阅读说明：本技术 一种钢带预紧装置及预紧方法 (Steel belt pre-tightening device and pre-tightening method ) 是由 付宜利 潘博 于 2019-11-29 设计创作，主要内容包括：一种钢带预紧装置及预紧方法,它涉及机器人技术领域。本发明为解决现有机器人钢带预紧装置结构不紧凑、体积较大、且不适用于多层钢带预紧的问题。预紧装置包括钢带轮A、钢带轮B、钢带组件、第一紧固螺栓和第二紧固螺栓,钢带组件的一端通过第一紧固螺栓固接在钢带轮A的外圆周侧壁上,钢带组件的另一端通过第二紧固螺栓固接在钢带轮B的外圆周侧壁上。预紧方法：预加工；组装钢带组件；固定钢带组件；预紧钢带组件。本发明用于医疗机器人和工业机器人等。(A steel belt pre-tightening device and a pre-tightening method relate to the technical field of robots. The invention aims to solve the problems that the existing robot steel belt pre-tightening device is not compact in structure, large in size and not suitable for multi-layer steel belt pre-tightening. The pre-tightening device comprises a steel belt wheel A, a steel belt wheel B, a steel belt assembly, a first fastening bolt and a second fastening bolt, one end of the steel belt assembly is fixedly connected to the outer circumferential side wall of the steel belt wheel A through the first fastening bolt, and the other end of the steel belt assembly is fixedly connected to the outer circumferential side wall of the steel belt wheel B through the second fastening bolt. The pre-tightening method comprises the following steps: preprocessing; assembling a steel belt assembly; fixing the steel belt assembly; and (4) pre-tightening the steel belt assembly. The invention is used for medical robots, industrial robots and the like.)

1. A steel belt pre-tightening device is characterized in that: the steel belt pre-tightening device comprises a steel belt wheel A (1), a steel belt wheel B (2), a steel belt assembly (3), a first fastening bolt (4) and a second fastening bolt (5), wherein one end of the steel belt assembly (3) is fixedly connected to the outer circumferential side wall of the steel belt wheel A (1) through the first fastening bolt (4), and the other end of the steel belt assembly (3) is fixedly connected to the outer circumferential side wall of the steel belt wheel B (2) through the second fastening bolt (5);

the steel belt component (3) comprises a first pressing plate (3-1), a first cylindrical pin (3-2), a second pressing plate (3-3), a second cylindrical pin (3-5), a third pressing plate (3-6), a wedge-shaped pressing plate (3-7) and a fourth pressing plate (3-9), one end of the steel belt (3-4) is fixedly connected between the first pressing plate (3-1) and the second pressing plate (3-3), the first cylindrical pin (3-2) is vertically inserted and connected onto the first pressing plate (3-1), the steel belt (3-4) and the second pressing plate (3-3), the other end of the steel belt (3-4) is fixedly connected between the third pressing plate (3-6) and the wedge-shaped pressing plate (3-7), and the second cylindrical pin (3-5) is vertically inserted and connected between the third pressing plate (3-6), The steel strip fixing device comprises steel strips (3-4) and wedge-shaped pressing plates (3-7), wedge-shaped grooves (3-7-1) are formed in the outer end faces of the inner sides of the wedge-shaped pressing plates (3-7), the groove walls of the wedge-shaped grooves (3-7-1) are inclined inwards from the groove openings to the groove bottoms, fourth pressing plates (3-9) are arranged in the wedge-shaped grooves (3-7-1), the outer side end faces of the fourth pressing plates (3-9) are matched with the groove walls of the wedge-shaped grooves (3-7-1), and second fastening bolts (5) are vertically and rotatably installed on the fourth pressing plates (3-9).

2. A steel strip pretensioning device according to claim 1, characterized in that: the outer end face of the fourth pressing plate (3-9) matched with the groove wall of the wedge-shaped groove (3-7-1) is an inclined plane, and the inclined direction of the inclined plane is consistent with that of the groove wall of the wedge-shaped groove (3-7-1).

