CN112454326B - Base of desktop mechanical arm, desktop mechanical arm and robot - Google Patents
Base of desktop mechanical arm, desktop mechanical arm and robot Download PDFInfo
- Publication number
- CN112454326B CN112454326B CN202011257419.7A CN202011257419A CN112454326B CN 112454326 B CN112454326 B CN 112454326B CN 202011257419 A CN202011257419 A CN 202011257419A CN 112454326 B CN112454326 B CN 112454326B
- Authority
- CN
- China
- Prior art keywords
- turntable
- box
- turntable driving
- partition
- driving shaft
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a base of a desktop mechanical arm, which comprises: a box-like housing configured with a plurality of bayonets; the turntable driving motor, the turntable speed reducing assembly, the turntable driving shaft and the circuit boards are arranged in the box-shaped shell; the turntable driving shaft is arranged in the center area of the box-shaped shell, is provided with a hollow shaft hole, is arranged at one side of the turntable driving shaft in a staggered manner, and is in transmission connection with the turntable driving shaft through the turntable speed reducing assembly; the circuit boards are arranged in the box-shaped shell in a laminated mode and opposite to the other side of the turntable driving motor, the circuit boards are provided with a plurality of communication interfaces, the communication interfaces are connected out through corresponding bayonets, and at least one circuit board is provided with a clearance gap for avoiding the turntable driving shaft. The invention provides a multifunctional compact base. In addition, the invention also discloses a desktop mechanical arm and a robot.
Description
Technical Field
The invention relates to the technical field of desktop mechanical arms, in particular to a base of a desktop mechanical arm, the desktop mechanical arm and a robot.
Background
The desktop mechanical arm is a subdivision class of mechanical arm, it possesses strong adaptability and dynamic problem resolving capability, by wide application in the teaching field, generally by the base, the revolving stage, the big arm, the forearm, end and revolving stage motor, big arm motor and forearm motor constitute, revolving stage and the rotatable connection of base, big arm is connected with revolving stage and forearm respectively, the forearm is connected with end, the end is used for setting up the executor, the revolving stage motor is used for driving the revolving stage rotatory for the base, big arm motor is used for driving big arm motion, the forearm motor is used for driving the forearm motion, big arm and forearm utilize parallelogram principle can drive the end in the working space motion, for example the chinese patent of application number CN 201620105515.2.
At present, the desktop mechanical arm is usually used for education, so that the requirements on precision and load capacity are low, the requirements on output interfaces are low, and more control circuits are not needed, and more communication interfaces are generally provided through an external control cabinet, so that the arrangement of all parts of the desktop mechanical arm is scattered, and the existing desktop mechanical arm is not compact enough. Meanwhile, in the existing desktop mechanical arm, a turntable motor is generally reversely arranged between a large arm motor and a small arm motor, an output shaft of the turntable motor is fixedly connected with a base through a synchronous belt turntable speed reduction assembly, the base is motionless when the motor works, the motor drives a body and the turntable speed reduction assembly to rotate together, so that the load is large, the service life of the motor is not high, the control precision is poor, and the power consumption is high, for example, in China patent with the application number of CN 201910571696.6. Therefore, how to compactly arrange the motor and the speed reducing mechanism on the base and integrate a complex control circuit to provide various communication interfaces without affecting other element structures becomes an urgent problem to be solved.
Disclosure of Invention
The invention mainly aims to provide a base of a desktop mechanical arm, which aims to solve the technical problems in the background technology.
In order to achieve the above object, the present invention provides a base of a desktop mechanical arm, the base includes: a box-like housing configured with a plurality of bayonets; the turntable driving motor, the turntable speed reducing assembly, the turntable driving shaft and the circuit boards are arranged in the box-shaped shell; the turntable driving shaft is arranged in the center area of the box-shaped shell, a hollow shaft hole is formed in the turntable driving shaft, and the turntable driving motor is arranged at one side of the turntable driving shaft in a staggered manner and is in transmission connection with the turntable driving shaft through the turntable speed reducing assembly; the circuit board is arranged in the box-shaped shell and opposite to the other side of the turntable driving motor, the circuit boards are provided with a plurality of communication interfaces, the communication interfaces are connected out through corresponding bayonets, and at least one circuit board is provided with a clearance gap for avoiding the turntable driving shaft.
The circuit board comprises a main control board, a driving control board and a driving power board which are arranged in a stacked mode, and the main control board, the driving control board and the driving power board are provided with the clearance gap.
Wherein, be constructed with the baffle that extends in the horizontal direction in the box-like casing, a plurality of circuit boards set up in the baffle below and fix on the baffle, the revolving stage drive shaft passes through thrust bearing setting on the baffle.
The air-blowing device comprises a partition board, wherein a vent and a ventilation fan are arranged on the partition board and located at the vent, and the ventilation fan can blow air on the lower layer of the partition board to the upper layer of the partition board.
Wherein the base further comprises a bundle coil located directly under the turntable drive shaft and disposed on the partition plate.
The box-shaped shell further comprises a top plate and a bottom plate, the top plate comprises a first cover plate and a second cover plate, semicircular gaps are formed in the first cover plate and the second cover plate respectively, the first cover plate and the second cover plate are arranged on the partition plate and detachably connected with the box-shaped shell, the semicircular gaps of the first cover plate and the second cover plate are combined to form a circular gap, the circular gap is located in the vertical direction of the turntable driving shaft, and the bottom plate is arranged below the partition plate and detachably connected with the box-shaped shell.
The side of the box-shaped shell is provided with a mounting notch, the box-shaped shell further comprises a mounting plate covered on the mounting notch, and the plurality of communication interface bayonets are all positioned on the mounting plate.
The rotary table driving motor is a servo motor, an encoder is arranged on the servo motor, the encoder is a multi-turn absolute value encoder, and a battery mounting seat electrically connected with the multi-turn absolute value encoder is further arranged in the box-shaped shell.
Wherein, still be provided with the air inlet interface on the box-like casing.
