CN108274454B

CN108274454B - Integrated base and robot

Info

Publication number: CN108274454B
Application number: CN201810254509.7A
Authority: CN
Inventors: 刘培超; 郎需林; 汪金星; 吴志文
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Rizhao Yuejiang Intelligent Technology Co.,Ltd.
Priority date: 2016-05-19
Filing date: 2016-05-19
Publication date: 2020-08-25
Anticipated expiration: 2036-05-19
Also published as: CN108274453B; CN108274453A; CN105835039B; WO2017198219A1; CN105835039A; CN108274454A

Abstract

The invention relates to the technical field of robots, in particular to an integrated base and a robot, wherein the integrated base is used for mounting a motor and outputting power generated by the motor, the motor is provided with a main shaft, the integrated base comprises a shell provided with a mounting cavity, a fixed plate fixedly mounted in the mounting cavity, a coupler arranged between the bottom of the mounting cavity and the fixed plate and fixedly connected with the main shaft, and a rotating plate arranged in the mounting cavity and fixedly connected with the motor to rotate along with the motor so as to output power, the fixed plate is positioned between the coupler and the rotating plate, the fixed plate is provided with a first through hole corresponding to the coupler, the rotating plate is provided with a second through hole corresponding to the first through hole, and the main shaft sequentially passes through the second through hole and. The integrated base has a compact integral structure, does not need to be additionally provided with a transmission mechanism, can integrate the integral structure and has a smaller volume; and the power loss of the motor output can be avoided as much as possible, and the precision of the axial movement can be improved.

Description

Integrated base and robot

Technical Field

The invention relates to the technical field of robots, in particular to an integrated base and a robot.

Background

Robots and automation equipment have a wide application market, and in the case of robots, the robot technology is a typical representative of advanced manufacturing technologies, and is important modern manufacturing automation equipment integrating multiple discipline advanced technologies such as machinery, electronics, control, computers, sensors, artificial intelligence and the like. The robot generally has a degree of freedom of circumferential movement, and a circumferential movement mechanism of the robot in the prior art has a defect of complex structure. For example, the circumferential motion mechanism of the robot is generally formed by matching a driving source with a transmission mechanism consisting of a screw rod and a moving nut or a gear and a rack, and the formed circumferential motion mechanism not only has a complex structure, but also has a large volume and is not beneficial to integrated installation; meanwhile, the power output by the driving source is transmitted through the transmission mechanism, which also causes the reduction of the motion precision and the loss of the power.

Disclosure of Invention

The invention aims to provide an integrated base and a robot with the integrated base, and aims to solve the technical problems of complex structure, large volume and power loss of a circumferential motion mechanism of the robot in the prior art.

In order to achieve the purpose, the technical scheme of the invention is as follows: the integrated base is used for installing a motor and outputting power generated by the motor, the motor is provided with a main shaft, the integrated base comprises a shell provided with an installation cavity, a fixed plate fixedly installed in the installation cavity, a coupler arranged between the bottom of the installation cavity and the fixed plate and fixedly connected with the main shaft, and a rotating plate arranged in the installation cavity and fixedly connected with the motor so as to rotate along with the motor to output the power, the fixed plate is positioned between the coupler and the rotating plate, the fixed plate is provided with a first through hole corresponding to the coupler, the rotating plate is provided with a second through hole corresponding to the first through hole, and the main shaft sequentially penetrates through the second through hole and the first through hole and is connected to the coupler;

the integrated base further comprises a coded disc and a reading head, the reading head is installed on the fixed plate and electrically connected with the motor, the coded disc is fixed on a main shaft of the motor and is in induction connection with the reading head, and the reading head detects that the coded disc rotates to a set limiting angle and transmits a detected signal to the motor.

The invention has the beneficial effects that: according to the integrated base, the rotating plate rotating along with the motor is arranged, and the fixing plate and the coupler which are connected with the main shaft and rotate relative to the motor are arranged in the mounting cavity, so that the coupler plays a role of fixing and supporting the main shaft of the motor, and the fixing plate and the coupler are compactly mounted on the main shaft, so that the whole integrated base is simple in structure, a transmission mechanism does not need to be additionally mounted, and the volume of the whole integrated base is greatly reduced; meanwhile, the rotating plate rotates along with the motor so that the component fixedly arranged on the rotating plate also moves circumferentially, a degree of freedom of circumferential movement is formed, namely, the rotating plate is used for directly outputting the power of the motor to the component arranged on the rotating plate, and therefore the loss of the power output by the motor can be avoided, and the precision of the circumferential movement can be improved.

The other technical scheme of the invention is as follows: the robot comprises the integrated base and a manipulator arranged on the rotating plate.

The robot of the invention uses the integrated base, so that the whole robot has more compact structure and smaller volume; the power loss of the motor output of the robot can be avoided as much as possible, and the precision of the circumferential motion of the robot is improved.

Drawings

Fig. 1 is a schematic structural diagram of an integrated base according to an embodiment of the present invention.

Fig. 2 is a sectional view taken along line a-a in fig. 1.

Fig. 3 is an exploded view of an integrated base according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a movable abutting block of an integrated base according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a rotating plate integrated with a base according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a fixing plate of an integrated base according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a housing of an integrated base according to an embodiment of the present invention.

FIG. 8 is a schematic structural diagram of a code wheel of an integrated base according to an embodiment of the present invention.

Fig. 9 is a partially enlarged schematic view of a portion B in fig. 8.

Fig. 10 is a schematic structural diagram of a first view angle of a wire-passing partition board of an integrated base according to an embodiment of the present invention.

Fig. 11 is a structural diagram of a second view angle of a wire-passing partition board of an integrated base according to an embodiment of the present invention.

Fig. 12 is a schematic structural diagram of a first view angle of a first arm of a robot according to an embodiment of the present invention.

Fig. 13 is a partially enlarged schematic view at C in fig. 12.

