EP3880410A1 - Riementrieb mit spanneinrichtung - Google Patents
Riementrieb mit spanneinrichtungInfo
- Publication number
- EP3880410A1 EP3880410A1 EP19805927.1A EP19805927A EP3880410A1 EP 3880410 A1 EP3880410 A1 EP 3880410A1 EP 19805927 A EP19805927 A EP 19805927A EP 3880410 A1 EP3880410 A1 EP 3880410A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- belt
- belt drive
- tensioning
- support
- drive according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H7/10—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley
- F16H7/12—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of an idle pulley
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H7/10—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley
- F16H7/14—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of a driving or driven pulley
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/18—Means for guiding or supporting belts, ropes, or chains
- F16H7/20—Mountings for rollers or pulleys
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0863—Finally actuated members, e.g. constructional details thereof
- F16H2007/0865—Pulleys
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0863—Finally actuated members, e.g. constructional details thereof
- F16H2007/0874—Two or more finally actuated members
Definitions
- the invention relates to a belt drive with a
- Such a belt drive is known from practice. It has two pulleys, an endless drive belt and a tensioning device for the drive belt.
- Tensioning device is designed as a spring-loaded swivel arm with a tensioning roller that tensions one of the belt spaces.
- the belt drive with its tensioning technology i.e. the clamping device and the clamping method has various advantages.
- the tension effect can be improved and strengthened.
- the clamping device and the clamping method has various advantages.
- the tension effect can be improved and strengthened.
- the recording can take place while the belt drive is stationary and also in operation.
- the belt drive, its performance and the associated drive technology can be monitored and optimized.
- the tensioning device has e.g. two tensioning units, with each pulley being assigned one tensioning unit. This allows the belt to be specifically tensioned on the assigned pulley.
- the number of pulleys and associated tensioning units can also be greater than two.
- the multiple arrangement of the clamping units has various effects and advantages.
- the clamping technology provides a very large clamping path. This can largely compensate for tolerances in the belt. Furthermore, a simple insertion of a belt is also possible over several pulleys
- a belt is understood to mean both flat belts and belts with a round cross section.
- the respective tensioning unit can act on the two belt strands emanating from the assigned pulley and tighten them while reducing their distance. It can be tightened from the outside against both belt spaces, e.g. freely rotatable
- Tensioner rollers act excitingly.
- the design of the clamping device, in particular its clamping unit, has an independent inventive
- the tensioning unit can also be used individually and only on one belt pulley of a belt drive.
- the clamping device can be attached to an existing one
- Belt drive attached e.g. converted or retrofitted.
- the clamping devices are supported and supported on a common carrier. You can have a defined and
- the laterally spaced tensioning means and the connecting carrier as well as, if necessary, an additional support between the tensioning means can form a fixed tensioning cage which absorbs and supports the reaction forces. This offers short, closed power guides and enables a lightweight and inexpensive
- Construction e.g. as a plastic construction.
- the wrap angle of the drive belt on the pulley can be significant
- the two belt dreams can be in the area between the
- Clamping units run side by side with a small distance. This allows space to be created laterally for other components in the installation environment of the belt drive.
- the tensioning unit is movably arranged and its distance can be adjusted relative to the assigned pulley. In particular, it can be moved along the drive belt. This adjustment can preferably take place along the connecting line between the axes of the two pulleys.
- the constant or defined lateral distance between the two clamping means is preferably defined such that bearings, supports,
- Axes of rotation of the two clamping means with respect to the connecting line forming an axis are arranged on an imaginary straight line running perpendicularly thereto and with respect to this straight line at a constant or defined distance, the lateral distance.
- the clamping means are preferably arranged next to one another with respect to the connecting line or the correspondingly formed axis of the connecting line.
- the clamping area can be divided into two sections. In a first section with a relatively large distance from the assigned pulley, the adjustment of the tensioning unit from the drive belt is opposed to relatively little resistance. This area can e.g. can be used for assembly.
- the belt resistance to tension increases significantly. This area can be used to tension the belt. Even short adjustment paths lead to a significantly increasing tension effect.
- the drive belt can thus be used for a relatively short time Tension and relax adjustment paths.