The invention further provides a desktop mechanical arm, which comprises: a box-like housing configured with a plurality of bayonets; the turntable driving motor, the turntable speed reducing assembly, the turntable driving shaft and the circuit boards are arranged in the box-shaped shell; the turntable driving shaft is arranged in the center area of the box-shaped shell, a hollow shaft hole is formed in the turntable driving shaft, and the turntable driving motor is arranged at one side of the turntable driving shaft in a staggered manner and is in transmission connection with the turntable driving shaft through the turntable speed reducing assembly; the circuit board is arranged in the box-shaped shell and opposite to the other side of the turntable driving motor, the circuit boards are provided with a plurality of communication interfaces, the communication interfaces are connected out through corresponding bayonets, and at least one circuit board is provided with a clearance gap for avoiding the turntable driving shaft.
The turntable is provided with a butt joint hole which is in butt joint with the upper opening end of the turntable driving shaft, the big arm or the small arm is provided with an air outlet interface, the box-shaped shell is provided with an air inlet interface, and the air inlet interface sequentially penetrates through the turntable driving shaft and the butt joint hole to be communicated with the air outlet interface through an air pipe.
The desktop mechanical arm further comprises an end effector connected with the small arm.
The invention further provides a robot, which comprises the desktop mechanical arm, wherein the desktop mechanical arm comprises the base, and the base comprises the following components: a box-like housing configured with a plurality of bayonets; the turntable driving motor, the turntable reducing block assembly, the turntable driving shaft and the plurality of circuit boards are arranged in the box-shaped shell; the turntable driving shaft is arranged in the center area of the box-shaped shell, a hollow shaft hole is formed in the turntable driving shaft, and the turntable driving motor is arranged at one side of the turntable driving shaft in a staggered manner and is in transmission connection with the turntable driving shaft through the turntable speed reducing assembly; the circuit board is arranged in the box-shaped shell and opposite to the other side of the turntable driving motor, the circuit boards are provided with a plurality of communication interfaces, the communication interfaces are connected out through corresponding bayonets, and at least one circuit board is provided with a clearance gap for avoiding the turntable driving shaft.
According to the base of the desktop mechanical arm, the turntable driving motor, the turntable speed reducing assembly and the circuit board are arranged in the base, and the turntable driving shaft in a hollow mode is adopted for the cable in the base to pass through and be connected with the large arm motor and the small arm motor, meanwhile, the circuit board is laminated and arranged on the peripheral side of the turntable driving shaft, and the turntable driving motor is also arranged on the peripheral side of the turntable driving shaft, so that the multifunctional compact base is provided.
Drawings
FIG. 1 is a schematic view of a conventional desktop robot;
FIG. 2 is a schematic view of another conventional desktop robot;
FIG. 3 is a cross-sectional view of one embodiment of a base of a tabletop robot according to the present invention;
FIG. 4 is a schematic diagram of the circuit board shown in FIG. 3;
FIG. 5 is a schematic view of the box-like housing shown in FIG. 3;
FIG. 6 is a cross-sectional view of the base portion structure shown in FIG. 3;
FIG. 7 is a schematic view of the base portion structure of FIG. 3 from a perspective;
FIG. 8 is a schematic view of the base portion structure shown in FIG. 3 from another perspective;
FIG. 9 is a cross-sectional view of the base portion structure shown in FIG. 3;
FIG. 10 is a schematic view of the base portion structure shown in FIG. 3 from a further perspective;
FIG. 11 is a schematic view of the first tensioning mechanism shown in FIG. 8;
FIG. 12 is a schematic view of the second tensioning mechanism shown in FIG. 8;
FIG. 13 is an exploded view of the box-like housing, floor, base plate and mounting plate shown in FIG. 3;
FIG. 14 is a schematic view of a desktop robot according to an embodiment of the present invention;
fig. 15 is a schematic structural view of the turntable shown in fig. 14.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention, and all other embodiments, based on the embodiments of the present invention, which may be obtained by persons of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present invention.
The invention is based on the improvement scheme proposed by the desktop mechanical arm shown in fig. 1 and 2, the desktop mechanical arm shown in fig. 1 consists of a base, a turntable, a large arm, a small arm, a tail end, a turntable motor, a large arm motor and a small arm motor, wherein the turntable is rotatably connected with the base, the large arm is respectively connected with the turntable and the small arm, the small arm is connected with the tail end, the tail end is used for setting an actuator, the turntable motor is used for driving the turntable to rotate relative to the base, the large arm motor is used for driving the large arm to move, the small arm motor is used for driving the small arm to move, and the large arm and the small arm can drive the tail end to move in a working space by utilizing the parallelogram principle. As shown in FIG. 2, the desktop mechanical arm is characterized in that a turntable motor is inversely arranged between a large arm motor and a small arm motor, an output shaft of the turntable motor is fixedly connected with a base through a synchronous belt turntable speed reducing assembly, the base is motionless when the motor works, the motor drives a body and the turntable speed reducing assembly to rotate together, so that the load is large, the service life of the motor is not long, the control precision is poor, and the power consumption is high. Therefore, how to compactly arrange the motor and the speed reducing mechanism on the base and integrate a complex control circuit to provide various communication interfaces without affecting other element structures becomes an urgent problem to be solved.
The invention provides a base of a desktop mechanical arm, as shown in fig. 3 to 5, the base comprises:
a box-like housing 100 configured with a plurality of bayonets 191; and
a turntable driving motor 200, a turntable speed reduction assembly 300, a turntable driving shaft 140, and a plurality of circuit boards 400 disposed in the box-shaped housing 100;
the turntable driving shaft 140 is arranged in the central area of the box-shaped shell 100, the turntable driving shaft 140 is provided with a hollow shaft hole, and the turntable driving motor 200 is arranged at one side of the turntable driving shaft 140 in a staggered manner and is in transmission connection with the turntable driving shaft 140 through the turntable speed reducing assembly 300;
the circuit boards 400 are stacked in the box-shaped housing 100 and are arranged on the other side opposite to the turntable driving motor 200, the circuit boards 400 are provided with a plurality of communication interfaces 410, the communication interfaces 410 are connected out through corresponding bayonets 191, and at least one circuit board 400 is provided with a clearance gap 420 for avoiding the turntable driving shaft 140.
