Mini-type driver and mechanical arm and running-in device thereof

Abstract

The invention provides a mini-type driver. The mini-type driver comprises a shell, a motor, a transmission mechanism, an output shaft, a circuit board and a control line, wherein the motor drives the output shaft through the transmission mechanism to output power; the output shaft comprises a hollow shaft section and is provided with a ring piece electric brush; one end of the control line is connected with the circuit board; and after the other end of the control line is rotationally and electrically connected with the ring piece electric brush to be switched, the other end of the control line penetrates through the output shaft and is led out of the shell via the hollow shaft section. The mini-type driver is compact in structure, simple in line arrangement, high in reliability and small in mechanical transmission error; after the control line inside the mini-type driver is rotationally and electrically connected with the ring piece electric brush to be switched, the line arrangement operation is greatly simplified, so that the line arrangement problem of the control line is not considered during design of a mechanical arm. The invention further provides a running-in device and method of the mini-type driver. The mini-type driver is stable in transmission and the working life is prolonged through secondary assembly after high-speed grinding.

Description

technical field [0001] The invention belongs to the technical field of mechanical arms, and in particular relates to a micro driver applied to a mechanical arm, a mechanical arm and a running-in device thereof. Background technique [0002] At present, the relative rotation and torsion between the arms of the existing multi-degree-of-freedom manipulators are generally driven by a driver installed on the outer side of the joint between the arms, so as to realize the movement of the manipulator. The arrangement of the driver installed on the outer side of the joint will cause the dislocation arrangement between the adjacent arms of the manipulator, the whole manipulator is non-linear, and the asymmetric structure of the manipulator as a whole is not conducive to the motion stability of the manipulator; quality The uneven distribution will have a great impact on the displacement accuracy control of the robotic arm. [0003] Wiring has always been a difficult problem plaguing t...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to solve the above-mentioned technical problems existing in the prior art, and provide a micro-driver with modularization, compact structure, simple wiring, high reliability and small mechanical transmission error, so that it is not necessary to consider the control when designing the mechanical arm. Line layout to solve the problems of complex wiring, unstable movement and low control precision of the robotic arm in the prior art

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