Fig. 14 is a schematic structural diagram of a second view angle of the first mechanical arm of the robot according to the embodiment of the present invention.

Fig. 15 is a schematic structural diagram of a first robot arm of a robot from a third viewing angle according to an embodiment of the present invention.

Fig. 16 is a schematic structural diagram of a second robot arm from a first view angle according to an embodiment of the present invention.

Fig. 17 is a schematic structural diagram of a second view angle of a second robot arm of the robot according to the embodiment of the present invention.

Fig. 18 is a partially enlarged view of fig. 2 at D.

Fig. 19 is a schematic structural diagram of a robot according to an embodiment of the present invention.

The reference numerals include:

1-integrated base 2-manipulator

3-support frame 4-mechanical arm

5-actuator 6-first side plate

7-second side plate 8-Top mounting plate

9-robot 10-housing

11-top plate 12-installation cavity

13-rotating plate 14-circuit board

15-conductor 16-sector active area

20-fixed plate 21-first via hole

22-coupling 23-lower sector edge

24-bearing groove 30-motor

31-main shaft 40-wire passing partition plate

41-first plate 42-second plate

43-transition plate body 50-limiting device

51-rotary encoder 52-first stop

53-second stop block 54-Movable abutment block

55-magnetic field sensor 60-mounting rack

61-third via 62-inner ring

63-outer ring body 70-bearing

131-second via hole 132-upper scalloped edge portion

133-arc chamfer 134-motor mounting groove

135-mounting bracket slot 411-stub via hole

412-dust blocking flange 413-wire passing groove

421-bearing plate 431-wire passing channel

432-side baffle 433-arc guide plate

434-wire bundling belt via hole 511-code disc

512-reading head 541-first buffer

542-second buffer 551-hall sensor

552 magnet block 601 first outer housing snap hole

602-first positioning projection 603-first positioning groove

604 first actuator connection 605 first driver connection

678 reinforcing rod 701 second external shell fastener hole

702-second positioning protrusion 703-second positioning groove

704-second actuator connection 705-second driver connection

801-external shell clamping groove 5111-annular disc body

5112 hollow hole 5113 annular code channel

5114-first zone 5115-second zone

5116-mounting projection 5117-parting line

6704-actuator connection hole 6705-driver connection hole

51141 first non-transmissive region 51142 first transmissive region

51151-second non-transmissive region 51152-second transmissive region.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-19 are exemplary and intended to be illustrative of the invention and should not be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 19, an integrated base 1 according to an embodiment of the present invention is used for installing a motor 30 and outputting power generated by the motor 30, the motor 30 is provided with a main shaft 31, the integrated base 1 comprises a housing 10 provided with a mounting cavity 12, a fixing plate 20 fixedly mounted in the mounting cavity 12, a coupling 22 arranged between the bottom of the mounting cavity 12 and the fixing plate 20 and fixedly connected with the main shaft 31, and a rotating plate 13 arranged in the mounting cavity 12 and fixedly connected with the motor 30 to rotate with the motor to output the power, the fixing plate 20 is located between the coupler 22 and the rotating plate 13, the fixing plate 20 is provided with a first through hole 21 corresponding to the coupler 22, the rotating plate 13 is provided with a second through hole 131 corresponding to the first through hole 21, and the spindle 31 sequentially passes through the second through hole 131 and the first through hole 21 and is connected to the coupler 22. Specifically, in the integrated base 1 according to the embodiment of the present invention, when the integrated base 1 works, the spindle 31 of the motor 30 rotates, the coupling 22 is arranged to play a role of fixing and supporting the spindle 31 of the motor 30, since the spindle 31 is locked by the coupling 22, that is, the motor 30 rotates relative to the coupling 22 and the fixed plate 20, and since the rotating plate 13 is fixedly connected to the motor 30, the rotating plate 13 rotates along with the motor 30, the rotating plate 13 realizes circumferential movement, and then the components fixedly mounted on the rotating plate 13 also move along with the circumferential movement, thereby forming a degree of freedom of the circumferential movement. The integrated base 1 has a compact integral structure, does not need to be additionally provided with a transmission mechanism, can integrate the integral structure and has a smaller volume; and it is possible to ensure that loss of power output from the motor 30 is avoided as much as possible and the accuracy of the circumferential movement is improved.

In addition, a top plate 11 is disposed above the mounting cavity 12 for making the mounting cavity 12 form a semi-closed state.

In this embodiment, as shown in fig. 2 to 3, a circuit board 14 is disposed in the housing 10, the motor 30 is electrically connected to the circuit board 14 through a wire 15, and the wire 15 extends into the mounting cavity 12 and winds around the rotating plate 13 and the fixing plate 20. Specifically, since the circuit board 14 is disposed below the fixing plate 20 in the housing 10, when the wire 15 is electrically connected to the circuit board 14 and the motor 30, the wire 15 can pass through the mounting cavity 12 disposed in the housing 10 and wind around the outer sides of the rotating plate 13 and the fixing plate 20, so that the wire 15 is prevented from being disposed outside, and the purpose of hiding the wire 15 is achieved; on the other hand, the distance between the motor 30 and the circuit board 14 is shortened, namely the length of the lead 15 is shortened, the problem that the lead 15 is wound on other parts can be avoided due to the shortened length of the lead 15, and the whole structure is further integrated.

