WO2022121689A1 - Base de bras robotique de table léger et bras robotique de table léger - Google Patents

Base de bras robotique de table léger et bras robotique de table léger Download PDF

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Publication number
WO2022121689A1
WO2022121689A1 PCT/CN2021/132914 CN2021132914W WO2022121689A1 WO 2022121689 A1 WO2022121689 A1 WO 2022121689A1 CN 2021132914 W CN2021132914 W CN 2021132914W WO 2022121689 A1 WO2022121689 A1 WO 2022121689A1
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WO
WIPO (PCT)
Prior art keywords
drive shaft
partition
lightweight
motor
shaft
Prior art date
Application number
PCT/CN2021/132914
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English (en)
Chinese (zh)
Inventor
叶伟智
刘主福
Original Assignee
深圳市越疆科技有限公司
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Publication of WO2022121689A1 publication Critical patent/WO2022121689A1/fr

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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
    • 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
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the present application relates to the technical field of lightweight desktop robotic arms, in particular to a lightweight desktop robotic arm base and a lightweight desktop robotic arm.
  • the lightweight desktop robotic arm has strong adaptability and dynamic problem-solving ability, and is widely used in the field of teaching. It is generally composed of a base, a robotic arm and an actuator. The robotic arm and the base are rotatably connected, and the end of the robotic arm is used for setting Actuator.
  • the existing lightweight desktop manipulator base generally drives the motion of the manipulator by setting a motor + reducer, but the commonly used RV reducer or harmonic reducer generally has high cost, large weight and high installation and use requirements. It cannot fully meet the requirements of light weight, low cost, and easy installation and use of some lightweight desktop robotic arms, such as the Chinese patent application number CN201810921858.X.
  • the main purpose of the present application is to provide a lightweight desktop manipulator base and a lightweight desktop manipulator to solve the technical problems of high cost and heavy weight of the lightweight desktop manipulator base.
  • the present application proposes a lightweight desktop manipulator base
  • the lightweight desktop manipulator base includes a box-shaped shell and a motor, a deceleration assembly and a drive shaft arranged in the box-shaped shell, and the box-shaped shell
  • the body is constructed with a partition extending in the horizontal direction
  • the drive shaft is arranged in the central area of the partition
  • the motor is arranged under the partition and is connected with the drive shaft through a deceleration assembly, which is a synchronous belt deceleration structure and is arranged on the partition above.
  • a transmission shaft is arranged on the partition plate, and the deceleration assembly includes a primary synchronous pulley and a secondary synchronous pulley, and the primary synchronous pulley is respectively connected with the motor and the transmission shaft. drive connection.
  • the primary synchronous pulley includes a first driving wheel connected with the output shaft of the motor, a first driven wheel connected with the transmission shaft, and a first synchronous belt connected with the first driving wheel and the first driven wheel respectively;
  • the pulley includes a second driving pulley connected with the transmission shaft, a second driven pulley connected with the driving shaft, and a second timing belt respectively connected with the second driving pulley and the second driven pulley.
  • the baffle is rectangular, and the drive shaft and the output shaft of the motor are respectively located at two opposite corners of the baffle.
  • the drive shaft is located between the output shaft of the motor and the transmission shaft.
  • an adjusting device is arranged on the partition plate, and the adjusting device includes a tensioning wheel that fits with the synchronous belt in the primary synchronous pulley, and the tensioning wheel can move in the horizontal direction.
  • the adjusting device further comprises a mounting seat slidably connected with the partition plate, the mounting seat can move along the direction perpendicular to the connecting line between the drive shaft and the output shaft of the motor, and the tensioning wheel is rotatably arranged on the mounting seat.
  • the mounting seat is provided with a waist-shaped hole
  • the partition is provided with two threaded holes arranged at intervals, and the distance between the two threaded holes is less than the length of the waist-shaped hole
  • the adjusting device further includes two can pass through the waist-shaped hole respectively.