- the space requirement and range of motion of the tensioning unit is very small for the achievable adjustment range of the belt tension. It is much lower than that of previously known ones
- the clamping device can be a positioning device for setting and fixing the position and the
- the clamping unit can be positioned exactly and the
- the tensioning unit can be fixed against the restoring forces of the drive belt and for supporting the tensioning force. This can be done at a support.
- This support can also support the pulleys or their axes. Support can be a
- the tensioning device can be part of the tensioning device or the belt drive. Alternatively, it can be associated elsewhere and on a device, e.g. a robotic arm.
- the positioning device can have a guide for the associated clamping unit. This can vary along the direction of movement of the belt space or
- the clamping unit can
- the positioning device can be a positioning and
- the positioning device and its components are the positioning device and its components,
- Fixing devices can be designed in different ways.
- the adjusting and fixing device has a positive fit
- Locking device on.
- This can have interlocking interlocking locking means which are alternately arranged on the movable clamping unit and on the support.
- the interlocking interlocking locking means which are alternately arranged on the movable clamping unit and on the support.
- Locking device spring-cooperating locking means.
- the latching device can furthermore have a blocking means for releasably blocking the engagement of the latching means. The one found and taken during the adjustment
- a positive locking device is particularly advantageous for supporting the reaction forces and for fixing the desired actuating and
- the locking means are formed by a fork with resilient fork arms and an arm holder, each
- the tooth can be divided by a toothing
- Adjustment path can be divided into steps of a suitable size. This allows the said distance to
- Pulley and the tensioning effect can be adjusted sensitively.
- Locking means can be suitably attached to the
- Clamping unit and arranged on the support and, if necessary, also interchanged in their assignment.
- Blocking means can be designed as a wedge piece, which can be inserted into the space between the fork arms and spreads them and ensures the locking engagement.
- the wedge piece can be detachably attached to the fork with a lock and can also be detached to adjust the clamping unit if necessary.
- both are
- a belt drive can, for example, in a robot arm
- the belt drive can also have one or more additional pulleys.
- the pulleys can be modified further
- Figure 1 a belt drive with a
- Figures 2 and 3 the belt drive of Figure 1 in
- Figure 4 a broken and enlarged
- Figure 5 a top view of the clamping unit of
- Figure 7 a fork with locking elements and a
- Figure 8 a device with a belt drive
- Figure 9 to 12 a variant of the belt drive
- Figure 13 to 14 a carrier of the tensioning device of
- Figure 18 to 20 a detection device and its
- Figures 23 and 24 force representations of the resulting and detected supporting forces at the measuring points in the preload position and under load.
- Figures 25 and 26 a variant of the belt drive and / or the tensioning device in two
- the invention relates to a belt drive (1) with a tensioning device (2) and a tensioning method.
- the invention also relates to the tensioning device (2) itself.
- the invention further relates to a device (36) with such a belt drive (1).
- Figure 8 shows a device (36) with a belt drive (1) and with a tensioning device (2). The device shown
- the robot (36) is e.g. designed as a single-axis or multi-axis robot that has one or more robot arms (37).
- the robot can e.g. be designed as the rehab robot shown, as an industrial robot or as another type of robot.
- Clamping devices (2) are e.g. in the hollow robot arm
- the rehab robot is used e.g. to the
- Limb of a patient e.g. of an arm.
- Robotic arm (37) is pivotally mounted on a frame at one end and is connected to a pivotable arm at the other end, which moves the limb and e.g. has an armrest with arm fixation.
- the belt drive (1) is on the frame side
- the belt drive (1) can e.g. with a
- Axis drive of the robot arm (37) can be connected directly or indirectly.
- FIGS 1 to 3 show the belt drive (1)
- the belt drive (1) has two belt pulleys (8, 9) which can rotate about parallel axes (10).
- the pulleys (8,9) are characterized by an endless,
- the drive belt (3) wraps around the pulleys (8,9) and has two belt spaces (4,5) located between the pulleys (8,9), which run parallel to each other and along a connecting line between the axes (10).
- the drive belt (3) has an inner drive side (6) facing the pulleys (8,9) and an outer back (7).
