CN110948470A - Synchronous pulley drive structure, robot drive base and desktop level arm - Google Patents
Synchronous pulley drive structure, robot drive base and desktop level arm Download PDFInfo
- Publication number
- CN110948470A CN110948470A CN201911380914.4A CN201911380914A CN110948470A CN 110948470 A CN110948470 A CN 110948470A CN 201911380914 A CN201911380914 A CN 201911380914A CN 110948470 A CN110948470 A CN 110948470A
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- synchronous pulley
- base plate
- synchronous belt
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 110
- 239000000758 substrate Substances 0.000 claims description 16
- 230000000903 blocking effect Effects 0.000 claims description 11
- 239000003292 glue Substances 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 8
- 239000007924 injection Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 abstract description 4
- 230000010354 integration Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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Classifications
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
-
- 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
-
- 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
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention provides a synchronous pulley driving structure, a robot driving base and a desktop mechanical arm, wherein a space relation among a stepping motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, an output shaft, an encoder code disc and an encoder reading head is ingeniously arranged on a base plate, the stepping motor, the first synchronous pulley, the second synchronous pulley, the synchronous belt and the output shaft driving structure are arranged, the encoder code disc for reading the rotation quantity of the output shaft and the encoder reading head are arranged, the structure integration level is relatively low because the structure is simple and excessive parts do not exist, the control precision is ensured by reading the rotation quantity of the output shaft, the material cost, the installation cost and the maintenance cost are reduced, and the service life of the driving structure is effectively prolonged.
Description
Technical Field
The invention relates to the technical field of driving, in particular to a synchronous pulley driving structure, a robot driving base and a desktop-level mechanical arm.
Background
The existing desktop level or lightweight level robot or mechanical arm often adopt a direct current motor to cooperate with a speed reducer as a driving device, and some desktop level or lightweight level robots also adopt a direct current motor to cooperate with a synchronous belt pulley as a driving device, and then, the schemes are often not satisfactory, on one hand, the structure is often more complicated under the condition of ensuring the driving precision, and higher integration level is needed, so that the stability is poor, the cost is too high, the problems of difficult assembly and disassembly and the like are solved, on the other hand, if the structure is desired to be simplified, the control precision can be generally sacrificed, so a driving structure with low cost, simple structure, relatively lower structure integration level and good control precision is urgently needed.
Disclosure of Invention
The embodiment of the invention provides a synchronous pulley driving structure, a robot driving base and a desktop-level mechanical arm, and aims to solve the problems.
In a first aspect, an embodiment of the present invention provides a synchronous pulley driving structure, including:
a base plate configured with an output shaft setting portion;
a stepping motor;
the diameter of the second synchronous pulley is larger than that of the first synchronous pulley;
an output shaft configured with an output portion, a driving portion, a rotating portion, and an encoder disc setting portion in this order; and
the encoder coded disc is used for reading the head part;
the first synchronous belt pulley is connected with the stepping motor, the first synchronous belt pulley is connected with the second synchronous belt pulley through the synchronous belt, the driving part of the output shaft is connected with the second synchronous belt pulley, the rotating part of the output shaft is connected with the output shaft setting part of the substrate, the encoder code disc is arranged on the encoder code disc setting part of the output shaft, the encoder reading part is connected with the substrate, and the encoder reading part is arranged corresponding to the position of the encoder code disc;
the output shaft setting part of the base plate, the stepping motor, the rotating part of the output shaft, the encoder code wheel setting part of the output shaft, the encoder code wheel and the encoder reading part are at least mostly positioned on one side of the base plate, and the first synchronous pulley, the second synchronous pulley, the synchronous belt, the output part of the output shaft and the driving part of the output shaft are at least mostly positioned on the other side of the base plate.
Optionally, the base plate is configured with a first plate hole, the stepping motor further includes a motor output shaft, the motor output shaft penetrates through the first plate hole to be connected with the first synchronous pulley, the stepping motor is configured with a plurality of first threaded holes, the base plate is configured with a plurality of second threaded holes, and the base plate is connected with at least part of the first threaded holes and at least part of the second threaded holes through a plurality of screws, so that the base plate is detachably and fixedly connected with the stepping motor.
Optionally, the diameter of the second synchronous pulley is 2-8 times the diameter of the first synchronous pulley.
Optionally, the encoder code disc is a magnetic encoding disc, the encoder read head portion is a magnetic encoding encoder read head portion, and the magnetic encoding encoder read head portion includes a PCL plate and a magnetic encoding encoder read head arranged thereon.
