CN110682276A - Modularization lightweight arm motion platform - Google Patents
Modularization lightweight arm motion platform Download PDFInfo
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- CN110682276A CN110682276A CN201911016095.5A CN201911016095A CN110682276A CN 110682276 A CN110682276 A CN 110682276A CN 201911016095 A CN201911016095 A CN 201911016095A CN 110682276 A CN110682276 A CN 110682276A
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- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical group Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 claims description 16
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- 238000013519 translation Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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Abstract
The invention discloses a modularized light-weight mechanical arm motion platform, which consists of an X-direction motion module, a Y-direction motion module and a Z-direction motion module, wherein the X-direction motion module, the Y-direction motion module and the Z-direction motion module have the same structure, the X-direction motion module and the Y-direction motion module are coplanar and assembled together at an included angle of 90 degrees, the Z-direction motion module is vertical to the surface formed by the X-direction motion module and the Y-direction motion module, one end of the Y-direction motion module is installed on the Z-direction motion module, and the surface formed by the X-direction motion module and the Y-direction motion module can move up and down along the Z-direction motion module; this motion platform realizes single equipment, control arm through structural design, sensor feedback and to the control of motor, reduction personnel's that can be very big the amount of labour increases labor efficiency to reduce the degree of difficulty of operation, increased system accuracy and reliability.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a modularized light mechanical arm motion platform.
Background
The mechanical arm is an important tool for replacing labor of people, can replace people to work in a dangerous environment, is not damaged by the dangerous environment, can improve the machining precision, and reduces loss caused by fatigue of people. At present, most of work needs to be carried out manually by personnel, the personnel can be fatigued, and the dangerous environment is ubiquitous, so that the mechanical arm is becoming an indispensable important tool. At the present stage, the modularization degree of the mechanical arm is not high, and each part of the mechanical arm needs to be manufactured independently, so that the manufacturing difficulty is increased, the reliability is reduced, and the cost is increased. Moreover, the design of the mechanical arm is very complicated, so that the mechanical arm is very heavy and cannot be used in some special cases.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a modularized light-weight mechanical arm motion platform. This motion platform realizes single equipment, control arm through structural design, sensor feedback and to the control of motor, reduction personnel's that can be very big the amount of labour increases labor efficiency to reduce the degree of difficulty of operation, increased system accuracy and reliability.
The technical scheme for solving the technical problem is that the invention provides a modularized light-weight mechanical arm motion platform which is characterized by comprising an X-direction motion module, a Y-direction motion module and a Z-direction motion module, wherein the three motion modules of the X-direction motion module, the Y-direction motion module and the Z-direction motion module have the same structure, the X-direction motion module and the Y-direction motion module are coplanar and assembled together at an included angle of 90 degrees, the Z-direction motion module is vertical to the surface formed by the X-direction motion module and the Y-direction motion module, one end of the Y-direction motion module is installed on the Z-direction motion module, and the surface formed by the X-direction motion module and the Y-direction motion module can move up and down along the Z-direction motion module;
the Y-direction movement module consists of a nut with a gasket, a straight gear with a key groove, a servo motor with a gear, a screw rack, a rhombic bearing seat, a small infrared distance meter, a sliding block screw sleeve and a screw;
the screw frame is in a plate shape which is approximately U-shaped and has two ends provided with vertically upward side edges, screw frame mounting holes are arranged on the two vertical side edges, the middle part of the two vertical side edges is vertically downwards provided with a first notch and a second notch which are opposite in position, the middle part of the two vertical side edges is a plate with a channel at the middle part, the bottom surface of the sliding block is in a structure that the middle part is convex and the two sides are concave, and the size of the part of the middle convex is matched with the size of the channel at the middle part of the screw frame;