In this embodiment, the box-like housing 100 is preferably provided in a rectangular shape, and the side surface of the box-like housing 100 is provided with a plurality of bayonets 191. The turntable driving shaft 140 is penetratingly arranged at the top of the box-shaped housing 100 with one end thereof located inside the box-shaped housing 100, while preferably the turntable driving shaft is circumferentially located at the central region of the box-shaped housing 100. At this time, the turntable driving motor 200 may be in driving connection with the turntable driving shaft 140 through the turntable reducing assembly 300, so as to conveniently drive the turntable of the tabletop mechanical arm to rotate by using the turntable driving shaft 140. Meanwhile, the turntable driving shaft 140 is preferably a hollow shaft so that cables electrically connected with the circuit boards 400 can be conveniently penetrated out, thereby facilitating the circuit boards 400 to control the operation of the large arm motor and the small arm motor on the turntable, and the circuit boards 400 are arranged in a stacked manner so as to improve the compactness of the base, and the form and the number of the circuit boards 400 can be arranged according to actual conditions. Meanwhile, it is preferable that the circuit board 400 is disposed opposite to the turntable driving motor 200 at the circumferential side of the turntable driving shaft 140, so that the space utilization of the base is facilitated to be improved. And it is preferable that the circuit board 400 has a clearance gap 420 at a side facing the turntable driving shaft 140, so that the circuit board 400 can be conveniently cleared away from the turntable driving shaft 140 or a cable penetrating from the turntable driving shaft 140, so that the clearance gap 420 is arranged on the circuit board 400 to facilitate increasing the area of the circuit board 400, thereby more circuit structures can be arranged. At this time, it is preferable that a plurality of communication interfaces 410 are provided on each circuit board 400, and each communication interface 410 may be fixed through a corresponding port on the box-shaped housing 100, wherein the communication interfaces 410 may be a signal output interface, a power supply interface, etc., and the specific form may be set with reference to the existing control box. In this embodiment, by providing the turntable driving motor 200, the turntable speed reduction assembly 300 and the circuit board 400 in the base and adopting the hollow type turntable driving shaft 140 for the cable in the base to pass out to be connected with the large arm motor and the small arm motor, and simultaneously stacking the circuit board 400 on the circumferential side of the turntable driving shaft 140, the turntable driving motor 200 is also arranged on the circumferential side of the turntable driving circumference, thereby realizing providing a multifunctional compact base.
In a preferred embodiment, as shown in fig. 3, the circuit board 400 includes a main control board, a driving control board and a driving power board, which are arranged in a stacked manner, wherein specific electrical connection refers to a conventional manner, and a specific fixing manner may be to fix the circuit board sequentially through fixing columns, for example, the main control board is fixed on the box-shaped housing 100 through the fixing columns, and the driving control board is connected with the fixing columns of the main control board through the fixing columns, and the driving power board is also connected with the fixing columns of the driving control board through the fixing columns. The fixing columns are in the form of studs at one end and threaded holes at the other end, so that the circuit board 400 can be fixed through the cooperation of the studs on the two fixing columns and the threaded holes, and the driving power board positioned at the lowest part is fixed through screws. At this time, the main control board, the driving control board and the driving power board are all provided with the avoidance notch 420, preferably, the avoidance notch 420 on the main control board is used for avoiding the turntable driving shaft 140, and the avoidance notch 420 on the driving control board and the driving power board is used for avoiding the cable penetrating from the turntable driving shaft 140.
In a preferred embodiment, as shown in fig. 3 and 5, it is preferable that the inside of the box-shaped case 100 is constructed with a partition 130 extending in a horizontal direction to divide the inside space of the box-shaped case 100 into two spaces, and it is preferable that a distance between the partition 130 and the top of the box-shaped case 100 is smaller than a distance between the partition 130 and the bottom of the box-shaped case 100, and the circuit board 400 is located under the partition 130 and fixed on the partition 130, thereby reasonably utilizing the space of the box-shaped case 100.
Meanwhile, as shown in fig. 3, it is preferable that the turntable driving shaft 140 is disposed on the partition 130 through the thrust bearing 160, and the turntable speed reducing assembly 300 is in driving connection with the turntable through the turntable driving shaft 140, so as to prevent the turntable speed reducing assembly 300 from directly bearing the weight of the turntable, thereby being beneficial to increasing the life of the turntable speed reducing assembly 300, i.e., the weight of the turntable needs to be directly borne when the output shaft of the turntable speed reducing assembly 300 is directly connected with the turntable, so that the turntable speed reducing assembly 300 is stressed more, thereby equivalently lifting the load weight of the turntable speed reducing assembly 300. At this time, the turntable driving shaft 140 is preferably located at the center of the partition 130.
In a preferred embodiment, as shown in fig. 7, a ventilation opening 135 is preferably further provided on the partition 130, and a heat dissipation fan 800 is further provided at the ventilation opening 135, so that heat generated from components below the partition 130 is conveniently transferred to above the partition 130, and the rising speed of air is accelerated by the heat dissipation fan 800 due to the rising principle of high-temperature air, thereby accelerating the heat dissipation.
In a preferred embodiment, as shown in fig. 7 and 8, the turret speed reduction assembly 300 preferably includes a turret primary synchronous pulley 310 and a turret secondary synchronous pulley 320, with the turret primary synchronous pulley 310 being drivingly connected to the turret drive motor 200 and the turret secondary synchronous pulley 320, respectively, and the turret secondary synchronous pulley 320 also being drivingly connected to the turret drive shaft 140. At this time, the primary pulley 310 and the secondary pulley 320 may be disposed in the box-shaped housing 100 in a general fixing manner, for example, a plurality of supporting members are provided in the box-shaped housing 100 to fix the primary pulley 310 and the secondary pulley 320, respectively. In this embodiment, the speed is reduced by means of the synchronous pulley, so that the manufacturing cost of the base is reduced while the control accuracy is ensured.