- the drive belt (3) is designed as a toothed belt, with gear teeth adapted on its drive side (6) and on the casing of the belt pulleys (8, 9)
- the back (7) can be flat or
- the drive belt (3) is e.g. formed as a flat belt, the width of which is greater than the thickness. It can be made of a plastic with an embedded tensile core, e.g. made of metal cords.
- the belt drive (1) has a tensioning device (2) for the drive belt (3). This includes two
- Tensioning units (12, 13) each act on the belt strands (4, 5) emanating from the assigned pulley (8, 9) and tension them together while reducing their distance.
- Figures 4 to 6 show details of a
- the tensioning device (2) can support (11)
- clamping units (12, 13) e.g.
- Support (11) can be any suitable material.
- a device e.g. of a robotic arm.
- the support (11) extends along the
- Pulleys (8.9) In the exemplary embodiment shown, the pulleys (8, 9) are also arranged and supported on the support (11). The storage and support on the support (11) are not shown.
- the support (11) can be designed in any suitable manner. In the embodiment shown, it is designed as a straight, hollow and thin-walled tube with a preferably circular cross section. At the pipe ends there are lugs on the outside of the pipe jacket
- the support (11) can also be the
- the belt drive (1) is shown in the
- Embodiment designed as a synchronous drive The two pulleys (8,9) have the same one
- the tensioning device (2) has a positioning device (19) for setting and fixing the position and the distance of the respective tensioning unit (12, 13) relative to the respectively assigned pulley (8, 9).
- One clamping unit (12) is described below. The features apply accordingly to the other clamping unit (13).
- the tensioning unit (12) has a carrier (17) with a pair of freely rotatable tensioning rollers (14, 15). Their axes can be parallel to the axes (10) of the
- the tensioning rollers (14, 15) are arranged on the upper side of the support (17) pointing away from the support (11).
- the tension rollers (14, 15) are e.g. on both sides and
- Tension rollers other low-friction tensioning means can be provided.
- the tensioning rollers (14, 15) are common on the carrier (17) with a mutual lateral distance.
- the distance or the gap width can be definable. It can be set and predefined. Alternatively, it can be adjustable.
- the axes of the two tensioning rollers (14, 15) are supported at their free ends by a support (18), e.g. the support bracket shown, connected to each other.
- the guide gap (16) is thus closed all around on the outside.
- the support (18) absorbs the tensile forces between the axes of the tensioning rollers (14, 15) and stabilizes the axes and the tensioning roller position.
- the carrier (17), the tensioning rollers (14, 15) and the support (18) can form a support cage which is closed around the belt space (4, 5).
- the support (18) can be detachably connected to the roller axles. It can be temporarily removed to insert the belt dreams (4,5).
- the width of the guide gap (16) shown in Figure 4 is significantly smaller than the diameter of the
- the tensioning rollers (14, 15) each act from the outside and on the back (7) of the associated belt strand (4, 5).
- (14, 15) can have a profiled jacket shape for guiding the belt strand (4, 5).
- the positioning device (19) has a guide (20) and an adjusting and fixing device (21) for the
- the clamping unit (12) can be adjusted and positioned, for example, along the connecting line between the axes (10).
- the guide (20) can be in several parts and can have several guide means (22, 23, 24).
- the guide means (22, 23, 24) can extend along the connecting line of the pulley axes (10) or along the tube axis.
- a guide means (22) is e.g. formed as a guide bar, which is arranged relatively stationary on the support (11). It interacts with a guide means (23) on the tensioning unit (12). This is e.g. as a slot-shaped guide receptacle on the carrier (17)
- Another guide means (24) can be designed as a guide base, which is arranged on the underside of the carrier (17) and is adapted to the outer contour of the support (11).
- the guide base points to the
- the carrier (17) of the clamping unit (12) can be guided and supported on the guide bar (22) and directly on or on the support (11).
- the guide means (22, 23, 24) are located below the tension rollers
- the adjusting and fixing device (21) is used
- a positive locking device 25
- Locking means (26, 27) preferably cooperate resiliently. They have interlocking interlocking
- the locking device (25) can also be a blocking means (32) for releasably blocking the
- the blocking means (32) prevents resilient evasion of the
- the clamping unit (12) can be along the said
- Connection line of the pulley axles (10) can be adjusted.
