CN110948470B - Synchronous pulley driving structure, robot driving base and desktop level mechanical arm - Google Patents
Synchronous pulley driving structure, robot driving base and desktop level mechanical arm Download PDFInfo
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- CN110948470B CN110948470B CN201911380914.4A CN201911380914A CN110948470B CN 110948470 B CN110948470 B CN 110948470B CN 201911380914 A CN201911380914 A CN 201911380914A CN 110948470 B CN110948470 B CN 110948470B
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- output shaft
- synchronous pulley
- encoder
- synchronous
- bearing
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 105
- 239000003292 glue Substances 0.000 claims description 12
- 230000000903 blocking effect Effects 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 7
- 239000007924 injection Substances 0.000 claims description 7
- 239000000758 substrate Substances 0.000 abstract description 15
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 5
- 230000010354 integration Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention provides a synchronous pulley driving structure, a robot driving base and a desktop-level mechanical arm, which are characterized in that a stepping motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, an output shaft, an encoder code disc and an encoder reading head part are arranged on a substrate in a smart way, the space relations among the stepping motor, the first synchronous pulley, the second synchronous pulley, the synchronous belt, the output shaft transmission structure and the encoder code disc and the encoder reading head part for reading the rotation quantity of the output shaft are arranged, and the structure is simple and has no excessive parts, so that the structure integration level is relatively low, the control precision is ensured by reading the rotation quantity of the output shaft, the material cost, the installation cost and the maintenance cost are reduced, and the service life of the driving structure is effectively prolonged.
Description
Technical Field
The invention relates to the technical field of driving, in particular to a synchronous pulley driving structure, a robot driving base and a desktop-level mechanical arm.
Background
The existing desktop level or lightweight robots or mechanical arms often adopt a direct current motor to be matched with a speed reducer as a driving device, and some desktop level or lightweight robots are also matched with a synchronous pulley to be used as the driving device through the direct current motor, then, the schemes are often not satisfactory, on one hand, the problems that the stability is poor, the cost is too high, the loading and unloading are not easy and the like are caused because the structure is relatively complex under the condition of guaranteeing the driving precision, and on the other hand, if the structure is simplified, the control precision is generally sacrificed, so that a driving structure with low cost, simple structure, relatively low structural integration and good control precision is needed.
Disclosure of Invention
The embodiment of the invention provides a synchronous pulley driving structure, a robot driving base and a desktop-level mechanical arm, so as to solve the problems.
In a first aspect, an embodiment of the present invention provides a synchronous pulley driving structure, including:
A substrate configured with an output shaft setting portion;
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 first synchronous belt pulley is connected with the stepping motor, the first synchronous belt pulley is connected with the second synchronous belt pulley through the synchronous belt, the driving part of the output shaft is connected with the second synchronous belt pulley, the rotating part of the output shaft is connected with the output shaft setting part of the substrate, the encoder code disc is arranged on the encoder code disc setting part of the output shaft, the encoder reading part is connected with the substrate, and the encoder reading part is arranged corresponding to the encoder code disc position;
The output shaft setting part of base plate, step motor, the rotation part of output shaft, the encoder code wheel setting part of output shaft, encoder code wheel and encoder reading head part are located the one side of base plate at least mostly, first synchronous pulley, second synchronous pulley, hold-in range and the output part of output shaft, the drive part of output shaft is located the opposite side of base plate at least mostly.
Optionally, the base plate is configured with a first plate hole, the stepper motor further includes a motor output shaft, the motor output shaft passes through the first plate hole and is connected with the first synchronous pulley, the stepper motor is configured with a plurality of first threaded holes, the base plate is configured 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 through a plurality of screws, so that the base plate is detachably and fixedly connected with the stepper motor.
Optionally, the diameter of the second synchronous pulley is 2-8 times of the diameter of the first synchronous pulley.
