CN110370258B - Tensioning force adjusting device and robot - Google Patents
Tensioning force adjusting device and robot Download PDFInfo
- Publication number
- CN110370258B CN110370258B CN201910779774.1A CN201910779774A CN110370258B CN 110370258 B CN110370258 B CN 110370258B CN 201910779774 A CN201910779774 A CN 201910779774A CN 110370258 B CN110370258 B CN 110370258B
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- main body
- adjusting
- wheel
- telescopic rod
- adjusting main
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 29
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000013461 design Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
Abstract
The invention provides a tension adjusting device and a robot, wherein the tension adjusting device is arranged between a first synchronous wheel and a second synchronous wheel and comprises an adjusting main body and a telescopic rod sleeved in the adjusting main body, one end of the telescopic rod, which is far away from the adjusting main body, is provided with a pressure sensor, the pressure sensor contacts the first synchronous wheel, the adjusting main body contacts the second synchronous wheel, and a display module for displaying tension reading number of a synchronous belt is arranged on the adjusting main body. The tension adjusting device provided by the invention is of a structure that an adjusting main body and a telescopic rod are mutually sleeved, and the telescopic rod is provided with a pressure sensor. The tensioning adjustment of the synchronous belt can be realized by adjusting the relative positions of the telescopic rod and the adjusting main body. In addition, be provided with display module in the regulation main part, but the numerical value of real-time reading tensioning force has the function of simultaneous measurement and regulation tensioning force, easy operation, efficient accords with humanized and industrialization design.
Description
Technical Field
The invention belongs to the field of mechanical equipment adjustment, and particularly relates to a tension adjusting device and a robot.
Background
For small industrial robots, due to structural limitations, synchronous belts and synchronous wheels are often used for transmission between the motor and the reducer. The synchronous belt is assembled with certain requirements, the tension force directly influences the precision, noise and service life of the robot, so that a belt tension force tester is commonly used in the industry to measure the tension force of the synchronous belt, and the position of a motor is continuously regulated until the tension force of the synchronous belt meets the requirements.
The conventional belt tensioner tester mainly comprises a pen type tester, an acoustic wave tester, an infrared tester and the like, and is used for testing the tension of the fastened belt. Because this kind of equipment only has the test function to do not possess and adjust belt tensioning force function, consequently adjust belt tensioning force still need the manual work to remove motor, fastening motor repeatedly to this adjusts belt tensioning force size, and the operation is comparatively loaded down with trivial details, and efficiency is lower.
Disclosure of Invention
The invention aims to provide a tension adjusting device and a robot, which are used for solving the problems of complicated tension adjustment and low efficiency of a synchronous belt in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a tensioning force adjusting device sets up between first synchronizing wheel and second synchronizing wheel, including adjusting main part, cover and establish the telescopic link in the adjusting main part, the telescopic link is kept away from the one end of adjusting the main part is provided with pressure sensor, pressure sensor contacts first synchronizing wheel, adjust the main part contact the second synchronizing wheel, be provided with the display module that is used for showing the tensioning force reading of hold-in range on the adjusting main part.
Further, a hand wheel for adjusting the extension length of the telescopic rod from the adjusting body is arranged on the adjusting body.
Further, the hand wheel is provided with a gear, and the telescopic rod is provided with a rack for meshing with the gear.
Further, the display module is a display screen arranged on the adjusting main body.
Further, a pressure gauge for reading the tension force is arranged on the adjusting body.
Further, a connecting block connected with the first synchronous wheel is arranged at the end part of the pressure sensor, and a first wheel groove used for being attached to the first synchronous wheel is formed in the connecting block.
Further, a second wheel groove for fitting the second synchronizing wheel is formed in the end portion of the adjusting body.
Another object of the present invention is to provide a robot comprising the above tension adjusting device.
Further, the robot further comprises a frame, a motor and a speed reducer are arranged in the frame, and a containing cavity for adjusting the fixed position of the motor is formed in the frame.
Further, a sliding groove for sliding the connecting piece is formed in the frame, and the connecting piece is used for fixing the motor.
