CN110948470B - Synchronous pulley driving structure, robot driving base and desktop level mechanical arm - Google Patents

Abstract

The present invention provides a synchronous pulley drive structure, a robot drive base and a desktop-level robotic arm. The spatial relationship of a stepper motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, an output shaft, an encoder code disk and an encoder reading head are cleverly arranged on a substrate, and a stepper motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, an output shaft transmission structure, and an encoder code disk for reading the rotation amount of the output shaft and an encoder reading head structure are set. Because the structure is simple and there are no excessive parts, the structural integration is relatively low, and the control accuracy is guaranteed by being able to read the rotation amount of the output shaft, thereby reducing material costs, installation costs and maintenance costs, and effectively improving the service life of the drive structure.

Description

Synchronous pulley drive structure, robot drive base and desktop robotic arm

Technical Field

The present invention relates to the field of drive technology, and in particular to a synchronous pulley drive structure, a robot drive base and a desktop-level robotic arm.

Background Art

At present, some desktop or lightweight robots or robotic arms often use DC motors with reducers as drive devices, and some desktop or lightweight robots use DC motors with synchronous pulleys as drive devices. However, these solutions are often unsatisfactory. On the one hand, there is usually a situation where the structure is often complex while ensuring the driving accuracy, which requires a higher degree of integration, resulting in poor stability, high cost, and difficult loading and unloading. On the other hand, if you want to simplify the structure, you will usually sacrifice control accuracy. Therefore, there is an urgent need for a drive structure with low cost, simple structure, relatively low structural integration and good control accuracy.

Summary of the invention

The embodiments of the present invention provide a synchronous pulley driving structure, a robot driving base and a desktop-level robotic arm to solve the above problems.

In a first aspect, an embodiment of the present invention provides a synchronous pulley drive structure, comprising:

A base plate, wherein the base plate is configured with an output shaft setting portion;

Stepper motor;

A first synchronous pulley, a second synchronous pulley, and a synchronous belt, wherein the diameter of the second synchronous pulley is greater than the diameter of the first synchronous pulley;

An output shaft, wherein the output shaft is sequentially configured with an output portion, a driving portion, a rotating portion, and an encoder disc setting portion; and

Encoder code disc, encoder reading head;

The first synchronous pulley is connected to the stepper motor, the first synchronous pulley is connected to the second synchronous pulley through the synchronous belt, the driving portion of the output shaft is connected to the second synchronous pulley, the rotating portion of the output shaft is connected to the output shaft setting portion of the substrate, the encoder code disk is set on the encoder code disk setting portion of the output shaft, the encoder read head is connected to the substrate, and the encoder read head is set corresponding to the encoder code disk position;

The output shaft setting part of the substrate, the stepper motor, the rotating part of the output shaft, the encoder code disk setting part of the output shaft, the encoder code disk and the encoder read head part are at least mostly located on one side of the substrate, and the first synchronous pulley, the second synchronous pulley, the synchronous belt and the output part of the output shaft, and the driving part of the output shaft are at least mostly located on the other side of the substrate.

Optionally, the substrate is constructed with a first plate hole, and the stepper motor also includes a motor output shaft, and the motor output shaft passes through the first plate hole to be connected to the first synchronous pulley. The stepper motor is constructed with a plurality of first threaded holes, and the substrate is constructed with a plurality of second threaded holes. At least part of the first threaded holes and at least part of the second threaded holes are connected by a plurality of screws, so that the substrate and the stepper motor are detachably fixedly connected.

Optionally, the diameter of the second synchronous pulley is 2 to 8 times the diameter of the first synchronous pulley.

Optionally, the encoder code disk is a magnetic encoder disk, the encoder read head is a magnetic encoder read head, and the magnetic encoder read head includes a PCB board and a magnetic encoder read head arranged thereon.

Optionally, the substrate is constructed with a magnetic encoder read head bracket, the magnetic encoder read head is arranged on the magnetic encoder read head bracket, and the magnetic encoder read head is detachably fixedly connected to the magnetic encoder read head bracket.

