CN113910201A - Compact base of cooperative mechanical arm without external control cabinet - Google Patents
Compact base of cooperative mechanical arm without external control cabinet Download PDFInfo
- Publication number
- CN113910201A CN113910201A CN202111222254.4A CN202111222254A CN113910201A CN 113910201 A CN113910201 A CN 113910201A CN 202111222254 A CN202111222254 A CN 202111222254A CN 113910201 A CN113910201 A CN 113910201A
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- China
- Prior art keywords
- base
- control cabinet
- port
- external control
- compact
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Casings For Electric Apparatus (AREA)
Abstract
The invention discloses a compact base of a cooperative mechanical arm without an external control cabinet, and relates to a base structure of a mechanical arm. Its purpose is in order to provide a cooperation arm compact base that integrated level is high, good heat dissipation, reliability are high does not have external control cabinet. The compact base of the cooperative mechanical arm without the external control cabinet comprises a shell, an external user interface, a main board card, an electric wire harness and a heat dissipation part, wherein the external user interface comprises a main EtherCAT connecting net port, a main power supply switch, an EtherCAT debugging net port, a main power supply input port, a demonstrator emergency stop enabling connection port and a DI/DO connection port; the mainboard screens are inside the shell, including industrial computer, power strip and safety plate, and electric bunch and radiating part are including unsteady wiring board, discharge resistance and bunch panel beating, and unsteady wiring board is used for retraining the outside electric pencil of base, and the bunch panel beating is used for retraining the inside electric pencil of base, and discharge resistance is in the circuit of releasing of external joint on the power strip, and discharge resistance is located between unsteady wiring board and the bunch panel beating.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a compact base of a cooperative mechanical arm without an external control cabinet.
Background
The cooperative mechanical arm is generally used for scenes with compact requirements on deployment space size and high flexibility of use working conditions, and is often used in occasions of emerging flexible industrial, medical and commercial applications, so that the base of the cooperative mechanical arm has the following characteristics and requirements on the design of the body:
different from the design of an external independent control cabinet without special size requirements of the traditional industrial mechanical arm, the control cabinet of the cooperative mechanical arm generally needs to follow the principle of compact design, namely the occupied space volume of the control cabinet needs to be as small as possible, and generally the current compact design has the following two directions: the compact design of the external independent control cabinet reduces the volume of the whole control cabinet through the selection of fine and miniaturized internal board cards and devices on the basis of the external control cabinet; and secondly, the compact design of the control cabinet is avoided, namely the control cabinet is fused and integrated in the bottom of the base of the mechanical arm, and the problem that the external control cabinet occupies extra space is thoroughly solved through the type selection and fine design of more miniaturized components.
The difficulty of designing the corresponding base body is derived based on the above design requirements:
(1) how to reasonably arrange and arrange various board cards and devices in a narrow control cabinet or a base body, namely, the design selection difficulties of compact and miniaturized board cards and device selection strategies, external output connector port arrangement, internal electric wire harness routing and the like are included;
(2) how to design a reasonable heat dissipation layout in a narrow control cabinet or a base body, namely how to design and arrange a power supply board and a corresponding bleeder resistor with larger heat productivity.
The design mode of the body base of the cooperative robot which is common in the market at present still has the following defects:
(1) still follow the design scheme of the external independent control cabinet, the additional arrangement occupied area is increased, and the control cabinet does not realize the fusion design of high integration with the base of the robot arm body;
(2) the control cabinet adopts the integration design with the high integration of arm body base, but does not fully consider reasonable electric wire harness in narrow and small space and various necessary heat dissipation designs.
Disclosure of Invention
The invention aims to provide a compact base of a cooperative mechanical arm without an external control cabinet, which has high integration level, good heat dissipation and high reliability.
The invention relates to a compact base of a cooperative mechanical arm without an external control cabinet, which comprises a shell, an external user interface, a main board card, an electric wire harness and a heat dissipation part,
the external user interface comprises a main EtherCAT connection network port, a main power switch, an EtherCAT debugging network port, a main power input port, a demonstrator emergency stop enabling connection port and a DI/DO connection port;
the main board is clamped in the shell and comprises an industrial personal computer, a power panel and a safety panel, the main EtherCAT connecting net port, the EtherCAT debugging net port and the DI/DO connecting port are connected with the industrial personal computer in the shell, the main power switch and the main power input port are connected with the power panel, and the demonstrator emergency stop enabling connecting port is connected with the safety panel;
electric bunch and radiating part are including floating wiring board, discharge resistance and bunch panel beating, and floating wiring board is used for retraining the outside electric pencil of base, and the bunch panel beating is used for retraining the inside electric pencil of base, and in the discharge circuit of discharge resistance external joint on the power strip, discharge resistance is located between floating wiring board and the bunch panel beating.