Optionally, the substrate is configured with a bracket of a reading head portion of a magnetic encoder, the reading head portion of the magnetic encoder is disposed on the bracket of the reading head portion of the magnetic encoder, and the reading head portion of the magnetic encoder is detachably and fixedly connected with the bracket of the reading head portion of the magnetic encoder.
Optionally, the method further includes: two bearings; the base plate is further provided with an output shaft bearing part, the output shaft bearing part is in a hollow annular shape, the two bearings are respectively arranged at two ends of the output shaft bearing part, the output shaft sequentially penetrates through the two bearings, and the rotating part of the output shaft is respectively connected with inner shafts of the two bearings.
Optionally, a glue injection groove is formed in the position of the driving portion of the output shaft, the driving portion of the output shaft and the second synchronous pulley are fixedly bonded through glue injection of the glue injection groove, the encoder code disc setting portion of the output shaft is a groove matched with the encoder code disc, a blocking structure is formed at the tail end of the output shaft, and the blocking structure is connected with the inner shaft of the bearing adjacent to the blocking structure in a clamping mode.
Optionally, a first housing and a second housing; the base plate is provided with a plurality of screw holes or thread grooves and a second shell connecting part, the base plate is detachably and fixedly connected with the first shell through the plurality of screw holes or thread grooves, and the base plate is connected with the second shell through the second shell connecting part.
In a second aspect, embodiments of the present invention provide a robot driving base including a pair of symmetrically arranged synchronous pulley driving structures as described above.
In a third aspect, embodiments of the present invention provide a robot driving base, including a robot driving base as described above.
Compared with the prior art, the embodiment of the invention has the advantages that the stepping motor, the first synchronous belt wheel, the second synchronous belt wheel, the synchronous belt, the output shaft, the encoder code disc and the spatial relation of the encoder reading head part are ingeniously arranged on the substrate, the stepping motor, the first synchronous belt wheel, the second synchronous belt wheel, the synchronous belt and the output shaft transmission structure are arranged, and the encoder code disc for reading the rotation quantity of the output shaft and the structural arrangement of the encoder reading head part are arranged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a table-top level robotic arm in an embodiment of the invention;
FIG. 2 is a schematic diagram of the drive foot of the table-top robot of the embodiment of FIG. 1;
FIG. 3 is a schematic diagram of a synchronous pulley drive configuration of the tabletop arm of the embodiment of FIG. 1;
FIG. 4 is a schematic diagram of a synchronous pulley drive configuration of the tabletop arm of the embodiment of FIG. 1;
FIG. 5 is an exploded view of the synchronous pulley drive configuration of the tabletop arm of the embodiment of FIG. 1;
fig. 6 is a schematic cross-sectional view of a synchronous pulley drive configuration of the tabletop arm of the embodiment of fig. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, fig. 1 is a schematic diagram of a table-top robot according to an embodiment of the present invention, and fig. 2 is a schematic diagram of a drive base of the table-top robot of fig. 1.
In some embodiments, the tabletop mechanical arm 10 includes a driving base 1, a base 2 and a mechanical arm body 3, the driving base 1 is connected to the base 2, the base 2 can drive the driving base 1 to rotate in a horizontal direction, the driving base 1 includes a first driving structure 1A and a second driving structure 1B, the driving base 1 is respectively linked to the mechanical arm body 3 through the first driving structure 1A and the second driving structure 1B, and the first driving structure 1A and the second driving structure 1B can provide two transmission shafts or power for axial movement of the transmission shafts for the mechanical arm body 3.
In this implementation, drive base 1's first drive structure 1A and second drive structure 1B symmetry set up, and relative homonymy sets up, and space utilization is high, and the appearance is pleasing to the eye, and both sides weight balance, can reduce the too big influence to control accuracy of unilateral gravity.
Referring to fig. 3-6, fig. 3 is a schematic structural diagram of a synchronous pulley driving structure of a table top level robot in the embodiment of fig. 1, fig. 4 is a schematic structural diagram of a synchronous pulley driving structure of a table top level robot in the embodiment of fig. 1, fig. 5 is an exploded structural diagram of a synchronous pulley driving structure of a table top level robot in the embodiment of fig. 1, and fig. 6 is a schematic cross-sectional structural diagram of a synchronous pulley driving structure of a table top level robot in the embodiment of fig. 1.