Optionally, it also includes: two bearings; the base plate is also configured with an output shaft bearing portion, the output shaft bearing portion is configured as a hollow ring, the two bearings are respectively arranged at both ends of the output shaft bearing portion, the output shaft passes through the two bearings in sequence, and the rotating portion of the output shaft is respectively connected to the inner shafts of the two bearings.

Optionally, a glue injection groove is constructed at the driving part of the output shaft, and glue is injected through the glue injection groove to glue and fix the driving part of the output shaft to the second synchronous pulley. The encoder code disc setting part of the output shaft is a groove that matches the encoder code disc. The tail end of the output shaft is constructed with a barrier structure, and the barrier structure is clamped with the inner shaft of the adjacent bearing.

Optionally, a first shell and a second shell; the substrate is constructed with a plurality of screw holes and a second shell connecting portion, the substrate is detachably fixedly connected to the first shell through the plurality of screw holes, and the substrate is connected to the second shell through the second shell connecting portion.

In a second aspect, an embodiment of the present invention provides a robot driving base, comprising a pair of symmetrically arranged synchronous belt pulley driving structures such as the above-mentioned structure.

In a third aspect, an embodiment of the present invention provides a robot driving base, including a robot driving base as described above.

Compared with the prior art, the embodiments of the present invention cleverly arrange the spatial relationship of the stepper motor, the first synchronous pulley, the second synchronous pulley, the synchronous belt, the output shaft, the encoder code disk and the encoder reading head on the substrate to set the stepper motor, the first synchronous pulley, the second synchronous pulley, the synchronous belt, the output shaft transmission structure, and the encoder code disk and the encoder reading head structure for reading the output shaft rotation amount. Because of the simple structure and the absence of excessive parts, the structural integration is relatively low, and the control accuracy is ensured by being able to read the output shaft rotation amount, thereby reducing material costs, installation costs and maintenance costs, and effectively improving the service life of the drive structure.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

FIG1 is a schematic diagram of the structure of a desktop-level mechanical arm in an embodiment of the present invention;

FIG2 is a schematic structural diagram of a driving base of a desktop-level robotic arm in the embodiment of FIG1 ;

FIG3 is a schematic structural diagram of a synchronous pulley drive structure of a desktop-level robotic arm in the embodiment of FIG1 ;

FIG4 is a schematic structural diagram of a synchronous pulley drive structure of a desktop-level robotic arm in the embodiment of FIG1 ;

FIG5 is an exploded structural diagram of the synchronous pulley drive structure of the desktop-level robotic arm in the embodiment of FIG1 ;

FIG. 6 is a schematic cross-sectional view of the synchronous pulley drive structure of the desktop-level robotic arm in the embodiment of FIG. 1 .

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to Figures 1-2 together. Figure 1 is a structural diagram of a desktop-level robotic arm in an embodiment of the present invention, and Figure 2 is a structural diagram of a driving base of the desktop-level robotic arm in the embodiment of Figure 1.

In some embodiments, a desktop-level robotic arm 10 includes a driving base 1, a pedestal 2 and a robotic arm body 3. The driving base 1 is connected to the pedestal 2. The pedestal 2 can drive the driving base 1 to rotate in a horizontal direction. The driving base 1 includes a first driving structure 1A and a second driving structure 1B. The driving base 1 is respectively connected to the robotic arm body 3 through the first driving structure 1A and the second driving structure 1B. The first driving structure 1A and the second driving structure 1B can provide the robotic arm body 3 with power for axial movement of two transmission shafts or transmission rods.

In this embodiment, the first driving structure 1A and the second driving structure 1B of the driving base 1 are symmetrically arranged. Compared with the same-side arrangement, the space utilization rate is high, the appearance is beautiful, and the weight on both sides is balanced, which can reduce the influence of excessive gravity on one side on the control accuracy.