3. A steel strip pretensioning device according to claim 1 or 2, characterized in that: the steel belt pulley is characterized in that a belt groove A (1-1) is formed in the outer circumferential side wall of the steel belt pulley A (1) along the circumferential direction, one end of a steel belt component (3) is clamped in the belt groove A (1-1), a belt groove B (2-1) is formed in the outer circumferential side wall of the steel belt pulley B (2) along the circumferential direction, and the other end of the steel belt component (3) is clamped in the belt groove B (2-1).

4. A steel strip pretensioning device according to claim 3, characterized in that: the steel belt wheel A (1) is provided with a first counter bore on the outer circumferential side wall along the radial direction, the tail end of a first cylindrical pin (3-1) is inserted into the first counter bore, the steel belt wheel B (2) is provided with a second counter bore on the outer circumferential side wall along the radial direction, and the tail end of a second cylindrical pin (3-5) is inserted into the second counter bore.

5. A steel strip pretensioning device according to claim 1, characterized in that: a gasket (3-8) is arranged between the fourth pressing plate (3-9) and the bottom of the wedge-shaped groove (3-7-1).

6. A steel strip pretensioning device according to claim 1, 2, 4 or 5, characterized in that: the first fastening screw (4) is vertically inserted on the first pressing plate (3-1), the steel belt (3-4) and the second pressing plate (3-3), the tail end of the first fastening screw (4) is rotatably installed on the steel belt wheel A (1), the second fastening screw (5) is vertically inserted on the wedge-shaped pressing plate (3-7), the steel belt (3-4) and the third pressing plate (3-6), and the tail end of the second fastening screw (5) is rotatably installed on the steel belt wheel B (2).

7. A steel strip pretensioning device according to claim 1, characterized in that: the steel belt (3-4) is fixedly connected with the first pressing plate (3-1) and the second pressing plate (3-3) in a welding mode, the first cylindrical pin (3-2) is fixedly connected with the first pressing plate (3-1) and the second pressing plate (3-3) in a welding mode, the steel belt (3-4) is fixedly connected with the third pressing plate (3-6) and the wedge-shaped pressing plate (3-7) in a welding mode, and the second cylindrical pin (3-5) is fixedly connected with the third pressing plate (3-6) and the wedge-shaped pressing plate (3-7) in a welding mode.

8. A method of pre-tensioning a steel strip using a pre-tensioning device according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:

the method comprises the following steps: preprocessing: a first through hole and a second through hole are respectively drilled at two ends of the steel belt (3-4), pin holes and screw unthreaded holes are respectively processed in advance on the first pressing plate (3-1), the second pressing plate (3-3), the third pressing plate (3-6) and the wedge-shaped pressing plate (3-7), and threaded holes are processed in advance on the fourth pressing plate (3-9);

step two: assembling the steel strip assembly (3): firstly, one end of a steel belt (3-4) is welded and fixed between a first pressure plate (3-1) and a second pressure plate (3-3), then a first cylindrical pin (3-2) is inserted into a pin hole of the first pressure plate (3-1), a first through hole at one end of the steel belt (3-4) and a pin hole of the second pressure plate (3-3), and then the first cylindrical pin (3-2) is welded and fixed; the other end of the steel belt (3-4) is welded and fixed between the third pressure plate (3-6) and the wedge-shaped pressure plate (3-7), then a second cylindrical pin (3-5) is inserted into a pin hole of the third pressure plate (3-6), a first through hole at the other end of the steel belt (3-4) and a pin hole of the wedge-shaped pressure plate (3-7), and then the second cylindrical pin (3-5) is welded and fixed;

step three: fixing the steel belt assembly (3): firstly, a steel belt wheel A (1) and a steel belt wheel B (2) are fixedly arranged in parallel, then one end of a steel belt assembly (3) is wound in a belt groove A (1-1) of the steel belt wheel A (1), a first counter bore is arranged in the belt groove A (1-1), the tail end of a first cylindrical pin (3-1) is inserted into the first counter bore for positioning, then a first fastening screw (4) is inserted into a screw unthreaded hole of a first pressing plate (3-1), a second through hole at one end of the steel belt (3-4) and a screw unthreaded hole of a second pressing plate (3-3), the tail end of the first fastening screw (4) is screwed on the circumferential side wall of the steel belt wheel A (1), and one end of the steel belt assembly (3) is positioned and locked;