Optionally, the encoder code disc is a magnetic encoding disc, the encoder read head is a magnetic encoder read head, and the magnetic encoder read head comprises a PCB board and a magnetic encoder read head arranged on the PCB board.
Optionally, the substrate is configured with a magnetic encoder readhead portion bracket, the magnetic encoder readhead portion is disposed on the magnetic encoder readhead portion bracket, and the magnetic encoder readhead portion is detachably and fixedly connected with the magnetic encoder readhead portion bracket.
Optionally, the method further comprises: two bearings; the base plate is also provided with an output shaft bearing part, the output shaft bearing part is hollow and annular, the two bearings are respectively arranged at two ends of the output shaft bearing part, the output shaft sequentially passes through the two bearings, and the rotating parts of the output shaft are respectively connected with the inner shafts of the two bearings.
Optionally, the driving part of the output shaft is provided with a glue injection groove, glue is injected through the glue injection groove to fix the driving part of the output shaft and the second synchronous pulley in a gluing way, the encoder code disc setting part of the output shaft is a groove matched with the encoder code disc, the tail end of the output shaft is provided with a blocking structure, and the blocking structure is clamped with the inner shaft of the bearing adjacent to the blocking structure.
Optionally, the first housing and the 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.
In a second aspect, embodiments of the present invention provide a robot drive base including a synchronous pulley drive structure of the above-described structure symmetrically disposed.
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 embodiment of the invention has the advantages that the space relations among the stepping motor, the first synchronous belt pulley, the second synchronous belt pulley, the synchronous belt, the output shaft, the encoder code wheel and the encoder reading head part are skillfully arranged on the substrate, the stepping motor, the first synchronous belt pulley, the second synchronous belt pulley, the synchronous belt, the output shaft transmission structure and the structure arrangement of the encoder code wheel and the encoder reading head part for reading the rotation quantity of the output shaft are arranged, and the structure integration level is relatively low due to simple structure and no excessive parts, and the control precision is ensured by being capable of reading the rotation quantity of the output shaft, so that the material cost, the installation cost and the maintenance cost are reduced, and the service life of the driving structure is effectively prolonged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic view of a desktop level robotic arm in an embodiment of the present invention;
FIG. 2 is a schematic view of the drive base of the desktop level manipulator of the embodiment of FIG. 1;
FIG. 3 is a schematic illustration of the synchronous pulley drive configuration of the desktop stage mechanical arm of the embodiment of FIG. 1;
FIG. 4 is a schematic illustration of the synchronous pulley drive configuration of the desktop stage mechanical arm of the embodiment of FIG. 1;
FIG. 5 is an exploded view of the synchronous pulley drive configuration of the desktop level robotic arm of the embodiment of FIG. 1;
Fig. 6 is a schematic cross-sectional view of the synchronous pulley drive of the tabletop-level robot arm in the embodiment of fig. 1.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2 together, fig. 1 is a schematic structural diagram of a table-top mechanical arm according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a driving base of the table-top mechanical arm according to an embodiment of fig. 1.
In some embodiments, the desktop level mechanical arm 10 includes a driving base 1, a base 2 and a mechanical arm body 3, the driving base 1 is connected with the base 2, the base 2 can drive the driving base 1 to rotate in a horizontal direction, the driving base 1 includes a first driving structure 1A and a second driving structure 1B, the driving base 1 is linked with the mechanical arm body 3 through the first driving structure 1A and the second driving structure 1B, and two transmission shafts or power of transmission rods for axial movement of the mechanical arm body 3 can be provided through the first driving structure 1A and the second driving structure 1B.
In this embodiment, the first driving structure 1A and the second driving structure 1B of the driving base 1 are symmetrically arranged, and compared with the arrangement on the same side, the driving base has high space utilization rate, attractive appearance and balanced weight on two sides, and can reduce the influence of overlarge single-side gravity on control precision.