Please refer to Figures 3-6 together, Figure 3 is a structural schematic diagram of the synchronous belt pulley drive structure of the desktop-level robotic arm in the embodiment of Figure 1, Figure 4 is a structural schematic diagram of the synchronous belt pulley drive structure of the desktop-level robotic arm in the embodiment of Figure 1, Figure 5 is an exploded structural schematic diagram of the synchronous belt pulley drive structure of the desktop-level robotic arm in the embodiment of Figure 1, and Figure 6 is a sectional structural schematic diagram of the synchronous belt pulley drive structure of the desktop-level robotic arm in the embodiment of Figure 1.

In this embodiment, the synchronous pulley drive structure of the first drive structure 1A and the second drive structure 1B includes:

A base plate 11, wherein the base plate 11 is provided with an output shaft setting portion;

Stepper motor 12;

A first synchronous pulley 13, a second synchronous pulley 15, and a synchronous belt 14, wherein the diameter of the second synchronous pulley 15 is greater than the diameter of the first synchronous pulley 14;

The output shaft 16 is sequentially configured with an output portion 161, a driving portion 162, a rotating portion 163 and an encoder disc setting portion 165; and

Encoder code disc 181, encoder read head 182;

The first synchronous pulley 13 is connected to the stepper motor 11, and the first synchronous pulley 13 is connected to the second synchronous pulley 15 through the synchronous belt 14. The output shaft 16 passes through the second synchronous pulley 15, and the driving portion 162 of the output shaft 16 is connected to the second synchronous pulley 15. The rotating portion 163 of the output shaft 16 is connected to the output shaft setting portion of the substrate 11. The encoder code disk 181 is set on the encoder code disk setting portion 165 of the output shaft. The encoder read head 182 is connected to the substrate 11, and the encoder read head 182 is set corresponding to the position of the encoder code disk 181;

Referring to FIG6 , the output shaft setting portion of the substrate 11, the stepper motor 11, the rotating portion 163 of the output shaft 16, the encoder code disk setting portion 165 of the output shaft 16, the encoder code disk 181 and the encoder read head portion 182 are at least mostly located on one side of the substrate 11, and the first synchronous pulley 13, the second synchronous pulley 15, the synchronous belt 14 and the output portion 161 of the output shaft 16, and the driving portion 162 of the output shaft 16 are at least mostly located on the other side of the substrate 11, because the synchronous belt 14 will be worn during use, and dust will be generated after the wear. If the dust accumulates on the encoder code disk 181 and the encoder read head portion 182, the sensing accuracy thereof will be reduced, thereby This results in poor control accuracy. In the present embodiment, the synchronous belt 14 is isolated from the encoder code disc 181 and the encoder read head 182 by using the substrate 11 as a barrier. This can effectively prevent dust generated by the wear of the synchronous belt 14 from falling into the positions of the encoder code disc 181 and the encoder read head 182. This can effectively control the sensing accuracy of the encoder code disc 181 and the encoder read head 182, thereby improving the service life of the drive structure. In some embodiments, the definition of at least most of the structure being located can be: at least 70% of the projection length of a single component body is located on one side of the substrate 11. This can be defined as at least most of a structure being located on one side of the substrate 11.

Please refer to Figure 5. In this embodiment, the substrate 11 can also be constructed with a first plate 111, and the stepper motor 12 also includes a motor output shaft 121. The motor output shaft 121 passes through the first plate hole 111 and is connected to the first synchronous pulley 13. The stepper motor 11 is constructed with a plurality of first threaded holes, and the substrate is constructed with a plurality of second threaded holes. At least some of the first threaded holes and at least some of the second threaded holes are connected by a plurality of screws, so that the substrate 11 and the stepper motor 12 can be detachably fixedly connected.