the middle of the sliding block is provided with a through hole, the side surface of the sliding block is provided with a threaded hole, the screw rod is arranged in the through hole through a sliding block screw rod sleeve, and other moving modules or mechanical arms are fixed on the side surface where the threaded hole is located through screws;
the screw rod is a stepped rod and sequentially comprises a first rod section, a second rod section, a third rod section and a fourth rod section from left to right, wherein the diameter of the first rod section is the smallest, the diameter of the second rod section is larger than that of the first rod section, the diameter of the third rod section is larger than that of the second rod section, and the diameter of the second rod section is the same as that of the fourth rod section; the surface of the third rod section is provided with a thread which is matched with the internal thread of the slide block screw sleeve; the periphery of the tail end of the first rod section is provided with threads for mounting a nut with a gasket, a key groove is formed in the non-threaded part of the first rod section and used for placing a double-headed round key, and a straight gear with the key groove is fixed on the part, with the key groove, of the first rod section through the double-headed round key and the nut with the gasket;
a sliding block screw rod sleeve arranged in the sliding block is sleeved on a third rod section of the screw rod, and a fourth rod section is fixed on the inner side of a screw rod frame mounting hole on one side of the screw rod frame through a rhombic bearing seat; a second rod section sequentially passes through a rhombic bearing seat and a second opening, the rhombic bearing seat is fixed on the inner side of a screw rod frame mounting hole on the side through a screw, a straight gear with a key groove is mounted on a first rod section connected with the tail end of the second rod section, the straight gear with the key groove is meshed with a gear at the output end of a servo motor with a gear, and the servo motor with the gear is fixed on the outer side of the screw rod frame mounting hole on the side through a screw; the small infrared distance meter is fixed at the tail end of one side of the middle channel of the screw frame, which is close to the gear servo motor, through a bolt, and a measuring head of the small infrared distance meter is opposite to the sliding block;
the first opening end of the screw frame of the X-direction movement module is fixed on the side surface of the sliding block of the Y-direction movement module through a screw, and the first opening end of the screw frame of the Y-direction movement module is fixed on the side surface of the sliding block of the Z-direction movement module through a screw; the X-direction movement module and the Y-direction movement module are coplanar and assembled together at an included angle of 90 degrees, the Z-direction movement module is perpendicular to the surface formed by the X-direction movement module and the Y-direction movement module, and a first opening end of a screw frame of the Z-direction movement module is fixed on the operation table.
Compared with the existing products, the invention has the beneficial effects that:
(1) the motion platform adopts a plate-shaped structure, so that the structural weight is reduced, and the whole module can be conveniently carried.
(2) The motion platform is structurally formed by combining three one-dimensional mechanical arm motion modules, so that the modularization of the structure is realized, and the one-dimensional motion modules mainly utilize the self-locking and single-degree-of-freedom translation functions of a screw pair, so that the displacement of each test subsystem in a space coordinate is realized.
(3) The one-dimensional motion module adopts a small infrared distance meter as a feedback device, compares a distance parameter detected by the small infrared distance meter with a specific working position parameter, controls the servo motor to rotate forward and backward, and controls the sliding block to move up and down to a working position.
Drawings
FIG. 1 is a schematic overall structure of one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a Y-direction motion module according to an embodiment of the present invention;
FIG. 3 is a schematic view of a Y-direction motion module screw mount according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a Y-direction motion module slider structure according to an embodiment of the present invention;
FIG. 5 is a schematic view of a slider screw sleeve of the Y-direction motion module according to an embodiment of the present invention;
FIG. 6 is a schematic view of a screw structure of a Y-direction movement module according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a rhombic bearing seat;
(in the figure: 1-X direction movement module; 2-Y direction movement module; 3-Z direction movement module; 2.1-spacer nut; 2.2-spline straight gear; 2.3-gear servo motor; 2.4-screw rack; 2.5-diamond bearing seat; 2.6-small infrared distance meter; 2.7-threaded hole; 2.8-slide block; 2.9-slide block screw sleeve; 2.10-screw rod; 2.11-screw rack mounting hole).
