first end 31a moves towards the second end 32a, the transmission member 30a is elongated and tensioned, and the pre-tightening force of the transmission member 30a at the initial installation is increased.

[0066] For another example, when the pre-tightening force of the transmission member 30a at the initial installation is too large and needs to be reduced, the number of the tensioning adjusting members 45a can be increased, so that the first end 31a moves away from the second end 32a, the transmission member 30a is contracted and tensioned, and the pre-tightening force of the transmission member 30a at the initial installation is reduced.

[0067] The tensioning device 40a in the related art can solve the tensioning problem of the transmission member 30a within a certain range.

[0068] With the change of the use scene, the change of the arrangement scheme of the transmission device, and other environmental changes, the transmission member 30a can be elongated, and the length of the loose edge can be too long or suddenly changed. At this time, the pre-tightening force of the transmission member 30a is insufficient, and higher requirements are put forward for the tensioning force of the transmission member 30a.

[0069] Since the tensioning device 40a in the related art is locked on the mounting member 42a after the pre-tightening force of the transmission member 30a is adjusted. At this time, the first clamping member 43a is connected with the mounting member 42a and is relatively fixed, and the number of the tensioning adjusting member 45a between the first clamping member 43a and the first protruding part 422a is also relatively fixed. Therefore, the tensioning device 40a in the related art cannot adjust the tensioning of the transmission member 30a according to the change of the environment during the operation of the carrying robot, and the method of pre-tightening the transmission member 30a becomes not reliable. During the operation of the carrying robot, the transmission member 30a will be elongated due to the change of the environment, which will cause the overlong loose side, the sudden change of the length of the loose side and other situations to cause the tooth skipping phenomenon.

[0070] It should be noted that the change of the use scene mentioned above can be the change of the rotation speed of the transmission member 30a during the operation of the carrying robot.

[0071] Therefore, the embodiment of the present application provides a tensioning device 40. The carrying robot 100 comprises the tensioning device 40. The first end 31 of the transmission member 30 is clamped by the first clamping member 43 of the tensioning device 40, and the second end 32 of the transmission member 30 is clamped by the second clamping member 44 of the tensioning device 40.

[0072] The tensioning device 40 further comprises a tensioning module 46. The tensioning module 46 comprises an elastic member 461. When the transmission member 30 is elongated, the elastic member 461 can drive the second clamping member 44 to move the second end 32 towards the first end 31, so that the transmission member 30 can be automatically tensioned with the elongation, so that the pre-tightening force of the transmission member 30 can be adjusted in real time according to the change of the environment during the operation of the carrying robot 100, and the occurrence of the overlong loose side, the sudden change of the length of the loose side and other situations of the transmission member 30 can be effectively coped with, so that the transmission member 30 is automatically tensioned, and the tooth skipping phenomenon of the transmission member 30 on the transmission wheel during the operation of the carrying robot 100 is avoided.

[0073] The structure of the tensioning device 40 provided by the embodiment of the present application will be further described below in combination with the drawings and the embodiments.

[0074] FIGS. 4 and 5 respectively schematically show the structure of the tensioning device 40 from different angles.

[0075] Referring to FIGS. 4 and 5, the tensioning device 40 includes a mounting member 42 and a first clamping member 43. The mounting member 42 has a mounting surface 421 on one side in the first direction (Z direction). The second direction and the third direction of the mounting member 42 are parallel to the mounting surface 421. The first clamping member 43 is arranged on the other side of the mounting surface 421 in the second direction. The first clamping member 43 is connected to the mounting member 42 and fixed relative to the mounting member 42. That is, the position of the first clamping member 43 is fixed relative to the mounting member 42. The first clamping member 43 is used to clamp the first end 31 of the transmission member 30.

[0076] Referring to FIGS. 4 and 5, the tensioning device 40 further includes a fixing plate 41. The fixing plate 41 is mounted on the structural member 10. The mounting member 42 is mounted on the fixing plate 41 and fixed relative to the fixing plate 41. For example, the mounting member 42 can be mounted on the fixing plate 41 by screw connection, clamping, welding, etc. The fixing plate 41 enables the installation of the tensioning module 46 on the structural member 10. The installation of the fixing plate 41 on the structural member 10 can refer to the related description of the related art tensioning device 40a above, which will not be repeated here.

[0077] It should be noted that, referring to FIG. 1, when the handling robot 100 has two structural members 10, one tensioning device 40 can be arranged on each of the two structural members 10 to automatically tension the transmission member 30 on the corresponding structural member 10 by the tensioning device 40.