  • the holes correspond to the screws connected with the threaded holes one by one.
  • the drive shaft is arranged on the partition plate through the thrust bearing.
  • an accommodating cavity is constructed on the partition plate, and the accommodating cavity is constructed with a receiving structure adapted to the lower edge of the outer ring of the thrust bearing, the thrust bearing is arranged in the accommodating cavity, and the lower edge of the outer ring of the thrust bearing is connected with the receiving structure , the drive shaft is inserted into the inner ring of the thrust bearing from top to bottom in the vertical direction.
  • the drive shaft is constructed with a load-bearing section, an insertion section and a connection section.
  • the load-bearing section is in contact with the upper edge of the inner ring of the thrust bearing.
  • the segment is in contact with the inner ring of the thrust bearing, and the connecting segment is provided with a bushing which is in contact with the lower edge of the inner ring of the thrust bearing.
  • the box-shaped casing further comprises a top plate and a bottom plate, the top plate is arranged on the partition plate and is detachably connected with the box-shaped casing, and the top plate has a circular gap, and the circular gap is above the vertical direction of the drive shaft;
  • the bottom plate is arranged under the partition plate and is detachably connected with the box-shaped casing.
  • the motor is a servo motor
  • an encoder is provided on the servo motor
  • the encoder is a multi-turn absolute value encoder.
  • the drive shaft is configured with a hollow shaft hole.
  • the present application further proposes a lightweight desktop robotic arm, including a lightweight desktop robotic arm base and a robotic arm joint, the lightweight desktop robotic arm base includes a box-shaped shell, and a motor and a deceleration component disposed in the box-shaped shell And the drive shaft, the box-shaped casing is constructed with a partition extending in the horizontal direction, the drive shaft is arranged in the central area of the partition, the motor is arranged under the partition and is connected to the drive shaft through a deceleration assembly, and the deceleration assembly is a synchronous belt.
  • the deceleration structure is arranged on the partition plate, and the mechanical arm joint is connected with the drive shaft in a transmission.
  • the mechanical arm joint includes a plurality of rotating joints that are connected in sequence, and the rotating joint located at the head end of the mechanical arm joint is connected with the drive shaft.
  • a transmission shaft is provided on the partition plate, and the speed reduction assembly includes a primary synchronous pulley and a secondary synchronous pulley, and the primary synchronous pulley is respectively connected to the motor and the transmission shaft.
  • the synchronous pulleys are respectively connected with the drive shaft and the drive shaft.
  • the first-stage synchronous pulley includes a first driving wheel connected with the output shaft of the motor, a first driven wheel connected with the transmission shaft, and a first driving wheel and a first driven wheel respectively connected with the first driving wheel.
  • the secondary synchronous pulley includes a second driving wheel connected with the transmission shaft, a second driven wheel connected with the driving shaft, and the second driving wheel and the second driven wheel respectively connected of the second timing belt.
  • the baffle is rectangular, and the drive shaft and the output shaft of the motor are respectively located at two opposite corners of the baffle.
  • an adjusting device is provided on the partition, and the adjusting device includes a tensioning pulley that fits with the synchronous belt in the first-stage synchronous pulley and a mounting seat that is slidably connected to the partition.
  • the tensioning wheel can move in a horizontal direction
  • the mounting seat can move in a direction perpendicular to the connection line between the drive shaft and the output shaft of the motor, and the tensioning wheel is rotatably arranged on the mounting seat.
  • the drive shaft is arranged on the partition plate through a thrust bearing, and a receiving cavity is configured on the partition plate, and the receiving cavity is configured with a receiving structure adapted to the lower edge of the outer ring of the thrust bearing, so
  • the thrust bearing is arranged in the accommodating cavity, and the lower edge of the outer ring of the thrust bearing is connected with the bearing structure, and the drive shaft is inserted into the thrust bearing from top to bottom in the vertical direction.