The tension force adjusting device provided by the invention has the beneficial effects that: compared with the prior art, the tension adjusting device is of a structure that the adjusting main body and the telescopic rod are mutually sleeved, and the telescopic rod is provided with the pressure sensor. The tensioning adjustment of the synchronous belt can be realized by adjusting the relative positions of the telescopic rod and the adjusting main body. In addition, be provided with display module in the regulation main part, but the numerical value of real-time reading tensioning force has the function of simultaneous measurement and regulation tensioning force, easy operation, efficient accords with humanized and industrialization design.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a tension adjusting device according to an embodiment of the present invention, and a part of the structure is not shown;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention, and a part of the structure is not shown.
Wherein, each reference numeral in the figure mainly marks:
1. a first synchronizing wheel; 2. a second synchronizing wheel; 3. an adjustment body; 4. a telescopic rod; 5. a pressure sensor; 6. a hand wheel; 7. a display screen; 8. a rack; 9. a connecting block; 10. a first wheel groove; 11. a second wheel groove; 12. a frame; 13. a receiving chamber; 14. a motor; 15. a speed reducer.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 and 2 together, a tension adjusting device according to an embodiment of the invention will be described. The tension adjusting device comprises an adjusting main body 3 and a telescopic rod 4 sleeved with the adjusting main body 3, wherein the telescopic rod 4 can freely stretch out and draw back to adapt to specifications of various synchronous belts, and a pressure sensor 5 is arranged at one end, far away from the adjusting main body 3, of the telescopic rod 4. Wherein the pressure sensor 5 is in contact with the first synchronizing wheel 1 and the regulating body 3 is in contact with the second synchronizing wheel 2. The adjusting body 3 is also provided with a display module for reading the tension reading number of the synchronous belt.
Compared with the prior art, the tension adjusting device provided by the invention has the advantages that the tension adjusting device is in a structure that the adjusting main body 3 and the telescopic rod 4 are mutually sleeved, and the telescopic rod 4 is provided with the pressure sensor 5. The tensioning adjustment of the synchronous belt can be realized by adjusting the relative positions of the telescopic rod 4 and the adjusting main body 3. In addition, be provided with display module on the regulation main part 3, can read the numerical value of tensioning force in real time, have the function of simultaneous measurement and regulation tensioning force, easy operation, efficient accords with humanized and industrialization design.
Further, referring to fig. 1, as a specific embodiment of the tension adjusting device provided by the present invention, a hand wheel 6 for adjusting the tension is provided on the adjusting body 3. The relative position relationship between the telescopic rod 4 and the adjusting main body 3 can be realized by rotating the hand wheel 6 when the tensioning force is adjusted, so that the telescopic rod 4 and the adjusting main body 3 respectively abut against the first synchronous wheel 1 and the second synchronous wheel 2, and further the synchronous belt is tensioned.
Further, referring to fig. 1, as a specific embodiment of the tension adjusting device provided by the invention, a gear is disposed in a hand wheel 6, a rack 8 meshed with the gear is disposed on a telescopic rod 4, and a relative positional relationship between the telescopic rod 4 and an adjusting body 3 is achieved through a connection relationship between the gear and the rack 8.
Further, referring to fig. 1, as an embodiment of the tension adjusting device provided by the present invention, the display module is a display screen 7 disposed on the adjusting body 3. The display 7 has the advantages of quick reading of the values and accurate display.
Further, as a specific implementation manner of the tension adjusting device provided by the invention, a pressure gauge can be used to replace the display screen 7 to read the value of the tension, and the display screen 7 has the advantages of quick and convenient reading, but compared with the display screen, the pressure gauge has the advantages of no need of additional power supply and signal processing units, more compact structure, lower cost and higher reliability.