Referring to fig. 3-6 together, fig. 3 is a schematic structural diagram of a synchronous pulley driving structure of the table top mechanical arm in the embodiment of fig. 1, fig. 4 is a schematic structural diagram of a synchronous pulley driving structure of the table top mechanical arm in the embodiment of fig. 1, fig. 5 is an exploded structural diagram of a synchronous pulley driving structure of the table top mechanical arm in the embodiment of fig. 1, and fig. 6 is a schematic sectional structural diagram of a synchronous pulley driving structure of the table top mechanical arm in the embodiment of fig. 1.
In the present embodiment, the synchronous pulley driving structure of the first driving structure 1A and the second driving structure 1B includes:
a substrate 11, the substrate 11 being configured with an output shaft setting portion;
a stepping motor 12;
a first synchronous pulley 13, a second synchronous pulley 15, a synchronous belt 14, the diameter of the second synchronous pulley 15 being larger than the diameter of the first synchronous pulley 14;
An output shaft 16, the output shaft 16 being configured with an output portion 161, a driving portion 162, a rotating portion 163, and an encoder code wheel setting portion 165 in this order; and
An encoder code wheel 181, an encoder readhead portion 182;
the first synchronous pulley 13 is connected with the stepping motor 11, the first synchronous pulley 13 is connected with the second synchronous pulley 15 through the synchronous belt 14, the output shaft 16 passes through the second synchronous pulley 15, the driving part 162 of the output shaft 16 is connected with the second synchronous pulley 15, the rotating part 163 of the output shaft 16 is connected with the output shaft setting part of the base plate 11, the encoder code wheel 181 is arranged on the encoder code wheel setting part 165 of the output shaft, the encoder read head part 182 is connected with the base plate 11, and the encoder read head part 182 is arranged corresponding to the encoder code wheel 181;
Referring to fig. 6, the output shaft setting portion of the base plate 11, the stepping motor 11, the rotating portion 163 of the output shaft 16, the encoder code disc setting portion 165 of the output shaft 16, the encoder code disc 181 and the encoder read head 182 are at least mostly located on one side of the base plate 11, the first synchronous pulley 13, the second synchronous pulley 15, the 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 base plate 11, because wear occurs during use of the synchronous belt 14, dust particles are generated after wear, if dust particles accumulate on the encoder code disc 181 and the encoder read head 182, the sensing accuracy is reduced, and further, the control accuracy is degraded, in this embodiment, by using the base plate 11 as a barrier, the synchronous belt 14 is isolated from the encoder code disc 181 and the encoder read head 182, dust particles generated by wear of the synchronous belt 14 can be effectively prevented from falling into the positions of the encoder code disc 181 and the encoder read head 182, and the sensor accuracy of the encoder code disc 181 can be effectively controlled, further, the service life of the driving structure is prolonged, and the service life of the driving structure can be at least partially limited in embodiments: a position of at least 70% of the projected length of a single component body on one side of the substrate 11 may be defined as having at least a majority of a structure on one side of the substrate 11.
Referring to fig. 5, in the present embodiment, the base plate 11 may further be configured with a first plate 111, the stepper motor 12 further includes a motor output shaft 121, the motor output shaft 121 passes through the first plate hole 111 to be connected with the first synchronous pulley 13, the stepper motor 11 is configured with a plurality of first threaded holes, the base plate is configured 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 11 and the stepper motor 12 can be detachably and fixedly connected.
In some embodiments, the diameter of the second synchronous pulley 15 is 2-8 times that of the first synchronous pulley 13, and the diameter of the second synchronous pulley 15 may be 2 times, 3 times, 4 times, 5 times, 6 times, 7 times, or 8 times that of the first synchronous pulley 13, or may be any multiple of 2-8 times, and the larger the diameter of the second synchronous pulley 15 is than that of the first synchronous pulley 13, the higher the control accuracy is, in the embodiment, the more the first synchronous pulley 13 is driven by the synchronous belt 14 to act as a speed reducer, the more the diameter of the second synchronous pulley 15 is larger than that of the first synchronous pulley 13, the higher the control accuracy is, and the control accuracy of the power output by the stepper motor 12 can be further improved.