Meanwhile, according to the arrangement state of the box-shaped housing 100, as shown in fig. 3, X represents a horizontal direction, Y represents a vertical direction, a represents a top surface of the partition 130, B represents a bottom surface of the partition 130, preferably, the partition 130 is horizontally provided in the box-shaped housing 100 to divide an inner space of the box-shaped housing 100 into two spaces, and preferably, a distance between the partition 130 and a top of the box-shaped housing 100 is smaller than a distance between the partition 130 and a bottom of the box-shaped housing 100, and the turntable primary timing pulley 310 is provided on the top surface of the partition 130, and the turntable secondary timing pulley 320 and the turntable driving motor 200 are both located on the bottom surface provided on the partition 130. In the present embodiment, the turntable driving motor 200, the turntable primary timing pulley 310, the turntable secondary timing pulley 320, and the like are mounted by providing the partition 130 in the box-like housing 100, thereby contributing to an increase in stability of fixing the above-described components. Meanwhile, the turntable driving motor 200, the turntable primary synchronous pulley 310, the turntable secondary synchronous pulley 320, and the like are installed by providing the partition 130 in the box-shaped housing 100, thereby contributing to the improvement of the compactness of the base.
Further, as shown in fig. 6, it is preferable that the center of the partition 130 is configured with a receiving cavity 133 for mounting the thrust bearing 160, and a bearing structure 134 for receiving the lower edge of the outer ring of the thrust bearing 160 is disposed at the bottom of the cavity, at this time, the bearing structure 134 is preferably a ring body, and after the thrust bearing 160 is mounted in the receiving cavity 133, the bearing structure 134 may abut against the lower edge of the outer ring of the thrust bearing 160, so as to achieve the purpose of receiving the thrust bearing 160, and as for the turntable driving shaft 140, it is only required to be vertically inserted into the inner ring of the thrust bearing 160 from top to bottom. Meanwhile, the turntable driving shaft 140 is divided into a connection section 141, an insertion section 142 and a bearing section 143 from bottom to top (i.e. the diameter of the insertion section 142 is smaller than that of the bearing section 143, and the diameter of the connection section 141 is preferably identical to that of the insertion section 142 at this time), wherein the insertion section 142 can be inserted into the inner ring of the thrust bearing 160, and the connection section 141 passes through the thrust bearing 160 and is in transmission connection with the turntable secondary synchronous pulley 320, and one end of the bearing section 143, which is close to the insertion section 142, can be abutted against the upper edge of the inner ring of the thrust bearing 160, so that the thrust bearing 160 bears the weight of the turntable. The base further comprises a bearing pressing plate 170, and the bearing pressing plate 170 is preferably an annular plate body, and the bearing pressing plate 170 can be sleeved on the bearing section 143, and at this time, the bearing pressing plate 170 can seal the opening end of the accommodating cavity 133 and can be abutted against the upper edge of the outer ring of the thrust bearing 160. The bearing retainer 170 is preferably removably attached to the spacer 130, such as by screws, to facilitate preventing the thrust bearing 160 located within the receiving cavity 133 from sliding out.
In a preferred embodiment, the thrust bearing 160 is preferably a double row angular contact bearing, which occupies less axial space, thereby advantageously reducing the length of the turntable drive shaft 140 and thus the height of the base. Meanwhile, the double-row angular contact ball bearing can provide bearing configuration with higher rigidity and can bear overturning moment.
In a preferred embodiment, as shown in fig. 7, the turntable primary synchronous pulley 310 preferably includes a turntable primary driving pulley 311, a turntable primary driven pulley 312 and a turntable primary synchronous belt 313, wherein the turntable primary driving pulley 311 is sleeved on an output shaft of the turntable driving motor 200, the turntable primary driven pulley 312 is disposed on the partition 130 through the turntable transmission shaft 150, and the turntable primary synchronous belt 313 is respectively connected with the turntable primary driving pulley 311 and the turntable primary driven pulley 312, so that the transmission ratio of the turntable primary driving pulley 311 and the turntable primary driven pulley 312 is arranged according to the actual requirement for deceleration.
Meanwhile, as shown in fig. 8, it is preferable that the turntable secondary synchronous pulley 320 includes a turntable secondary driving pulley 321, a turntable secondary driven pulley 322, and a turntable secondary synchronous belt 323, wherein the turntable secondary driving pulley 321 is sleeved on the turntable driving shaft 150 (in which one end of the turntable driving shaft 150 is disposed from top to bottom through the partition 130), the turntable secondary driven pulley 322 is sleeved on the turntable driving shaft 140 (in which one end of the turntable driving shaft 140 is disposed from top to bottom through the partition 130), and the turntable secondary synchronous belt 323 is respectively connected with the turntable secondary driving pulley 321 and the turntable secondary driven pulley 322, and the transmission ratio of the turntable secondary driving pulley 321 and the turntable secondary driven pulley 322 is disposed according to the actual requirement for deceleration. At this time, it is preferable that the turntable driving shaft 140, the turntable driving shaft 150, and the output shaft of the turntable driving motor 200 are arranged in a triangle state, so that the stability of the base is advantageously increased.
As shown in fig. 9, the turntable transmission shaft 150 preferably includes a mounting sleeve 151, a shaft body 152, and two bearings 153, and the shaft body 152 is mounted in the mounting sleeve 151 through the two bearings 153, the mounting sleeve 151 is fixed on the partition 130, preferably the mounting sleeve 151 is located under the partition 130, and the partition 130 has a shaft hole corresponding to the mounting sleeve 151, so that the shaft body 152 mounted in the mounting sleeve 151 passes through. At this time, the turntable primary driven wheel 312 is connected to one end of the shaft 152 above the partition 130, and the turntable secondary driving wheel 321 is connected to one end of the shaft 152 below the partition 130.
Further, as shown in fig. 13, the base further includes a plurality of first fixing screws and a first tensioning mechanism 500, preferably, the partition 130 has a plurality of first waist-shaped holes 131, at this time, the mounting sleeve 151 may be connected with the first fixing screws passing through the first waist-shaped holes 131, so as to fix the mounting sleeve 151 on the partition 130, and at the same time, the first fixing screws may be utilized to move in the first waist-shaped holes 131, so as to drive the turntable secondary driving wheel 321 located on the shaft 152 to move towards or away from the turntable secondary driven wheel 322, thereby facilitating adjustment of the tension degree of the turntable secondary synchronous belt 323.