[0078] Referring to FIGS. 4 and 5, the tensioning device 40 further includes a second clamping member 44. The second clamping member 44 is arranged on the other side of the mounting surface 421 in the second direction. The second clamping member 44 is connected to the mounting member 42 and movable relative to the mounting member 42 in the second direction. That is, while the second clamping member 44 is connected to the mounting member 42, the second clamping member 44 can move relative to the mounting member 42 in the second direction. The second clamping member 44 is used to clamp the second end 32 of the transmission member 30. The arrangement of the first clamping member 43 and the second clamping member 44 enables the tensioning device 40 to clamp both ends of the transmission member 30.

[0079] Figure 6 shows an enlarged view of Figure 5 at B. Referring to Figure 6, the tensioning device 40 further comprises a tensioning module 46. The tensioning module 46 comprises a resilient member 461 and a first fixing member 462 mounted on the mounting surface 421. In the second direction, the first fixing member 462 is located on the side of the second clamping member 44 away from the first clamping member 43. The resilient member 461 abuts between the first fixing member 462 and the second clamping member 44, and when the transmission member 30 is elongated, the resilient member 461 can drive the second clamping member 44 to move the second end 32 towards the first end 31. Wherein, when the resilient member 461 abuts between the first fixing member 462 and the second clamping member 44, the resilient member 461 can be in a compressed state so that the resilient member 461 can drive the second clamping member 44 to move the second end 32 towards the first end 31.

[0080] Since the first fixing member 462 is located on the side of the second clamping member 44 away from the first clamping member 43, the resilient member 461 abuts between the first fixing member 462 and the second clamping member 44, and the resilient member 461 is in a compressed state, therefore, the resilient member 461 will provide a pre-tensioning force to the transmission member 30, so that the transmission member 30 can be tensioned under the clamping of the first clamping member 43 and the second clamping member 44, preventing the transmission member 30 from having loose edges, thereby avoiding the transmission member 30 from having a tooth skipping phenomenon on the transmission wheel of the handling robot 100. Under the action of the pre-tensioning force, the transmission member 30 will be tensioned and generate a pulling force on the first clamping member 43 and the second clamping member 44.

[0081] And when the transmission member 30 is elongated due to insufficient tensioning force during the operation of the handling robot 100, the pulling force of the second end 32 on the second clamping member 44 will decrease, resulting in a decrease in the pressure of the second clamping member 44 on the resilient member 461. At this time, the resilient member 461 will release the elastic potential energy and generate a rebound force, and the rebound force will be applied to the second clamping member 44 and the first fixing member 462.

[0082] Since the first fixing member 462 is mounted on the mounting surface 421, and the second clamping member 44 is connected with the mounting member 42 of the tensioning device 40 and can move relative to the mounting member 42 in the second direction, therefore, when the transmission member 30 is elongated due to insufficient pre-tensioning force, the resilient member 461 will drive the second clamping member 44 to move towards the first clamping member 43 under the action of the rebound force, thereby driving the clamped second end 32 to move towards the first end 31, so that the transmission member 30 can be automatically tensioned, thereby enabling the tensioning device 40 of the present application to adjust the pre-tensioning force of the transmission member 30 in real time according to the changes in the environment during the operation of the handling robot 100, effectively dealing with the occurrence of loose edge length, sudden change of loose edge length, and avoiding the tooth skipping phenomenon of the transmission member 30 on the transmission wheel during the operation.

[0083] If the tensioning device 40a in the related art mentioned above is used to prevent the transmission member 30a from jumping teeth on the transmission wheel during the operation of the carrying robot 100, the number of tensioning adjusting members 45a needs to be increased to increase the pre-tightening force of the transmission member 30a, but this will cause the transmission member 30a to have a short service life due to the excessive pre-tightening force.

[0084] The tensioning device 40 of the embodiment of the present application can adjust the tensioning force of the transmission member 30 in real time during the operation of the carrying robot 100 by introducing the elastic member 461, so as to solve the problem of the transmission member 30 jumping teeth during the operation of the carrying robot 100. Therefore, the pre-tightening force of the transmission member 30 can be avoided to be too large, so that the transmission member 30 has a long service life.