In this embodiment, as shown in fig. 5 to 6, a lower fan-shaped edge 23 is disposed on one side of the fixing plate 20 located in the rotation range of the wire 15, an upper fan-shaped edge 132 is disposed at a position of the rotating plate 13 corresponding to the lower fan-shaped edge 23, and a fan-shaped active area 16 for the wire 15 to rotate along with the rotating plate 13 is formed between the lower fan-shaped edge 23 and the upper fan-shaped edge 132 and one side of the mounting cavity 12 located in the rotation range of the wire 15; upper scalloped edge 132 conforms to the shape of lower scalloped edge 23. Specifically, when motor 30 during operation, motor 30 drives the rotor plate 13 and rotates, because electric connection's wire 15 is around locating in the outside of rotor plate 13 and fixed plate 20 between motor 30 and the circuit board 14, in order to prevent rotor plate 13 and fixed plate 20 influence wire 15 and follow rotor plate 13 motion, set sector edge 23 down and last sector edge 132 at fixed plate 20 and rotor plate 13 one side portion that is located wire 15 dynamic range respectively, like this, wire 15 carries out free circumference circular motion in sector active area 16 of formation between sector edge 23 down and last sector edge 132 and installation cavity 12, and can not receive the influence of fixed plate 20 and rotor plate 13, can reach the mesh of hiding wire 15 design, can also guarantee that the motion of wire 15 is unrestricted, structural design scientific and reasonable, therefore, the clothes hanger is strong in practicability.

In this embodiment, as shown in fig. 5, the two ends of the upper fan-shaped edge 132 are respectively provided with an arc-shaped chamfer 133. Specifically, since the rotating plate 13 is fittingly installed in the installation cavity 12, the rotating plate 13 moves relative to the hole edge of the installation cavity 12, and since the rotating plate 13 is provided with the upper fan-shaped edge portion 132, in order to avoid friction or clamping between two ends of the upper fan-shaped edge portion 132 and the cavity wall of the installation cavity 12, two ends of the upper fan-shaped edge portion 132 are respectively provided with the arc-shaped chamfers 133; the design can also ensure that the rotating plate 13 is more convenient to install in the installation cavity 12.

As shown in fig. 5, a motor mounting groove 134 for limiting the radial movement of the motor 30 is formed on a side of the rotating plate 13 away from the fixing plate 20, and the motor 30 is fixedly mounted in the motor mounting groove 134. The motor mounting groove 134 is formed in the rotating plate 13, the end of the motor 30 is accommodated in the motor mounting groove 134, and the fastening member is added to lock the end of the motor 30 on the rotating plate 13, so that the motor 30 can be fixedly mounted on the rotating plate 13, the motor is limited to move along the radial direction of the rotating plate, when the spindle 31 of the motor 30 rotates, the spindle 31 is locked by the coupler 11, the motor 30 rotates relative to the spindle 31 to drive the rotating plate 13 to rotate, the rotating plate 13 is driven to rotate by the motor 30, a circumferential rotating structure is formed, that is, when other components (such as the manipulator 2) are mounted on the rotating plate 13, the components can be driven to move circumferentially, and a circumferential degree of freedom is formed.

As shown in fig. 2 to 3, a bearing 70 is sleeved on the main shaft 31 of the motor 30, and the bearing 70 is fixedly connected to the fixing plate 20. Specifically, the bearing 70 functions to support the rotation of the rotation plate 13 and reduce the friction coefficient during the movement of the rotation plate 13, so that the rotation of the rotation plate 13 can be more smoothly ensured.

In this embodiment, a processor (not shown) is integrally mounted on the circuit board 14. The processor is integrally installed on the circuit board 14, so that the circuit board 14 forms a control panel, and signals are directly output to control driving sources such as the motor 30 and the like which are electrically connected with the circuit board, therefore, the whole integrated base 1 is equivalent to an integrated control box, and a power line external control box is not required to be additionally arranged.

In this embodiment, as shown in fig. 2 to 3, at least one limiting device 50 for limiting the rotation of the rotating plate 13 by a certain angle is disposed in the housing 10. Specifically, when the motor 30 works, the rotating plate 13 is driven to circumferentially move, the rotating plate 13 realizes the degree of freedom of circumferential movement, and other components mounted on the rotating plate 13 also realize circumferential movement; because the limiting device 50 for limiting the rotation of the rotating plate 13 to a certain angle is arranged in the housing 10, the situation that the wire 15 connected with the motor 30 is wound on the motor 30 or other parts due to the overlarge rotation angle of the rotating plate 13 can be avoided through the limiting device 50, so that the winding prevention function is realized, and the normal work of the integrated base 1 is ensured.

More specifically, the limiting device 50 can limit the rotating plate 13 from rotating continuously after the rotating plate 13 rotates to a certain angle, so as to prevent the rotating plate 13 from rotating more than 360 degrees and the wires 15 connected to the motor 30 from being wound around the motor 30, for example, when the limiting device 50 is actually installed, the angle for limiting the rotating plate 13 from rotating can be set as required, for example, the rotating plate 13 can be set to rotate leftwards or rightwards by 135 degrees, so as to limit the rotating plate 13 from rotating continuously.

Wherein, the limiting device 50 can limit by controlling the motor 30 through signal output; mechanical structures can also be adopted to limit the rotation angle of the rotating plate 13; the rotation angle of the rotating plate 13 may be limited by controlling the motor 30 through signal output, and may be limited by combining a mechanical structure.

In this embodiment, as shown in fig. 2 to 3 and fig. 8 to 9, the limiting device 50 includes a rotary encoder 51, the rotary encoder 51 includes a code wheel 511 and a reading head 512, the reading head 512 is mounted on the fixing plate 20 and electrically connected to the motor 30, and the code wheel 511 is fixed on the periphery of the main shaft 31 of the motor 30 and inductively connected to the reading head 512. Specifically, the reading head 512 is fixedly installed on the fixed plate 20 as a stationary member, and the code wheel 511 is fixed on the outer periphery of the spindle 31 of the motor 30 and rotates along with the rotation of the spindle 31, so that the code wheel 511 is always in signal induction connection with the reading head 512 during rotation, and after the rotary encoder 51 is started, the reading head 512 first reads the zero point on the code wheel 511, and then when the main shaft 31 of the motor 30 rotates a certain angle, the code wheel 511 also rotates a certain angle following the spindle 31 of the motor 30 until the reading head 512 detects that the code wheel 511 rotates to a set limit angle, and transmits the detected signal to the motor 30, thereby controlling the motor 30 to stop working, the rotating plate 13 stops working when the motor 30 stops working, thereby preventing the wire 15 disposed outside the motor 30 from being wound on the motor 30, and enabling the integrated base 1 to realize the anti-winding function.