  • the inner ring is arranged, the drive shaft is configured with a bearing section, an inserting section and a connecting section, the bearing section is in contact with the upper edge of the inner ring of the thrust bearing, and the inserting section is in contact with the inner ring of the thrust bearing.
  • Inner abutment, the connecting section is provided with a shaft sleeve abutting against the lower edge of the inner ring of the thrust bearing.
  • a partition is arranged in the box-shaped casing, the motor is arranged under the partition, and the deceleration assembly is arranged above the partition, thereby facilitating the disassembly of the deceleration assembly. Fittings and accessories to facilitate the installation of the lightweight desktop arm under the bulkhead.
  • the deceleration component is preferably a synchronous belt deceleration structure, which is beneficial to reduce the cost of the lightweight desktop robotic arm base, reduce the weight of the lightweight desktop robotic arm base, and make the lightweight desktop robotic arm base easy to install.
  • 1 is a schematic structural diagram of an existing lightweight desktop robotic arm
  • FIG. 2 is a cross-sectional view of an embodiment of a lightweight desktop robotic arm base in the application
  • Fig. 3 is the schematic diagram of the light-weight desktop manipulator base part structure shown in Fig. 2;
  • Fig. 4 is the structural representation of the adjustment device shown in Fig. 3;
  • Fig. 5 is the sectional view of the light-weight desktop manipulator base part structure shown in Fig. 3;
  • FIG. 6 is a schematic structural diagram of an embodiment of the lightweight desktop robotic arm in the present application.
  • the lightweight desktop manipulator shown in Figure 1 includes a lightweight desktop manipulator base, manipulator joints and actuators, mechanical
  • the arm joint is rotatably connected to the lightweight desktop robotic arm.
  • the end of the robotic arm joint is used to set the actuator.
  • the motor and the reducer are mounted on the robotic arm joint upside down.
  • the motor output shaft is directly connected to the base through the reducer.
  • this method of driving the joints of the manipulator to rotate has problems such as high cost and high weight.
  • the lightweight desktop manipulator base includes a box-shaped casing 100 and a motor 200 arranged in the box-shaped casing 100 , a deceleration The assembly 300 and the drive shaft 120, the box-shaped housing 100 is constructed with a partition 110 extending in the horizontal direction, the drive shaft 120 is arranged in the central area of the partition 110, the motor 200 is arranged under the partition 110 and passes through the deceleration assembly 300
  • the deceleration assembly 300 is a synchronous belt deceleration structure and is arranged on the partition plate 110 .
  • the box-shaped casing 100 is preferably set in a rectangular shape, and a partition plate 110 is horizontally arranged in the box-shaped casing 100 to divide the inside of the box-shaped casing 100 into two spaces (at this time, according to the box-shaped casing 100 )
  • the arrangement state of the body 100 as shown in FIG. 2, X represents the horizontal direction, Y represents the vertical direction, A represents the top surface of the partition plate 110, and B represents the bottom surface of the partition plate 110).
  • the drive shaft 120 is located in the central area of the partition plate 110 , and the motor 200 is drive-connected with the deceleration assembly 300 to drive the drive shaft 120 to rotate.
  • the motor 200 is located below the partition plate 110, and the deceleration assembly 300 is located above the partition plate 110 correspondingly, thereby helping to reduce the center of gravity of the lightweight desktop manipulator base.
  • the deceleration assembly 300 is a synchronous belt deceleration structure.
  • the specific number of stages of deceleration can be determined according to the actual situation.
  • the function of the baffle 110 here is to facilitate the fixing of the motor 200 and the deceleration assembly 300, so as to facilitate the optimization of lightweight desktop machinery
  • the auxiliary components of the lightweight desktop robotic arm such as circuit boards, can also be arranged below the partition 110 (ie, the side where the motor 200 is located).