[0085] Referring to FIG. 6, in some embodiments, the first fixing member 462 includes a fixing portion 4621. The fixing portion 4621 is arranged on the mounting surface 421 and located on the side of the second clamping member 44 away from the first clamping member 43. The elastic member 461 is abutted between the fixing portion 4621 and the second clamping member 44. By arranging the fixing portion 4621, the fixing portion 4621 and the second clamping member 44 can be pressed on both ends of the elastic member 461 to fix the elastic member 461 on the mounting member 42, so that the elastic member 461 is in a compressed state. At the same time, the abutment of the elastic member 461 between the first fixing member 462 and the second clamping member 44 can be realized, so that when the transmission member 30 is elongated, the rebounding force of the elastic member 461 can drive the second clamping member 44 to move towards the first clamping member 43, so as to drive the second end 32 to move towards the first end 31, so as to automatically tension the transmission member 30.

[0086] Referring to FIG. 6, in some embodiments, the first fixing member 462 can further include a connecting portion 4622. The connecting portion 4622 is connected to the side of the fixing portion 4621 facing the second clamping member 44. For example, the first fixing member 462 can be a screw, a bolt or the like. The second clamping member 44 has a through hole, and the connecting portion 4622 penetrates through the through hole and is installed on the mounting member 42. By arranging the connecting portion 4622, the first fixing member 462 can be installed on the mounting surface 421.

[0087] The elastic member 461 is sleeved on the connecting portion 4622. The elastic member 461 is used to drive the second clamping member 44 to move along the connecting portion 4622 towards the first clamping member 43 when the transmission member 30 is elongated, so as to drive the second end 32 to move towards the first end 31, so that the transmission member 30 is automatically tensioned. Meanwhile, the connecting portion 4622 is arranged to limit the elastic member 461 when the elastic member 461 is stretched and contracted, so as to avoid the elastic member 461 from deviating from the second clamping member 44 in the third direction when the elastic member 461 is stretched and contracted, and reduce the rebound force of the elastic member 461 on the second clamping member 44, so as to ensure that the elastic member 461 can drive the second clamping member 44 to move along the connecting portion 4622 towards the first clamping member 43.

[0088] Meanwhile, the connecting portion 4622 is arranged to limit the movement of the second clamping member 44, so as to ensure that the second clamping member 44 can drive the second end 32 to move towards the first end 31, so that the transmission member 30 is automatically tensioned.

[0089] The size of the fixed portion 4621 is greater than the size of the connecting portion 4622, so that the elastic member 461 is sleeved on the connecting portion 4622, and the elastic member 461 can abut against the fixed portion 4621. For example, the size of the fixed portion 4621 and the size of the connecting portion 4622 can be the radius.

[0090] The first fixing member 462 can also only include the fixed portion 4621 in other embodiments. At this time, the fixed portion 4621 is connected with the mounting surface 421. The fixed portion 4621 can be connected with the mounting surface 421 by clamping, bonding, fasteners or welding, etc. For example, the fasteners can be screws or bolts, etc. The second clamping member 44 is slidably arranged on the mounting surface 421 in the second direction, so that the second clamping member 44 can move towards the first clamping member 43 under the rebound force of the elastic member 461, and the connecting portion 4622 can be reduced to simplify the structure of the first fixing member 462.

[0091] Hereinafter, the structure of the tensioning device 40 is further described by taking the structure that the first fixing member 462 includes the fixed portion 4621 and the connecting portion 4622 as an example.

[0092] The length direction of the connecting portion 4622 and the axial direction of the through hole are parallel to the second direction, so that when the connecting portion 4622 penetrates through the through hole and is installed on the mounting member 42, the second clamping member 44 and the first clamping member 43 can be relative in the second direction, so that when the second clamping member 44 moves towards the first clamping member 43, the transmission member 30 can be quickly tensioned.

[0093] As shown in FIG. 8, the connecting portion 4622 is in clearance fit with the through hole, so that the connecting portion 4622 can smoothly pass through the through hole and be installed on the mounting member 42.

[0094] As shown in FIG. 8, the mounting member 42 includes a first protruding portion 422 arranged on the mounting surface 421. The first protruding portion 422 is located on the side of the second clamping member 44 facing the first clamping member 43, and the first protruding portion 422 has a spacing with the second clamping member 44. The connecting portion 4622 passes through the through hole and is installed on the first protruding portion 422, so as to realize the installation of the connecting portion 4622 and the first fixing member 462 on the mounting surface 421 through the first protruding portion 422.