In the present embodiment, the synchronous pulley drive structure of the first drive structure 1A and the second drive structure 1B includes:
a base plate 11, the base plate 11 being configured with an output shaft setting portion 112;
a stepping motor 12;
the synchronous belt pulley comprises a first synchronous belt pulley 13, a second synchronous belt pulley 15 and a synchronous belt 14, wherein the diameter of the second synchronous belt pulley 15 is larger than that of the first synchronous belt pulley 14;
an output shaft 16, the output shaft 16 being configured with an output portion 161, a driving portion 162, a rotating portion 163, and an encoder disc setting portion 165 in this order; and
an encoder code disc 181, an encoder read head 182;
the first synchronous belt pulley 13 is connected with the stepping motor 11, the first synchronous belt pulley 13 is connected with the second synchronous belt pulley 15 through the synchronous belt 14, the output shaft 16 passes through the second synchronous belt pulley 15, the driving part 162 of the output shaft 16 is connected with the second synchronous belt pulley 15, the rotating part 163 of the output shaft 16 is connected with the output shaft setting part 112 of the substrate 11, the encoder code disc 181 is arranged on the encoder code disc setting part 165 of the output shaft, the encoder reading part 182 is connected with the substrate 11, and the encoder reading part 182 is arranged corresponding to the position of the encoder code disc 181;
referring to fig. 6, the output shaft setting part 112 of the base plate 11, the stepping motor 11, the rotating part 163 of the output shaft 16, the encoder code disc setting part 165 of the output shaft 16, the encoder code disc 181 and the encoder reading head 182 are at least mostly located on one side of the base plate 11, the first synchronous pulley 13, the second synchronous pulley 15, the output part 161 of the synchronous belt 14 and the output shaft 16, and the driving part 162 of the output shaft 16 are at least mostly located on the other side of the base plate 11, because abrasion occurs during the use of the synchronous belt 14, fine dust is generated after abrasion, if the fine dust is accumulated on the encoder code disc 181 and the encoder reading head 182, the sensing accuracy thereof is reduced, and the control accuracy is deteriorated, in the present embodiment, the base plate 11 is used as a barrier to isolate the synchronous belt 14 from the encoder code disc 181 and the encoder reading head 182, so that the fine dust generated by abrasion of the synchronous belt 14 can be effectively prevented from falling into the positions of the, the sensing accuracy of the encoder code disc 181 and the encoder read head 182 can be effectively controlled, so that the service life of the driving structure is prolonged, and in some embodiments, the limitation that at least most of the positions are located can be: a position of at least 70% of the projected length of the unitary member body on one side of the substrate 11 may be defined as a position where at least a majority of a structure is on one side of the substrate 11.
Referring to fig. 5, in the embodiment, the base plate 11 may further include a first plate 111, the stepping motor 12 further includes a motor output shaft 121, the motor output shaft 121 penetrates through the first plate hole 111 to be connected to the first synchronous pulley 13, the stepping motor 11 includes a plurality of first threaded holes, the base plate includes a plurality of second threaded holes, and the base plate 11 and the stepping motor 12 are detachably and fixedly connected by a plurality of screws connecting at least part of the first threaded holes and at least part of the second threaded holes.
In some embodiments, the diameter of the second synchronous pulley 15 is 2 to 8 times of the diameter of the first synchronous pulley 13, for example, the diameter of the second synchronous pulley 15 may be 2 times, 3 times, 4 times, 5 times, 6 times, 7 times or 8 times of the diameter of the first synchronous pulley 13, or may be any multiple of 2 to 8 times, the larger the diameter of the second synchronous pulley 15 is than the diameter of the first synchronous pulley 13, the higher the control accuracy is, in this embodiment, the first synchronous pulley 13 transmits the second synchronous pulley 15 through the synchronous belt 14, which is equivalent to a function as a speed reducer, the larger the diameter of the second synchronous pulley 15 is, the stronger the speed reduction capability is, the higher the control accuracy is, and the control accuracy of the power output by the stepping motor 12 can be improved.
In this embodiment, the encoder code disc 181 may be a magnetic encoder disc, the encoder reading head 182 may be a magnetic encoder reading head, the magnetic encoder reading head includes a PCL plate and a magnetic encoder reading head 1821 disposed thereon, the substrate 11 may be configured with a magnetic encoder reading head bracket 113, the magnetic encoder reading head 182 is disposed on the magnetic encoder reading head bracket 113, and the magnetic encoder reading head 182 and the magnetic encoder reading head bracket 113 are detachably and fixedly connected.
In some embodiments, encoder code wheel 181 may also be an optical code wheel or other sensing device, and encoder readhead portion 182 may be an optical code encoder readhead portion or other sensing device.