Meanwhile, as shown in fig. 10 and 11, the first tensioning mechanism 500 is disposed on the bottom surface of the partition 130 and between the turntable secondary driving wheel 321 and the turntable secondary driven wheel 322, the first tensioning mechanism 500 includes a first bracket 510 connected with the partition 130 and a first rotation bolt 520, the first bracket 510 includes a first connection end and a first threaded end, the first connection end is connected with the partition 130, and the first rotation bolt 520 is in threaded engagement with the first threaded end, so that a screw head of the first rotation bolt 520 may abut against the mounting sleeve 151, and the abutting position may be arranged according to practical situations. In this embodiment, when the turntable transmission shaft 150 is installed, the first fixing screw passes through the first waist-shaped hole 131 to be connected with the installation sleeve 151, but the first fixing screw is not completely fastened, so that the turntable transmission shaft 150 can move in the first waist-shaped hole 131 along with the first fixing screw, at this time, the turntable transmission shaft 150 can be driven by screwing the first rotation bolt 520 to drive the turntable transmission shaft 150 to drive the turntable secondary driving wheel 321 to move away from the turntable secondary driven wheel 322, so as to change the tension of the turntable secondary synchronous belt 323, and when the tension of the turntable secondary synchronous belt 323 is in a proper state (i.e. the turntable transmission shaft 150 moves to a preset position), the installation sleeve 151 is fixed by using the first fixing screw, thereby facilitating the installation of the turntable transmission shaft 150, and meanwhile, the stability of the turntable transmission shaft 150 during operation can be increased by using the abutting of the first rotation bolt 520 and the installation sleeve 151.
In a preferred embodiment, as shown in fig. 11, a bundle coil 530 is preferably further disposed in the box-shaped housing 100, and the bundle coil 530 is located directly below the turntable driving shaft 140, so that the distance between the bundle coil and the turntable driving shaft can be set according to practical situations, so that the bundle coil 530 is used to restrain the cable passing through the turntable driving shaft 140. Wherein the bundle coil 530 is preferably disposed on the first bracket 510 by a connection bar. At this time, the bundle coil 530 is preferably a flexible coil made of rubber to facilitate avoiding damage to the cable when it follows the rotation of the turntable.
In a preferred embodiment, as shown in fig. 6, the secondary driven wheel 322 of the turntable is preferably sleeved on the turntable driving shaft 140 (i.e., the plug-in section 142), and the secondary driven wheel 322 of the turntable is provided with a connecting structure 324 directly below the turntable driving shaft 140. At this time, the connection structure 324 is a plurality of threaded through holes formed on the secondary driven wheel 322 of the turntable, and a threaded hole capable of being matched with the threaded through holes is formed at the bottom of the driving shaft 140 of the turntable, and at this time, the secondary driven wheel 322 of the turntable can be fixed on the driving shaft 140 of the turntable by sequentially penetrating through the threaded through holes and the threaded holes by using screws.
Meanwhile, as shown in fig. 6, an abutment structure 325 is preferably provided on the turntable secondary driven wheel 322, and the abutment structure 325 is preferably a sleeve structure and may be sleeved on the turntable driving shaft 140, and the top of the abutment structure 325 may abut against the inner ring lower edge of the thrust bearing 160. At this time, it is preferable that a predetermined distance is formed between the top surface of the connection structure 324 and the bottom surface of the turntable driving shaft 140, that is, a certain gap exists between the connection structure 324 and the bottom of the turntable driving shaft 140, and due to a certain error in processing, in order to avoid that the abutting structure 325 cannot abut against the inner ring lower edge of the thrust bearing when the connection structure 324 abuts against the bottom of the turntable driving shaft 140, a certain gap exists between the connection structure 324 and the bottom of the turntable driving shaft 140, so that the thrust bearing 160 is prevented from sliding on the insertion section 142 by using the abutting structure 325 and the bearing section 143 to form a clamping state.
Meanwhile, the base preferably further comprises a positioning pin 326, a positioning hole is formed in the bottom of the connecting section 141, a positioning through hole is formed in the rotary table secondary driven wheel 322, and the positioning pin 326 can sequentially penetrate through the positioning through hole and the positioning hole to position the rotary table secondary driven wheel 322 on the connecting section 141, so that the rotary table secondary driven wheel 322 is conveniently fixed.
In a preferred embodiment, as shown in fig. 13, the partition 130 preferably has a plurality of second waist-shaped holes 132, at this time, the turntable driving motor 200 may be connected to a second fixing screw passing through the second waist-shaped holes 132, so as to fix the turntable driving motor 200 on the partition 130, and at the same time, the second fixing screw may be used to move in the second waist-shaped holes 132, so as to drive the turntable primary driving wheel 311 located on the turntable driving motor 200 to move toward or away from the turntable primary driven wheel 312, thereby facilitating adjustment of the tension of the turntable primary synchronous belt 313. In this case, it is preferable that the turntable driving motor 200 has a screw hole to be engaged with the second fixing screw, so that the turntable driving motor 200 can be fixed without providing a nut.
Meanwhile, as shown in fig. 10 and 12, a second tensioning mechanism 600 is further disposed in the box-shaped housing 100, and the second tensioning mechanism 600 is disposed on the bottom surface of the partition 130 and between the turntable primary driving wheel 311 and the turntable primary driven wheel 312, the second tensioning mechanism 600 includes a second bracket 610 connected to the partition 130 and a second rotation bolt 620, the second bracket 610 includes a second connection end and a second threaded end, the second connection end is connected to the partition 130, and the second rotation bolt is in threaded engagement with the second threaded end, so that the screw head of the second rotation bolt can abut against the turntable driving motor 200, and the abutting position can be arranged according to practical situations. In this embodiment, when the turntable driving motor 200 is installed, the second fixing screw passes through the second waist-shaped hole 132 to be connected with the turntable driving motor 200, but the second fixing screw is not completely fastened, so that the turntable driving motor 200 can move in the second waist-shaped hole 132 along with the second fixing screw, at this time, the turntable driving motor 200 can be driven by screwing the second rotation bolt 620 to drive the turntable primary driving wheel 311 to move away from the turntable primary driven wheel 312, so as to change the tension of the turntable primary synchronous belt 313, and when the tension of the turntable primary synchronous belt 313 is in a proper state (i.e. the turntable driving motor 200 moves to a preset position), the turntable driving motor 200 is fixed by the second fixing screw, so that the installation of the turntable driving motor 200 is facilitated, and meanwhile, the stability of the turntable driving motor 200 during operation can be increased by abutting the second rotation bolt 620 with the turntable driving motor 200.