The invention discloses a compact base of a cooperative mechanical arm without an external control cabinet, wherein a shell comprises a base body, a base rear cover and a base bottom plate, and the base rear cover and the base bottom plate are fixed on the base body.
The invention relates to a compact base of a cooperative mechanical arm without an external control cabinet, wherein a floating wiring board is arranged at the top of a base body.
The invention discloses a compact base of a cooperative mechanical arm without an external control cabinet, wherein a main power switch, an EtherCAT debugging network port, a main power input port and a demonstrator emergency stop enabling connection port are all arranged on a rear cover of the base.
The compact base of the cooperative mechanical arm without the external control cabinet is characterized in that the wire harness metal plate is arranged inside the shell and outside the main board card.
The invention discloses a compact base of a cooperative mechanical arm without an external control cabinet, wherein a main EtherCAT connection net port is an RJ-45 interface.
The invention discloses a compact base of a cooperative mechanical arm without an external control cabinet, wherein a lamp belt structure is integrated on a main power switch.
The invention discloses a compact base of a cooperative mechanical arm without an external control cabinet, wherein an EtherCAT debugging net port is an M8 interface.
The invention discloses a compact base of a cooperative mechanical arm without an external control cabinet, wherein a main power supply input port is an aerial plug interface.
The invention discloses a compact base of a cooperative mechanical arm without an external control cabinet, wherein a DI/DO (digital input/output) connector is a digital signal input and output port based on a PLC (programmable logic controller).
The compact base of the cooperative mechanical arm without the external control cabinet is different from the prior art in that the compact base of the cooperative mechanical arm without the external control cabinet is arranged by a compact and reasonable external output interface through compact and miniaturized main board card selection, so that the base design of the compact base without the external control cabinet is realized. The compact base of the cooperative mechanical arm without the external control cabinet improves the heat dissipation density of the whole base through the design and arrangement of the discharge resistor, and restrains the routing of the electric wire harness through the design of the floating wire binding plate and the wire harness metal plate, so that the wire harness is prevented from being influenced by high temperature, and the running reliability of the whole mechanical arm is improved.
The compact base of the cooperative mechanical arm without the external control cabinet is further described with reference to the attached drawings.
Drawings
FIG. 1 is a schematic structural view of a compact base of a cooperative arm without an external control cabinet according to the present invention;
FIG. 2 is a top view of the compact base of the cooperating robotic arm of the present invention without an external control cabinet;
FIG. 3 is a left side view of the compact base of the cooperating robotic arm of the present invention without an external control cabinet;
FIG. 4 is a right side view of the compact base of the cooperating robotic arm of the present invention without an external control cabinet;
FIG. 5 is a rear view of the compact base of the cooperating robotic arm of the present invention without an external control cabinet;
FIG. 6 is a schematic structural view of the compact base of the cooperative arm without an external control cabinet of the present invention without an external housing;
FIG. 7 is a schematic view of the compact base of the cooperative arm without an external control cabinet of the present invention at another angle without the housing;
FIG. 8 is a schematic structural view of an industrial control panel in a compact base of a cooperative arm without an external control cabinet according to the present invention;
FIG. 9 is a schematic structural view of a power strip in a compact base of a cooperative arm without an external control cabinet according to the present invention;
FIG. 10 is a schematic structural view of a safety plate in a compact base of a cooperative arm without an external control cabinet according to the present invention;
the notation in the figures means: 1-a base body; 2-base rear cover; 3-base bottom plate; 4-main EtherCAT connects the net mouth; 5-main power switch; 6-EtherCAT debugging the network port; 7-main power supply input port; 8-a sudden stop enabling connector of the demonstrator; 9-floating wire binding plate; a 10-DI/DO connection port; 11-a bleed-off resistance; 12-an industrial personal computer; 13-a power panel; 14-a security pane; 15-wire harness sheet metal.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1-10, the compact base of the cooperative arm without an external control cabinet of the present invention comprises an outer housing, an external user interface, a motherboard card, and electrical wiring harness and heat sink portions.