step four: pre-tightening steel belt components (3): winding the other end of the steel belt component (3) in a belt groove B (2-1) of a steel belt wheel B (2), arranging a second counter bore in the belt groove B (2-1), inserting the tail end of a second cylindrical pin (3-5) in the second counter bore for positioning, then installing a fourth pressure plate (3-9) in a wedge-shaped groove (3-7-1), enabling the inclined surface of the fourth pressure plate (3-9) to be in contact fit with the inclined groove wall of the wedge-shaped groove (3-7-1), screwing a second fastening screw (5) on the fourth pressure plate (3-9), penetrating through a screw unthreaded hole of the wedge-shaped pressure plate (3-7), a second through hole at the other end of the steel belt (3-4) and a unthreaded screw hole of a third pressure plate (3-6), screwing the tail end of the second fastening screw (5) on the circumferential side wall of the steel belt wheel B (2), the other end of the steel belt assembly (3) is positioned and locked, when the second fastening screw (5) is screwed and the fourth pressing plate (3-9) moves downwards, the wedge-shaped pressing plate (3-7) drives the other end of the steel belt (3-4) and the third pressing plate (3-6) to move outwards together under the action of the inclined groove wall of the wedge-shaped groove (3-7-1), and the steel belt (3-4) is pre-tightened.

9. The pretensioning method according to claim 8, wherein: in the first step, the screw unthreaded hole of the wedge-shaped pressing plate (3-7), the second through hole at the other end of the steel belt (3-4), the screw unthreaded hole of the third pressing plate (3-6) and the second counter bore on the steel belt wheel B (2) are all kidney-shaped holes.

10. The pretensioning method according to claim 8 or 9, characterized in that: and the welding modes in the second step are all spot welding.

Technical Field

The invention relates to the technical field of robots, in particular to a steel belt pre-tightening device and a pre-tightening method.

Background

Steel belt transmission modes are pre-tightened in the fields of medical robots, industrial robots and the like, and have higher rigidity and higher transmission precision compared with synchronous belt flexible transmission modes, so that the steel belt transmission modes are increasingly used in the field of robot transmission. The common steel belt pre-tightening mode is similar to a synchronous belt pre-tightening mode, namely a mode of changing the center distance or a tensioning wheel is adopted, but the two modes have limitations. The mode of changing the center distance is difficult to apply to robot transmission, because some moving joint parameters of the robot are determined, the center distance cannot be changed, and even if the center distance can be adjusted through some special designs, the structural design is easy to be complicated. The tensioning wheel mode is a special tensioning structure, so that the overall structure is large in size, and the required large tensioning distance is long in long-distance steel belt transmission, so that the mechanism is large in size easily. In view of the above, the research and development of a more compact and reliable steel belt pre-tightening mode has important significance for the development of the robot field in China.

Disclosure of Invention

The invention provides a steel belt pre-tightening device and a pre-tightening method, aiming at solving the problems that the existing robot steel belt pre-tightening device is not compact in structure, large in size and not suitable for multi-layer steel belt pre-tightening.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a steel belt pre-tightening device comprises a steel belt wheel A, a steel belt wheel B, a steel belt assembly, a first fastening bolt and a second fastening bolt, wherein one end of the steel belt assembly is fixedly connected to the outer circumferential side wall of the steel belt wheel A through the first fastening bolt, and the other end of the steel belt assembly is fixedly connected to the outer circumferential side wall of the steel belt wheel B through the second fastening bolt;

the steel band subassembly includes first clamp plate, first cylindric lock, the second clamp plate, the second cylindric lock, the third clamp plate, wedge clamp plate and fourth clamp plate, the one end rigid coupling of steel band is between first clamp plate and second clamp plate, the perpendicular cartridge of first cylindric lock is at first clamp plate, on steel band and the second clamp plate, the other end rigid coupling of steel band is between third clamp plate and wedge clamp plate, the perpendicular cartridge of second cylindric lock is at the third clamp plate, the outside of steel band and wedge clamp plate, be equipped with the wedge groove on the inboard outer terminal surface of wedge clamp plate, the cell wall of wedge groove is by notch to tank bottom leanin, be equipped with the fourth clamp plate in the wedge groove, the outside terminal surface of fourth clamp plate and the cell wall cooperation of wedge groove, second fastening bolt vertical rotation dress is on the fourth clamp plate.