- the adjustment is made e.g. by means of a
- Tensioning unit (12), in particular its tensioning rollers (14, 15), is reduced or enlarged by the associated pulley (8).
- the drive belt (3) is tensioned and at a
- the locking device (25) enables an adjustment in steps according to the division of the locking elements (31).
- the cooperating latching means (26, 27) can move relative to each other in the adjustment direction thanks to the resilient evasiveness.
- the blocking means (32) is deactivated, for example removed.
- the blocking means (32) is activated, for example used. It then blocks the springy Evasion movement of the locking means (26,27) and ensures the positive engagement of the locking elements (31).
- the locking means (26, 27) are supported by a fork (28) with two resilient
- Fork arms (29) and an arm holder (30) are formed, each of which has locking elements (31), in particular a toothing.
- the resilient fork arms (29) extend through the e.g. channel-like arm holder (30).
- Figure 7 shows an example of such a fork (28).
- the fork (28) is relatively stationary on the support (11), e.g. on the above-mentioned attachment at the end of the tube, the
- the assignment of fork (28) and arm holder (30) to support (11) and clamping unit (12) can also be reversed.
- the locking elements (11) are on the outside of the
- Fork opening inserted and can be detachably fixed in the fork opening by means of a lock (34).
- the wedge piece (33) presses the fork arms (29) outwards and against the arm holder (30).
- the lock (34) is e.g. resilient and can be used to remove the wedge piece
- (33) can be opened on train.
- FIGS. 9 to 17 show a second embodiment of the tensioning device (2). This can largely correspond to the first embodiment. Changes can relate to the design of the carrier (17) and the guide (20) as well as the adjusting and fixing device (21).
- the carrier (17) is also designed like a sled in the second embodiment and is mounted on the support (11) to be longitudinally movable, in particular displaceable, by means of the guide (20).
- the carrier (17) also has a guide means (24) designed as a guide base on the underside of the carrier.
- the carrier (17) lies with this e.g. bowl-shaped guide means on the
- Support (11) can be effected.
- points of engagement of the guide means (22, 23) are arranged at a distance below the pipe apex and the center of the guide means (24).
- the guide means (22, 23) are arranged on both sides of the support (11).
- Guide means (22) are each designed as support rails, which at the connection point on
- carrier-side guide means (23) have a hook-shaped cross section. The one formed by this
- the hook strip is undercut and laterally spaced from the support (11).
- the hook opening points towards the support (11) and diagonally downwards.
- the guide means (23) are arranged on the two lateral end regions of the carrier (17). They are also strip-shaped and have one
- Hook bars and their longitudinal extension along the support (11) can be used by the wearer (17)
- the guide (20) and the setting and fixing device (21) are local and
- the carrier (17) has a yoke-like or saddle-like carrier part which has the shell-shaped guide means (24) on the inside and the guide means (23) in the form of the outside
- Hook strips carries. At the top are the
- the adjusting and fixing device (21) has a latching device (25) with positively interlocking latching means (26, 27) on the movable clamping unit (12, 13) and on the support (11).
- a blocking means (32) can also be present. Alternatively, it can be missing.
- the locking means (26) is formed by an arm holder (30), the locking elements (31), in particular one
- the arm holder (30) is arranged centrally on the yoke or saddle-like support part. It is an axial and downwardly open recess designed in which the other locking means (27)
- the other, support-side latching means (27) can, as in the first embodiment, be designed as a fork (28) with latching elements (31) on the resilient fork arms.
- the carrier (17) has a bow-like carrier part, which starts from the yoke-like or saddle-like carrier part and is in
- the longitudinal direction of the support (11) extends.
- bowl-shaped guide means (24) is also on the
- the support part (17) has a long and wide support surface on the support (11), which can also form the guide means (24). The tensioning forces and the belt forces that arise during circulation can be effectively and safely supported on the support (11).
- the tensioning device (1) in particular its one or more tensioning units (12, 13), can have a detection device (38). This is provided and designed for this purpose, the forces and moments acting on the belt drive (1) and the tensions and also expansions in the drive belt (3) or its
- Clamping units (12, 13) is for the detection device
- the detection device (38) has a sensor arrangement
- the measuring points are spatially separated from one another and form a triangle with one another, which is particularly advantageous for the measuring accuracy.