  • the base of the lightweight desktop manipulator in this solution is provided with a partition 110 in the box-shaped casing 100 , and the motor 200 is set in the
  • the deceleration assembly 300 is disposed under the partition 110 and above the partition 110 , so as to facilitate the disassembly and assembly of the deceleration assembly 300 and facilitate the installation of auxiliary components of the lightweight desktop robotic arm under the partition 110 .
  • the deceleration assembly 300 is preferably a synchronous belt deceleration structure, which is beneficial to reduce the cost of the lightweight desktop robotic arm base, reduce the weight of the lightweight desktop robotic arm base, and make the lightweight desktop robotic arm base easy to install.
  • a transmission shaft 130 is preferably provided on the partition plate 110
  • the deceleration assembly 300 preferably includes a primary synchronous pulley 310 and a secondary synchronous pulley 320 .
  • the primary synchronous pulley 310 is respectively connected to the motor 200 and the transmission shaft 130
  • the secondary synchronous pulley 320 is respectively connected to the transmission shaft 130 and the driving shaft 120, so as to facilitate the rotation of the mechanical arm joints.
  • the motor 200 is preferably fixed on the bottom surface of the partition plate 110
  • the partition plate 110 is preferably integrally formed with the box-shaped housing 100 .
  • the separator 110 and the box-shaped housing 100 may be detachably connected. First, the motor 200 , the primary synchronous pulley 310 and the secondary synchronous pulley 320 are fixed on the separator 110 , and then the The partition plate 110 may be fixed in the box-shaped case 100 .
  • the primary synchronous pulley 310 includes a first driving pulley, a second driven pulley and a first timing belt, wherein the first driving pulley is sleeved on the output shaft of the motor, and the second driven pulley passes through.
  • the transmission shaft 130 is arranged on the partition plate 110, and the first synchronous belt can be connected to the first driving wheel and the second driven wheel respectively. Arrange it.
  • the secondary synchronous pulley 320 includes a second driving pulley, a second driven pulley and a second timing belt, wherein the second driving pulley is sleeved on the transmission shaft 130 (at this time, one end of the transmission shaft 130 is worn from top to bottom).
  • the second driven wheel is sleeved on the drive shaft 120 (one end of the drive shaft 120 is arranged through the partition 110 from top to bottom at this time), and the second timing belt is connected to the second driving wheel and the second driving wheel respectively.
  • the second driven wheel suffices, and the transmission ratio between the second driving wheel and the second driven wheel can be arranged according to the actual need for deceleration.
  • the partition plate 110 is preferably in the shape of a rectangle, and the base of the lightweight desktop robot arm also corresponds to a rectangular frame.
  • the drive shaft 120 and the output shaft of the motor 200 are located at two opposite corners of the partition plate 110, so as to increase the distance between the drive shaft 120 and the output shaft of the motor 200, thereby improving the lightweight desktop.
  • the compactness of the base of the manipulator, at the same time, by increasing the spacing, the first-stage synchronous belt 310 with a larger transmission ratio can be arranged.
  • the drive shaft 120 is preferably located between the output shaft of the motor 200 and the transmission shaft 130 , so that by arranging the output shaft of the motor 200 and the transmission shaft 130 on the drive shaft 120 on the opposite side to facilitate making the lightweight desktop robotic arm base more compact and to improve the stability of the lightweight desktop robotic arm base.
  • the drive shaft 120 , the output shaft of the motor 200 and the transmission shaft 130 only need to be located on the same straight line, and the output shaft of the motor 200 and the transmission shaft 130 need not be symmetrically arranged with respect to the drive shaft 120 .
  • an adjusting device 400 is preferably provided on the partition 110 to adjust the tension of the synchronous belt in the primary synchronous pulley 310 .
  • the adjusting device 400 includes a tensioning pulley 410 that can fit with one part of the timing belt in the primary timing pulley 310, and the tensioning pulley 410 can move in the horizontal direction, so as to drive one end of the timing belt to move , in order to adjust the tension of the synchronous belt.
  • the adjustment wheel and the inner or outer side of the synchronous belt can be arranged according to the actual situation.