Further, referring to fig. 1, as a specific embodiment of the tension adjusting device provided by the present invention, a connection block 9 is disposed at an end of the pressure sensor 5, the connection block 9 is connected to the first synchronous wheel 1, a first wheel groove 10 is formed on the connection block 9, and the first wheel groove 10 is attached to the first synchronous wheel 1. The contact between the first synchronizing wheel 1 and the connecting block 9 is tighter and firmer, and the first synchronizing wheel 1 and the connecting block 9 are ensured not to slide.
Further, referring to fig. 1, as a specific embodiment of the tension adjusting device provided by the present invention, a second wheel groove 11 for fitting the second synchronizing wheel 2 is formed at an end of the adjusting body 3. The second wheel groove 11 has a similar effect to the first wheel groove 10 and will not be described again. In addition, the first synchronizing wheel 1 and the second synchronizing wheel 2 play a role in positioning and transmitting pressure, and the sizes and specifications of the first synchronizing wheel 1, the second synchronizing wheel 2, the first wheel groove 10 and the second wheel groove 11 are determined according to actual situations and requirements, so long as the first synchronizing wheel 1 is matched with the first wheel groove 10, and the second synchronizing wheel 2 is matched with the second wheel groove 11.
Referring to fig. 2, the invention further provides a robot including the tension adjusting device.
Further, referring to fig. 2, as a specific embodiment of the robot provided by the present invention, the robot further includes a frame 12, a motor 14 and a speed reducer 15 are disposed in the frame 12, a accommodating cavity 13 is disposed in the frame 12, and the motor 14 or the speed reducer 15 can move in the accommodating cavity 13 during the process of adjusting the tensioning force.
Further, referring to fig. 2, as a specific embodiment of the robot provided by the present invention, a chute is formed on the frame 12, the motor 14 is fixed on the frame 12 through a connecting piece, the connecting piece passes through the chute, and during the adjustment process, the fixing position of the motor 14 and the frame 12 is achieved by adjusting the fixing position of the connecting piece in the chute. To accommodate tension adjustment of the timing belt.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. The utility model provides a tensioning force adjusting device, sets up between first synchronizing wheel and second synchronizing wheel, its characterized in that: the tension sensor is arranged at one end of the telescopic rod, which is far away from the adjusting main body, and is contacted with the first synchronous wheel, the adjusting main body is contacted with the second synchronous wheel, and a display module for displaying the tension reading number of the synchronous belt is arranged on the adjusting main body;
the adjusting main body is provided with a hand wheel for adjusting the extension length of the telescopic rod from the adjusting main body;
the hand wheel is provided with a gear, and the telescopic rod is provided with a rack for meshing with the gear;
the end part of the pressure sensor is provided with a connecting block connected with the first synchronous wheel, and the connecting block is provided with a first wheel groove for being attached to the first synchronous wheel;
the end part of the adjusting main body is provided with a second wheel groove for being attached to the second synchronous wheel.
2. The tension adjustment device as recited in claim 1, wherein: the display module is a display screen arranged on the adjusting main body.
3. The tension adjustment device as recited in claim 1, wherein: the display module is a pressure gauge arranged on the adjusting main body.
4. A robot, characterized in that: a tensioning force adjusting device comprising any one of claims 1-3.
5. The robot of claim 4, wherein: the robot further comprises a frame, a motor and a speed reducer are arranged in the frame, and a containing cavity for adjusting the fixed position of the motor is formed in the frame.