[0095] Moreover, due to the spacing between the first protruding portion 422 and the second clamping member 44, a moving space can be reserved for the second clamping member 44, so that the second clamping member 44 can move towards the first clamping member 43 under the driving of the elastic member 461 until the second clamping member 44 abuts against the first protruding portion 422. Therefore, according to the length of the possible slack of the transmission member 30 in the operation of the carrying robot 100, the spacing between the first protruding portion 422 and the second clamping member 44 can be designed so that when the second clamping member 44 moves to abut against the first protruding portion 422, the transmission member 30 can be tensioned to prevent slack and tooth skipping.

[0096] The side of the first protruding portion 422 facing the second clamping member 44 can have a threaded hole. The connecting portion 4622 is screwed into the threaded hole. Through the cooperation of the connecting portion 4622 in the threaded hole, the connecting portion 4622 can be detachably installed on the first protruding portion 422, so as to facilitate the replacement of the elastic member 461.

[0097] Moreover, by controlling the screwing depth of the connecting portion 4622 in the threaded hole, the distance between the fixing portion 4621 and the first protruding portion 422 can be controlled to ensure that after the connecting portion 4622 is screwed into the threaded hole, the elastic member 461 can abut between the fixing portion 4621 and the first protruding portion 422 and be in a compressed state.

[0098] In some embodiments, on the basis of ensuring that the elastic member 461 abuts between the fixing portion 4621 and the first protruding portion 422 and is in a compressed state, the connecting portion 4622 can also be installed in the first protruding portion 422 and be clamped with the first protruding portion 422, etc., so as to realize the detachable installation of the connecting portion 4622 on the first protruding portion 422, and at the same time, the replacement of the elastic member 461 can also be facilitated.

[0099] It should be noted that, without considering the replacement of the elastic member 461, the connecting portion 4622 can also be installed in the first protruding portion 422 by welding or other methods that are not convenient for disassembly.

[0100] Referring to Fig. 8, the second clamping member 44 comprises a pressing portion 441 and a clamping portion 442. The pressing portion 441 is arranged on the mounting surface 421. The pressing portion 441 is connected with the mounting member 42 and is movable relative to the mounting member 42 along the second direction. An elastic member 461 abuts against the pressing portion 441. Along the third direction (X direction), the clamping portion 442 is arranged on the side of the pressing portion 441 away from the elastic member 461. By pressing the second end 32 by the pressing portion 441 and clamping the second end 32 by the clamping portion 442, the second clamping member 44 can clamp the second end 32.

[0101] Since the pressing portion 441 is connected with the mounting member 42 and is movable relative to the mounting member 42 along the second direction, the second clamping member 44 is connected with the mounting member 42, and at the same time, the pressing portion 441 can move along the second direction. Moreover, since the elastic member 461 abuts against the pressing portion 441, when the elastic member 461 releases the elastic potential energy due to the decrease of the pressure of the elastic member 461 by the second clamping member 44 caused by the elongation of the transmission member 30, the rebound force generated by the elastic member 461 can drive the pressing portion 441 to move along the second direction towards the first pressing member.

[0102] Moreover, since the second end 32 is clamped by the second clamping member 44, when the pressing portion 441 moves, the second end 32 can also move towards the first end 31 at the same time, so that the transmission member 30 is automatically tensioned.

[0103] Fig. 9 shows an enlarged view of Fig. 8 at D. Fig. 10 shows a structural schematic view of the tensioning device 40 from a third perspective. Fig. 11 is a partial sectional view of Fig. 10 along the direction of E-E. It should be noted that the structure of the transmission member 30 is omitted in Fig. 11.

[0104] Referring to Figs. 9 to 11, the clamping portion 442 comprises an abutting segment 4422 and a clamping segment 4421. Along the third direction (X direction), the clamping segment 4421 is arranged on the side of the pressing portion 441 away from the elastic member 461 and is opposite to the pressing portion 441.

[0105] It should be noted that in the present application, when it is mentioned that A is opposite to B along a direction, it can be understood that A is arranged opposite to B along the direction. For example, along the third direction, the clamping segment 4421 is opposite to the pressing portion 441, which can be understood as that the clamping segment 4421 is arranged opposite to the pressing portion 441 along the third direction. In the following, similar to "A is opposite to B along a direction", the same understanding can be made.

[0106] In the second direction, the pressing part 441 has a clamping groove on the side away from the elastic member 461. The abutting section 4422 is arranged in the clamping groove and abuts against the pressing part 441. The clamping section 4421 is configured to be clamped with the second end 32. At this time, the clamping part 442 and the pressing part 441 are two independent structural members 10, so that the second end 32 is clamped by the second clamping member 44. For example, the second end 32 can be clamped on the clamping section 4421 first, and then the pressing part 441 is installed.