  • the number of adjustment devices 400 may be two, one of the adjustment devices 400 can adjust the tension of the synchronous belt in the primary synchronous pulley 310 , and the other adjustment device 400 can adjust the synchronization in the secondary synchronous pulley 320 . With tension.
  • the adjusting device 400 preferably further includes a mounting seat 420 slidably arranged on the partition plate 110 , and the mounting seat 420 can be perpendicular to the distance between the drive shaft 120 and the motor 200 .
  • the direction of the output shaft connecting line moves, and the tensioning wheel 410 is rotated and arranged on the mounting seat 420, so that the tensioning wheel 410 can be driven to move by moving the mounting seat 420.
  • the moving method of the mounting seat 420 it can be arranged according to the actual situation
  • the mounting seat 420 is arranged on the partition plate 110 through a linear guide rail, after the mounting seat 420 is moved to a preset position, it can be fixed by a fastening device, such as by a screw.
  • the adjusting device 400 may also include a swing rod, wherein one end of the swing rod is hinged with the partition plate 110, and the tensioning wheel 410 can be rotated and arranged at the other end of the swing rod, so that the position of the swing rod can be used.
  • a torsion spring can be arranged on the hinge shaft of the pendulum rod and the partition plate 110 or a ratchet wheel can be arranged on the hinge shaft of the pendulum rod and the partition plate 110. Sets the ratchet teeth that mate with the ratchet.
  • the arrangement of the torsion spring is conducive to maintaining the tension of the synchronous belt within a constant value range, so that the motor 200 can drive the transmission shaft 130 to rotate through the primary synchronous pulley 310 .
  • the mounting seat 420 is provided with a waist-shaped hole 421.
  • the number of waist-shaped holes 421 is preferably two, and the two waist-shaped holes 421 are opposite to each other.
  • two threaded holes are provided on the partition plate 110 corresponding to each waist-shaped hole 421 , and the distance between the two threaded holes is smaller than the length of the waist-shaped hole 421 .
  • the adjusting device 400 further includes screws that pass through the waist-shaped holes 421 and are connected to the threaded holes in a one-to-one correspondence, so that the mounting seat 420 can be moved to a preset position along the length direction of the waist-shaped holes 421 and then the screws are tightened Fixed mount 420 .
  • the drive shaft 120 is disposed on the partition plate 110 through the thrust bearing 160 , and the deceleration assembly 300 (ie the secondary synchronous pulley 320 ) is articulated with the mechanical arm through the drive shaft 120 drive connection, so as to prevent the deceleration assembly 300 from directly bearing the weight of the manipulator joint, which is beneficial to increase the life of the deceleration assembly 300, that is, when the output shaft of the deceleration assembly 300 is directly connected with the manipulator joint, it needs to directly bear the manipulator joint and be affected by the mechanical arm joint.
  • the deceleration assembly 300 ie the secondary synchronous pulley 320
  • the lightweight desktop manipulator base in this embodiment is equivalent to increasing the load weight of the deceleration assembly 300 and is beneficial to increase the life of the deceleration assembly 300 .
  • the thrust bearing 160 is a double-row angular contact bearing. Since the double-row angular contact bearing only occupies a small axial space, it is beneficial to reduce the length of the drive shaft 120, thereby reducing the lightweight desktop manipulator base. high. At the same time, due to the double row angular contact ball bearing, it can also provide a bearing arrangement with higher rigidity and can withstand overturning moments.
  • a receiving cavity 111 for installing the thrust bearing 160 is preferably configured at the center of the partition plate 110 , and the bottom of the cavity is provided with a lower edge of the outer ring that can receive the thrust bearing 160 .
  • the bearing structure 112 is preferably a ring body, and after the thrust bearing 160 is installed in the accommodating cavity 111, the bearing structure 112 can abut with the lower edge of the outer ring of the thrust bearing 160, so as to realize the bearing of the thrust bearing 160.