In this embodiment, as shown in fig. 8 to 9, the code wheel 511 includes an annular disk 5111 having a hollow 5112, an annular track 5113 is disposed on the annular disk 5111, the read head 512 is inductively connected to the annular track 5113, the annular track 5113 at least includes a first region 5114 and a second region 5115, a first non-transmissive region 51141 and a first transmissive region 51142 located between adjacent first non-transmissive regions 51141 are disposed in the first region 5114 at intervals, and a second non-transmissive region 51151 and a second transmissive region 51152 located between adjacent second non-transmissive regions 51151 are disposed in the second region 5115 at intervals; the width of the first non-transmission region 51141 is different from the width of the second non-transmission region 51151 and/or the width of the first transmission region 51142 is different from the width of the second transmission region 51152. Specifically, since the distance between adjacent first non-light-transmitting areas 51141 provided in the first area 5114 is different from the distance between adjacent second non-light-transmitting areas 51151 provided in the second area 5115, and the first area 5114 and the second area 5115 can output different position information, a boundary 5117 between the first area 5114 and the second area 5115 can be defined as a zero point, and when the boundary 5117 is detected, calculation can be started with the boundary 5117 as a starting zero point, thereby facilitating determination of a specific angle value at which the rotation of the code wheel 511 is detected.

More specifically, the structure of the code wheel 5111 provided by the embodiment of the present invention has at least three modes:

first, the width of the first non-transmission region 51141 is different from the width of the second non-transmission region 51151; thus, the first area 5114 and the second area 5115 can output different position information;

second, the width of the first light transmission region 51142 is different from the width of the second light transmission region 51152; it is also possible to ensure that the first area 5114 and the second area 5115 output different position information;

third, the width of the first non-transmission region 51141 is different from the width of the second non-transmission region 51151 and the width of the first transmission region 51142 is different from the width of the second transmission region 51152; it is also possible to ensure that the first area 5114 and the second area 5115 output different position information.

Specifically, as shown in fig. 8, the hole edge of the hollow hole 5112 extends toward the hole center of the hollow hole 5112 and is provided with at least one mounting projection 5116 for facilitating the mounting of the code wheel 511.

In this embodiment, as shown in fig. 2 to 3, the present invention further includes an installation frame 60 fixedly installed on the bottom surface of the rotation plate 13; the mounting bracket 60 is provided with a third via hole 61 through which the main shaft 31 passes to be matched with the fixing plate 20, and includes an inner ring 62 which extends towards one side of the fixing plate 20 in a protruding manner and is radially arranged along the third via hole 61, a bearing groove 24 is formed in the top surface of the fixing plate 20, a bearing 70 is sleeved outside the main shaft 31 of the motor 30, and the bearing 70 is embedded between the bearing groove 24 and the inner ring 62. Specifically, the bearing 70 can be positioned and mounted through the mounting bracket 60 through the structural design, and the effect of preventing the main shaft 31 from shaking axially can also be achieved. And the bearing 70 serves to support the rotation of the rotation plate 13 and to reduce the friction coefficient during the movement of the rotation plate 13, which can ensure smoother rotation of the rotation plate 13. The code wheel 511 is fixedly attached to the mounting bracket 60. Wherein, the mounting bracket 60, the rotating plate 13 and the body of the motor 30 can be locked together into a whole by fasteners, that is, when the main shaft 31 of the motor 30 rotates, since the spindle 31 is locked by the coupler 22, the motor 30 rotates relative to the spindle 31 to drive the rotating plate 13 to rotate, the rotating plate 13 drives the mounting bracket 60 and the motor 30 to rotate, and the code wheel 511 is directly fixed on the mounting bracket 60, which is equivalent to eliminating the return gap existing between the code wheel 511 and the spindle 31 of the motor 30, that is to say, how many degrees the spindle 31 of the motor 30 rotates, meanwhile, the code wheel 511 is driven to rotate by a certain angle, so that the precision of the reading head 512 for detecting the rotating angle of the code wheel 511 can be improved, the limit error is reduced, the signal output by the reading head 512 to the motor 30 is accurate, and the damage of parts caused by winding and the like is avoided.

In this embodiment, as shown in fig. 2 and 7, the mounting bracket 60 further includes an outer ring 63 protruding and extending toward one side of the fixing plate 20 and radially disposed along the third through hole 61 and spaced from the inner ring 62; the bottom side of the rotating plate 13 is provided with a mounting frame groove 45, and the mounting frame 60 is embedded in the mounting frame groove 45 and fixedly connected with the rotating plate 13. Specifically, through this kind of structural design, ensure that the connection of mounting bracket 60 and rotor plate 13 is stable, prevent that the phenomenon that the mounting bracket 60 drops appears when the motion.

In this embodiment, as shown in fig. 2 to 3, the limiting device 50 includes a first blocking block 52, a second blocking block 53 and a movable abutting block 54, the movable abutting block 54 is fixedly installed on an inner side surface of the rotating plate 13, and the first blocking block 52 and the second blocking block 53 are respectively installed on two sides of the rotating plate 13 in the moving direction and are used for blocking the movable abutting block 54. Specifically, since the motor 30 drives the rotating plate 13 to rotate in two directions, i.e., to rotate left or right, the first blocking block 52 and the second blocking block 53 are respectively set at the positions of the rotating plate 13 in the two directions of rotating left and right, so that when the rotating plate 13 rotates left or right by a certain angle, the movable abutting blocks 54 fixedly mounted on the inner side surface of the rotating plate 13 respectively abut against the first blocking block 52 and the second blocking block 53 to stop moving continuously, thereby preventing the wire 15 arranged outside the motor 30 from being entangled due to an excessively large rotating angle of the rotating plate 13.