- One measuring point (PI) is located at the apex of the guide means (24) and the support point there at the apex of the support (11). At least one more
- Measuring point (P2) is at an engagement point between a guide means (22) on the support (11) and one
- One of the two measuring points (P2, P3) is sufficient for the said detection of forces and moments etc.
- the triangular arrangement shown with two measuring points (P2, P3) is advantageous.
- one or more sensors (40) are arranged at each of the measuring points (P1, P2, P3). For example, this can be force-absorbing
- the sensors (40) can be arranged on the carrier (17) and / or on the support (11). They are preferably located on the guide elements (23, 24) of the carrier (17). In the case of the hook-shaped guide elements (23), a
- one or more other sensors (41) can also be present and possibly also arranged at other locations.
- Figure 19 shows this variant.
- the sensors (41) are e.g. arranged on the bow-shaped support part and measure forces occurring there, which can also be directed along the support (11).
- the sensors (41) can e.g. Detect strains and use them to measure forces. You can e.g. as
- the sensors (41) can be arranged, for example, at transition points between the side bracket arms and the front bracket end.
- the measuring principle is based on the previously described concept of belt tension, with which the rigidly connected pairs of support means (14, 15) and their displacement along the support (11) and the locking of the
- Driving belt (3) is tensioned. Thereby act on the
- the resulting force is calculated from both sides of the belt or belt belt (4,5). Discharge and
- FIG. 21 illustrates the forces occurring on the belt drive (1) when the drive belt is tensioned but not rotating.
- a tension force (F_Spann_l) or (F_Spann_2) acts obliquely outwards on the two tensioning rollers. This results in a result
- Tension force can be recorded and detected with the detection device (38), in particular its sensor arrangement (39).
- Figures 23 and 24 illustrate how different forces occur at the measuring points (P1, P2 and P3) depending on the load condition. From the
- Changes in force resulting from the transition from the neutral pretension state to the load state can be used to calculate the tension forces acting on the drive belt (3) and also the moment (M).
- the longitudinal direction of the belt spaces (4, 5) belt tension in each case can be determined.
- the resulting belt stretches can also be determined.
- the plane of symmetry of the carrier (17) measures the belt pretension and the amount of the joint torque on the pulley without being able to provide information about the direction of the torque.
- the senor (40) measures belt tension (but not as precisely as in case 1) and the displacement of the res. Force.
- the one-sided detection of the lateral force is sufficient to clearly determine the joint torque in relation to the amount and direction.
- Rails (strips) on the side of the structural part offer optimal support and high rigidity against twisting of the slide and significantly increase the load capacity of the tensioning device and thus the belt drive.
- the detection device (38) has an evaluation device which can be integrated in the sensor arrangement (39) or which can be arranged separately.
- Evaluation device can be controlled by a
- Belt drive (1) or the device (36) can be connected.
- the said recordings can be in the state or in
- Circulating operation of the belt drive (1) can be made.
- the detection results can be used for different purposes. On the one hand, it can be determined whether the drive belt (3) is still intact or is torn or overstretched. On the other hand, an angular misalignment caused by belt stretching can cause the
- the measure for this deviation can be used in the control of the belt drive (1) or the device (36) for correction purposes.
- Each clamping unit (12, 13) can have its own support. This can be mounted and fastened to a suitable substructure. Furthermore, the
- the support (11) can also have a different shape, in particular
- Cross-sectional shape It can be solid or hollow.
- the belt drive (1) can have a different ratio than the 1: 1 ratio shown and is of unequal size
- the belt drive (1) can also one or more other pulleys
- Pulleys the number of tensioning units (12, 13) can be correspondingly larger. Furthermore, the The alignment of the pulleys varies and differs from the parallel position.
- the drive belt (3) can have a different shape and a different material
- the locking device (25) and its locking means (26, 27) can also be varied.
- the locking elements (31) can alternatively be on the inside of the fork arms (29)
- Fork opening engages and can be formed like a strip.
- the blocking means (32) then engages around the fork arms (29) on the outside and presses them against the outside
- the locking means (26, 27) and the locking elements (31) can also have any other suitable construction and arrangement.