[0107] By pressing the second end 32 by the pressing part 441 and pressing the second end 32 by the clamping section 4421, the second clamping member 44 can stably clamp the transmission member 30.

[0108] Moreover, by clamping the second end 32 by the clamping section 4421, the transmission member 30 has a pulling force on the clamping part 442, so that the clamping part 442 can move towards the side of the elastic member 461 under the pulling force of the transmission member 30, push and abut against the pressing part 441, so that the pressing part 441 and the fixing part 4621 jointly compress the elastic member 461, so that the elastic member 461 is in a compressed state. At the same time, by clamping the second end 32 by the clamping section 4421, the second end 32 can be prevented from being separated from the second clamping member 44 when the clamping part 442 and the pressing part 441 move relative to each other.

[0109] When the conveying robot 100 is running, the transmission member 30 is elongated and the length of the loose edge is too long, the length of the loose edge is suddenly changed, etc. When the length of the loose edge is suddenly changed, the pulling force of the second end 32 of the transmission member 30 on the clamping part 442 decreases, the abutting pressure of the abutting section 4422 on the pressing part 441 also decreases, so that the abutting pressure of the pressing part 441 on the elastic member 461 also decreases. At this time, the elastic member 461 releases the elastic force and drives the pressing part 441 to move towards the first clamping member 43 under the rebound force. During the movement of the pressing part 441, the abutting section 4422 is pushed to move towards the first clamping member 43, and the entire clamping part 442 is driven to move towards the first clamping member 43.

[0110] Since the clamping section 4421 is clamped with the second end 32, when the clamping part 442 moves towards the first clamping member 43, the second clamping member 44 drives the second end 32 of the transmission member 30 to move towards the first end 31, so that the transmission member 30 is automatically tensioned.

[0111] Referring to FIG. 11, in some embodiments, the tensioning module 46 can further include a fastener, and the abutting section 4422 can be installed on the pressing part 441 by the fastener, clamping, bonding or the like. At the same time, the abutting section 4422 abuts against the pressing part 441, and the structure of the abutting section 4422 and the pressing part 441 is relatively fixed, so as to ensure the clamping effect of the second clamping member 44 on the second end 32, and also to realize the automatic tensioning of the transmission member 30.

[0112] As shown in FIG. 9 and FIG. 11, the second end 32 and the clamping section 4421 are provided with alternating concave and convex portions on the side of the pressing section 441 in the second direction (Y direction). When the second end 32 is clamped by the second clamping member 44, the concave portion on the second end 32 is arranged in the convex portion of the clamping section 4421, and the concave portion on the second end 32 is arranged in the convex portion of the clamping section 4421, so that the second end 32 is clamped with the clamping section 4421, and the clamping effect of the second clamping member 44 on the second end 32 of the transmission member 30 is enhanced.

[0113] It should be noted that in some embodiments, the pressing section 441 can also be clamped with the second end 32 in the same way as the clamping section 4421. At this time, when the abutting section 4422 is located in the clamping groove, it can also be installed on the pressing section 441 by clamping, fastening, bonding and the like, and automatic tensioning of the transmission member 30 can also be achieved.

[0114] Hereinafter, the structure of the tensioning device 40 will be further described by taking the clamping section 4421 clamped with the second end 32 as an example.

[0115] Due to the blocking of the first protruding portion 422, the spacing between the abutting section 4422 and the first protruding portion 422 is the maximum distance that the second pressing member can move. In this application, the spacing between the abutting section 4422 and the first protruding portion 422 can be reasonably designed according to the length of the slack side of the transmission member 30 that may occur during the operation of the carrying robot 100, so as to ensure that when the second pressing member moves to abut against the first protruding portion 422, the automatic tensioning of the transmission member 30 can be achieved. In this application, the spacing between the abutting section 4422 and the first protruding portion 422 is not particularly limited.

[0116] As shown in FIG. 9, the pressing section 441 has a first hole section, and the abutting section 4422 has a second hole section. The second hole section is coaxially arranged with the first hole section and forms a through hole.

[0117] The connecting portion 4622 penetrates the first hole section and the second hole section and is installed on the mounting member 42. Through the design of the first hole section and the second hole section, the connecting portion 4622 can penetrate the pressing section 441 and the abutting section 4422. In this way, under the driving of the elastic member 461 of the pressing section 441 and the abutting section 4422, the connecting portion 4622 can only move towards the first clamping member 43, and the movement of the pressing section 441 and the abutting section 4422 is better guided.