Detailed Description
Specific examples of the present invention are given below. The specific examples are only intended to illustrate the invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides a modularized light-weight mechanical arm motion platform (motion platform for short), which is characterized by comprising an X-direction motion module 1, a Y-direction motion module 2 and a Z-direction motion module 3, wherein the three motion modules of the X-direction motion module 1, the Y-direction motion module 2 and the Z-direction motion module 3 have the same structure, the X-direction motion module 1 and the Y-direction motion module 2 are coplanar and assembled together at an included angle of 90 degrees, the Z-direction motion module 3 is vertical to a surface formed by the X-direction motion module 1 and the Y-direction motion module 2, one end of the Y-direction motion module 2 is installed on the Z-direction motion module 3, and the surface formed by the X-direction motion module 1 and the Y-direction motion module 2 can move up and down along the Z-direction motion module 3.
The construction of the Y-direction moving module 2 will be described in detail below.
The Y-direction movement module 2 (see figure 2) is composed of a nut 2.1 with a gasket, a straight gear (standard part) 2.2 with a key groove, a servo motor (standard part) 2.3 with a gear, a screw rack 2.4, a rhombic bearing seat (standard part) 2.5, a small infrared distance meter (standard part) 2.6, a sliding block 2.8, a sliding block screw sleeve 2.9 and a screw 2.10.
The screw frame 2.4 is in a plate shape which is approximately U-shaped and has two ends provided with vertically upward side edges, screw frame mounting holes 2.11 are arranged on the two vertical side edges, the middle part of the two vertical side edges is vertically downwards provided with a first notch 3.1 and a second notch 3.3 which are opposite in position, the middle part of the two vertical side edges is a plate with a channel 3.2 in the middle part, the bottom surface of the sliding block 2.8 is in a structure that the middle part is convex and the two sides are concave 4.2, and the part 4.2 of the middle convex is matched with the channel 3.2 in the middle part of the screw frame 2.4 in size;
a through hole 4.1 is formed in the middle of the sliding block 2.8, a threaded hole 2.7 is formed in the side face of the sliding block 2.8, the screw 2.10 is installed in the through hole 4.1 through a sliding block screw sleeve 2.9, and other moving modules or mechanical arms are fixed on the side face where the threaded hole 2.7 is located through screws;
the screw rod 2.10 is a ladder rod, and is No. one pole section 6.1, No. two pole sections 6.2, No. three pole sections 6.3, No. four pole sections 6.4 from left to right in proper order, and wherein, the diameter of No. one pole section 6.1 is minimum, and the diameter of No. two pole sections 6.2 is bigger than the diameter of No. one pole section 6.1, and the diameter of No. three pole sections 6.3 is bigger than the diameter of No. two pole sections 6.2, and the diameter of No. two pole sections 6.2 is the same with the diameter of No. four pole sections 6.4. The surface of the third rod section 6.3 is provided with a thread which is matched with the internal thread of the sliding block screw sleeve 2.9; the periphery of the tail end of the first rod section 6.1 is provided with threads for mounting a nut 2.1 with a gasket, a key groove is formed in the unthreaded part of the first rod section 6.1 for placing a double-headed round key, and a straight gear 2.2 with the key groove is fixed on the part, with the key groove, of the first rod section 6.1 through the double-headed round key and a nut 2.1 with the gasket;
a slide block screw sleeve 2.9 arranged in the slide block 2.8 is sleeved on the third rod section of the screw, and the fourth rod section 6.4 is fixed on the inner side of a screw rack mounting hole 2.11 at one side of the screw rack 2.4 through a diamond-shaped bearing seat 2.5; no. two pole sections 6.2 pass through a rhombus bearing frame 2.5 in proper order, No. two opening 3.3, this rhombus bearing frame 2.5 passes through the fix with screw on the screw frame mounting hole 2.11 inboard of this side, install on the pole section 6.1 of No. two pole sections 6.2's end linking up and take keyway spur gear 2.2, take keyway spur gear 2.2 and the gear engagement of the output of taking gear servo motor 2.3, take gear servo motor 2.3 to pass through the fix with screw in the outside of the screw frame mounting hole 2.11 of this side. The small infrared distance measuring instrument 2.6 is fixed at the tail end of the middle channel 3.2 of the screw frame 2.4 close to one side of the gear-equipped servo motor 2.3 through a bolt, and a measuring head of the small infrared distance measuring instrument is opposite to the sliding block 2.8.