The first stopper 52 and the second stopper 53 may be fixed to the inner side of the housing 10, or may be fixed by being supported by extending upward from the bottom of the housing 10, or may be fixed to another fixing member provided in the housing 10, and the first stopper 52 and the second stopper 53 may be respectively abutted against the movable abutting piece 54 so as to limit the angle of the rotating plate after the rotating plate 13 rotates by a certain angle (the angle is set according to actual conditions) as long as the position of the fixing member is limited.

More specifically, in order to prevent the rotating plate 13 from causing hard contact when the movable abutting block 54 is driven by the rotating plate 13 to abut and limit the first blocking block 52 and the second blocking block 53, the movable abutting block 54, the first blocking block 52 and the second blocking block 53 are damaged; in this embodiment, a first cushion 541 is provided on an end surface of the first stopper 52 abutting against the movable abutting piece 54, and a second cushion 542 is provided on an end surface of the second stopper 53 abutting against the movable abutting piece 54. Thus, when the movable abutting block 54 abuts against and contacts the first blocking block 52 and the second blocking block 53, flexible contact is realized, and the movable abutting block 54, the first blocking block 52 and the second blocking block 53 cannot be damaged due to overlarge impact force during rotation; the first buffer 541 and the second buffer 542 may be made of silicon, rubber, or plastic.

In this embodiment, as shown in fig. 2 to 3, the position limiting device 50 includes a magnetic field sensor 55, the magnetic field sensor 55 includes a hall sensor 551 and a magnet 552, the hall sensor 551 is installed on the fixing plate 20 and electrically connected to the motor 30, and the magnet 552 is installed on the rotating plate 13. Specifically, magnet piece 552 follows rotor plate 13 and rotates, and after rotor plate 13 rotated certain angle, fixed mounting can sense magnet piece 552 at fixed plate 20 with hall sensor 551 to give motor 30 with the signal transmission of this response, control motor 30 stop work, motor 30 stop work then rotor plate 13 also stop work, thereby avoid setting up wire 15 outside motor 30 and twine on motor 30, realize the function of preventing kinking.

In this embodiment, the spacing that magnetic field sensor 55 realized can be used alone on this embodiment integrated base 1, also can combine foretell rotary encoder 51 and first stopper 52, the spacing structure that second stopper 53 and activity butt joint piece 54 formed, that is to say can be in the three arbitrary one or more than two all can use on this embodiment integrated base 1, if the spacing combination of three uses, can reach the effect of triple protection, realize absolutely avoiding motor 30 kinking, integrated base 1 during operation's factor of safety improves greatly.

In this embodiment, as shown in fig. 2 to 3 and fig. 10 to 11, a wire passing partition plate 40 located between the fixing plate 20 and the circuit board 14 is disposed in the housing 10, and the wire passing partition plate 40 is provided with a wire end via 411 through which the wire 15 passes. The wire-passing partition plate 40 is used for providing the lead 15 to pass through and separating the circuit board 14 from other components above the lead, so that the other components or impurities can be prevented from contacting the circuit board 14 and influencing the work of the circuit board 14; meanwhile, the wires 15 can be well arranged, and the wires 15 are prevented from being disordered to influence the work of the whole integrated base 1.

In this embodiment, as shown in fig. 10 to 11, the wire passing partition plate 40 includes a first plate body 41, a second plate body 42 and a transition plate body 43, the adjacent end portions of the first plate body 41 and the second plate body 42 are respectively connected with the upper end and the lower end of the transition plate body 43 in the width direction, and the first plate body 41 and the second plate body 42 are respectively located at two opposite sides of the transition plate body 43; the stub via 411 is opened on the first board 41, and the transition board 43 is provided with a wire passage 431 communicating with the stub via 411 and located above the second board 42. Specifically, the end of the conductive wire 15 may be routed towards the lower portion of the first board 41 through the stub via 411 along the wire passage 431, so that the two ends of the conductive wire 15 may be electrically connected to other electronic components, respectively, and when there are a plurality of leads, the wires 15 can be intensively extruded in the wire passing channel 431, the wire ends of a plurality of wires 15 all uniformly pass through the wire end through hole 411 to be wired downwards, since the first plate body 41 is positioned high with respect to the second plate body 42, the upper portions of the wires 15 are collectively arranged above the second plate body 42, the lower portions of the guides are collectively arranged below the first plate body 41, and a part of each of the plurality of wires 15 is accommodated in the wire passing channel 431, so that the wires 15 are reasonably arranged, the space utilization rate in the integrated base 1 using the wire passing partition plate 40 is improved, and the circuit board 14 and the motor 30 connected with the wires 15 can normally exert the working performance.

In this embodiment, as shown in fig. 10 to 11, a supporting plate 421 for supporting the conductive wire 15 extends outward from a position of the second plate 42 corresponding to the wire passage 431. The bearing board 421 can play the effect of playing the bearing to wire 15 at the wire passing channel 431 for the structure that the second plate body 42 extends, and passes through the position that is located first plate body 41 below gradually with wire 15 in the position of second plate body 42 top, especially when the radical of wire 15 is more, can unify the holding on this bearing board 421, conveniently concentrates on arranging many wires 15, structural design scientific and reasonable, and the practicality is strong.

In this embodiment, as shown in fig. 10 to 11, the wire passage 431 is provided with side baffles 432 corresponding to two sides of the transition plate 43. Specifically, the two side baffles 432 arranged on the two sides of the wire passing channel 431 are used for limiting the wires 15 concentrated in the wire passing channel 431 at the side, so that when the number of the wires 15 is large, the concentration of the wires 15 can be ensured not to be disordered, and the identification and connection of the wires 15 by workers are facilitated.