[0118] Referring to FIGS. 10 and 11, in some embodiments, the tensioning device 40 further comprises a second fixing member 47. The mounting member 42 is provided with a strip-shaped hole 4231, which is parallel to the second direction in the length direction. The second fixing member 47 is arranged in the strip-shaped hole 4231 and is mounted on the second clamping member 44, and the second fixing member 47 is movable along the length direction of the strip-shaped hole 4231. In this way, the second clamping member 44 can be mounted on the mounting member 42 through the second fixing member 47. Moreover, since the second fixing member 47 is movable along the length direction of the strip-shaped hole 4231, the second clamping member 44 can be mounted on the mounting member 42 while being movable along the second direction to drive the second end 32 to move, so as to automatically tension the transmission member 30.

[0119] After the second fixing member 47 is arranged in the strip-shaped hole 4231, the second fixing member 47 can be mounted on the pressing portion 441, so that the pressing portion 441 is movable along the second direction. For example, when the second fixing member 47 is mounted on the pressing portion 441, the second fixing member 47 can be threadedly connected with the pressing portion 441 or be clamped with the pressing portion 441, etc., so as to facilitate dismounting of the second clamping member 44.

[0120] Hereinafter, the structure of the tensioning device 40 will be further described by taking the example that the second fixing member 47 is threadedly connected with the pressing portion 441.

[0121] Referring to FIG. 11, the second fixing member 47 can be a screw, a bolt, etc. The structure of the second fixing member 47 is the same as that of the first fixing member 462, and the second fixing member 47 also has a fixing portion 4621 and a connecting portion 4622 connected with the fixing portion 4621. The connecting portion 4622 of the second fixing member 47 can be threadedly connected with the pressing portion 441. After the second fixing member 47 is mounted on the second clamping member 44, part of the connecting portion 4622 of the second fixing member 47 can protrude out of the mounting member 42, so that the fixing portion 4621 of the second fixing member 47 has a spacing with the mounting member 42, so that the fixing portion 4621 of the second fixing member 47 is not pressed by the mounting member 42, so that when the pressing portion 441 moves along the second direction, the second fixing member 47 can move in the strip-shaped hole 4231 relative to the mounting member 42.

[0122] Referring to FIG. 11, in some embodiments, the mounting member 42 can further comprise a second protruding portion 423 arranged on the mounting surface 421. The second protruding portion 423 is opposite to the second clamping member 44 in the third direction. The strip-shaped hole 4231 can be arranged on the second protruding portion 423, so that when the second fixing member 47 is arranged in the strip-shaped hole 4231, the second fixing member 47 can be mounted on the second clamping member 44. For example, the second protruding portion 423 is opposite to the pressing portion 441 in the third direction, so that when the second fixing member 47 is arranged in the strip-shaped hole 4231, the second fixing member 47 can be mounted on the pressing portion 441, so that the second fixing member 47 is mounted on the second clamping member 44.

[0123] Since the fixing plate 41 is installed on the side of the mounting member 42 opposite to the mounting surface 421 and connected with the structural member 10, when the strip-shaped hole 4231 is arranged on the second protruding portion 423, the second fixing member 47 and the fixing plate 41 can be located on different sides of the mounting member 42, so as to ensure that the second fixing member 47 can be installed on the second clamping member 44 while avoiding the second fixing member 47 affecting the connection between the fixing plate 41 and the mounting member 42 and the structural member 10.

[0124] It should be noted that if the second fixing member 47 can avoid affecting the connection between the fixing plate 41 and the mounting member 42 and the structural member 10, the strip-shaped hole 4231 can also be arranged on the mounting surface 421, and in this case, the second protruding portion 423 can not be arranged on the mounting surface 421.

[0125] Referring to FIG. 10, in some embodiments, the first clamping member 43 can be installed on the side of the first protruding portion 422 away from the second clamping member 44, and in this case, the first protruding portion 422 can be located between the second clamping member 44 and the first clamping member 43. Alternatively, in some embodiments, the mounting member 42 can be additionally provided with a protruding portion between the second clamping member 44 and the first clamping member 43 for installing the first clamping member 43.

[0126] Compared with the mounting member 42 additionally provided with a protruding portion for installing the first clamping member 43, when the first clamping member 43 is installed on the side of the first protruding portion 422 away from the second clamping member 44, the first clamping member 43 and the second clamping member 44 can share a first protruding portion 422, thereby achieving installation on the mounting member 42, reducing the arrangement of protruding portions on the mounting member 42, and simplifying the structure of the mounting member 42.