The screw frame 2.4 is of an aluminum alloy structure, so that the processing difficulty is reduced, and the mass is reduced; eight holes are formed in the vertical side edge, provided with the second notch 3.3, of the screw frame 2.4, two mounting holes with larger distance are used for mounting the rhombic bearing seat 2.5, two holes at the lowest end are used for mounting the small infrared distance measuring instrument 2.6, and the rest four holes are used for mounting the servo motor with the gear 2.3; six holes are formed in the vertical side edge of the screw frame 2.4, which is provided with the first notch 3.1, two holes in the middle are used for mounting the rhombic bearing seat 2.5, and the rest four holes are used for being connected with other motion modules or operation tables;
the sliding block 2.8 is made of an aluminum alloy material, so that the processing difficulty is reduced, and the weight is reduced;
the screw 2.10 is made of Q235 steel, so that the toughness and rigidity of the screw are improved; meanwhile, the tail end of the fourth rod section 6.4 cannot exceed the side edge of the screw frame 2.4, otherwise, the installation cannot be carried out;
the slider screw rod cover 2.9 is aluminum alloy material, reduces the processing degree of difficulty, and weight reduction, its shape is two-stage echelonment, and the surface of thinner ladder excessively cooperates with through-hole 4.1 of slider 2.8, through fixed orifices 5.1 and slider 2.8's the terminal surface fixed connection in through-hole 4.1, prevents to take place relative movement, and its internal thread 5.2 and the screw rod 2.10's No. three pole section 6.3's surface thread phase-match.
During installation, the slide block 2.8 and the slide block screw sleeve 2.9 are fixedly installed together through the installation screw hole 5.1, the slide block 2.8 and the slide block screw sleeve 2.9 are sleeved on the third rod section 6.3 of the screw rod 2.10, then the two rhombic bearing blocks 2.5 are respectively sleeved and fixed on the second rod section 6.2 and the fourth rod section 6.4 of the screw rod 2.10, the assembled whole is placed on the notches on the two vertical side edges of the screw rod frame 2.4, the end of the fourth rod section 6.4 of the screw rod 2.10 is placed at the end of the first notch 3.1, the positions of the slide block 2.8 and the screw rod 2.10 are adjusted, the middle protruding part 4.2 of the slide block 2.8 is matched with the size of the channel 3.2 on the middle part of the screw rod frame 2.4, the assembled screw rod 2.10 is integrally fixed on the screw rod frame 2.4 through the positioning hole 7.1 on the rhombic bearing block 2.5, and the screw rod 2.10 is fixed at the corresponding position by using the fastening screw rod 7.2. During installation, the 6.4 end of the fourth rod section cannot exceed the outer end face of the 3.1 end of the first notch, so that the installation of the motion module and other modules is guaranteed.
When in work, the given distance data is firstly transmitted to the small infrared distance measuring instrument 2.6, the small infrared distance measuring instrument 2.6 measures the actual distance data between the measuring head of the small infrared distance measuring instrument 2.6 and the slide block 2.8, after the given distance data is compared with the actual distance data, the positive and negative rotation and the running time of the gear-equipped servo motor 2.3 are obtained, the gear-equipped servo motor 2.3 is started and runs for corresponding time, the rotation of the gear-equipped servo motor 2.3 drives the straight gear 2.2 with the key groove on the screw rod 2.10 to rotate through the gear on the gear-equipped servo motor, thereby driving the screw rod 2.10 to rotate, the slide block screw rod sleeve 2.9 meshed with the screw rod 2.10 is fixed on the slide block 2.8, one side surface of the slide block 2.8 is positioned on the channel of the screw rod frame 2.4 and can not rotate, therefore, the slide block 2.8 moves back and forth along the direction of the screw rod 2.10, and further drives other motion modules or mechanical arms fixed on the side surface of the slide block 2.8 to move back and forth.