In this embodiment, as shown in fig. 10 to 11, the end of the side fence 432 facing the stub via 411 is flush with the end of the support plate 421, and the end of the side fence 432 facing the stub via 411 is provided with an open arc-shaped guide plate 433 in an extending manner. The wires 15 are generally routed from top to bottom, that is, the wires 15 are generally first arranged from the top of the second board body 42 to the bottom of the first board body 41 along the wire passage 431 and through the head via 411; and the wire passing channel 431 needs to supply the wire passing of the wire 15 at each position above the second plate body 42 in the whole plate, so that each wire 15 can enter the wire passing channel 431 along the arc-shaped guide plate 433 by the arrangement of the arc-shaped guide plate 433 in an open shape, and the arc-shaped guide plate 433 of the arc-shaped structure also plays a role in preventing the end part of the sharp wire passing channel 431 from damaging the wire 15.

In this embodiment, as shown in fig. 10 to 11, a wire wrapping band via hole 434 is disposed at a position of the side guard 432 near the stub via hole 411. When concentrating on wire 15 quantity in wire passing channel 431 when more, still need increase the wire 15 bandage that sets up to wrap up each wire 15, through having seted up wire bandage via hole 434 on side shield 432, just so provide and supply wire 15 bandage and wear to establish the space in order to wrap up each wire 15, and when wire 15 bandage worn to establish wire bandage via hole 434, side shield 432 and supporting plate 421 have also been wrapped up, also can fix each wire 15 and wrap up on wire passing partition plate 40, guarantee that the condition in disorder can not appear after each wire 15 installs.

In the present embodiment, as shown in fig. 10 to 11, the upper end surface of the side fence 432 is higher than the upper surface of the first plate 41. When the wires 15 are accommodated in the wire passage 431, when other components are provided above the first plate body 41, the upper end surface of the side fence 432 is designed to be higher than the upper surface of the first plate body 41 so that the upper end surface of the side fence 432 is higher than the upper surface of the first plate body 41, and thus, the part of the side fence 432 higher than the first plate body 41 is used for abutting against the other components, so that the other components can be prevented from being directly pressed against the wires 15 in the wire passage 431.

More specifically, as shown in fig. 10 to 11, since the upper end surface of the side dam 432 is higher than the upper surface of the first plate 41, when another member is disposed on the upper portion of the first plate 41, the other member abuts against the portion of the side dam 432 higher than the upper surface of the first plate 41, so that a large gap is formed between the other member and the first plate 41, and in order to prevent foreign substances such as foreign particles and dust from entering the lower portion of the first plate 41 through the gap from the string end through hole 411; in this embodiment, a dust blocking flange 412 extends upward from the periphery of the wire head via 411, and the upper end surface of the dust blocking flange 412 is flush with the upper end surface of the side fence 432. The gap can be closed by the dust blocking flange 412, so that foreign matters such as dust can be prevented from entering the lower part of the first board body 41 through the gap from the line head through hole 411, and the normal operation of the electronic component below the first board body 41 can be ensured.

In this embodiment, as shown in fig. 10 to 11, the dust blocking flange 412 is provided with a wire passing groove 413, and a groove bottom of the wire passing groove 413 is flush with an upper surface of the first plate 41. The dust-blocking flange 412 is provided with a wire-passing groove 413, that is, a space through which the wire end via hole 411 can be inserted is provided for the wire 15 arranged above the first board body 41, and the design that the groove bottom of the wire-passing groove 413 is flush with the upper surface of the first board body 41 can ensure that the wire 15 arranged on the first board body 41 is attached to the upper surface of the first board body 41 as far as possible to enter the wire end via hole 411, so that the wire 15 arranged above the first board body 41 cannot tilt due to the arrangement of the dust-blocking flange 412, and the most reasonable arrangement of the wire 15 can be ensured.

In this embodiment, as shown in fig. 10 to 11, the width of the wire passage 431 is smaller than that of the stub via 411. The end of the wire 15 is generally connected with a male plug or a female socket, and the structure of the male plug or the female socket is larger than that of the wire 15, so that the width of the wire head via hole 411 is designed to be larger than that of the wire passing channel 431, the male plug or the female socket connected with the end of the wire 15 can conveniently penetrate through the wire head via hole 411 to enter the lower part of the first plate body 41 for wiring, and when a plurality of wires 15 exist, the wires can be wrapped by the wire 15 wrapping tape to be more compact, the occupied space is smaller, and therefore, the width of the wire passing channel 431 can be designed to be smaller than that of the wire head via hole 411; that is, the width of the wire passage 431 and the width of the stub via 411 are designed most appropriately, so that the existence of an excessive through structure can be avoided, and the impurities above the wire-passing partition 40 can be prevented from entering the lower part of the wire-passing partition 40 as much as possible.

As shown in fig. 1 to 18, an embodiment of the present invention further provides a robot 9, which includes the integrated base 1 and the manipulator 2 disposed on the rotating plate 13.

According to the robot 9 provided by the embodiment of the invention, as the integrated base 1 is used, the whole robot 9 is more compact in structure and smaller in size; it is also possible to ensure that loss of power output from the motor 30 of the robot 9 and accuracy in lifting the circumferential movement of the robot 9 are avoided as much as possible.

In this embodiment, as shown in fig. 18, the robot 2 includes a support frame 3, a robot arm 4, and an actuator 5, the support frame 3 is fixed to the rotating plate 13, the robot arm 4 is mounted on the support frame 3, and the actuator 5 is connected to the end of the robot arm 4. Specifically, the rotating plate 13 of the rotating base rotates to drive the supporting frame 3 to rotate, the supporting frame 3 drives the mechanical arm 4 to rotate, and the mechanical arm 4 drives the executing mechanism 5 to rotate, so that circumferential movement is achieved.