In this embodiment, the encoder disk 181 may be a magnetic encoder disk, the encoder read head portion 182 may be a magnetic encoder read head portion including a PCB board and a magnetic encoder read head 1821 disposed thereon, the substrate 11 may be configured with a magnetic encoder read head portion bracket 113, the magnetic encoder read head portion 182 is disposed on the magnetic encoder read head portion bracket 113, and the magnetic encoder read head portion 182 is detachably and fixedly connected with the magnetic encoder read head portion bracket 113.
In some embodiments encoder disk 181 may also be an optical encoder disk or other sensing device and encoder readhead portion 182 may be an optical encoder readhead portion other sensing device.
Referring to fig. 5 and 6, in this embodiment, the method further includes: the first bearing 171 and the second bearing 172, the substrate 11 is further configured with an output shaft bearing portion 112, the output shaft bearing portion 112 is configured in a hollow ring shape, the first bearing 171 and the second bearing 172 are respectively disposed at two ends of the output shaft bearing portion 112, and after the output shaft 16 sequentially passes through the second bearing 172 and the first bearing 171, the rotating portion of the output shaft 16 is respectively connected with inner shafts of the first bearing 171 and the second bearing 172.
In this embodiment, further comprising: a first housing 19 as seen in fig. 3 and a second housing which is engaged with the first housing 19 as seen in fig. 2;
the base plate 11 may be configured with a plurality of screw holes, and a second housing connecting portion 114, the base plate 11 being detachably and fixedly connected with the first housing through the plurality of screw holes, the base plate 11 being connected with the second housing through the second housing connecting portion 114.
Referring to fig. 5 and 6 again, in the present embodiment, the driving portion 162 of the output shaft 16 is configured with a glue injection groove 164, glue injection of the glue injection groove 164 can fix the driving portion 164 of the output shaft 16 and the second synchronous pulley 15, the encoder code disc setting portion 165 of the output shaft 16 is a groove matching with the encoder code disc 181, the tail end of the output shaft 16 is configured with a blocking structure 166, and the blocking structure 166 is clamped with the inner shaft of the adjacent bearing.
It should be noted that, in the present embodiment, the output shaft 16 is an integrally formed structure, and the output portion 161, the driving portion 162, the rotating portion 163, the encoder code wheel setting portion 165, and the blocking structure 166 of the output shaft 16 are only functional partitions, and in some embodiments, the output portion, the driving portion, the rotating portion, the encoder code wheel setting portion, and the blocking structure of the output shaft may be formed of separate or partially separate structures.
In summary, in the synchronous pulley driving structure of the present embodiment, the substrate 11 is prepared at the time of mounting; then fixing the stepping motor 12 on one side of the substrate 11 by bolts; then, a first bearing 171 and a second bearing 172 are respectively installed at two ends of the output shaft bearing part 112 of the substrate 11, and then the output shaft 16 is inserted from one side of the second bearing 172, so that the blocking structure 166 is clamped with the inner shaft of the second bearing 172; the encoder code wheel 181 is mounted on the encoder code wheel mounting part 165 of the output shaft 16, the encoder code wheel 182 is mounted on the magnetic encoder code wheel part bracket 113, the magnetic encoder code wheel 1821 is arranged corresponding to the encoder code wheel 181, the magnetic encoder code wheel part bracket 113 and the encoder code wheel mounting part 182 are detachably and fixedly connected through bolts, and the encoder code wheel 181 can be fixed in the encoder code wheel mounting part 165 through glue; next, install first synchronous pulley 13 at the motor output shaft 121 of step motor 12, install the second synchronous pulley 15 after injecting glue