[0127] Hereinafter, the structure of the tensioning device 40 will be further described by taking the first clamping member 43 installed on the side of the first protruding portion 422 away from the second clamping member 44 as an example.

[0128] FIG. 12 shows an enlarged view of FIG. 8 at F. Referring to FIG. 12, in some embodiments, like the tensioning device 40a mentioned above, the tensioning device 40 can also include an adjusting assembly. The adjusting assembly includes at least one tensioning adjusting member 45.

[0129] It should be noted that the structure of the tensioning adjusting member 45 and the arrangement method of the at least two tensioning adjusting members 45 between the first clamping member 43 and the first protruding portion 422 can refer to the relevant description of the tensioning device 40a above, and will not be described here again.

[0130] At least one tension adjusting member 45 is pressed by the first clamping member 43 on the side of the first protruding portion 422 away from the second clamping member 44 to adjust the pre-tightening force of the transmission member 30. By adjusting the number of the tension adjusting members 45 pressed by the first clamping member 43, the pre-tightening force of the transmission member 30 can be adjusted so that the transmission member 30 can be initially tensioned to avoid loose edges and further avoid the occurrence of the tooth skipping phenomenon.

[0131] Referring to FIG. 12, the structure of the first clamping member 43 is the same as that of the second clamping member 44, and the structure of the first clamping member 43 can be described with reference to the description of the second clamping member 44, which will not be further described herein. The first clamping member 43 and the second clamping member 44 can be symmetrically arranged on both sides of the first protruding portion 422 so that the first clamping member 43 and the second clamping member 44 can clamp both ends of the transmission member 30 and form a closed loop of the transmission member 30.

[0132] Referring to FIG. 12, the tensioning device 40 can further include a third fixing member 48. The third fixing member 48 can sequentially penetrate the pressing portion 441, the abutting section 4422 and the tension adjusting member 45 of the first clamping member 43, and be installed on the first protruding portion 422, so that the first clamping member 43 and the tension adjusting member 45 can be pressed on the first protruding portion 422 when the first clamping member 43 is installed on the first protruding portion 422, so that the transmission member 30 can be initially tensioned to avoid the occurrence of loose edges. For example, the third fixing member 48 can be a screw, a bolt or the like, and be threadedly connected with the first protruding portion 422.

[0133] The method for adjusting the pre-tightening force of the transmission member 30 can be described with reference to the description of the tensioning device 40a above, which will not be further described herein.

[0134] It should be noted that when the pre-tightening force is increased by reducing the number of the tension adjusting members 45, the third fixing member 48 can be screwed towards the first protruding portion 422 to push the first clamping member 43 to move towards the first protruding portion 422 and press the first clamping member 43 and the tension adjusting member 45 on the first protruding portion 422, so that the transmission member 30 is elongated and tensioned. When the pre-tightening force is reduced by increasing the number of the tension adjusting members 45, the third fixing member 48 can be screwed away from the first protruding portion 422 so that the first clamping member 43 can move away from the first protruding portion 422 to increase the number of the tension adjusting members 45. After the number of the tension adjusting members 45 is increased, the third fixing member 48 will again press the first clamping member 43 and the tension adjusting member 45 on the first protruding portion 422, so that the transmission member 30 is contracted and tensioned.

[0135] Referring to Fig. 12, the tensioning device 40 can further include a fourth fixing member 49. The first clamping member 43 can be mounted on the mounting member 42 through the fourth fixing member 49. Specifically, the fourth fixing member 49 can be mounted on the pressing portion 441 of the first clamping member 43 through the second protruding portion 423.

[0136] During the adjustment of the pre-tightening force of the transmission member 30, the fourth fixing member 49 can move relative to the mounting member 42. After the adjustment of the pre-tightening force of the transmission member 30 by the adjustment assembly is completed, the first clamping member 43 can be fixed on the mounting member 42 through the fourth fixing member 49, so that the first clamping member 43 is fixed relative to the mounting member 42. At this time, the fourth fixing member 49 is also fixed relative to the mounting member 42.

[0137] It should be noted that the structure of the fourth fixing member 49 and the mounting on the second protruding portion 423 are the same as those of the second fixing member 47, and specific descriptions can be made with reference to the related descriptions of the second fixing member 47, which will not be further described herein. The mounting of the fourth fixing member 49 on the pressing portion 441 can also be described with reference to the related descriptions of the second fixing member 47, which will not be further described herein.