  • the drive shaft 120 can be inserted into the inner ring of the thrust bearing 160 from top to bottom in the vertical direction.
  • the drive shaft 120 is divided into a connecting section 123 , an inserting section 122 and a bearing section 121 from bottom to top (that is, the diameter of the inserting section 122 is smaller than the diameter of the bearing section 121 , in this case, the connecting section 123 and the inserting section 122 are preferably connected.
  • the diameter is the same), wherein the insertion section 122 can be inserted into the inner ring of the thrust bearing 160, and the connecting section 123 is provided with a shaft sleeve 180, and the shaft sleeve 180 can abut with the lower edge of the inner ring of the thrust bearing 160, Therefore, the inner ring of the thrust bearing 160 can be prevented from moving, and one end of the bearing section 121 close to the inserting section 122 can abut with the upper edge of the inner ring of the thrust bearing 160, so that the thrust bearing 160 can bear the weight of the manipulator joint.
  • the base of the lightweight desktop manipulator further includes a bearing pressing plate 170 , and the bearing pressing plate 170 is preferably a ring-shaped plate body, and the bearing pressing plate 170 is sleeved on the bearing section 121 .
  • the bearing pressing plate 170 can block the accommodating cavity 111 .
  • the open end of the thrust bearing 160 can abut with the upper edge of the outer ring of the thrust bearing 160 .
  • the bearing pressing plate 170 and the partition plate 110 are detachably connected, such as being fixed by screws, so as to help prevent the thrust bearing 160 located in the accommodating cavity 111 from slipping out.
  • the box-shaped casing 100 further includes a top plate 140 and a bottom plate 150.
  • the box-shaped casing 100 is in the shape of a rectangle with two open ends, wherein the top plate 140 and the bottom plate 150 are respectively
  • the lids are closed at both ends of the box-shaped casing 100, and the top plate 140 and the bottom plate 150 are detachably connected to the box-shaped casing 100 to form a closed space, wherein the space between the bottom plate 150 and the partition plate 110 can be placed above Accessories.
  • a circular notch 141 is provided on the top plate 140 , and the circular notch 141 can allow the drive shaft 120 to pass through.
  • the partition plate 110 and the box-shaped casing 100 are integrally formed, and specifically, welding or engraving and milling can be used, which is beneficial to increase the stability of the components located on the partition plate 110, and at the same time, the partition plate 110 can also be provided with The reinforcing ribs are connected to the inner wall of the box-shaped casing 100 to increase the connection strength between the partition plate 110 and the box-shaped casing 100 .
  • an extension edge is provided on the outer wall of a port on the box-shaped casing 100 near the bottom plate 150, and the extended edge has a fixing hole, which is convenient for the lightweight desktop manipulator arm.
  • the base is fixed by screws through the fixing holes.
  • the partition plate 110 is integrally formed with the box-shaped casing 100 , which is beneficial to increase the connection strength between the partition plate 110 and the box-shaped casing 100 .
  • the connection is disassembled, so as to facilitate the installation of the above components on the partition plate 110 respectively.
  • the connection between the partition plate 110 and the box-shaped housing 100 may be through screws, so as to facilitate the disassembly of the partition plate 110 .
  • the inner wall of the box-shaped housing 100 has a support table capable of carrying the partition plate 110 , so as to facilitate providing a support point for the partition plate 110 .
  • the form of the support table may be several blocks distributed on the inner wall of the box-shaped casing 100 , or may be annular bosses arranged on the inner wall of the box-shaped casing 100 .
  • the motor 200 is preferably a servo motor, which is beneficial to improve the accuracy of the rotation of the mechanical arm joint, and an encoder is provided on the servo motor, so that it is more convenient to use the encoder to record the zero point position and rotation circle of the servo motor. This is also beneficial to the accuracy of the zero return operation of the servo motor, and is also beneficial to improve the accuracy of the motor 200 driving the rotation of the mechanical arm joint.