As shown in fig. 1 to 5, the housing includes a base body 1, a base rear cover 2, and a base bottom plate 3. The base body 1 is used as a main structural member bearing force of the whole base, and the base rear cover 2 and the base bottom plate 3 are fixed on the base body 1 through screws to form a complete closed structural member space with strong bearing force.
The external user interface comprises a main EtherCAT connection network port 4, a main power switch 5, an EtherCAT debugging network port 6, a main power input port 7, a demonstrator emergency stop enabling connection port 8 and a DI/DO connection port 10. The main EtherCAT connection port 4 is used for providing an RJ-45 interface for a user to directly communicate with the robot and is arranged on the right side face of the shell; the main power switch 5, the EtherCAT debugging network port 6, the main power input port 7 and the demonstrator emergency stop enabling connection port 8 are all installed on the base rear cover 2, the main power switch 5 is used for controlling the whole power on and off of the robot, the main power switch 5 simultaneously integrates a lamp strip structure and can play a role in illumination and prompt, the EtherCAT debugging network port 6 is used for providing an M8 interface for a user to carry out communication debugging on servo joints of each shaft under the condition that the industrial personal computer 12 is closed, the main power supply 7 adopts an aerial socket interface form and serves as the main power input port 7 of the robot 48V, and the demonstrator emergency stop enabling connection port 8 is used for being connected with a demonstrator with an emergency stop enabling function and serving as a visual window for the user to control and operate the robot; the DI/DO connector 10 is provided to a user-assisted communication port, and is provided at the left side of the housing using a PLC-based digital signal input and output port.
As shown in fig. 6-10, the main board card is located inside the housing and includes an industrial personal computer 12, a power board 13 and a security board 14. The type selection of the three main board cards in the invention follows the compact miniaturization principle. In this embodiment, the industrial personal computer 12 is a porphyry x86 industrial personal computer, carries an Intel core i5-CPU, and is used as a central processing unit for performing core operation and control by the overall cooperative mechanical arm, and the main EtherCAT connection port 4, the EtherCAT debugging port 6 and the DI/DO connector 10 are connected with the industrial personal computer 12 inside the shell; the power panel 13 adopts a Lopa x power panel scheme of xPower-3.0, and can perform voltage stabilization and discharge management on 48V voltage input by the main power input port 7, the main power switch 5 is connected with the power panel 13 and is used for controlling the power supply and discharge of the whole power panel 13, a discharge loop on the power panel 13 is externally connected with a discharge resistor 11, and the discharge resistor 11 is used for releasing huge heat generated by the counter electromotive force of the cooperative mechanical arm due to speed reduction; the safety plate 14 adopts a Lopa stone xSafe-2.0 safety plate scheme, the demonstrator emergency stop enabling connecting port 8 is directly connected with the safety plate 14, and when a user needs to emergently close the robot, the emergency stop enabling button on the demonstrator can transmit the emergency stop enabling connecting port to the safety plate 14, so that the emergency brake of the whole mechanical arm is realized.
The electric wire harness and the heat dissipation part comprise a floating wire binding plate 9, a bleeder resistor 11 and a wire harness metal plate 15. The floating wiring board 9 is arranged on the top of the base body 1 in the shell and used for restraining the electric wiring harness of the base, namely the wiring harness of the base leading to the outside. The stiffness of the floating wiring board 9 in the radial direction is much larger than the axial stiffness, so that the degree of freedom of the wiring harness in the radial direction will be limited, but at the same time a certain degree of freedom in the axial direction is still provided to improve the reliability of the wiring harness under possible axial pulling movements. The wire harness metal plate 15 is arranged inside the shell and outside the main board card and used for restraining an electric wire harness inside the base. Bleeder resistor 11 itself is a huge heat source that generates heat, and bleeder resistor 11 is located and floats between wiring board 9 and the bunch panel beating 15, and the wiring that floats wiring board 9 and bunch panel beating 15 can ensure electric wiring harness keeps away from bleeder resistor 11 as far as possible, avoids causing the unreliable problem of pencil because of the high temperature. The arrangement position of the bleeder resistor 11 is the area with the least components inside the base, so as to reduce the adverse effect of the heat generated by the bleeder resistor 11 on the operation of other electrical components as much as possible.
The compact base of the cooperative mechanical arm without the external control cabinet is designed into a closed base structure body through a small base structure member, and is matched with compact and reasonable external output interfaces for distribution through compact and miniaturized main board card selection, so that the base design of the compact without the external control cabinet is realized.