In some embodiments of the present invention, the diameter of the second synchronous pulley 15 is 2 to 8 times the diameter of the first synchronous pulley 13. For example, the diameter of the second synchronous pulley 15 can be 2, 3, 4, 5, 6, 7 or 8 times the diameter of the first synchronous pulley 13, or any multiple of 2 to 8 times. The larger the diameter of the second synchronous pulley 15 is than the diameter of the first synchronous pulley 13, the higher its control accuracy. In the present embodiment, the first synchronous pulley 13 transmits the second synchronous pulley 15 through the synchronous belt 14, which is equivalent to playing the role of a reducer. The larger the diameter of the second synchronous pulley 15 is than the diameter of the first synchronous pulley 13, the stronger the deceleration capacity and the higher its control accuracy, thereby improving the control accuracy of the power output by the stepper motor 12.

In this embodiment, the encoder code disk 181 can be a magnetic encoder disk, and the encoder read head 182 can be a magnetic encoder read head. The magnetic encoder read head includes a PCB board and a magnetic encoder read head 1821 arranged thereon. The substrate 11 can be constructed with a magnetic encoder read head bracket 113. The magnetic encoder read head 182 is arranged on the magnetic encoder read head bracket 113, and the magnetic encoder read head 182 is detachably fixedly connected to the magnetic encoder read head bracket 113.

In some embodiments, the encoder code disk 181 may also be an optical encoder disk or other sensor devices, and the encoder read head 182 may be an optical encoder read head or other sensor devices.

Please refer to Figures 5 and 6. In this embodiment, it also includes: a first bearing 171 and a second bearing 172. The base plate 11 is also configured with an output shaft bearing portion 112. The output shaft bearing portion 112 is configured as a hollow ring. The first bearing 171 and the second bearing 172 are respectively arranged at both ends of the output shaft bearing portion 112. After the output shaft 16 passes through the second bearing 172 and the first bearing 171 in sequence, the rotating part of the output shaft 16 is connected to the inner shafts of the first bearing 171 and the second bearing 172 respectively.

In this embodiment, it also includes: a first shell 19 as shown in FIG. 3 and a second shell engaged with the first shell 19 as shown in FIG. 2 ;

The substrate 11 may be configured with a plurality of screw holes and a second shell connecting portion 114 . The substrate 11 is detachably fixedly connected to the first shell via the plurality of screw holes, and the substrate 11 is connected to the second shell via the second shell connecting portion 114 .

Please refer to Figures 5 and 6 again. In the present embodiment, a glue injection groove 164 is constructed at the position of the driving portion 162 of the output shaft 16. The driving portion 164 of the output shaft 16 can be glued and fixed to the second synchronous pulley 15 by injecting glue in the glue injection groove 164. The encoder code disk setting portion 165 of the output shaft 16 is a groove matching the encoder code disk 181. The tail end of the output shaft 16 is constructed with a barrier structure 166, and the barrier structure 166 is clamped with the inner shaft of its adjacent bearing.

It should be noted that, in the present embodiment, the output shaft 16 is an integrally formed structure, and the division of the output portion 161, the driving portion 162, the rotating portion 163, the encoder code disk setting portion 165 and the barrier structure 166 of the output shaft 16 is only a functional division. In some embodiments, the output portion, the driving portion, the rotating portion, the encoder code disk setting portion and the barrier structure of the output shaft may be composed of separate or partially separate structures.