In a preferred embodiment, as shown in fig. 13, the box-shaped housing 100 further includes a top plate 110 and a bottom plate 120, at this time, the box-shaped housing 100 has a rectangular shape with two open ends, wherein the top plate 110 and the bottom plate 120 are respectively covered on two ends of the box-shaped housing 100, and the top plate 110 and the bottom plate 120 are detachably connected with the box-shaped housing 100 to form a closed space, and the top plate 110 is preferably formed by combining a first cover plate 111 and a second cover plate 112, and the first cover plate 111 and the second cover plate 112 have semicircular notches, and the two semicircular notches can be combined to form a circular notch 113. At this time, it is preferable that the partition 130 is integrally formed with the box-shaped case 100, and particularly, welding or engraving and milling may be adopted, so that stability of the components located on the partition 130 is advantageously increased, and at the same time, reinforcing ribs connected to the inner wall of the box-shaped case 100 may be provided on the partition 130, so as to increase the connection strength of the partition 130 with the box-shaped case 100. Of course, in order to facilitate the fixing of the base, an extension edge is provided on an outer wall of a port of the box-shaped housing 100 near the bottom plate 120, and the extension edge has a fixing hole, so that the base is conveniently fixed through the fixing hole by a screw. In the present embodiment, the partition 130 is integrally formed with the box-shaped housing 100, thereby facilitating the increase of the connection strength of the partition 130 with the box-shaped housing 100, and simultaneously, the partition 130 is detachably connected with the box-shaped housing 100 through the top plate 110 and the bottom plate 120, respectively, thereby facilitating the installation of the above components on the partition 130, respectively.
Of course, in other embodiments, the partition 130 may be connected to the box-like housing 100 by screws, so as to facilitate the detachment of the partition 130. At this time, it is preferable that the inner wall of the box-like housing 100 has a load that can load the partition 130 so as to provide a supporting point for the partition 130. The support table may be in the form of a plurality of blocks distributed on the inner wall of the box-shaped housing 100, or may be an annular boss disposed on the inner wall of the box-shaped housing 100.
In a preferred embodiment, as shown in fig. 13, the side of the box-shaped housing 100 (i.e. the side of the box-shaped housing 100 near the circuit board 400) is preferably further provided with a mounting notch 180, the box-shaped housing 100 further includes a mounting plate 190 covering the mounting notch 180, and the bayonets 191 are all disposed on the mounting plate 190, so that only the corresponding mounting plate 190 needs to be replaced when a different bayonet 191 is replaced on the circuit board 400. At this time, a power switch may be further disposed on the mounting board 190, so as to control power supply to the desktop mechanical arm.
In a preferred embodiment, the turntable driving motor 200 is correspondingly provided with an encoder, while the large arm motor and the small arm motor are correspondingly provided with an electromagnetic band-type brake and an encoder, and even the end execution motor arranged on the small arm can be correspondingly provided with an electromagnetic band-type brake and an encoder. At this time, the motors are preferably servo motors, so that the operation precision of the desktop mechanical arm is improved, the zero position of the servo motors is recorded by using the encoder more conveniently, and the precision of the zero return operation of the servo motors is also improved. Preferably, the encoder is a multi-turn absolute value encoder, and the battery mount 700 electrically connected to the circuit board 400 is further provided in the box-shaped housing 100, so that the battery mounted in the battery mount 700 conveniently supplies power to the multi-turn absolute value encoder. In this embodiment, compared with a single-turn absolute value encoder, the multi-turn absolute value encoder has the advantages of simple installation and debugging, no need of zero point finding, multifunctional output, long service life and the like.
In a preferred embodiment, as shown in fig. 7, an air inlet port 192 is preferably further provided on the box-like housing 100, and an air pipe communicating with the air inlet port 192 and penetrating from the turntable driving shaft 140 is further provided in the box-like housing 100, so as to facilitate air supply to the end effector (i.e., air cylinder) provided on the forearm through the air inlet port 192. In this case, the air intake port 192 is preferably located on the mounting plate 190.
The desktop mechanical arm further provided by the invention, as shown in fig. 14, includes a turntable 2, a large arm 3, a small arm 4 and a base 1, and the specific structure of the base refers to the above embodiments. Wherein, the revolving stage is located on the base, and the big arm is located on the revolving stage, and the forearm is located on the big arm. Preferably, an end effector 5 is connected to the end of the small arm 4, the end effector 5 is mainly used for gripping objects, and the movement of the end effector 5 is compounded by the movements of the turntable 2, the large arm 3 and the small arm 4.
Further, as shown in fig. 14 and 15, the turntable 2 is provided with a docking hole 201 docking with the upper opening end of the turntable driving shaft 140, and the large arm 3 or the small arm 4 is provided with an air outlet port, preferably the air outlet port is located on the small arm 4. At this time, as shown in fig. 7, the box-shaped housing 100 is provided with an air inlet port 192, and the air inlet port 192 is communicated with an air outlet port through an air pipe sequentially passing through the turntable driving shaft 140 and the docking hole 201, thereby facilitating air supply when the end effector 5 includes an air cylinder.
The invention also provides a robot, which comprises the desktop mechanical arm described in the foregoing embodiments, and because the desktop mechanical arm adopts all the technical solutions of all the foregoing embodiments, at least has all the technical effects brought by the technical solutions of the foregoing embodiments, which are not described in detail herein.
The above description and drawings should not be taken as limiting the scope of the invention in any way, but rather should be understood to cover all modifications, structural equivalents, or direct/indirect applications of the invention in the light of the general principles of the present invention which may be employed in the present invention and illustrated by the accompanying drawings.