  • the encoder is a multi-turn absolute value encoder, and a battery mounting seat electrically connected to the multi-turn absolute value encoder is also provided in the box-shaped housing 100, so that the battery can be easily installed in the battery mounting seat for the purpose of The multi-turn absolute encoder is powered.
  • the battery mount is located below the separator 110 .
  • the multi-turn absolute encoder has the advantages of simple installation and debugging, no zero-finding, multi-function output, and long service life.
  • the drive shaft 120 is configured with a hollow shaft hole with open ends at both ends, so as to facilitate the arrangement of cables.
  • the control cable on the lightweight desktop manipulator can pass through the hollow shaft hole to connect with the control components in the box-shaped casing 100 or be combined with the control cable of the motor 200 in the box-shaped casing 100 and then pass out. Therefore, it is beneficial to the overall appearance and neatness of the lightweight desktop robotic arm, and at the same time, it is also beneficial to protect the cables.
  • the present application further proposes a lightweight desktop robotic arm, as shown in FIG. 6 , the lightweight desktop robotic arm includes the lightweight desktop robotic arm base 1 in the above-mentioned embodiment and the robotic arm joint 2 that is drivingly connected to the drive shaft 120 .
  • the specific structure of the lightweight desktop manipulator base 1 refers to the above-mentioned embodiments. Since this lightweight desktop manipulator adopts all the technical solutions of the above-mentioned embodiments, it has at least the advantages brought by the technical solutions of the above-mentioned embodiments. All the beneficial effects will not be repeated here.
  • the mechanical arm joint 2 includes a plurality of rotating joints (refer to the arrangement of the six-axis robot) that are sequentially connected by transmission, and the rotating joint located at the head end of the mechanical arm joint 2 is connected to the drive shaft 120.
  • the Actuator can be set.
  • the style of the actuator can be functional components such as air clamps, vacuum suction heads and automatic screwdrivers.
  • the form of the robotic arm joint 2 may also be arranged with reference to a four-axis robot or set as shown in FIG. 1 .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente demande concerne une base de bras robotique de table léger, ladite base de bras robotique de table léger comprenant un logement en forme de boîte et un moteur électrique, un ensemble de réduction de vitesse et un arbre d'entraînement disposé à l'intérieur du logement en forme de boîte ; le logement en forme de boîte est construit avec une cloison s'étendant dans la direction horizontale ; l'arbre d'entraînement est disposé dans la zone centrale de la cloison ; le moteur électrique est disposé sous la cloison et est relié à l'arbre d'entraînement au moyen de l'ensemble de réduction de vitesse ; l'ensemble de réduction de vitesse est une structure de réduction de vitesse à courroie de synchronisation et est disposé sur la cloison. La présente demande permet de réduire le coût d'une base de bras robotique de table léger, de réduire le poids d'une base de bras robotique de table léger et de fabriquer une base de bras robotique de table léger qui est facile à installer. De plus, la présente demande concerne également un bras robotique de table léger, ledit bras robotique de table léger comprenant la base de bras robotique de table léger décrite.
PCT/CN2021/132914 2020-12-11 2021-11-24 Base de bras robotique de table léger et bras robotique de table léger WO2022121689A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011464369.X 2020-12-11
CN202011464369.XA CN112548997A (zh) 2020-12-11 2020-12-11 轻量级桌面机械臂底座及轻量级桌面机械臂

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WO2022121689A1 true WO2022121689A1 (fr) 2022-06-16

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PCT/CN2021/132914 WO2022121689A1 (fr) 2020-12-11 2021-11-24 Base de bras robotique de table léger et bras robotique de table léger

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WO (1) WO2022121689A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN115890644A (zh) * 2023-01-17 2023-04-04 北京理工大学 一种桌面级六自由度机械臂结构

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112548997A (zh) * 2020-12-11 2021-03-26 深圳市越疆科技有限公司 轻量级桌面机械臂底座及轻量级桌面机械臂

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