The compact base of the cooperative mechanical arm without the external control cabinet improves the heat dissipation density of the whole base through the design and arrangement of the discharge resistor, and restrains the routing of the electric wire harness through the design of the floating wire binding plate and the wire harness metal plate, so that the wire harness is prevented from being influenced by high temperature, and the running reliability of the whole mechanical arm is improved.
Through the structural design of the invention, the design of an external control cabinet is cancelled in the whole machine, the integrated control cabinet and the mechanical arm base realize high integration and fusion, and the geometric dimension of the base is controlled in a cylinder with the diameter of a bottom circle being less than or equal to 250mm and the height being less than or equal to 120 mm. The heat dissipation capacity of the compact base control cabinet body is improved by nearly 30%, and the temperature rise of the whole machine in full-power operation for 20min only reaches 53 ℃, which is superior to the performance of the compact base control cabinet without special heat dissipation design, wherein the temperature rise reaches 62 ℃.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides a cooperation arm compact base of no external switch board which characterized in that: comprises a shell, an external user interface, a mainboard card, an electric wire harness and a heat dissipation part,
the external user interface comprises a main EtherCAT connection network port, a main power switch, an EtherCAT debugging network port, a main power input port, a demonstrator emergency stop enabling connection port and a DI/DO connection port;
the main board is clamped in the shell and comprises an industrial personal computer, a power panel and a safety panel, the main EtherCAT connecting net port, the EtherCAT debugging net port and the DI/DO connecting port are connected with the industrial personal computer in the shell, the main power switch and the main power input port are connected with the power panel, and the demonstrator emergency stop enabling connecting port is connected with the safety panel;
electric bunch and radiating part are including floating wiring board, discharge resistance and bunch panel beating, and floating wiring board is used for retraining the outside electric pencil of base, and the bunch panel beating is used for retraining the inside electric pencil of base, and in the discharge circuit of discharge resistance external joint on the power strip, discharge resistance is located between floating wiring board and the bunch panel beating.
2. The compact base of a cooperating robotic arm without an external control cabinet of claim 1, wherein: the shell comprises a base body, a base rear cover and a base bottom plate, wherein the base rear cover and the base bottom plate are fixed on the base body.
3. The compact base of a cooperating robotic arm without an external control cabinet of claim 2, wherein: the floating wiring board is arranged on the top of the base body.
4. The compact base of a cooperating robotic arm without an external control cabinet of claim 2, wherein: the main power switch, the EtherCAT debugging network port, the main power input port and the demonstrator emergency stop enabling connection port are all installed on the base rear cover.
5. The compact base of a cooperating robotic arm without an external control cabinet of claim 1, wherein: the bunch panel beating is installed in the outside of inside, the mainboard card of shell.
6. The compact base of a cooperating robotic arm without an external control cabinet of claim 1, wherein: and the main EtherCAT connection network port is an RJ-45 interface.
7. The compact base of a cooperating robotic arm without an external control cabinet of claim 1, wherein: the main power switch is integrated with a lamp strip structure.
8. The compact base of a cooperating robotic arm without an external control cabinet of claim 1, wherein: the EtherCAT debugging network port is an M8 interface.
9. The compact base of a cooperating robotic arm without an external control cabinet of claim 1, wherein: the main power supply input port is an aerial plug interface.
10. The compact base of a cooperating robotic arm without an external control cabinet of claim 1, wherein: and the DI/DO connecting port is a digital signal input and output port based on PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111222254.4A CN113910201A (en) | 2021-10-20 | 2021-10-20 | Compact base of cooperative mechanical arm without external control cabinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111222254.4A CN113910201A (en) | 2021-10-20 | 2021-10-20 | Compact base of cooperative mechanical arm without external control cabinet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113910201A true CN113910201A (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111222254.4A Pending CN113910201A (en) | 2021-10-20 | 2021-10-20 | Compact base of cooperative mechanical arm without external control cabinet |
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| Country | Link |
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| CN (1) | CN113910201A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847476A (en) * | 2023-02-27 | 2023-03-28 | 珞石（北京）科技有限公司 | Compact cooperative robot wrist |
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| CN115847476A (en) * | 2023-02-27 | 2023-03-28 | 珞石（北京）科技有限公司 | Compact cooperative robot wrist |
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Application publication date: 20220111 |