In this embodiment, as shown in fig. 12 to 17, the mechanical arm 4 includes a first side plate 6, a second side plate 7, and a top mounting plate 8, which are oppositely disposed, and two sides of the top mounting plate 8 are respectively connected to an upper end of the first side plate 6 and an upper end of the second side plate 7; and the top mounting plate 8 is integrally formed with the first and

second side plates

6, 7. Specifically, the mechanical arm 4 is composed of a top mounting plate 8, a first side plate 6 and a second side plate 7, and the top mounting plate 8, the first side plate 6 and the second side plate 7 are integrally formed, so that the structural strength of the whole mechanical arm 4 can be enhanced, and the top mounting plate 8, the first side plate 6 and the second side plate 7 of the mechanical arm 4 are not easy to deform when the mechanical arm is used; and top mounting panel 8 can also regard as the mounting substrate use of other electronic component, encloses between top mounting panel 8, first curb plate 6 and the second curb plate 7 three and establishes and form a module that has open space, can lay wire and install other drive mechanism inside and outside this space so, and this makes the application of arm 4 more nimble, and application scope is wider, and adaptability is better.

As shown in fig. 12 to 17, the first side plate 6 has at least one first external casing fastening hole 601 near the upper end of the first side plate 6, and the second side plate 7 has at least one second external casing fastening hole 701 near the upper end of the second side plate 7, corresponding to the first external casing fastening hole 601. Through the setting of top mounting panel 8, be equivalent to the mounting substrate who provides other electronic component for whole arm 4, for example can install the control panel, the treater, the button etc. on top mounting panel 8, then can also cover foretell electronic component through setting up the outer shell and establish the protection, set up corresponding first outer shell buckle hole 601 and second outer shell buckle hole 701 and supply with outer shell lock joint on first curb plate 6 and second curb plate 7 like this, thereby can keep being equipped with when the outer shell, can make outer shell and whole arm 4 stable connection. The number of the first outer housing locking holes 601 and the second outer housing locking holes 701 may be determined according to the size of the entire robot arm 4, and is preferably two, and the first outer housing locking holes and the second outer housing locking holes are disposed near the front end and the rear end of the robot arm 4. And the setting of top mounting panel 8 makes the inner space and the outer space that can the interval first curb plate 6 and second curb plate 7 formed, and drive mechanism can set up in the inner space that forms between first curb plate 6 and second curb plate 7, and the wiring of power cord then can set up outside top mounting panel 8, can prevent like this that power cord winding drive mechanism from influencing drive mechanism's action, or prevent that drive mechanism from causing the stranded conductor to the power cord, guarantees the normal work of arm 4.

Further, as shown in fig. 12 to 17, the side of the top mounting plate 8 is provided with an external housing slot 801 near the front end and the rear end of the top mounting plate 8. The top mounting plate 8 can be so that the circumscribed shell that sets up can be realized being connected with top mounting plate 8 through setting up circumscribed shell draw-in groove 801, and when can realizing being provided with the circumscribed shell like this, the circumscribed shell can all realize the connection of contact nature with top mounting plate 8 and first curb plate 6 and second curb plate 7, can further promote the stability that the circumscribed shell that sets up is connected with arm 4 like this, ensures arm 4 during operation, and the phenomenon that the circumscribed shell that sets up can not appear dropping appears.

As shown in fig. 12 to 17, a first positioning protrusion 602 is disposed at a front end of a connection portion between the first side plate 6 and the top mounting plate 8, and a first positioning groove 603 is formed between the first positioning protrusion 602 and the top mounting plate 8; a second positioning protrusion 702 corresponding to the first positioning protrusion 602 is disposed at the front end of the connection between the second side plate 7 and the top mounting plate 8, and a second positioning groove 703 corresponding to the first positioning groove 603 is formed between the second positioning protrusion 702 and the top mounting plate 8. When the outer joint casing that sets up needs the installation, support the front end of outer joint casing in first constant head tank 603 and second constant head tank 703, can accomplish the location to the outer joint casing installation, then push down the rear end of outer joint casing and with the corresponding position lock joint of outer joint casing on the first outer joint casing buckle hole 601 that outer joint casing draw-in groove 801 and first curb plate 6 set up and the second outer joint casing buckle hole 701 that second curb plate 7 set up that top mounting panel 8 was seted up, accomplish the installation to the outer joint casing promptly. Then, the work of quick positioning and auxiliary installation of the external case is realized through the arrangement of the first positioning groove 603 and the second positioning groove 703.

In addition, the first positioning groove 603 and the second positioning groove 703 are formed between the first positioning protrusion 602 and the second positioning protrusion 702 and the top mounting plate 8, so that when the front end of the external connection shell abuts against the first positioning groove 603 and the second positioning groove 703, the front end of the top mounting plate 8 is sealed by the front end of the external connection shell, and the sealing performance between the external connection shell and the top mounting plate 8 after being mounted is improved.

As shown in fig. 12 to 17, a first actuator connecting portion 604 is extended from the front end of the first side plate 6, and a second actuator connecting portion 704 corresponding to the first actuator connecting portion 604 is extended from the front end of the second side plate 7. Specifically, the first actuator connecting part 604 and the second actuator connecting part 704 are disposed at the front end of the robot arm 4 to connect the actuator 5, for example, the actuator 5 may be a clamp, a suction cup, or the like; thus, the connection and installation of various actuating parts and the front end of the mechanical arm 4 are convenient.

The first executive connecting part 604 and/or the second executive connecting part 704 are/is provided with executive connecting holes 6704; the actuator attachment holes 6704 are provided to facilitate attachment of the actuator 5.

As shown in fig. 12 to 17, a first driving member connecting portion 605 extends from the rear end of the first side plate 6, and a second driving member connecting portion 705 corresponding to the first driving member connecting portion 605 extends from the rear end of the second side plate 7. The provision of the first and

second driver connections

605, 705 facilitates the connection of the driver, which may be, for example, a motor 30 or the like. In addition, the first driving member connecting portion 605 and/or the second driving member connecting portion 705 are provided with driving member connecting holes 6705. The driver attachment holes 6705 are provided to facilitate attachment of the driver.

As shown in fig. 12-15, the robotic arm 4 further includes at least one stiffener 678 connected between the first side plate 6 and the second side plate 7. The stiffener 678 is disposed between the first side plate 6 and the second side plate 7 near the lower end, so that the lower ends of the first side plate 6 and the second side plate 7 are not easily deformed by bending inward or outward, and the mechanical arm 4 is further prevented from being easily deformed in the using process.