in injecting glue groove 164, make the drive portion 164 and the second synchronous pulley 15 of output shaft 16 glued fixedly, install last on first synchronous pulley 13 and second synchronous pulley 15 and overlap hold-in range 14, the installation of synchronous pulley drive structure that can accomplish, whole simple structure, design benefit, easy installation, structural strength is high, and drive control precision is high, through arranging step motor ingenious on the base plate, first synchronous pulley, second synchronous pulley, the hold-in range, the output shaft, encoder code wheel and encoder read head portion spatial relation, set up step motor, first synchronous pulley, second synchronous pulley, the hold-in range, output shaft transmission structure, and be used for reading the encoder code wheel of output shaft rotation volume and encoder read head portion's structural setting, because simple structure, there are not too much parts, make the structure integrated level relatively lower, and through can reading output shaft rotation volume assurance control precision, material cost is reduced, installation cost and maintenance cost, effectively improved the life of drive structure.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911380914.4A CN110948470B (en) | 2019-12-27 | 2019-12-27 | Synchronous pulley driving structure, robot driving base and desktop level mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911380914.4A CN110948470B (en) | 2019-12-27 | 2019-12-27 | Synchronous pulley driving structure, robot driving base and desktop level mechanical arm |
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| Publication Number | Publication Date |
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| CN110948470A CN110948470A (en) | 2020-04-03 |
| CN110948470B true CN110948470B (en) | 2024-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911380914.4A Active CN110948470B (en) | 2019-12-27 | 2019-12-27 | Synchronous pulley driving structure, robot driving base and desktop level mechanical arm |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454327B (en) * | 2020-11-11 | 2022-07-01 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454329B (en) * | 2020-11-11 | 2022-01-11 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799111B (en) * | 2020-11-11 | 2024-01-12 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN112318547A (en) * | 2020-11-11 | 2021-02-05 | 深圳市越疆科技有限公司 | Desktop mechanical arm driving structure, desktop mechanical arm and robot |
| CN112454326B (en) * | 2020-11-11 | 2023-06-23 | 深圳市越疆科技有限公司 | Base of desktop mechanical arm, desktop mechanical arm and robot |
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| CN107718043A (en) * | 2017-10-31 | 2018-02-23 | 东莞市太行机电科技有限公司 | A kind of desktop type industrial robot |
| CN209299064U (en) * | 2019-01-22 | 2019-08-23 | 上海时申工贸有限公司 | A kind of bi-motor synchronization driving structure |
| CN211916817U (en) * | 2019-12-27 | 2020-11-13 | 深圳市越疆科技有限公司 | Synchronous pulley drive structure, robot drive base and desktop level arm |
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| CN103978483B (en) * | 2014-05-05 | 2015-12-02 | 重庆优楷科技有限公司 | Industrial joint robot body |
| JP2016003757A (en) * | 2014-06-19 | 2016-01-12 | 三菱自動車工業株式会社 | Fastener lock structure |
| DE102016115114A1 (en) * | 2015-08-05 | 2017-02-09 | American Axle & Manufacturing, Inc. | DRIVE SHAFT ASSEMBLY WITH ADJUSTABLE COUPLING TO A DRIVE SHAFT TUBE |
| CN206894396U (en) * | 2017-06-14 | 2018-01-16 | 余姚市驰力微电机有限公司 | Permanent magnetism dc micro-motor |
| CN110328659A (en) * | 2019-08-07 | 2019-10-15 | 浩科机器人（苏州）有限公司 | A kind of compact belt transmission four axis robot of sealed type small-sized |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718043A (en) * | 2017-10-31 | 2018-02-23 | 东莞市太行机电科技有限公司 | A kind of desktop type industrial robot |
| CN209299064U (en) * | 2019-01-22 | 2019-08-23 | 上海时申工贸有限公司 | A kind of bi-motor synchronization driving structure |
| CN211916817U (en) * | 2019-12-27 | 2020-11-13 | 深圳市越疆科技有限公司 | Synchronous pulley drive structure, robot drive base and desktop level arm |
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| CN110948470A (en) | 2020-04-03 |
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