[0138] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0139] In the description of the present application, it should be understood that the terms "include" and "have" and any variations thereof used herein are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units need not be limited to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0140] Unless specifically stated and defined, the terms "mounting", "connected", "connecting", "fixed", and the like, should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or become an integral; can be directly connected, or indirectly connected through an intermediate medium, can make two elements inside the communication or the interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0141] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tensioning device, characterized in that, include: The mounting component has a mounting surface on one side in the first direction; A first clamping member is disposed on one side of the mounting surface in the second direction. The first clamping member is connected to the mounting member and fixed relative to the mounting member. The first clamping member is used to clamp the first end of the transmission member. A second clamping member is disposed on the opposite side of the mounting surface in the second direction. The second clamping member is connected to the mounting member and can move relative to the mounting member in the second direction. The second clamping member is used to clamp the second end of the transmission member. The tensioning module includes an elastic element and a first fixing element mounted on the mounting surface. Along the second direction, the first fixing element is located on the side of the second clamping element away from the first clamping element, and the elastic element abuts between the first fixing element and the second clamping element. When the transmission element extends, the elastic element can drive the second clamping element to move the second end toward the first end.

2. The tensioning device according to claim 1, characterized in that, The first fixing member includes a fixing part, which is disposed on the mounting surface and located on the side of the second clamping member away from the first clamping member; The elastic element abuts between the fixing part and the second clamping element.

3. The tensioning device according to claim 2, characterized in that, The first fixing member further includes a connecting portion, which is connected to the side of the fixing portion facing the second clamping member; The second clamping member has a through hole, and the connecting part passes through the through hole and is installed on the mounting member; The elastic element is sleeved on the connecting portion, and the elastic element is used to drive the second clamping element to move along the connecting portion toward the first clamping element when the transmission element extends.

4. The tensioning device according to claim 3, characterized in that, The mounting component includes a first protrusion on the mounting surface, the first protrusion being located on the side of the second clamping component facing the first clamping component, and there is a gap between the first protrusion and the second clamping component; The connecting part passes through the through hole and is installed on the first protrusion.

5. The tensioning device according to claim 4, characterized in that, The first clamping member is installed on the side of the first protrusion away from the second clamping member.

6. The tensioning device according to any one of claims 3-5, characterized in that, The second clamping member includes a pressing part and a clamping part, the pressing part being disposed on the mounting surface; the pressing part being connected to the mounting member and being movable relative to the mounting member along the second direction; the elastic member abutting against the pressing part; Along a third direction, the clamping part is located on the side of the pressing part away from the elastic member.

7. The tensioning device according to claim 6, characterized in that, The clamping part includes an abutting section and a clamping section, which are arranged in a third direction upward. The clamping section is located on the side of the pressing part away from the elastic member and is opposite to the pressing part. Along the second direction, the pressing part has a groove on the side away from the elastic member; the abutting section is disposed in the groove and abuts against the pressing part, and the clamping section is configured to engage with the second end.

8. The tensioning device according to claim 7, characterized in that, The pressing part has a first hole section, and the abutting part has a second hole section. The second hole section is coaxially arranged with the first hole section and forms the through hole. The connecting portion passes through the first hole segment and the second hole segment and is installed on the mounting component.

9. The tensioning device according to claim 2, characterized in that, The fixing part is connected to the mounting surface, and the second clamping member is slidably disposed on the mounting surface along the second direction.

10. The tensioning device according to any one of claims 1-5, characterized in that, It also includes a second fastener, the mounting member having a strip-shaped hole, the length direction of the strip-shaped hole being parallel to the second direction; The second fixing member passes through the strip hole and is installed on the second clamping member, and the second fixing member can move along the length direction of the strip hole.

11. The tensioning device according to claim 10, characterized in that, The mounting component further includes a second protrusion provided on the mounting surface, extending upward along the third direction, and the second protrusion is opposite to the second clamping component; The strip-shaped hole is located on the second protrusion.

12. A transport robot, characterized in that, The system includes a robot body and a tensioning device as described in any one of claims 1-11. The robot body includes a structural component and a lifting device. The lifting device includes a transmission component and two transmission wheels. The two transmission wheels are respectively disposed at both ends of the structural component. The transmission component is arranged around the two opposite sides of the two transmission wheels to connect the two transmission wheels. The first end of the transmission component is held by the first clamping member of the tensioning device, and the second end of the transmission component is held by the second clamping member of the tensioning device.

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