To summarize, the synchronous pulley drive structure in this embodiment first prepares the substrate 11 during installation; then, the stepper motor 12 is fixed on one side of the substrate 11 by bolts; then, the first bearing 171 and the second bearing 172 are respectively installed at both ends of the output shaft bearing portion 112 of the substrate 11, and then, the output shaft 16 is inserted from one side of the second bearing 172, so that the barrier structure 166 is engaged with the inner shaft of the second bearing 172; then, the encoder code disk 181 is installed on the encoder code disk setting portion 165 of the output shaft 16, and the encoder read head 182 is installed on the magnetic encoder encoder read head bracket 113, so that the magnetic encoder encoder read head 1821 is set corresponding to the encoder code disk 181, and the magnetic encoder encoder read head bracket 113 and the installed encoder read head 182 can be detachably fixedly connected by bolts, and the encoder code disk 181 can be fixed in the encoder code disk setting portion 165 by glue; next, the first synchronous pulley 13 is installed on the motor output shaft 121 of the stepper motor 12, and the glue is injected. After the groove 164 is injected with glue, the second synchronous pulley 15 is installed to glue and fix the driving part 164 of the output shaft 16 with the second synchronous pulley 15, and finally the synchronous belt 14 is installed on the first synchronous pulley 13 and the second synchronous pulley 15 to complete the installation of the synchronous pulley drive structure. The whole structure is simple in structure, ingenious in design, easy to install, with high structural strength and high drive control accuracy. By ingeniously arranging the spatial relationship of the stepper motor, the first synchronous pulley, the second synchronous pulley, the synchronous belt, the output shaft, the encoder code disk and the encoder reading head on the substrate, a stepper motor, the first synchronous pulley, the second synchronous pulley, the synchronous belt, the output shaft transmission structure, and the encoder code disk and the encoder reading head for reading the output shaft rotation amount are set. Because the structure is simple and there are no excessive parts, the structural integration is relatively low, and the control accuracy is guaranteed by being able to read the output shaft rotation amount, thereby reducing the material cost, installation cost and maintenance cost, and effectively improving the service life of the drive structure.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (8)

1. A synchronous pulley drive structure, characterized by comprising:

A base plate configured with a first plate aperture, an output shaft carrier, and an encoder readhead portion bracket; the output shaft bearing part is in a hollow ring shape, the encoder reading head part bracket is positioned at the periphery of the output shaft bearing part, and a first bearing and a second bearing are respectively arranged at two ends of the output shaft bearing part;

A stepping motor;

the device comprises a first synchronous belt pulley, a second synchronous belt pulley and a synchronous belt, wherein the diameter of the second synchronous belt pulley is larger than that of the first synchronous belt pulley;

the output shaft is sequentially provided with an output part, a driving part, a rotating part and an encoder code disc setting part; and

An encoder code wheel, an encoder read head;

The motor output shaft of the stepping motor penetrates through the first plate hole and is connected with the first synchronous pulley, the first synchronous pulley is connected with the second synchronous pulley through the synchronous belt, the driving part of the output shaft is connected with the second synchronous pulley, the rotating part of the output shaft is respectively connected with the first bearing and the inner shaft of the second bearing, the encoder code disc setting part of the output shaft is a groove matched with the encoder code disc, the tail end of the output shaft is provided with a blocking structure, the blocking structure is clamped with the inner shaft of the second bearing, the encoder code disc is arranged in the blocking structure and the encoder code disc setting part of the output shaft, the encoder reading part is connected with the encoder reading part bracket, and the encoder reading part is arranged corresponding to the encoder code disc position.

2. A synchronous pulley drive as in claim 1, wherein,

The stepping motor is provided with a plurality of first threaded holes, the base plate is provided with a plurality of second threaded holes, and at least part of the first threaded holes and at least part of the second threaded holes are connected through a plurality of screws, so that the base plate is detachably and fixedly connected with the stepping motor.

3. A synchronous pulley drive as in claim 1, wherein,

The diameter of the second synchronous pulley is 2-8 times of that of the first synchronous pulley.

4. A synchronous pulley drive as in claim 1, wherein,

The encoder code disc is a magnetic encoding disc, and the encoder read head is a magnetic encoder read head.

5. A synchronous pulley drive as in claim 1, wherein,

And a glue injection groove is formed in the position of the driving part of the output shaft, and glue is injected through the glue injection groove to enable the driving part of the output shaft to be cemented and fixed with the second synchronous pulley.

6. The synchronous pulley drive of claim 1, further comprising:

a first housing and a second housing;

The base plate is provided with a plurality of screw holes and a second shell connecting part, the base plate is detachably and fixedly connected with the first shell through the screw holes, and the base plate is connected with the second shell through the second shell connecting part.

7. A robot drive base comprising a pair of symmetrically disposed synchronous pulley drive arrangements as claimed in any one of claims 1 to 6.

8. A tabletop-level robotic arm comprising a robotic drive base according to claim 7.