The steel belt pre-tightening method comprises the following steps:

the method comprises the following steps: preprocessing: respectively drilling a first through hole and a second through hole at two ends of a steel belt, respectively preprocessing a pin hole and a screw smooth hole on a first pressing plate, a second pressing plate, a third pressing plate and a wedge-shaped pressing plate, and preprocessing a threaded hole on a fourth pressing plate;

step two: assembling a steel belt assembly: firstly, welding and fixing one end of a steel belt between a first pressure plate and a second pressure plate, then inserting a first cylindrical pin into a pin hole of the first pressure plate, a first through hole at one end of the steel belt and a pin hole of the second pressure plate, and then welding and fixing the first cylindrical pin; welding and fixing the other end of the steel belt between the third pressure plate and the wedge-shaped pressure plate, then inserting a second cylindrical pin into a pin hole of the third pressure plate, a first through hole at the other end of the steel belt and a pin hole of the wedge-shaped pressure plate, and then welding and fixing the second cylindrical pin;

step three: fixing the steel belt assembly: firstly, a steel belt wheel A and a steel belt wheel B are fixedly arranged in parallel, then one end of a steel belt assembly is wound in a belt groove A of the steel belt wheel A, a first counter bore is arranged in the belt groove A, the tail end of a first cylindrical pin is inserted into the first counter bore for positioning, then a first fastening screw is inserted into a screw unthreaded hole of a first pressing plate, a second through hole at one end of the steel belt and a screw unthreaded hole of a second pressing plate, the tail end of the first fastening screw is screwed on the circumferential side wall of the steel belt wheel A, and one end of the steel belt assembly is positioned and locked;

step four: pre-tightening the steel belt assembly: the other end of the steel belt assembly is wound in a belt groove B of a steel belt wheel B, a second counter bore is arranged in the belt groove B, the tail end of a second cylindrical pin is inserted into the second counter bore to be positioned, a fourth pressing plate is installed in a wedge-shaped groove, the inclined surface of the fourth pressing plate is in contact fit with the inclined groove wall of the wedge-shaped groove, a second fastening screw is screwed on the fourth pressing plate and penetrates through a screw unthreaded hole of the wedge-shaped pressing plate, a second through hole at the other end of the steel belt and a screw unthreaded hole of a third pressing plate, the tail end of the second fastening screw is screwed on the circumferential side wall of the steel belt wheel B, the other end of the steel belt assembly is positioned and locked, when the second fastening screw is screwed, the fourth pressing plate moves downwards, the other end of the steel belt and the third pressing plate are driven to move outwards together under the action of the inclined groove wall of the wedge-shaped groove, and.

Compared with the prior art, the invention has the following beneficial effects:

according to the steel belt pre-tightening method, the steel belt is fixed on the steel belt wheel by the pressing plate, and meanwhile, the steel belt is pre-tightened by the wedge-shaped block, so that the pre-tightening device is small in overall size and compact in structure.

Compared with a tensioning wheel pre-tightening device, the device has the advantages of fewer parts, smaller occupied volume, contribution to improving the compactness of the whole device and reduction of the quality of the whole device.

Compared with the mode of adjusting the center distance, the pre-tightening device does not need to adjust the center distance, can pre-tighten the steel belt on the basis of the original center distance, and is very suitable for occasions needing linkage of the multi-joint robot.

The steel belt component is provided with the multiple layers of steel belts, and when the steel belts are pre-tightened, the deformation of the innermost layer of the steel belt is the largest, the tensile force is the strongest, the deformation is gradually reduced from inside to outside, and the outermost layer still has residual tension. When the innermost layer steel belt is broken due to sudden extra acting force in a motion state and exceeds the allowable pulling force, the second layer steel belt still has pretightening force to keep the steel belts in pretightening and connecting, the output wheel cannot run away, the tail end of the output wheel is kept in a normal state under slight deformation, and the safety of equipment is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of a steel strip assembly 3 according to the present invention;

FIG. 3 is an enlarged view taken at I in FIG. 2;

FIG. 4 is an enlarged view at J of FIG. 2;

fig. 5 is a schematic view of the wedge-shaped pressing plates 3-7, the fourth pressing plates 3-9 and the second fastening screws 5 of the present invention after assembly.

Detailed Description