Further, fig. 12 to 15 show a first embodiment of the robot arm 4, fig. 16 to 17 show a second embodiment of the robot arm 4, which mainly differ in the structure of the first driving member connecting portion 605 and the second driving member connecting portion 705, and the structure of the first actuating member connecting portion 604 and the first driving member connecting portion 605; for example, the first and second

driver connecting parts

605 and 705 and the first and second

actuator connecting parts

604 and 605 may have a regular rectangular plate-like, circular plate-like or elliptical plate-like structure, and the shapes of the first and second

driver connecting parts

605 and 705 and the first and second

actuator connecting parts

604 and 605 are defined according to the requirements of use.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. Integrated base for install the motor and export the power that the motor produced, the motor has the main shaft, its characterized in that: the integrated base comprises a shell provided with an installation cavity, a fixed plate fixedly installed in the installation cavity, a coupler arranged between the bottom of the installation cavity and the fixed plate and fixedly connected with the spindle, and a rotating plate arranged in the installation cavity and fixedly connected with the motor so as to rotate along with the motor to output the power, wherein the fixed plate is positioned between the coupler and the rotating plate, the fixed plate is provided with a first through hole corresponding to the coupler, the rotating plate is provided with a second through hole corresponding to the first through hole, and the spindle sequentially penetrates through the second through hole and the first through hole and is connected to the coupler;

2. The integrated base of claim 1, wherein: the code disc comprises an annular disc body with a hollow hole, an annular code channel is arranged on the annular disc body, the reading head is in induction connection with the annular code channel, the annular code channel at least comprises a first area and a second area, first non-light-transmitting areas and first light-transmitting areas positioned between the adjacent first non-light-transmitting areas are arranged in the first area at intervals, and second non-light-transmitting areas and second light-transmitting areas positioned between the adjacent second non-light-transmitting areas are arranged in the second area at intervals; the width of the first non-transmission region is different from the width of the second non-transmission region and/or the width of the first transmission region is different from the width of the second transmission region.

3. The integrated base of claim 2, wherein: the inner side surface of the rotating plate is fixedly connected with a mounting frame, a third via hole for the main shaft of the motor to penetrate through is formed in the mounting frame, the mounting frame is fixedly connected with the rotating plate and the motor, and the coded disc is fixedly connected to the mounting frame.

4. The integrated base of claim 3, wherein: the mounting bracket includes the orientation fixed plate one side protrusion extends and follows the radial inner ring that sets up of third via hole, the bearing groove has been seted up to the top surface of fixed plate, the main shaft overcoat of motor is equipped with the bearing, the bearing inlay dress in the bearing groove with between the inner ring.

5. The integrated base of claim 4, wherein: the mounting rack also comprises an outer ring body which extends towards one side of the fixing plate in a protruding mode and is arranged at a distance from the inner ring body along the radial direction of the third through hole; the bottom side of the rotating plate is provided with a mounting frame groove, and the mounting frame is embedded in the mounting frame groove and fixedly connected with the rotating plate.

6. The integrated base of claim 3, wherein: the rotating plate is provided with a motor mounting groove for limiting the motor to move along the radial direction of the motor on one side departing from the fixed plate, and the motor is fixedly mounted in the motor mounting groove.

7. The integrated base of claim 1, wherein: the stop device comprises a first stop block, a second stop block and a movable abutting block, a first cushion pad is arranged on the end face of the abutting of the movable abutting block, and a second cushion pad is arranged on the end face of the abutting of the movable abutting block.

8. The integrated base of claim 1, wherein: the magnetic field sensor comprises a Hall sensor and a magnet block, the Hall sensor is mounted on the fixed plate and electrically connected with the motor, and the magnet block is mounted on the rotating plate.

9. The integrated chassis of any of claims 1 to 8, wherein: the integrated base further comprises a circuit board arranged in the installation cavity, the motor is electrically connected with the circuit board through a wire, and the wire extends into the installation cavity and is wound on the outer sides of the rotating plate and the fixed plate.

10. The integrated base of claim 9, wherein: the wire passing partition plate is arranged between the fixed plate and the circuit board and provided with a wire head through hole for the wire to penetrate through.

11. The integrated base of claim 10, wherein: the wire passing partition plate comprises a first plate body, a second plate body and a transition plate body, the adjacent end parts of the first plate body and the second plate body are respectively connected with the upper end and the lower end of the transition plate body in the width direction, and the first plate body and the second plate body are respectively positioned on the two opposite sides of the transition plate body; the line head via hole is arranged on the first plate body, and the transition plate body is provided with a line passing channel communicated with the line head via hole and positioned above the second plate body.

12. The integrated base of claim 9, wherein: the fixing plate is provided with a lower fan-shaped edge part at one side of the rotation range of the wire, an upper fan-shaped edge part is arranged at the position of the rotating plate corresponding to the lower fan-shaped edge part, and a fan-shaped movable area for the wire to rotate along with the rotating plate is formed between the lower fan-shaped edge part and the upper fan-shaped edge part and between the side of the installation cavity body at the rotation range of the wire.

13. Robot, its characterized in that: comprising the integrated base of any one of claims 1 to 12 and a robot arm provided on the rotating plate.

14. The robot of claim 13, wherein: the manipulator comprises a supporting frame, a mechanical arm and an executing mechanism, the supporting frame is fixed on the rotating plate, the mechanical arm is installed on the supporting frame, and the executing mechanism is connected with the tail end of the mechanical arm.

15. The robot of claim 14, wherein: the mechanical arm comprises a first side plate, a second side plate and a top mounting plate which are oppositely arranged, and two sides of the top mounting plate are respectively connected with the upper end of the first side plate and the upper end of the second side plate; and the top mounting plate is integrally formed with the first side plate and the second side plate.