The structure of the X-direction movement module 1 and the structure of the Z-direction movement module 3 are the same as the structure of the Y-direction movement module 2, when in assembly, the first opening 3.1 end of the screw rod frame 2.4 of the X-direction movement module 1 is fixed on the side surface of the slide block 2.8 of the Y-direction movement module 2 through a screw, the first opening 3.1 end of the screw rod frame 2.4 of the Y-direction movement module 2 is fixed on the side surface of the slide block 2.8 of the Z-direction movement module 3 through a screw, the X-direction movement module 1 and the Y-direction movement module 2 are assembled together in a coplanar manner of forming an included angle of 90 degrees, the Z-direction movement module 3 is vertical to the surface formed by the X-direction movement module 1 and the Y-direction movement module 2, and the first opening 3.1 end of the screw rod frame 2.4 of the Z-direction movement module 3 is. The position adjustment in three-dimensional space can be realized by controlling the positive and negative rotation and the running time of the geared servo motor 2.3 of the three motion modules.
The control process of the motion platform comprises the following steps: firstly, determining a space origin of a motion platform, selecting the position of the maximum distance between the slide blocks of the three motion modules and the measuring head of the small infrared distance measuring instrument 2.6 as the space origin, and fixing the mechanical arm on the side surface of the slide block of the motion module meeting the displacement requirement, for example, if three-dimensional movement is needed, the mechanical arm needs to be fixed on the slide block of the X-direction motion module 1, and if only simple up-and-down displacement is needed, the mechanical arm is fixed on the slide block of the Z-direction motion module 3; after the mechanical arm is fixed, the small infrared distance meter is started to acquire current position data of the mechanical arm, the current position data is compared with given position data, forward and reverse rotation and running time of the toothed wheel servo motor 2.3 on each motion module are obtained according to parameters of the toothed wheel servo motor 2.3, and after the operation of the toothed wheel servo motor 2.3 is completed, the mechanical arm reaches a given specific position.
The motion platform can be matched according to different operation environments, the limitation that the part has high weight and complex structure to the mechanical motion structure is broken through, the universality of the mechanical motion structure is improved to a great extent, the use and maintenance cost of the mechanical motion structure is reduced, and the development of mechanical arm career is promoted.
Nothing in this specification is said to apply to the prior art.
Claims (6)
1. A modularized lightweight mechanical arm motion platform is characterized in that the motion platform is composed of an X-direction motion module, a Y-direction motion module and a Z-direction motion module, the three motion modules of the X-direction motion module, the Y-direction motion module and the Z-direction motion module have the same structure, the X-direction motion module and the Y-direction motion module are coplanar and assembled together at an included angle of 90 degrees, the Z-direction motion module is vertical to the surface formed by the X-direction motion module and the Y-direction motion module, one end of the Y-direction motion module is installed on the Z-direction motion module, and the surface formed by the X-direction motion module and the Y-direction motion module can move up and down along the Z-direction motion module;
the Y-direction movement module consists of a nut with a gasket, a straight gear with a key groove, a servo motor with a gear, a screw rack, a rhombic bearing seat, a small infrared distance meter, a sliding block screw sleeve and a screw;
the screw frame is in a plate shape which is approximately U-shaped and has two ends provided with vertically upward side edges, screw frame mounting holes are arranged on the two vertical side edges, the middle part of the two vertical side edges is vertically downwards provided with a first notch and a second notch which are opposite in position, the middle part of the two vertical side edges is a plate with a channel at the middle part, the bottom surface of the sliding block is in a structure that the middle part is convex and the two sides are concave, and the size of the part of the middle convex is matched with the size of the channel at the middle part of the screw frame;