Referring to fig. 5 and fig. 6, in the present embodiment, the method further includes: the base plate 11 is further configured with an output shaft bearing part 112, the output shaft bearing part 112 is configured in a hollow ring shape, the first bearing 171 and the second bearing 172 are respectively arranged at two ends of the output shaft bearing part 112, after the output shaft 16 sequentially passes through the second bearing 172 and the first bearing 171, the rotating part of the output shaft 16 is respectively connected with the inner shafts of the first bearing 171 and the second bearing 172.
In this embodiment, the method further includes: a first housing 19 as viewed in fig. 3 and a second housing which is snap-fitted with the first housing 19 as viewed in fig. 2;
the base plate 11 may be configured with a plurality of screw holes or screw grooves through which the base plate 11 is detachably fixedly coupled with the first housing, and the second housing coupling portion 114 through which the base plate 11 is coupled with the second housing.
Referring to fig. 5 and fig. 6 again, in the present embodiment, a glue injection groove 164 is formed at the position of the driving portion 162 of the output shaft 16, glue is injected through the glue injection groove 164 to fix the driving portion 164 of the output shaft 16 and the second synchronous pulley 15, the encoder code disc setting portion 165 of the output shaft 16 is a groove matched with the encoder code disc 181, a blocking structure 166 is formed at the tail end of the output shaft 16, and the blocking structure 166 is engaged with the inner shaft of the adjacent bearing.
It should be noted that, in the present embodiment, the output shaft 16 is an integrally molded structure, the division of the output portion 161, the driving portion 162, the rotating portion 163, the encoder disc setting portion 165 and the blocking structure 166 of the output shaft 16 is only a functional division, and in some embodiments, the output portion, the driving portion, the rotating portion, the encoder disc setting portion and the blocking structure of the output shaft may be formed by a split structure or a partially split structure.
In summary, in the synchronous pulley driving structure of the present embodiment, the substrate 11 is prepared first; then fixing a stepping motor 12 on one side of the substrate 11 through a bolt; then, the first bearing 171 and the second bearing 172 are respectively installed at the two ends of the output shaft bearing part 112 of the substrate 11, and then the output shaft 16 is inserted from one side of the second bearing 172, so that the blocking structure 166 is clamped with the inner shaft of the second bearing 172; an encoder code disc 181 is arranged on the encoder code disc arranging part 165 of the output shaft 16, an encoder reading head part 182 is arranged on the magnetic encoder reading head part bracket 113, a magnetic encoder reading head 1821 is arranged corresponding to the encoder code disc 181, the magnetic encoder reading head part bracket 113 and the encoder reading head part 182 are detachably and fixedly connected through bolts, and the encoder code disc 181 can be fixed in the encoder code disc arranging part 165 through glue; then a first synchronous belt wheel 13 is arranged on a motor output shaft 121 of the stepping motor 12, a second synchronous belt wheel 15 is arranged after glue is injected in a glue injection groove 164, a driving part 164 of an output shaft 16 is fixedly bonded with the second synchronous belt wheel 15, and finally a synchronous belt 14 is arranged on the first synchronous belt wheel 13 and the second synchronous belt wheel 15 in a sleeved mode, so that the installation of the completed synchronous belt wheel driving structure is realized, the whole structure is simple, the design is ingenious, the installation is easy, the structural strength is high, the driving control precision is high, the spatial relationship among the stepping motor, the first synchronous belt wheel, the second synchronous belt wheel, the synchronous belt, the output shaft, an encoder code disc and an encoder reading head is ingeniously arranged on a substrate, the stepping motor, the first synchronous belt wheel, the second synchronous belt wheel, the synchronous belt, the output shaft transmission structure, the encoder for reading the rotation amount of the output shaft and the structural arrangement of the encoder, because simple structure, not too much part for structure integration is lower relatively, and guarantees control accuracy through can reading output shaft rotation volume, has reduced material cost, installation cost and maintenance cost, has effectively improved drive structure's life.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A synchronous pulley drive structure, comprising:
a base plate configured with an output shaft setting portion;
a stepping motor;
the diameter of the second synchronous pulley is larger than that of the first synchronous pulley;
an output shaft configured with an output portion, a driving portion, a rotating portion, and an encoder disc setting portion in this order; and
the encoder coded disc is used for reading the head part;
the first synchronous belt pulley is connected with the stepping motor, the first synchronous belt pulley is connected with the second synchronous belt pulley through the synchronous belt, the driving part of the output shaft is connected with the second synchronous belt pulley, the rotating part of the output shaft is connected with the output shaft setting part of the substrate, the encoder code disc is arranged on the encoder code disc setting part of the output shaft, the encoder reading part is connected with the substrate, and the encoder reading part is arranged corresponding to the position of the encoder code disc;
the output shaft setting part of the base plate, the stepping motor, the rotating part of the output shaft, the encoder code wheel setting part of the output shaft, the encoder code wheel and the encoder reading part are at least mostly positioned on one side of the base plate, and the first synchronous pulley, the second synchronous pulley, the synchronous belt, the output part of the output shaft and the driving part of the output shaft are at least mostly positioned on the other side of the base plate.
2. A synchronous pulley drive structure according to claim 1,
the base plate is provided with a first plate hole, the stepping motor further comprises a motor output shaft, the motor output shaft penetrates through the first plate hole to be connected with the first synchronous belt wheel, the stepping motor is provided with a plurality of first threaded holes, the base plate is provided with a plurality of second threaded holes, and a plurality of screws are connected with at least part of the first threaded holes and at least part of the second threaded holes, so that the base plate is detachably and fixedly connected with the stepping motor.
3. A synchronous pulley drive structure according to claim 1,
the diameter of the second synchronous belt wheel is 2-8 times of that of the first synchronous belt wheel.
4. A synchronous pulley drive structure according to claim 1,
the encoder coded disc is a magnetic coded disc, the encoder reading head part is a magnetic coded encoder reading head part, and the magnetic coded encoder reading head part comprises a PCL plate and a magnetic coded encoder reading head arranged on the PCL plate.
5. A synchronous pulley drive structure according to claim 4,
the substrate is provided with a bracket of a reading head part of the magnetic encoder, the reading head part of the magnetic encoder is arranged on the bracket of the reading head part of the magnetic encoder, and the reading head part of the magnetic encoder is detachably and fixedly connected with the bracket of the reading head part of the magnetic encoder.
6. The synchronous pulley drive structure according to claim 1, further comprising:
two bearings;
the base plate is further provided with an output shaft bearing part, the output shaft bearing part is in a hollow annular shape, the two bearings are respectively arranged at two ends of the output shaft bearing part, the output shaft sequentially penetrates through the two bearings, and the rotating part of the output shaft is respectively connected with inner shafts of the two bearings.
7. A synchronous pulley drive structure according to claim 6,
the driving part of the output shaft is fixedly bonded with the second synchronous belt wheel through glue injection of the glue injection groove, the encoder code disc setting part of the output shaft is a groove matched with the encoder code disc, the tail end of the output shaft is provided with a blocking structure, and the blocking structure is clamped with the inner shaft of the bearing adjacent to the blocking structure.
8. The synchronous pulley drive structure according to claim 1, further comprising:
a first housing and a second housing;
the base plate is provided with a plurality of screw holes or thread grooves and a second shell connecting part, the base plate is detachably and fixedly connected with the first shell through the plurality of screw holes or thread grooves, and the base plate is connected with the second shell through the second shell connecting part.
9. A robot drive base comprising a pair of symmetrically arranged synchronous pulley drive arrangements as claimed in any one of claims 1 to 8.
10. A tabletop arm comprising a robot drive base as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911380914.4A CN110948470A (en) | 2019-12-27 | 2019-12-27 | Synchronous pulley drive structure, robot drive base and desktop level arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911380914.4A CN110948470A (en) | 2019-12-27 | 2019-12-27 | Synchronous pulley drive structure, robot drive base and desktop level arm |
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| CN110948470A true CN110948470A (en) | 2020-04-03 |
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| CN201911380914.4A Pending CN110948470A (en) | 2019-12-27 | 2019-12-27 | Synchronous pulley drive structure, robot drive base and desktop level arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318547A (en) * | 2020-11-11 | 2021-02-05 | 深圳市越疆科技有限公司 | Desktop mechanical arm driving structure, desktop mechanical arm and robot |
| CN112454327A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454326A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454329A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799111A (en) * | 2020-11-11 | 2021-12-17 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
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| CN211916817U (en) * | 2019-12-27 | 2020-11-13 | 深圳市越疆科技有限公司 | Synchronous pulley drive structure, robot drive base and desktop level arm |
Cited By (10)
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| CN112318547A (en) * | 2020-11-11 | 2021-02-05 | 深圳市越疆科技有限公司 | Desktop mechanical arm driving structure, desktop mechanical arm and robot |
| CN112454327A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454326A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454329A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799111A (en) * | 2020-11-11 | 2021-12-17 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799112A (en) * | 2020-11-11 | 2021-12-17 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454329B (en) * | 2020-11-11 | 2022-01-11 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454326B (en) * | 2020-11-11 | 2023-06-23 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799111B (en) * | 2020-11-11 | 2024-01-12 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799112B (en) * | 2020-11-11 | 2024-01-12 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
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