6. The robot of claim 5, wherein: the frame is provided with a sliding chute for sliding the connecting piece, and the connecting piece is used for fixing the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910779774.1A CN110370258B (en) | 2019-08-22 | 2019-08-22 | Tensioning force adjusting device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910779774.1A CN110370258B (en) | 2019-08-22 | 2019-08-22 | Tensioning force adjusting device and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110370258A CN110370258A (en) | 2019-10-25 |
| CN110370258B true CN110370258B (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910779774.1A Active CN110370258B (en) | 2019-08-22 | 2019-08-22 | Tensioning force adjusting device and robot |
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| Country | Link |
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| CN (1) | CN110370258B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900656B (en) * | 2019-11-07 | 2021-03-19 | 哈尔滨工业大学（深圳） | Experimental device for be used for rope to drive snake-shaped robot |
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|---|---|---|---|---|
| JP2000275124A (en) * | 1999-03-26 | 2000-10-06 | Nec Yamagata Ltd | Tension gage |
| DE10255950A1 (en) * | 2002-11-29 | 2004-06-09 | Möhl, Bernhard, Prof. Dr. | Drive, especially for robot arm, has two specialist sub-drives for substantial separation of force and position generation; characteristic of positioning drive is steeper than that of force drive |
| KR100878014B1 (en) * | 2007-09-13 | 2009-01-13 | 대림대학 산학협력단 | Guide cable vertical displacement adjusting method for bridge inspection robot |
| CN103922199A (en) * | 2014-04-11 | 2014-07-16 | 清华大学 | High-precision rope winding device with tension measuring function |
| CN206860794U (en) * | 2017-05-25 | 2018-01-09 | 浙江大华技术股份有限公司 | A kind of synchronous belt tension device and synchronous belt drive mechanism |
| CN207393874U (en) * | 2017-11-02 | 2018-05-22 | 北京自安科技发展有限公司 | A kind of self-adapting type belt tensioning mechanism |
| CN108584617A (en) * | 2018-07-25 | 2018-09-28 | 中国矿业大学 | Extra deep shaft hoisting container head rope connecting pin constant-tension regulating system and method |
| CN207942419U (en) * | 2017-12-25 | 2018-10-09 | 上海达野智能科技有限公司 | Synchronous belt is tensioned protective device, synchronous belt transmission device, mechanical arm, robot |
| CN109215897A (en) * | 2018-08-08 | 2019-01-15 | 佛山市南海通达特种线缆制造有限公司 | A kind of coil winding machine, winding structure and its communication cable of production |
| CN210616527U (en) * | 2019-08-22 | 2020-05-26 | 珠海格力智能装备有限公司 | Tensile force adjusting device and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105880659B (en) * | 2016-06-15 | 2018-03-06 | 中信戴卡股份有限公司 | A kind of high-precision swelling device |
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2019
- 2019-08-22 CN CN201910779774.1A patent/CN110370258B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000275124A (en) * | 1999-03-26 | 2000-10-06 | Nec Yamagata Ltd | Tension gage |
| DE10255950A1 (en) * | 2002-11-29 | 2004-06-09 | Möhl, Bernhard, Prof. Dr. | Drive, especially for robot arm, has two specialist sub-drives for substantial separation of force and position generation; characteristic of positioning drive is steeper than that of force drive |
| KR100878014B1 (en) * | 2007-09-13 | 2009-01-13 | 대림대학 산학협력단 | Guide cable vertical displacement adjusting method for bridge inspection robot |
| CN103922199A (en) * | 2014-04-11 | 2014-07-16 | 清华大学 | High-precision rope winding device with tension measuring function |
| CN206860794U (en) * | 2017-05-25 | 2018-01-09 | 浙江大华技术股份有限公司 | A kind of synchronous belt tension device and synchronous belt drive mechanism |
| CN207393874U (en) * | 2017-11-02 | 2018-05-22 | 北京自安科技发展有限公司 | A kind of self-adapting type belt tensioning mechanism |
| CN207942419U (en) * | 2017-12-25 | 2018-10-09 | 上海达野智能科技有限公司 | Synchronous belt is tensioned protective device, synchronous belt transmission device, mechanical arm, robot |
| CN108584617A (en) * | 2018-07-25 | 2018-09-28 | 中国矿业大学 | Extra deep shaft hoisting container head rope connecting pin constant-tension regulating system and method |
| CN109215897A (en) * | 2018-08-08 | 2019-01-15 | 佛山市南海通达特种线缆制造有限公司 | A kind of coil winding machine, winding structure and its communication cable of production |
| CN210616527U (en) * | 2019-08-22 | 2020-05-26 | 珠海格力智能装备有限公司 | Tensile force adjusting device and robot |
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| CN110370258A (en) | 2019-10-25 |
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