the middle of the sliding block is provided with a through hole, the side surface of the sliding block is provided with a threaded hole, the screw rod is arranged in the through hole through a sliding block screw rod sleeve, and other moving modules or mechanical arms are fixed on the side surface where the threaded hole is located through screws;
the middle of the sliding block is provided with a through hole, the side surface of the sliding block is provided with a threaded hole, the screw rod is arranged in the through hole through a sliding block screw rod sleeve, and other moving modules or mechanical arms are fixed on the side surface where the threaded hole is located through screws;
the screw rod is a stepped rod and sequentially comprises a first rod section, a second rod section, a third rod section and a fourth rod section from left to right, wherein the diameter of the first rod section is the smallest, the diameter of the second rod section is larger than that of the first rod section, the diameter of the third rod section is larger than that of the second rod section, and the diameter of the second rod section is the same as that of the fourth rod section; the surface of the third rod section is provided with a thread which is matched with the internal thread of the slide block screw sleeve; the periphery of the tail end of the first rod section is provided with threads for mounting a nut with a gasket, a key groove is formed in the non-threaded part of the first rod section and used for placing a double-headed round key, and a straight gear with the key groove and a key groove is fixed on the part, with the key groove, of the first rod section through the double-headed round key and the nut with the gasket;
a sliding block screw rod sleeve arranged in the sliding block is sleeved on a third rod section of the screw rod, and a fourth rod section is fixed on the inner side of a screw rod frame mounting hole on one side of the screw rod frame through a rhombic bearing seat; a second rod section sequentially passes through a rhombic bearing seat and a second opening, the rhombic bearing seat is fixed on the inner side of the screw rack mounting hole on the side through a screw, a spline-grooved spline spur gear is mounted on a first rod section connected with the tail end of the second rod section, the spline-grooved spline spur gear is meshed with a gear at the output end of a toothed wheel servo motor, and the toothed wheel servo motor is fixed on the outer side of the screw rack mounting hole on the side through a screw; the small infrared distance meter is fixed at the tail end of one side of the middle channel of the screw frame, which is close to the gear servo motor, through a bolt, and a measuring head of the small infrared distance meter is opposite to the sliding block;
the first opening end of the screw frame of the X-direction movement module is fixed on the side surface of the sliding block of the Y-direction movement module through a screw, and the first opening end of the screw frame of the Y-direction movement module is fixed on the side surface of the sliding block of the Z-direction movement module through a screw; the X-direction movement module and the Y-direction movement module are coplanar and assembled together at an included angle of 90 degrees, the Z-direction movement module is perpendicular to the surface formed by the X-direction movement module and the Y-direction movement module, and a first opening end of a screw frame of the Z-direction movement module is fixed on the operation table.
2. The modular lightweight robotic arm motion platform of claim 1, wherein the screw frame is an aluminum alloy structure.
3. The modular lightweight mechanical arm motion platform as recited in claim 1, wherein eight holes are provided on the vertical side of the screw frame with the second notch, two mounting holes with a larger distance are used for mounting the rhombic bearing seat, two holes at the lowest end are used for mounting the small infrared distance measuring instrument, and the other four holes are used for mounting the servo motor with the gear; the vertical side edge of the screw frame, which is provided with a first notch, is provided with six holes, two holes in the middle are used for mounting a rhombic bearing seat, and the rest four holes are used for being connected with other motion modules or operation tables.
4. The modular lightweight robotic arm motion platform of claim 1, wherein the slider is aluminum alloy.
5. The modular lightweight robotic arm motion platform of claim 1, wherein the screw is Q235 steel.
6. The modular lightweight robotic arm motion platform of claim 1, wherein the slider screw sleeve is aluminum alloy.
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| CN201911016095.5A CN110682276A (en) | 2019-10-24 | 2019-10-24 | Modularization lightweight arm motion platform |
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