- Figures 25 and 26 show a third variant of the
- Clamping device (2) which is essentially based on the second embodiment or is designed and / or configured accordingly. This can therefore largely with the first and / or second
- Embodiment match Changes can affect the design of the support (17) and the guides (20, 22, 23).
- the carrier (17) is also in the third variant
- the carrier (17) also has a guide means (24) designed as a guide base on the underside of the carrier.
- the carrier (17) lies with this, for example, bowl-shaped guide means on the
- Support (11) can be effected.
- the positioning device (19) also has a guide (20).
- the guide (20) is now formed in one piece and in one piece with the carrier and has several
- the guide means (22.1,23.1,24) continue to extend along the connecting line of the pulley axes (10) or
- the guide (20) and the carrier (17) are designed such that they preferably completely surround the support (11).
- the toggle lever mechanism (50) clamps the clamping unit (12 or 13) firmly around the support (11) so that it is no longer possible to move it due to frictional forces.
- the toggle lever mechanism (50) clamps the clamping unit (12 or 13) firmly around the support (11) so that it is no longer possible to move it due to frictional forces.
- Guide means 22.1 or at least part of the guide means 22.1 with respect to the carrier (17) is preferably one with respect to the toggle mechanism
- Joint arrangement (52) has. In FIG. 25, this is designed as a solid-state joint (52), in particular a notch (52). However, it would also be possible to use any other configuration that would allow mobility or
- Guide means (24) in connection with the guide means 22.1 causes a support and longitudinal guidance on the support (11). Furthermore, one is preferred on the side or surface of the carrier (17) facing the tensioning rollers (14, 15)
- partial reinforcement (53) is provided in order to optimally distribute the forces transmitted by the tensioning rollers (14, 15) to / over the carrier.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018128587.6A DE102018128587A1 (de) | 2018-11-14 | 2018-11-14 | Riementrieb mit Spanneinrichtung |
PCT/EP2019/081265 WO2020099532A1 (de) | 2018-11-14 | 2019-11-14 | Riementrieb mit spanneinrichtung |
Publications (1)
Publication Number | Publication Date |
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EP3880410A1 true EP3880410A1 (de) | 2021-09-22 |
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EP19805927.1A Withdrawn EP3880410A1 (de) | 2018-11-14 | 2019-11-14 | Riementrieb mit spanneinrichtung |
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EP (1) | EP3880410A1 (de) |
DE (1) | DE102018128587A1 (de) |
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CN114670240B (zh) * | 2020-12-24 | 2023-06-27 | 沈阳新松机器人自动化股份有限公司 | 一种动力机构及灵巧手 |
CN112682485B (zh) * | 2020-12-28 | 2022-04-05 | 上海悦匠实业有限公司 | 自动校准的皮带传动系统及皮带传动系统自动校准方法 |
CN113146602B (zh) * | 2021-03-30 | 2022-09-02 | 黑龙江工程学院 | 一种适用于计算机控制的机器人结构 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US4511348A (en) * | 1982-06-24 | 1985-04-16 | Sperry Corporation | Drive tensioning apparatus |
DE4226292C2 (de) * | 1991-08-06 | 1994-10-13 | Erhard Kosch | Antriebsvorrichtung für die Umwandlung drehender Bewegungen in lineare Bewegungen und umgekehrt |
JP3693731B2 (ja) * | 1996-01-23 | 2005-09-07 | 金 君榮 | 搬送ロボット |
CA2532116C (en) * | 2005-12-08 | 2014-05-13 | Conestoga Cold Storage | Rack, conveyor and shuttle automated pick system |
US9447849B1 (en) * | 2013-04-19 | 2016-09-20 | Redwood Robotics, Inc. | Robot manipulator with modular torque controlled links |
DE102016202792A1 (de) * | 2016-02-23 | 2017-08-24 | Kuka Roboter Gmbh | Robotergelenk und Roboter mit wenigstens einem solchen Robotergelenk |
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2019
- 2019-11-14 WO PCT/EP2019/081265 patent/WO2020099532A1/de unknown
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WO2020099532A1 (de) | 2020-05-22 |
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