Claims (13)
1. A base of a tabletop mechanical arm, comprising:
a box-like housing configured with a plurality of bayonets; and
the turntable driving motor, the turntable speed reduction assembly, the turntable driving shaft and the circuit boards are arranged in the box-shaped shell;
the turntable driving shaft is arranged in the center area of the box-shaped shell, a hollow shaft hole is formed in the turntable driving shaft, the turntable driving motor is arranged at one side of the turntable driving shaft in a staggered manner and is in transmission connection with the turntable driving shaft through the turntable speed reduction assembly, the turntable speed reduction assembly comprises a turntable primary synchronous pulley and a turntable secondary synchronous pulley, the turntable primary synchronous pulley is respectively in transmission connection with the turntable driving motor and the turntable secondary synchronous pulley, and the turntable secondary synchronous pulley is also in transmission connection with the turntable driving shaft; the box-shaped shell is internally provided with a partition plate extending in the horizontal direction, the turntable driving shaft is arranged on the partition plate, the machine body of the turntable driving motor is positioned below the partition plate, and the output shaft of the turntable driving motor penetrates through the partition plate and extends above the partition plate; the turntable primary synchronous pulley is in transmission connection with the turntable secondary synchronous pulley through a turntable transmission shaft, the turntable transmission shaft is arranged on the partition board, the turntable primary synchronous pulley is arranged above the partition board, and the turntable secondary synchronous pulley is arranged below the partition board;
the circuit boards are arranged in the box-shaped shell and opposite to the other side of the turntable driving motor, the circuit boards and the turntable driving motor are oppositely arranged on the periphery side of the turntable driving shaft, the circuit boards are arranged below the partition plate and fixed on the partition plate, the circuit boards are provided with a plurality of communication interfaces, the communication interfaces are connected through corresponding bayonets, and at least one circuit board is provided with a clearance gap for avoiding the turntable driving shaft;
the circuit board occupies at least half region below the baffle, keep away the opening orientation of position breach the other half region of baffle below just the revolving stage drive shaft with keep away each wall next-door neighbour of position breach and set up, revolving stage driving motor with the revolving stage transmission shaft is located respectively keep away the relative both sides of the opening of position breach just the organism of revolving stage driving motor with the circuit board next-door neighbour sets up, revolving stage secondary synchronous pulley with a plurality of circuit boards are located in the altitude space of the organism of revolving stage driving motor.
2. The base of claim 1, wherein the circuit board comprises a main control board, a drive control board and a drive power board in a stacked arrangement, and wherein the main control board, the drive control board and the drive power board each have the clearance gap thereon.
3. The base of claim 1, wherein the turntable drive shaft is disposed on the bulkhead by a thrust bearing.
4. A base according to claim 3, wherein the partition is provided with a vent and a vent fan provided on the partition at the vent, the vent fan being capable of blowing air from the lower layer of the partition toward the upper layer of the partition.
5. A base according to claim 3, further comprising a bundle coil located directly below the turntable drive shaft and disposed on the partition.
6. The base of claim 3, wherein the box-like housing further comprises a top plate and a bottom plate, the top plate comprises a first cover plate and a second cover plate, the first cover plate and the second cover plate are respectively provided with semicircular notches, the first cover plate and the second cover plate are arranged above the partition plate and detachably connected with the box-like housing, the semicircular notches of the first cover plate and the second cover plate are combined to form a circular notch, the circular notch is arranged above the vertical direction of the turntable driving shaft, and the bottom plate is arranged below the partition plate and detachably connected with the box-like housing.
7. A base according to claim 3, wherein the box-like housing has mounting notches on its sides, the box-like housing further comprising a mounting plate covering the mounting notches, a plurality of communication interface bayonets being located on the mounting plate.
8. The base of claim 1, wherein the turntable drive motor is a servo motor, an encoder is arranged on the servo motor, the encoder is a multi-turn absolute value encoder, and a battery mounting seat electrically connected with the multi-turn absolute value encoder is further arranged in the box-shaped housing.
9. The base of claim 1, wherein the box-like housing is further provided with an air inlet port.
10. A tabletop mechanical arm comprising a turntable, a large arm, a small arm and a base according to any one of claims 1 to 9, wherein the turntable is arranged on the base, the large arm is arranged on the turntable, and the small arm is arranged on the large arm.
11. The desktop mechanical arm according to claim 10, wherein a docking hole docking with an upper opening end of the turntable driving shaft is formed in the turntable, an air outlet port is formed in the big arm or the small arm, an air inlet port is formed in the box-shaped shell, and the air inlet port sequentially penetrates through the turntable driving shaft and the docking hole to be communicated with the air outlet port through an air pipe.
12. The tabletop mechanical arm of claim 10, further comprising an end effector coupled to the forearm.
13. A robot comprising a tabletop robot arm according to any one of claims 10 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011257419.7A CN112454326B (en) | 2020-11-11 | 2020-11-11 | Base of desktop mechanical arm, desktop mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011257419.7A CN112454326B (en) | 2020-11-11 | 2020-11-11 | Base of desktop mechanical arm, desktop mechanical arm and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112454326A CN112454326A (en) | 2021-03-09 |
| CN112454326B true CN112454326B (en) | 2023-06-23 |
Family
ID=74825525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011257419.7A Active CN112454326B (en) | 2020-11-11 | 2020-11-11 | Base of desktop mechanical arm, desktop mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112454326B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113358394A (en) * | 2021-04-28 | 2021-09-07 | 东莞市红木棉电子科技有限公司 | Coating surface density sampler |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2720886A1 (en) * | 2010-11-12 | 2012-05-12 | Crosswing Inc. | Customizable virtual presence system |
| CN106104991A (en) * | 2014-08-01 | 2016-11-09 | 松下知识产权经营株式会社 | Motor |
| CN107498542A (en) * | 2017-10-10 | 2017-12-22 | 广州酷刻科技有限公司 | A kind of desktop level intelligent machine arm |
| CN107877544A (en) * | 2016-09-30 | 2018-04-06 | 深圳市越疆科技有限公司 | Cabling dividing plate and integrally formed control box Wiring structure |
| JP2019155208A (en) * | 2019-07-02 | 2019-09-19 | 株式会社三洋物産 | Game machine |
| CN209916254U (en) * | 2019-04-18 | 2020-01-10 | 厦门罗雅光科技有限公司 | Automatic cleaning water dental floss device |
| CN110948470A (en) * | 2019-12-27 | 2020-04-03 | 深圳市越疆科技有限公司 | Synchronous pulley drive structure, robot drive base and desktop level arm |
| WO2020136891A1 (en) * | 2018-12-28 | 2020-07-02 | ヤマハ発動機株式会社 | Articulated robot |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020044910A (en) * | 2000-12-07 | 2002-06-19 | 윤종용 | Velt tension system for robot drive motor |
| US20150068350A1 (en) * | 2013-09-10 | 2015-03-12 | Seiko Epson Corporation | Robot arm and robot |
| CN206075690U (en) * | 2016-04-11 | 2017-04-05 | 重庆盛学科技有限公司 | Industrial teaching robot's operating platform |
| CN108274454B (en) * | 2016-05-19 | 2020-08-25 | 深圳市越疆科技有限公司 | Integrated base and robot |
| CN206925865U (en) * | 2017-05-25 | 2018-01-26 | 深圳市越疆科技有限公司 | Plane articulation robot |
| CN108356793B (en) * | 2017-11-22 | 2024-05-28 | 深圳市越疆科技股份有限公司 | Eccentric speed reducer and planar multi-joint robot |
| CN207630036U (en) * | 2017-11-22 | 2018-07-20 | 深圳市越疆科技有限公司 | Eccentric speed reduction device and planar multiple-articulation robot |
| CN107877503B (en) * | 2017-11-22 | 2024-05-28 | 深圳市越疆科技股份有限公司 | Variable speed reducer and planar multi-joint robot |
| CN109687689A (en) * | 2018-12-03 | 2019-04-26 | 深圳市越疆科技有限公司 | Modular event driven device electrical system, combined method and servo control system |
| CN110340910A (en) * | 2019-06-28 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of small-sized static load balance belt drive tool arm |
| CN110482227A (en) * | 2019-08-05 | 2019-11-22 | 山东泓瑞光电科技有限公司 | A kind of LED sorting machine silicon wafer stage catching robot electric machine assembly device |
| CN211806249U (en) * | 2019-12-27 | 2020-10-30 | 深圳市越疆科技有限公司 | Robot base and robot |
| CN211266088U (en) * | 2019-12-30 | 2020-08-14 | 深圳市越疆科技有限公司 | Control cabinet body and cooperation robot control cabinet |
-
2020
- 2020-11-11 CN CN202011257419.7A patent/CN112454326B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2720886A1 (en) * | 2010-11-12 | 2012-05-12 | Crosswing Inc. | Customizable virtual presence system |
| CN106104991A (en) * | 2014-08-01 | 2016-11-09 | 松下知识产权经营株式会社 | Motor |
| CN107877544A (en) * | 2016-09-30 | 2018-04-06 | 深圳市越疆科技有限公司 | Cabling dividing plate and integrally formed control box Wiring structure |
| CN107498542A (en) * | 2017-10-10 | 2017-12-22 | 广州酷刻科技有限公司 | A kind of desktop level intelligent machine arm |
| WO2020136891A1 (en) * | 2018-12-28 | 2020-07-02 | ヤマハ発動機株式会社 | Articulated robot |
| CN209916254U (en) * | 2019-04-18 | 2020-01-10 | 厦门罗雅光科技有限公司 | Automatic cleaning water dental floss device |
| JP2019155208A (en) * | 2019-07-02 | 2019-09-19 | 株式会社三洋物産 | Game machine |
| CN110948470A (en) * | 2019-12-27 | 2020-04-03 | 深圳市越疆科技有限公司 | Synchronous pulley drive structure, robot drive base and desktop level arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112454326A (en) | 2021-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113799112B (en) | Driving structure of desktop mechanical arm, desktop mechanical arm and robot | |
| WO2022099898A1 (en) | Desktop robotic arm driving structure, desktop robotic arm, and robot | |
| CN112454326B (en) | Base of desktop mechanical arm, desktop mechanical arm and robot | |
| US20210339349A9 (en) | Overhead machining device based on portable five-degree-of-freedom full parallel module | |
| CN114043455B (en) | Small-sized industrial desktop mechanical arm, base thereof and robot | |
| EP4350959A1 (en) | Direct drive motor and intelligent apparatus | |
| WO2022121689A1 (en) | Lightweight tabletop robotic arm base and lightweight tabletop robotic arm | |
| US20230364779A1 (en) | Drive structure of desktop robotic arm, desktop robotic arm and robot | |
| CN214025706U (en) | Base of desktop mechanical arm, desktop mechanical arm and robot | |
| CN214025720U (en) | Driving structure of desktop mechanical arm, desktop mechanical arm and robot | |
| CN112454327B (en) | Base of desktop mechanical arm, desktop mechanical arm and robot | |
| CN214025704U (en) | Base of desktop mechanical arm, desktop mechanical arm and robot | |
| CN214520172U (en) | Lightweight desktop mechanical arm base and lightweight desktop mechanical arm | |
| CN214025719U (en) | Desktop mechanical arm driving structure, desktop mechanical arm and robot | |
| CN214025705U (en) | Base of desktop mechanical arm, desktop mechanical arm and robot | |
| TWI468274B (en) | Scara type robot | |
| US20240116174A1 (en) | Drive structure of desktop robotic arm, desktop robotic arm and robot | |
| US10800048B2 (en) | Robot | |
| CN210839210U (en) | Motor and electric cylinder with same | |
| CN217216275U (en) | Speed reducing motor with built-in positioning switch | |
| CN220145985U (en) | Flat joint | |
| CN210335256U (en) | Multi-shaft power head | |
| CN210188508U (en) | Rotary mounting structure | |
| JPS6134953B2 (en) | ||
| JPS61203277A (en) | Column mechanism of robot for clean room |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |