CN112454328A

CN112454328A - Rotary table of desktop mechanical arm, desktop mechanical arm and robot

Info

Publication number: CN112454328A
Application number: CN202011259759.3A
Authority: CN
Inventors: 王重彬; 叶伟智; 李叶鹏; 刘培超; 刘主福; 王伦; 郎需林
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2021-03-09
Also published as: WO2022099896A1

Abstract

The invention discloses a turntable of a desktop mechanical arm, wherein a base, a large arm driving motor, a small arm driving motor, a large arm speed reducing assembly and a small arm speed reducing assembly are arranged on the turntable, the large arm driving motor and the small arm driving motor are positioned on the rear side of the base and are arranged in an up-down stacked mode, the large arm speed reducing assembly and the small arm speed reducing assembly are respectively positioned on the left outer side surface and the right outer side surface of the base, the large arm speed reducing assembly comprises a large arm primary synchronous belt pulley and a large arm secondary synchronous belt pulley positioned between the large arm primary synchronous belt pulley and the base, and the small arm speed reducing assembly comprises a small arm primary synchronous belt pulley and a small arm secondary synchronous belt pulley positioned between the small arm primary synchronous belt pulley and the base. The turntable of the desktop mechanical arm improves the safety; for the speed reducing synchronous belt, the arrangement of auxiliary components is reduced, the manufacturing cost is reduced, the speed reducing ratio and the speed reducing effect can be improved, and the control precision is ensured; and simple structure, the dismouting is easy, and it is convenient to maintain.

Description

Rotary table of desktop mechanical arm, desktop mechanical arm and robot

Technical Field

The invention relates to the technical field of desktop mechanical arms, in particular to a turntable of a desktop mechanical arm, the desktop mechanical arm and a robot.

Background

The table top mechanical arm is used as a subdivision category of the mechanical arm and comprises a base, a rotary table, a large arm, a small arm, a tail end, a rotary table driving motor, a large arm driving motor and a small arm driving motor, wherein the rotary table is rotatably connected with the base, the large arm is respectively connected with the rotary table and the small arm, the small arm is connected with the tail end, the tail end is used for arranging an actuator, the rotary table driving motor is used for driving the rotary table to rotate relative to the base, the large arm driving motor is used for driving the large arm to move, the small arm driving motor is used for driving the small arm to move, and the large arm and the small arm can drive the tail end to move in a working space by utilizing a parallelogram principle, for example, the mechanical arm and a.

At present, a desktop mechanical arm is usually an educational desktop mechanical arm, a large arm and a small arm of the desktop mechanical arm face to the front side of a rotary table, an object grabbed at the tail end is light in weight and small in load, and the desktop mechanical arm can stably run by means of self gravity; however, along with the improvement of industry level, for adaptation market demand, desktop arm is towards industrial grade application development gradually, if apply to fields such as vision letter sorting, assembly line transport, it is required to snatch heavier object, and the load grow this moment for whole focus is close to its end and keeps away from the base, and the during operation base can produce to rock and the condition such as turn on one's side appears easily, and the security is low, can not satisfy industrial grade application condition. In addition, a synchronous pulley speed reduction mode is adopted in a rotary table of the existing tabletop mechanical arm to realize the transmission of a large arm and a small arm, for example, a compact belt transmission closed type small four-axis robot disclosed in the Chinese patent with the application number of CN201910723747.2, a primary synchronous belt is arranged close to the rotary table, and a limit piece and a convex bracket for fixing a primary driving pulley are arranged to avoid the interference of the primary synchronous belt and a structure (such as a motor fixing screw and the like) on the rotary table to influence the transmission, so that the position of the primary synchronous belt is limited, a plurality of auxiliary components are provided, and the manufacturing cost is high; and because the convex bracket and other components limit the primary synchronous belt, the size of the belt wheel of the primary synchronous belt wheel is difficult to be enlarged to avoid structural interference, so that the reduction ratio is low, the reduction effect is poor, and the control precision is further influenced. Further, for example, a small static load balance belt transmission mechanical arm disclosed in chinese patent application No. CN201910571696.6, a primary synchronous pulley and a secondary synchronous pulley of a synchronous pulley speed reduction assembly of the mechanical arm are respectively disposed in the inner and outer side spaces of a turntable, so that the overall structural design is complex, the assembly and disassembly are difficult, and the routine maintenance is inconvenient; for another example, a vertical inverted compact type small four-axis robot disclosed in chinese patent No. cn201810921858.x has a large span of the designed vertical synchronous pulleys and an unreasonable spatial arrangement, so that the structure is not compact enough, except for the above-mentioned situation that the base is shaken during operation to easily cause side turning.

Disclosure of Invention

The invention mainly aims to provide a turntable of a desktop mechanical arm, and aims to solve the technical problems in the background technology.

In order to achieve the purpose, the invention provides a turntable of a desktop mechanical arm, wherein a base, a large arm driving motor, a small arm driving motor, a large arm speed reducing assembly and a small arm speed reducing assembly are arranged on the turntable, the large arm driving motor and the small arm driving motor are positioned on the rear side of the base and are arranged in an up-down stacked mode, the large arm speed reducing assembly and the small arm speed reducing assembly are respectively positioned on the left outer side surface and the right outer side surface of the base, the large arm speed reducing assembly comprises a large arm primary synchronous belt pulley and a large arm secondary synchronous belt pulley positioned between the large arm primary synchronous belt pulley and the base, and the small arm speed reducing assembly comprises a small arm primary synchronous belt pulley and a small arm secondary synchronous belt pulley positioned between the small arm primary synchronous belt pulley and the base.

The large arm speed reducing assembly further comprises a large arm transmission shaft and a large arm driving shaft, the large arm driving shaft is positioned above the large arm transmission shaft, the large arm primary synchronous belt pulley is arranged between an output shaft of the large arm driving motor and the large arm transmission shaft, and the large arm secondary synchronous belt pulley is arranged between the large arm transmission shaft and the large arm driving shaft;

the small arm speed reducing assembly further comprises a small arm transmission shaft and a small arm driving shaft, the small arm driving shaft is located above the small arm transmission shaft, the small arm primary synchronous belt pulley is arranged between an output shaft of the small arm driving motor and the small arm transmission shaft, and the small arm secondary synchronous belt pulley is arranged between the small arm transmission shaft and the small arm driving shaft.

The large-arm primary synchronous belt pulley comprises a large-arm primary driving wheel, a large-arm primary driven wheel and a large-arm primary synchronous belt, and the large-arm secondary synchronous belt pulley comprises a large-arm secondary driving wheel, a large-arm secondary driven wheel and a large-arm secondary synchronous belt;

the large arm primary driving wheel is arranged on an output shaft of the large arm driving motor, the large arm primary driven wheel is arranged on the large arm transmission shaft, and the large arm primary synchronous belt is arranged on the large arm primary driving wheel and the large arm primary driven wheel; the large arm secondary driving wheel is arranged on the large arm transmission shaft, the large arm secondary driven wheel is arranged on the large arm driving shaft, and the large arm secondary synchronous belt is arranged on the large arm secondary driving wheel and the large arm secondary driven wheel;

the small arm primary synchronous belt pulley comprises a small arm primary driving wheel, a small arm primary driven wheel and a small arm primary synchronous belt, and the small arm secondary synchronous belt pulley comprises a small arm secondary driving wheel, a small arm secondary driven wheel and a small arm secondary synchronous belt;

the forearm one-level action wheel is located on forearm driving motor's the output shaft, the forearm one-level is located from the driving wheel on the forearm transmission shaft, the forearm one-level hold-in range is located the forearm one-level action wheel with the forearm one-level is from the driving wheel on, the forearm second grade action wheel is located on the forearm transmission shaft, the forearm second grade is located from the driving wheel on the forearm drive shaft, the forearm second grade hold-in range is located the forearm second grade action wheel with the forearm second grade is from the driving wheel on.

Wherein the base includes: a base plate; the first bearing piece and the second bearing piece are oppositely arranged on the bottom plate, a first mounting seat is formed on the first bearing piece, and a second mounting seat is formed on the second bearing piece.

The central area of the bottom plate is provided with a wiring hole and a plurality of turntable driving shaft connecting holes;

a first positioning groove corresponding to the first bearing piece is arranged on the bottom plate, and corresponding first fixing holes are formed in the first bearing piece and the first positioning groove;

a second positioning groove corresponding to the second bearing piece is formed in the bottom plate, and corresponding second fixing holes are formed in the second bearing piece and the second positioning groove;

the first installation seat is provided with a first shaft hole and a plurality of first waist-shaped holes, the first shaft hole is arranged in a surrounding mode through the first waist-shaped holes, the second shaft hole and a plurality of second waist-shaped holes are arranged on the second installation seat, and the second shaft hole is arranged in a surrounding mode through the second waist-shaped holes.

The large arm primary driving wheel is arranged at the tail end of an output shaft of the large arm driving motor to form a first spare section, located between the large arm primary driving wheel and the first mounting seat, on the output shaft of the large arm driving motor;

the small arm primary driving wheel is arranged at the tail end of an output shaft of the small arm driving motor to form a second spare section, which is positioned between the small arm primary driving wheel and the second mounting seat, on the output shaft of the small arm driving motor;

the first mounting seat protrudes to a side opposite to the second bearing piece, and the second mounting seat protrudes to a side opposite to the first bearing piece.

The large arm transmission shaft comprises a first mounting section positioned at the tail end of the large arm transmission shaft, the large arm secondary driving wheel is positioned on the first mounting section, a first threaded through hole is formed in the middle area of the large arm primary driven wheel, and a first threaded hole matched with the first threaded through hole is formed in the tail end face of the large arm transmission shaft;

the small arm transmission shaft comprises a second mounting section located at the tail end of the small arm transmission shaft, the small arm secondary driving wheel is located on the second mounting section, a second threaded through hole is formed in the middle area of the small arm primary driven wheel, and a second threaded hole matched with the second threaded through hole is formed in the tail end face of the small arm transmission shaft.

The first bearing piece is provided with a first through hole, a first fixed seat arranged corresponding to the first through hole and two first bearings positioned on the first fixed seat, the first fixed seat is provided with a first bearing mounting hole, the two first bearings are arranged in the first bearing mounting hole at intervals, the large arm transmission shaft penetrates through the first through hole, the large arm transmission shaft further comprises a first connecting section in interference fit with inner rings of the two first bearings, and a first shaft sleeve positioned between the two first bearings is arranged on the first connecting section;

the second holds and is equipped with the second through-hole on the carrier, with second through-hole corresponds the second fixing base of arranging and is located two second bearings on the second fixing base, be equipped with the second bearing mounting hole on the second fixing base, two second bearing interval arrangements are in the second bearing mounting hole, the forearm transmission shaft passes the second through-hole sets up, the forearm transmission shaft still include with the inner ring interference fit's of two second bearings second linkage segment, be equipped with on the second linkage segment and be located second bushing between two second bearings.

The base is provided with a third bearing mounting hole and a third bearing positioned in the third bearing mounting hole, and the large arm driving shaft is in interference fit with an inner ring of the third bearing;

still be equipped with the fourth bearing mounting hole on the base, be located fourth bearing in the fourth bearing mounting hole and with the inner ring interference fit's of fourth bearing big arm driven spindle, be equipped with fifth bearing mounting hole on the big arm driven spindle and be located fifth bearing in the fifth bearing mounting hole, the forearm drive shaft with the inner ring interference fit of fifth bearing and its both ends are followed wear out in the fifth bearing mounting hole.

The base is further provided with a first annular cover plate arranged corresponding to the third bearing mounting hole, the first annular cover plate is abutted to an outer ring of the third bearing, a plurality of third threaded through holes are formed in the middle area of the large arm secondary driven wheel, and a third threaded hole matched with the third threaded through holes is formed in the tail end face of the large arm driving shaft;

still be equipped with on the base and correspond the second annular apron that the fourth bearing mounting hole was arranged, second annular apron with the outer loop butt of fourth bearing, still be equipped with on the big arm driven spindle and correspond the third annular apron that the fifth bearing mounting hole was arranged, third annular apron with the outer loop butt of fifth bearing, the forearm second grade is equipped with fourth screw through-hole from the middle zone of driving wheel, the terminal surface of forearm drive shaft be equipped with the fourth screw hole of fourth screw through-hole looks adaptation.

The first bearing piece is provided with a first butt joint structure, and the second bearing piece is correspondingly provided with a second butt joint structure;

a male spigot is arranged at the position, butted with the second butting structure, of the first butting structure, and a female spigot is correspondingly arranged on the second butting structure; or, a female spigot is arranged at the position where the first butt joint structure is butted with the second butt joint structure, and a male spigot is correspondingly arranged on the second butt joint structure.

The bottom plate or the first bearing piece or the second bearing piece is provided with a mounting bracket and a cable adapter plate positioned on the mounting bracket.

And the first butt joint structure and/or the second butt joint structure are/is provided with a wire passing hole.

Wherein the base further comprises: the sealing plate is located between the first bearing piece and the second bearing piece and is further in butt joint with the first butt joint structure, the second butt joint mechanism and the bottom plate to form an enclosed space, the cable adapter plate is located in the enclosed space, and the sealing plate is detachably connected with the first bearing piece and the second bearing piece respectively.

Wherein, the cable keysets is connected with:

a large arm drive motor power harness including a large arm motor ground wire;

a small arm driving motor power wire harness comprising a small arm motor ground wire; and

the power wiring harness comprises a board power wiring harness connected with a grounding wire board;

and the connection and grounding wire board is electrically connected with the grounding wire of the large arm motor and the grounding wire of the small arm motor respectively.

The large arm driving motor and the small arm driving motor are respectively servo motors comprising absolute value encoders and electromagnetic band-type brakes.

The large arm driving motor power wire harness further comprises a large arm motor brake contracting device positive wire and a large arm motor brake contracting device negative wire;

the power wire harness of the forearm drive motor further comprises a positive wire of the forearm motor band-type brake and a negative wire of the forearm motor band-type brake;

the board power connection wire harness further comprises a combined contracting brake positive wire board wiring and a combined contracting brake negative wire board wiring;

the combined contracting brake positive line plate wiring is respectively electrically connected with the large arm motor contracting brake positive line and the small arm motor contracting brake positive line, and the combined contracting brake negative line plate wiring is respectively electrically connected with the large arm motor contracting brake negative line and the small arm motor contracting brake negative line.

Wherein, the cable keysets still is connected with:

the large arm driving motor encoder wire harness comprises a large arm motor encoder battery positive wire, a large arm motor encoder battery negative wire, a large arm motor encoder power supply positive wire and a large arm motor encoder power supply negative wire;

the small arm driving motor encoder wire harness comprises a small arm motor encoder battery positive wire, a small arm motor encoder battery negative wire, a small arm motor encoder power supply positive wire and a small arm motor encoder power supply negative wire; and

the encoder comprises a combined encoder battery positive pole line board wiring, a combined encoder battery negative pole line board wiring, a combined encoder power supply positive pole line board wiring and a combined encoder power supply negative pole line board wiring board connected with an encoder wiring harness;

the combined encoder power supply positive wire board is connected with the big arm motor encoder power supply positive wire board, the combined encoder power supply negative wire board is connected with the big arm motor encoder power supply negative wire board, and the combined encoder power supply negative wire board is connected with the small arm motor encoder power supply positive wire board.

The absolute value encoder is a multi-turn absolute value encoder, and the electromagnetic band brake is an electromagnetic band brake of a power-off band brake.

The invention also provides a desktop mechanical arm, which comprises a base, a large arm, a small arm and the recorded rotary table, wherein the rotary table is arranged on the base, one end of the large arm is connected with the rotary table, and the other end of the large arm is connected with the small arm; be equipped with base, big arm driving motor, forearm driving motor, big arm speed reduction subassembly and forearm speed reduction subassembly on the revolving stage, big arm driving motor with forearm driving motor is located range upon range of from top to bottom the rear side of base just arranges, big arm speed reduction subassembly with forearm speed reduction subassembly is located respectively two lateral surfaces about the base, big arm speed reduction subassembly includes big arm one-level synchronous pulley and is located big arm one-level synchronous pulley with big arm second grade synchronous pulley between the base, forearm speed reduction subassembly includes forearm one-level synchronous pulley and is located forearm one-level synchronous pulley with forearm second grade synchronous pulley between the base.

Wherein the tabletop mechanical arm further comprises an end effector connected with the small arm through the tail end.

The invention also provides a robot, which comprises a desktop mechanical arm, wherein the desktop mechanical arm comprises a base, a large arm, a small arm and the recorded rotary table, the rotary table is arranged on the base, one end of the large arm is connected with the rotary table, and the other end of the large arm is connected with the small arm; be equipped with base, big arm driving motor, forearm driving motor, big arm speed reduction subassembly and forearm speed reduction subassembly on the revolving stage, big arm driving motor with forearm driving motor is located range upon range of from top to bottom the rear side of base just arranges, big arm speed reduction subassembly with forearm speed reduction subassembly is located respectively two lateral surfaces about the base, big arm speed reduction subassembly includes big arm one-level synchronous pulley and is located big arm one-level synchronous pulley with big arm second grade synchronous pulley between the base, forearm speed reduction subassembly includes forearm one-level synchronous pulley and is located forearm one-level synchronous pulley with forearm second grade synchronous pulley between the base.

Compared with the prior art, the embodiment of the invention has the beneficial technical effects that:

when the desktop mechanical arm grabs the heavy object, the whole gravity center is deviated to the front side of the base of the rotary table, therefore, in the rotary table of the desktop mechanical arm, the large arm driving motor and the small arm driving motor are arranged on the rear side of the base of the rotary table in an up-and-down stacking mode, the heavy object grabbed by the desktop mechanical arm is balanced through the first motor and the second motor, and the gravity center of the desktop mechanical arm is close to or located at the center position of the rotary table, so that the safety is improved, and the desktop mechanical arm is suitable for industrial application; secondly, in the prior art, a primary synchronous pulley of the large arm speed reduction assembly and a secondary synchronous pulley of the small arm speed reduction assembly are arranged close to a base of the turntable, and auxiliary assemblies such as a limiting piece and the like are arranged to prevent the interference between the primary synchronous belt and a structure on the turntable to influence transmission, while on the turntable of the table top mechanical arm, the primary synchronous pulley of the large arm speed reduction assembly is arranged close to the base, the primary synchronous pulley of the large arm is arranged at the opposite outer side of the secondary synchronous pulley of the large arm, and the secondary synchronous pulley of the small arm speed reduction assembly is arranged close to the base, the primary synchronous pulley of the small arm is arranged at the opposite outer side of the secondary synchronous pulley of the small arm, so that the primary synchronous belt of the large arm and the primary synchronous belt of the small arm can be arranged away from the structure on the turntable (such as a motor fixing screw and the like, the belt wheel of the primary synchronous belt wheel can be large in size due to the fact that no auxiliary component is limited in structure, so that the speed reduction ratio and the speed reduction effect are improved, and the control precision is guaranteed; secondly, big arm speed reduction subassembly and forearm speed reduction subassembly are located two lateral surfaces about the base respectively, have simplified structural design, and the dismouting is simple, the routine maintenance of being convenient for.

Drawings

FIG. 1 is a schematic diagram of a prior art tabletop robot;

FIG. 2 is a schematic view of another prior art tabletop arm configuration;

FIG. 3 is a schematic view of another prior art tabletop arm configuration;

FIG. 4 is an exploded view of the arm portion of the table top mechanism of FIG. 3;

FIG. 5 is a schematic view of another prior art tabletop arm configuration;

FIG. 6 is a schematic view of a robotic tabletop arm in accordance with one embodiment of the invention;

FIG. 7 is an exploded view of the arm portion of the table top of FIG. 6;

FIG. 8 is an exploded view of a second portion of the arm of the table top mechanism of FIG. 6;

FIG. 9 is a schematic exploded view of the base of the turntable according to an embodiment of the present invention;

FIG. 10 is a first view illustrating a structure of a turntable according to an embodiment of the present invention;

FIG. 11 is a second schematic structural view of a turntable according to an embodiment of the present invention;

FIG. 12 is an exploded view of a portion of a turntable according to an embodiment of the present invention;

FIG. 13 is an exploded view of a portion of the turntable structure in accordance with an embodiment of the present invention;

FIG. 14 is a cable connection diagram of a cable patch panel of a turntable according to an embodiment of the present invention;

FIG. 15 is a cable connection diagram of a cable patch panel of a turntable according to yet another embodiment of the present invention;

fig. 16 is a cable connection diagram of a cable patch panel of a turntable according to yet another embodiment of the present invention.

Detailed Description

In the following, the embodiments of the present invention will be described in detail with reference to the drawings in the following, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The table top mechanical arm is used as a subdivision category of the mechanical arm and comprises a base, a rotary table, a large arm, a small arm, a tail end, a rotary table driving motor, a large arm driving motor and a small arm driving motor, wherein the rotary table is rotatably connected with the base, the large arm is respectively connected with the rotary table and the small arm, the small arm is connected with the tail end, the tail end is used for arranging an actuator, the rotary table driving motor is used for driving the rotary table to rotate relative to the base, the large arm driving motor is used for driving the large arm to move, the small arm driving motor is used for driving the small arm to move, and the large arm and the small arm can drive the tail end to move. Such as the robot arm and robot disclosed in chinese patent application No. CN201620105515.2 shown in fig. 1.

At present, a desktop mechanical arm is usually an educational desktop mechanical arm, a large arm and a small arm of the desktop mechanical arm face to the front side of a rotary table, an object grabbed at the tail end is light in weight and small in load, and the desktop mechanical arm can stably run by means of self gravity; however, along with the improvement of industry level, for adaptation market demand, desktop arm is towards industrial grade application development gradually, if apply to fields such as vision letter sorting, assembly line transport, it is required to snatch heavier object, and the load grow this moment for whole focus is close to its end and keeps away from the base, and the during operation base can produce to rock and the condition such as turn on one's side appears easily, and the security is low, can not satisfy industrial grade application condition. In addition, a turntable of the existing tabletop mechanical arm adopts a synchronous pulley speed reduction mode to realize transmission of a large arm and a small arm, for example, as shown in fig. 2, a compact belt transmission closed type small four-axis robot is disclosed in chinese patent with application number CN201910723747.2, because a primary synchronous belt is arranged closer to the turntable, in order to avoid interference between the primary synchronous belt and a structure (such as a motor fixing screw and the like) on the turntable to influence transmission, a limit part 01 and a convex bracket 02 for fixing a primary driving pulley are arranged, so that the position of the primary synchronous belt is limited, a plurality of auxiliary components are provided, and the manufacturing cost is high; and because the convex bracket 02 and other components limit the primary synchronous belt, the size of the belt wheel of the primary synchronous belt wheel is difficult to be enlarged to avoid structural interference, so that the reduction ratio is low, the reduction effect is poor, and the control precision is further influenced. Further, for example, as shown in fig. 3 and 4, a small static load balancing belt transmission mechanical arm disclosed in chinese patent with application number CN201910571696.6, a primary synchronous pulley and a secondary synchronous pulley of a synchronous pulley speed reduction assembly of the small static load balancing belt transmission mechanical arm are respectively arranged in the inner side space and the outer side space of a turntable, so that the overall structure design is complex, the assembly and disassembly are difficult, and the routine maintenance is inconvenient; for another example, as disclosed in chinese patent application No. cn201810921858.x shown in fig. 5, a vertical inverted compact four-axis robot has a large span of a designed vertical synchronous pulley, and is unreasonable in spatial arrangement, so that the structure is not compact enough, except for the above-mentioned situation that the base is shaken during operation to easily cause side turning.

In order to solve the technical problem, the present invention provides a turntable 10 of a desktop robot arm, referring to fig. 6 to 8, the turntable 10 is provided with a base 11, a large arm driving motor 12, a small arm driving motor 13, a large arm deceleration assembly 14, and a small arm deceleration assembly 15, the large arm driving motor 12 and the small arm driving motor 13 are located at the rear side of the base 11 and are arranged in an up-down stacked manner, the large arm deceleration assembly 14 and the small arm deceleration assembly 15 are respectively located at the left and right outer side surfaces of the base 11, the large arm deceleration assembly 14 includes a large arm primary synchronous pulley 141 and a large arm secondary synchronous pulley 142 located between the large arm primary synchronous pulley 141 and the base 11, and the small arm deceleration assembly 15 includes a small arm primary synchronous pulley 151 and a small arm secondary synchronous pulley 152 located between the small arm primary synchronous pulley 151 and the base 11.

Referring to fig. 6, the turntable 10, the upper arm 20, the lower arm 30 and the base 40 according to the present embodiment are respectively a component of a table top robot, the turntable 10 is rotatably disposed on the base 40, and the upper arm 20 and the lower arm 30 are mounted on the turntable and face the front side of the turntable 10 to extend or retract on the front side of the turntable 10. For the large arm 20 and the small arm 30, the turntable 10 is provided with a large arm driving motor 12 and a small arm driving motor 13 on the base 11 thereof as power sources, so as to drive the large arm 20 and the small arm 30. In this embodiment, the large arm driving motor 12 and the small arm driving motor 13 are located at the rear side of the base 11, and the two driving motors have a certain weight, so that the heavy object grabbed by the robot arm can be balanced, and the center of gravity of the desktop robot arm, which is originally close to the end of the robot arm, moves backward relatively and is close to or located at the center of the turntable 10, that is, the front side and the rear side of the turntable 10 approach to a balanced state. The arrangement form of the large arm driving motor 12 and the small arm driving motor 13 may be various, such as an up-down stacking arrangement, a left-right parallel arrangement, or an up-down staggered arrangement, including but not limited to this; in this embodiment, the large arm driving motor 12 and the small arm driving motor 13 are preferably arranged in a vertically stacked manner, which can optimize the spatial layout, save space, improve the structural compactness, and contribute to the miniaturization and lightness of the table top mechanical arm. The large arm driving motor 12 and the small arm driving motor 13 may be of a stepping motor, a servo motor, or the like, and the specific selection may be determined as appropriate.

Further, referring to fig. 7 and 8, the large arm driving motor 12 and the small arm driving motor 13 are driven to decelerate the large arm 20 and the small arm 30 through a large arm deceleration assembly 14 and a small arm deceleration assembly 15, respectively, provided on the base 11 of the turntable 10. The large arm speed reducing assembly 14 and the small arm speed reducing assembly 15 are respectively arranged on the left outer side surface and the right outer side surface of the base 11 of the rotary table 10, wherein the large arm speed reducing assembly 14 and the small arm speed reducing assembly 15 are respectively secondary synchronous belt speed reducing assemblies, the large arm speed reducing assembly 14 comprises a large arm primary synchronous belt pulley 141 and a large arm secondary synchronous belt pulley 142, the small arm speed reducing assembly 15 comprises a small arm primary synchronous belt pulley 151 and a small arm secondary synchronous belt pulley 152, and an output shaft of the large arm driving motor 12 and an output shaft of the small arm driving motor 13 respectively face the left and right directions of the rotary table 10 to respectively correspond to the primary speed reducing synchronous belt pulleys of the large arm speed reducing assembly 14 and the small arm speed reducing assembly 15. In this embodiment, the large arm secondary synchronous pulley 142 is located between the large arm primary synchronous pulley 141 and the base 11, that is, the large arm secondary synchronous pulley 142 of the large arm speed reduction assembly 14 is arranged close to the base 11, and the large arm primary synchronous pulley 141 is located at the opposite outer side of the large arm secondary synchronous pulley 142; the small arm secondary synchronous belt wheel 152 is positioned between the small arm primary synchronous belt wheel 151 and the base 11, namely the small arm secondary synchronous belt wheel 152 of the small arm speed reduction assembly 15 is arranged close to the base 11, the small arm primary synchronous belt wheel 151 is positioned at the opposite outer side of the small arm secondary synchronous belt wheel 152, the large arm primary synchronous belt, the small arm primary synchronous belt and a rotary table upper structure (such as a motor fixing screw and the like) can be arranged far away, not only is structural interference not generated, but also the arrangement of an auxiliary assembly can be omitted, the manufacturing cost is reduced, and the size of the belt wheel of the primary synchronous belt wheel can be large due to the fact that the structural limitation of the auxiliary assembly is not generated, so that the speed reduction ratio and the speed; and secondly, the large arm speed reduction assembly 14 and the small arm speed reduction assembly 15 are respectively arranged on the left outer side surface and the right outer side surface of the base 11, so that the structural design is simplified, the disassembly and the assembly are simple, and the daily maintenance is convenient.

In a preferred embodiment, referring to fig. 7 and 8, the large arm speed reduction assembly 14 further comprises a large arm transmission shaft 143 and a large arm drive shaft 144, the large arm drive shaft 144 being located above the large arm transmission shaft 143, the large arm primary synchronous pulley 141 being provided between the output shaft of the large arm drive motor 12 and the large arm transmission shaft 143, and the large arm secondary synchronous pulley 142 being provided between the large arm transmission shaft 143 and the large arm drive shaft 144;

the small arm speed reduction assembly 15 further includes a small arm transmission shaft 153 and a small arm driving shaft 154, the small arm driving shaft 154 is located above the small arm transmission shaft 153, the small arm primary synchronous pulley 151 is located between the output shaft of the small arm driving motor 13 and the small arm transmission shaft 153, and the small arm secondary synchronous pulley 152 is located between the small arm transmission shaft 153 and the small arm driving shaft 154.

Specifically, the large arm driving shaft 144 is used for connecting with the large arm 20, and the output shaft of the large arm driving motor 12 drives the large arm transmission shaft 143 to rotate through the large arm primary synchronous pulley 141, so as to realize primary speed reduction transmission; the large arm transmission shaft 143 drives the large arm driving shaft 144 to rotate through the large arm secondary synchronous pulley 142, so as to realize secondary speed reduction transmission, and finally drives the large arm 20 to rotate through the large arm driving shaft 144. The small arm driving shaft 154 is used for driving the small arm 30 to rotate, and a plurality of transmission links may be disposed between the small arm 30 for transmission, and the specific form thereof may refer to the existing arrangement and will not be described herein. An output shaft of the small arm driving motor 13 drives the small arm transmission shaft 153 to rotate through the small arm primary synchronous belt pulley 151, so that primary speed reduction transmission is realized; the small arm transmission shaft 153 drives the small arm driving shaft 154 to rotate through the small arm secondary synchronous belt pulley 152, so as to realize secondary speed reduction transmission, and finally drives the small arm 30 to rotate through the small arm driving shaft 154.

Further, referring to fig. 7 and 8, the large-arm primary synchronous pulley 141 includes a large-arm primary driving pulley 1411, a large-arm primary driven pulley 1412 and a large-arm primary synchronous belt 1413, and the large-arm secondary synchronous pulley 142 includes a large-arm secondary driving pulley 1421, a large-arm secondary driven pulley 1422 and a large-arm secondary synchronous belt 1423;

the large-arm primary driving wheel 1411 is arranged on an output shaft of the large-arm driving motor 12, the large-arm primary driven wheel 1412 is arranged on the large-arm transmission shaft 143, and the large-arm primary synchronous belt 1413 is arranged on the large-arm primary driving wheel 1411 and the large-arm primary driven wheel 1412; the large arm secondary driving wheel 1421 is arranged on the large arm transmission shaft 143, the large arm secondary driven wheel 1422 is arranged on the large arm driving shaft 144, and the large arm secondary synchronous belt 1423 is arranged on the large arm secondary driving wheel 1421 and the large arm secondary driven wheel 1422;

the forearm primary synchronous pulley 151 comprises a forearm primary driving pulley 1511, a forearm primary driven pulley 1512 and a forearm primary synchronous belt 1513, and the forearm secondary synchronous pulley 152 comprises a forearm secondary driving pulley 1521, a forearm secondary driven pulley 1522 and a forearm secondary synchronous belt 1523;

forearm one-level action wheel 1511 locates on forearm driving motor 13's the output shaft, forearm one-level is followed driving wheel 1512 and is located on forearm transmission shaft 153, forearm one-level hold-in range 1513 locates forearm one-level action wheel 1511 and forearm one-level from driving wheel 1512 on, forearm second grade action wheel 1521 locates on forearm transmission shaft 153, forearm second grade is followed driving wheel 1522 and is located on forearm drive shaft 154, forearm second grade hold-in range 1523 locates on forearm second grade action wheel 1521 and the forearm second grade is followed driving wheel 1522.

In this embodiment, the diameter of the large-arm primary driven wheel 1412 is greater than the diameter of the large-arm primary driving wheel 1411, the diameter of the large-arm secondary driven wheel 1422 is greater than the diameter of the large-arm secondary driving wheel 1421, the output shaft of the large-arm driving motor 12 drives the large-arm primary driving wheel 1411 to rotate, and the large-arm primary driven wheel 1412 is driven by the large-arm primary synchronous belt 1413 to rotate the large-arm transmission shaft 143, further, the large-arm transmission shaft 143 drives the large-arm secondary driving wheel 1421 to rotate, and the large-arm secondary driven wheel 1422 is driven by the large-arm secondary synchronous belt 1423 to rotate the large-arm driving shaft 144.

The diameter of the forearm primary driven wheel 1512 is larger than that of the forearm primary driving wheel 1511, the diameter of the forearm secondary driven wheel 1522 is larger than that of the forearm secondary driving wheel 1521, an output shaft of the forearm driving motor 13 drives the forearm primary driving wheel 1511 to rotate, the forearm primary driven wheel 1512 is driven by the forearm primary synchronous belt 1513 to enable the forearm transmission shaft 153 to rotate, further, the forearm transmission shaft 153 drives the forearm secondary driving wheel 1521 to rotate, and the forearm secondary driven wheel 1522 is driven by the forearm secondary synchronous belt 1523 to enable the forearm driving shaft 154 to rotate.

In a preferred embodiment, referring to fig. 9, the base 11 comprises: a base plate 111; and a first bearing member 112 and a second bearing member 113, wherein the first bearing member 112 and the second bearing member 113 are oppositely arranged on the bottom plate 111, a first mounting seat 112a is configured on the first bearing member 112, and a second mounting seat 113a is configured on the second bearing member 113.

In this embodiment, the bottom plate 111 is a plate, and the first bearing component 112 and the second bearing component 113 may be frame bodies, plate bodies, or other structural forms, and are oppositely disposed on the bottom plate 111. The first mounting seat 112a on the first bearing part 112 is used for mounting the large arm driving motor 12, the large arm speed reducing assembly 14 is arranged on the first bearing part 112, the second mounting seat 113a on the second bearing part 113 is used for mounting the small arm driving motor 13, and the small arm speed reducing assembly 15 is arranged on the second bearing part 113. It should be noted that the first mounting seat 112a may be integrally formed with the first supporting member 112 or detachably connected to the first supporting member 112 by a detachable connection method, such as a screw connection. In addition, the second mounting seat 113a may be disposed on the second carrier 113.

Further, referring to fig. 9, a center region of the bottom plate 111 is provided with a wiring hole 111a and a plurality of turntable driving shaft coupling holes 111 b;

a first positioning groove 111c corresponding to the first bearing piece 112 is arranged on the bottom plate 111, and corresponding first fixing holes are arranged on the first bearing piece 112 and in the first positioning groove 111 c;

a second positioning slot 111d corresponding to the second bearing piece 113 is arranged on the bottom plate 111, and corresponding second fixing holes are arranged on the second bearing piece 113 and in the second positioning slot 111 d;

the first mounting base 112a is provided with a first shaft hole and a plurality of first waist-shaped holes, the first shaft hole is surrounded by the first waist-shaped holes, the second shaft hole and a plurality of second waist-shaped holes are arranged on the second mounting base 113a, and the second shaft hole is surrounded by the second waist-shaped holes.

In this embodiment, the wire hole 111a formed in the bottom plate 111 is used for various cables (signal lines, power lines, and the like of the large arm driving motor 12 and the small arm driving motor 13) of the robot arm to pass through, and the aperture of the wire hole 111a is set according to actual conditions. The plurality of turntable driving shaft connecting holes 111b formed in the bottom plate 111 are used for respectively penetrating bolts to be connected with the turntable driving shaft, so that the assembly and disassembly are convenient, and the connection is stable. That is, the turntable 10 is rotated by connecting the turntable driving shaft, and further, as a preferred arrangement, the turntable driving shaft concerned may be a hollow shaft to facilitate wiring, and a plurality of turntable driving shaft connection holes 111b are arranged around the wiring hole 111 a.

In addition, the first positioning slot 111c formed in the bottom plate 111 is matched with the first carrier 112, the second positioning slot 111d is matched with the second carrier 113, the slot length of the first positioning slot 111c is determined according to the length of the first carrier 112, and the slot length of the second positioning slot 111d is determined according to the length of the second carrier 113. The first bearing piece 112 and the second bearing piece 113 are correspondingly installed and positioned through the first positioning groove 111c and the second positioning groove 111d, so that the assembling speed can be increased, and the assembling efficiency can be improved. On the basis, the screws are penetrated through the first fixing holes corresponding to the first bearing pieces 112 and the first positioning grooves 111c on the first bearing pieces 112, so that the first bearing pieces 112 are fixed on the bottom plate 111, the screws are penetrated through the second fixing holes corresponding to the second bearing pieces 113 and the second positioning grooves 111d on the second bearing pieces 113, so that the second bearing pieces 113 are fixed on the bottom plate 111, and the mounting and dismounting are simple and convenient and the connection is stable. The first bearing piece 112 and the second bearing piece 113 are correspondingly clamped into the first positioning groove 111c and the second positioning groove 111d, and the assembly stability of the structure can be improved.

On the first mounting seat 112a, the output shaft of the large arm driving motor 12 is aligned with the first shaft hole and installed, and the first waist-shaped hole and the machine body fixing hole of the large arm driving motor 12 are penetrated through by a bolt and locked, so that the large arm driving motor 12 is fixed on the first mounting seat 112 a. It can be understood that the first kidney-shaped hole is a long strip-shaped hole, and the installation position of the large arm driving motor 12 can be adjusted through the first kidney-shaped hole, so that the tension degree of the large arm primary synchronous belt can be adjusted. Correspondingly, on the second mounting seat 113a, the output shaft of the small arm driving motor 13 is installed in alignment with the second shaft hole, and the second waist-shaped hole and the machine body fixing hole of the large arm driving motor 12 are penetrated and locked by a bolt, so that the small arm driving motor 13 is fixed on the second mounting seat 113 a. It can be understood that the second waist-shaped hole is a strip-shaped hole, and the installation position of the forearm driving motor 13 can be adjusted through the second waist-shaped hole, so that the tightness of the forearm primary synchronous belt can be adjusted.

In a preferred embodiment, referring to fig. 10 and 11, the primary large arm driving wheel 1411 is disposed at the end of the output shaft of the large arm driving motor 12 to form a first vacant section 121 on the output shaft of the large arm driving motor 12 between the primary large arm driving wheel 1411 and the first mounting seat 112 a;

the forearm primary driving wheel 1511 is disposed at the end of the output shaft of the forearm drive motor 13 to form a second vacant section 131 on the output shaft of the forearm drive motor 13 between the forearm primary driving wheel 1511 and the second mounting seat 113 a;

the first mounting seat 112a protrudes to a side opposite to the second carrier 113, and the second mounting seat 113a protrudes to a side opposite to the first carrier 112.

In this embodiment, in order to avoid the structural interference, the length of the reserved first spare segment 121 is respectively greater than the length of the protruding structure (for example, the fixing screw of the large arm driving motor 12) disposed on the first mounting seat 112a, so that the large arm primary synchronous belt is ensured not to contact the protruding structure on the first mounting seat 112a in the operation process, and the normal speed reduction transmission is realized. Accordingly, the reservation of the second spare segment 131 also adopts the same principle as described above, and the same operation effect can be obtained, which is not described herein too much. Further, it is also possible to provide the mounting position for the large arm secondary timing pulley 142 by further lengthening the first vacant section 121, and to provide the mounting position for the small arm secondary timing pulley 152 by further lengthening the second vacant section 131. In addition, the first mounting seat 112a protrudes to the side opposite to the second bearing member 113, and can form a mounting space inside the primary synchronizing pulley 141 of the large arm together with the first idle section 121, that is, the space-avoiding gap is enlarged, so that a mounting position can be better provided for the secondary synchronizing pulley 142 of the large arm, and the compactness of the structure is improved; accordingly, the second mounting seat 113a protrudes to the side opposite to the first carrier 112, and together with the second idle segment 131, it can form a mounting space inside the small arm primary synchronous pulley 151, that is, the space-avoiding gap is enlarged, so that a mounting position can be better provided for the small arm secondary synchronous pulley 152, and the compactness of the structure is further improved.

In a preferred embodiment, referring to fig. 12 and 13, the large arm transmission shaft 143 includes a first mounting section 143a at a distal end position thereof, the large arm secondary driving wheel 1421 is located on the first mounting section 143a, a first threaded through hole is provided in a middle region of the large arm primary driven wheel 1412, and a first threaded hole adapted to the first threaded through hole is provided in a distal end surface of the large arm transmission shaft 143;

the small arm transmission shaft 153 comprises a second mounting section 153a located at the tail end position of the small arm transmission shaft, the small arm secondary driving wheel 1521 is located on the second mounting section 153a, a second threaded through hole is formed in the middle area of the small arm primary driven wheel 1512, and a second threaded hole matched with the second threaded through hole is formed in the tail end face of the small arm transmission shaft 153.

In this embodiment, the large-arm secondary driving wheel 1421 is fixedly sleeved on the first mounting section 143a of the large-arm transmission shaft 143, the first mounting section 143a is located at the end position of the large-arm transmission shaft 143, and the large-arm primary driven wheel 1412 is locked on the end surface of the large-arm transmission shaft 143 by bolts, that is, the large-arm secondary driving wheel 1421 is located inside the large-arm primary driven wheel 1412; the small arm secondary driving wheel 1521 is fixedly sleeved on the second mounting section 153a of the small arm transmission shaft 153, the second mounting section 153a is located at the tail end position of the large arm transmission shaft 143, the small arm primary driven wheel 1512 is locked on the tail end face of the small arm transmission shaft 153 through a bolt, namely the small arm secondary driving wheel 1521 is located on the inner side of the small arm primary driven wheel 1512, the structure is simple, and the setting is stable and convenient to assemble and disassemble.

In a preferred embodiment, referring to fig. 12 and 13, a first through hole, a first fixing seat 114 arranged corresponding to the first through hole, and two first bearings 1 located on the first fixing seat 114 are provided on the first bearing 112, a first bearing mounting hole is provided on the first fixing seat 114, the two first bearings 1 are arranged in the first bearing mounting hole at intervals, the large arm transmission shaft 143 is provided through the first through hole, the large arm transmission shaft 143 further includes a first connecting section 143b in interference fit with inner rings of the two first bearings 1, and a first shaft sleeve 2 located between the two first bearings 1 is provided on the first connecting section 143 b;

the second bearing part 113 is provided with a second through hole, a second fixing seat 115 corresponding to the second through hole and two second bearings 3 located on the second fixing seat 115, the second fixing seat 115 is provided with a second bearing mounting hole, the two second bearings 3 are arranged in the second bearing mounting hole at intervals, the small arm transmission shaft 153 penetrates through the second through hole, the small arm transmission shaft 153 further comprises a second connecting section 153b in interference fit with inner rings of the two second bearings, and the second connecting section 153b is provided with a second sleeve 4 located between the two second bearings 3.

In this embodiment, the aperture of the first through hole on the first bearing component 112 is larger than the diameter of the large arm transmission shaft 143, the large arm transmission shaft 143 passes through the first through hole, two ends of the large arm transmission shaft 143 are respectively located at two sides of the first bearing component 112, and the large arm transmission shaft 143 is rotatably engaged with the first fixing seat 114 through the two first bearings 1 and is fixed on the first bearing component 112 through the first fixing seat 114. The aperture of the second through hole on the second bearing member 113 is larger than the diameter of the small arm transmission shaft 153, the small arm transmission shaft 153 passes through the second through hole, two ends of the small arm transmission shaft 153 are respectively located at two sides of the second bearing member 113, and the small arm transmission shaft 153 is rotatably matched with the second fixing seat 115 through the two second bearings 3 and is fixed on the second bearing member 113 through the second fixing seat 115. In addition, the two first bearings 1 are spaced and limited by the second shaft sleeve 2, and the two second bearings 3 are spaced and limited by the second shaft sleeve 4. Through the structure, the large arm transmission shaft 143 and the small arm transmission shaft 153 are stable in rotation, simple to assemble and disassemble and convenient to maintain.

In a preferred embodiment, referring to fig. 12 and 13, the base 11 is provided with a third bearing mounting hole and a third bearing 5 located in the third bearing mounting hole, and the large arm driving shaft 144 is in interference fit with an inner ring of the third bearing 5;

the base 11 is further provided with a fourth bearing mounting hole, a fourth bearing 6 located in the fourth bearing mounting hole and a large arm driven rotating shaft 145 in interference fit with an inner ring of the fourth bearing 6, the large arm driven rotating shaft 145 is provided with a fifth bearing mounting hole and a fifth bearing 7 located in the fifth bearing mounting hole, the small arm driving shaft 154 is in interference fit with the inner ring of the fifth bearing 7, and two ends of the small arm driving shaft penetrate out of the fifth bearing mounting hole.

In this embodiment, the large arm driving shaft 144 is installed on the base 11 through the third bearing 5, the large arm driven rotating shaft 145 is installed on the base 11 through the fourth bearing 6, and is connected to or integrally formed with the large arm 20 to cooperate with the large arm driving shaft 144 to realize the rotation of the large arm 20 on the base 11, the small arm driving shaft 154 is installed on the large arm driven rotating shaft 145 through the fifth bearing 7 and is arranged on the same axis with the large arm driven rotating shaft 145, that is, a shaft center shaft setting form is adopted, the small arm driving shaft 154 can rotate on the large arm driven rotating shaft 145 and does not interfere with the rotation of the large arm driven rotating shaft 145 on the base 11, the structural design is ingenious and compact, and the cooperation is stable.

Further, referring to fig. 12 and 13, the base 11 is further provided with a first annular cover plate 116 disposed corresponding to the third bearing mounting hole, the first annular cover plate 116 abuts against the outer ring of the third bearing 5, the middle region of the large arm secondary driven wheel 1422 is provided with a plurality of third threaded through holes, and the end surface of the large arm driving shaft 144 is provided with third threaded holes adapted to the third threaded through holes;

the base 11 is further provided with a second annular cover plate 117 arranged corresponding to the fourth bearing mounting hole, the second annular cover plate 117 is abutted to the outer ring of the fourth bearing 6, the large arm driven rotating shaft 145 is further provided with a third annular cover plate 118 arranged corresponding to the fifth bearing mounting hole, the third annular cover plate 118 is abutted to the outer ring of the fifth bearing 7, the middle area of the small arm secondary driven wheel 1522 is provided with a fourth threaded through hole, and the tail end face of the small arm driving shaft 154 is provided with a fourth threaded hole matched with the fourth threaded through hole.

In this embodiment, through the corresponding bearing that supports of annular apron, can avoid the bearing to follow respective bearing mounting hole roll-off to increase installation stability, and can also block in other impurity gets into the bearing and influence its rotation. In addition, the large arm secondary driven wheel 1422 is locked at the tail end face of the large arm driving shaft 144 through a bolt, and the small arm secondary driven wheel 1522 is locked at the tail end face of the small arm driving shaft 154 through a bolt, so that the connection is stable, and the disassembly and the assembly are convenient.

In a preferred embodiment, referring to fig. 9, a first docking structure 112b is configured on the first carrier 112, and a second docking structure 113b is correspondingly configured on the second carrier 113;

a male spigot is arranged at the position where the first butting structure 112b is butted with the second butting structure 113b, and a female spigot is correspondingly arranged on the second butting structure 113 b; alternatively, a female stop is disposed at a position where the first abutting structure 112b abuts against the second abutting structure 113b, and a male stop is correspondingly disposed on the second abutting structure 113 b.

Wherein, the first bearing member 112 and the second bearing member 113 are butted by the first butting structure 112b and the second butting structure 113b to realize connection, which can enhance the compactness and stability of the whole structure. The first and

second docking structures

112b and 113b may be in various structural forms, such as plates, and the first docking structure 112b may be integrally formed with the first carrier 112, or the first docking structure 112b may be detachably disposed on the first carrier 112; the second docking structure 113b may be integrally formed with the second carrier 113, or the second docking structure 113b may be detachably disposed on the second carrier 113. Further, the first butt joint structure 112b and the second butt joint structure 113b are tightly connected in a mode of clamping male and female rabbets, the fit clearance is reduced, the fit relation between the first bearing piece 112 and the second bearing piece 113 is enhanced, and the first bearing piece 112 and the second bearing piece 113 can be quickly positioned and butted when the bearing is assembled, so that the assembling speed is increased, and the assembling efficiency is improved. Furthermore, several bolts may be further disposed between the first and

second docking structures

112b and 113b to connect the first and

second bearing members

112 and 113, thereby improving the connection strength between the first and

second bearing members

112 and 113. Wherein the fixing position of the bolt can be set by itself.

Further, referring to fig. 9, the bottom plate 111 or the first carrier 112 or the second carrier 113 is provided with a mounting bracket 8 and a cable patch panel 9 on the mounting bracket 8.

The related cable adapter plate 9 is a specially designed circuit board for realizing the connection conversion function from a plurality of cables to a few cables, so that the number of wires can be reduced, the winding of wires is avoided, and the signal transmission quality is ensured. The cables include, but are not limited to, signal lines and power lines of the upper arm drive motor 12 and the lower arm drive motor 13. In this embodiment, the cable adapter plate 9 is connected and locked with the mounting bracket 8 through screws, and is fixed on the base 11 through the mounting bracket 8. The mounting bracket 8 may be disposed at a plurality of positions, such as on the bottom plate 111, the first carrier 112 or the second carrier 113.

Of course, besides the above arrangement form of the mounting bracket 8, an installation groove adapted to the cable adapter plate 9 may be formed in the bottom plate 111 or the first carrier 112 or the second carrier 113 to fix the cable adapter plate 9 in the installation groove, and fixing manners such as clamping and screw locking may be adopted.

In a preferred embodiment, the first docking structure 112b and/or the second docking structure 113b are provided with wire passing holes. Specifically, the cables connected by the cable connection board 9 pass through the wire holes formed in the first connection structure 112b and/or the second connection structure 113b, so that the cables are beautiful and neat and are convenient to arrange.

In a preferred embodiment, referring to fig. 9, the base 11 further comprises: the closing plate 119 is located between the first bearing component 112 and the second bearing component 113, and further abuts against the first abutting structure 112b, the second abutting structure 113b and the bottom plate 111 to form an enclosed space, the cable adapter plate 9 is located in the enclosed space, and the closing plate 119 is detachably connected to the first bearing component 112 and the second bearing component 113.

Specifically, the upper side of the sealing plate 119 is abutted to the first abutting structure 112b and the second abutting structure 113b, the lower side of the sealing plate 119 is abutted to the bottom plate 111, and the left and right sides of the sealing plate 119 are respectively abutted to the second bearing member 113 and the first bearing member 112, and as an advantage, the cable adapter plate 9 is disposed in the enclosed space formed by the above structures, so that the circuit signal of the cable adapter plate 9 can be prevented from being interfered, and the stability of signal transmission is ensured.

In addition, the form of the sealing plate 119 detachably connected to the first carrier 112 and the second carrier 113 may be multiple, and in this embodiment, the sealing plate 119 is preferably connected and fixed to the first carrier 112 and the second carrier 113 by screws. By disassembling the closing plate 119, the cable adapter plate 9 is convenient to overhaul and maintain.

In a preferred embodiment, referring to fig. 14, the cable patch panel 9 has connected thereto:

a large arm drive motor power harness including a large arm motor ground line a 1;

a forearm drive motor power harness including a forearm motor ground a 2; and

a board power harness including a board connection a3 that engages and grounds the board connection;

the merged ground plate connection a3 is electrically connected to the large arm motor ground a1 and the small arm motor ground a2, respectively.

The combined grounding wire plate wiring a3 provided by the embodiment is arranged in the turntable driving shaft in a penetrating manner, one end of the combined grounding wire plate wiring a3 is electrically connected with the control board, the other end of the combined grounding wire plate wiring a3 penetrates through the turntable driving shaft and is exposed on the turntable, the combined grounding wire plate wiring a3 exposed on the turntable is electrically connected with the large-arm motor grounding wire a1 and the small-arm motor power grounding wire a2 respectively, and the size of the wire diameter of the cable penetrating through the turntable driving shaft can be reduced because the two original grounding wires penetrating through the turntable driving shaft are changed into one grounding wire. It should be noted that, since the control signals of the large arm motor ground line a1 and the small arm motor ground line a2 are the same, the large arm motor ground line a1 and the small arm motor ground line a2 may be combined, the combined ground line board wiring a3 after the combination may receive the control signal of the control board, and the combined ground line board wiring a3 may transmit the control signal to the large arm drive motor 12 and the small arm drive motor 13 through the large arm motor ground line a1 and the small arm motor ground line a2 after receiving the control signal of the control board.

In a preferred embodiment, the large arm driving motor 12 and the small arm driving motor 13 are servo motors including absolute value encoders and electromagnetic band brakes, respectively.

For making the desktop arm adapt to industrial level and use, as preferred, big arm driving motor 12 and forearm driving motor 13 choose for use servo motor, and servo motor's control accuracy is higher than step motor, has stronger overload capacity, and acceleration performance is better, and the operation is more steady, and it is more accurate to the drive of big arm and forearm to improve the working property of arm.

In addition, an absolute value encoder and an electromagnetic band brake are correspondingly arranged on the large arm driving motor 12 and the small arm driving motor 13 respectively, and the zero position of the motors is recorded through the absolute value encoders so as to help the motors to return to zero. Compared with an incremental encoder, the absolute value encoder has the advantages of no zero point accumulated error, strong interference resistance and higher precision. The electromagnetic band-type brake can enable the large arm driving motor 12 and the small arm driving motor 13 to stop rapidly after power failure so as to perform mechanical braking, so that the large arm and the small arm of the desktop mechanical arm can be prevented from automatically falling after power failure, and safety is improved.

In a preferred embodiment, referring to fig. 15, the large arm drive motor power line bundle further comprises a large arm motor contracting brake positive line a4 and a large arm motor contracting brake negative line a 7;

the forearm drive motor power wire harness further comprises a forearm motor contracting brake positive wire a5 and a forearm motor contracting brake negative wire a 8;

the board power connection wire harness further comprises a combined contracting brake positive wire board wiring a6 and a combined contracting brake negative wire board wiring a 9;

the combined contracting brake positive pole line plate wiring a6 is electrically connected with a big arm motor contracting brake positive pole line a4 and a small arm motor contracting brake positive pole line a5 respectively, and the combined contracting brake negative pole line plate wiring a9 is electrically connected with a big arm motor contracting brake negative pole line a7 and a small arm motor contracting brake negative pole line a8 respectively.

In this embodiment, since the control signals of the band brakes of the large arm driving motor 12 and the small arm driving motor 13 are the same, the large arm motor band brake positive line a4 and the small arm motor band brake positive line a5, and the large arm motor band brake negative line a7 and the small arm motor band brake negative line a8 may be merged, where merging refers to merging cables passing through the turntable drive shaft (i.e. merging the large arm motor band brake positive line a4 and the small arm motor band brake positive line a5 electrically connected to the control board, merging the large arm motor band brake negative line a7 and the small arm motor band brake negative line a8 electrically connected to the control board), the merged combined band brake positive line a6 and combined band brake negative line a9 may receive the control signal of the control board, merge the band brake positive line a6 and the combined band brake negative line a9 after receiving the control signal of the band brake control board, and then the positive pole line a4 of the large arm motor band-type brake, the negative pole line a7 of the large arm motor band-type brake, the positive pole line a5 of the small arm motor band-type brake and the negative pole line a8 of the small arm motor band-type brake are respectively transmitted to the large arm driving motor band-type brake and the small arm driving motor band-type brake. The positive pole wire and the negative pole wire of the band-type brake penetrating through the rotary table driving shaft are respectively changed into one wire from the original two wires, so that the wire diameter of a cable penetrating through the rotary table driving shaft can be reduced.

In a preferred embodiment, referring to fig. 16, the cable patch panel is further connected with:

the large arm driving motor encoder wire harness comprises a large arm motor encoder battery positive wire a10, a large arm motor encoder battery negative wire a40, a large arm motor encoder power supply positive wire a70 and a large arm motor encoder power supply negative wire a 100;

the small arm driving motor encoder wire harness comprises a small arm motor encoder battery positive wire a20, a small arm motor encoder battery negative wire a50, a small arm motor encoder power supply positive wire a80 and a small arm motor encoder power supply negative wire a 200; and

the plate joint encoder wire harness comprises a joint encoder battery positive wire plate wiring a30, a joint encoder battery negative wire plate wiring a60, a joint encoder power supply positive wire plate wiring a90 and a joint power supply encoder negative wire plate wiring a 300;

the combined encoder battery positive wire plate wiring a30 is electrically connected with a large arm motor encoder battery positive wire a10 and a small arm motor encoder battery positive wire a20 respectively, the combined encoder battery negative wire plate wiring a60 is electrically connected with a large arm motor encoder battery negative wire a40 and a small arm motor encoder battery negative wire a50 respectively, the combined power supply positive wire plate wiring a90 is electrically connected with a large arm motor encoder power supply positive wire a70 and a small arm motor encoder power supply positive wire a80 respectively, and the combined power supply negative wire plate wiring a300 is electrically connected with a large arm motor encoder power supply negative wire a100 and a small arm motor encoder power supply negative wire a200 respectively.

In this embodiment, the encoders of the large arm driving motor 12 and the small arm driving motor 13 need power supply to ensure normal operation thereof, the power supply of the encoders includes an external power supply and an internal power supply, the external power supply refers to a power supply externally connected to the desktop mechanical arm through a power plug, and the internal power supply refers to a backup battery internally installed in the desktop mechanical arm, so that normal power supply of the encoders is maintained through the backup battery when the desktop mechanical arm stops the external power supply. The encoders of the large arm drive motor 12 and the small arm drive motor 13 each have a signal line, a battery line, and a power supply line, wherein the signal line of the encoder is not commonly used, and the battery line and the power supply line of the encoder are commonly used. Therefore, the embodiment of the present invention combines the large arm motor encoder battery positive line a10 and the small arm motor encoder battery positive line a20, the large arm motor encoder battery negative line a40 and the small arm motor encoder battery negative line a50, the large arm motor encoder power positive line a70 and the small arm motor encoder power positive line a80, and the large arm motor encoder power negative line a100 and the small arm motor encoder power negative line a200, respectively, and the combined encoder battery positive line board wiring a30, the combined encoder battery negative line board wiring a60, the combined encoder power positive line board a90 and the combined encoder power negative line board a300 can receive the control signal of the control board, and after receiving the control signal of the control board, the combined encoder battery positive line board wiring a30, the combined encoder battery negative line board a60, the combined encoder power positive line board wiring a90 and the combined encoder power negative line a300, and then the signals are transmitted to encoders of the large arm driving motor 12 and the small arm driving motor 13 through a large arm motor encoder battery positive electrode line a10, a large arm motor encoder battery negative electrode line a40, a large arm motor encoder power supply positive electrode line a70, a large arm motor encoder power supply negative electrode line a100, a small large arm motor encoder battery positive electrode line a20, a small arm motor encoder battery negative electrode line a50, a small arm motor encoder power supply positive electrode line a80 and a small arm motor encoder power supply negative electrode line a200 respectively. Because the positive wire of the encoder battery, the negative wire of the encoder battery, the positive wire of the encoder power supply and the negative wire of the encoder power supply which penetrate through the rotary table driving shaft are respectively changed into one wire from the original two wires, the wire diameter of the cable penetrating through the rotary table driving shaft is reduced.

Furthermore, the absolute value encoder is a multi-turn absolute value encoder, and the electromagnetic band brake is an electromagnetic band brake of a power-off band brake. In this embodiment, for single circle absolute value encoder, many circles absolute value encoder possesses advantages such as installation and debugging are simple, need not to find zero point, multi-functional output method and long service life. And the selected electromagnetic band-type brake of the power-off band-type brake can enable the large arm driving motor 12 and the small arm driving motor 13 to stop rapidly after power-off so as to perform mechanical braking.

Referring to fig. 6, the desktop robot includes a base 40, a large arm 20, a small arm 30, and the turntable 10 described in the above embodiment, the turntable 10 is disposed on the base 40, one end of the large arm 20 is connected to the turntable 10, and the other end of the large arm 20 is connected to the small arm 30. The specific structure of the turntable 10 refers to the above embodiments, and since the desktop mechanical arm adopts all technical solutions of all the above embodiments, at least all technical effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.

Further, the table top robot arm also includes an end effector connected to the small arm 30 by an end. The movement of the end effector is compounded by the movements of the turntable 10, the large arm 20 and the small arm 30, and the end effector may be various types of clamps, such as pneumatic or electric clamping jaws, and the like, and in addition, it may also include an end driving motor, and an output shaft of the end driving motor may be provided with a suction nozzle, and the like, including but not limited thereto.

The invention further provides a robot, which comprises the table top mechanical arm described in the above embodiment. The specific structure of the desktop mechanical arm refers to the above embodiments, and since the robot adopts all technical solutions of all the above embodiments, the robot at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated here.

The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a revolving stage of desktop arm, its characterized in that, be equipped with base, big arm driving motor, forearm driving motor, big arm speed reduction subassembly and forearm speed reduction subassembly on the revolving stage, big arm driving motor with forearm driving motor is located the rear side of base and range upon range of from top to bottom are arranged, big arm speed reduction subassembly with forearm speed reduction subassembly is located respectively two lateral surfaces about the base, big arm speed reduction subassembly includes big arm one-level synchronous pulley and is located big arm one-level synchronous pulley with big arm second grade synchronous pulley between the base, forearm speed reduction subassembly includes forearm one-level synchronous pulley and is located forearm one-level synchronous pulley with forearm second grade synchronous pulley between the base.

2. Turntable as claimed in claim 1,

3. Turntable as claimed in claim 2,

4. The turntable of claim 3, wherein the base comprises: a base plate; the first bearing piece and the second bearing piece are oppositely arranged on the bottom plate, a first mounting seat is formed on the first bearing piece, and a second mounting seat is formed on the second bearing piece.

5. Turntable as claimed in claim 4,

a wiring hole and a plurality of turntable driving shaft connecting holes are formed in the central area of the bottom plate;

6. Turntable as claimed in claim 4,

7. Turntable as claimed in claim 6,

8. The turntable according to claim 7,

9. Turntable as claimed in claim 2,

a third bearing mounting hole and a third bearing positioned in the third bearing mounting hole are formed in the base, and the large arm driving shaft is in interference fit with an inner ring of the third bearing;

10. Turntable as claimed in claim 9,

the base is further provided with a first annular cover plate arranged corresponding to the third bearing mounting hole, the first annular cover plate is abutted to an outer ring of the third bearing, a plurality of third threaded through holes are formed in the middle area of the secondary driven wheel of the large arm, and a third threaded hole matched with the third threaded through holes is formed in the tail end face of the driving shaft of the large arm;

11. The turntable of claim 4, wherein the first carrier has a first docking feature configured thereon and the second carrier has a corresponding second docking feature configured thereon;

12. The turret of claim 11, wherein a mounting bracket and a cable patch panel on the mounting bracket are provided on the base plate or the first carrier or the second carrier.

13. The turntable of claim 12, wherein the first docking structure and/or the second docking structure has a wire passing hole therein.

14. The turntable of claim 12, wherein the base further comprises: the sealing plate is located between the first bearing piece and the second bearing piece and is further in butt joint with the first butt joint structure, the second butt joint mechanism and the bottom plate to form an enclosed space, the cable adapter plate is located in the enclosed space, and the sealing plate is detachably connected with the first bearing piece and the second bearing piece respectively.

15. The turntable of claim 12, wherein the cable patch panel has attached thereto:

a large arm drive motor power harness including a large arm motor ground wire;

16. The turntable according to claim 15, wherein the large arm drive motor and the small arm drive motor are servo motors comprising absolute value encoders and electromagnetic band brakes, respectively.

17. The turntable according to claim 16,

the power line bundle of the large arm driving motor further comprises a large arm motor contracting brake device positive line and a large arm motor contracting brake device negative line;

18. The turntable of claim 17, wherein the cable patch panel further has attached thereto:

19. The turntable according to claim 16, wherein the absolute value encoder is a multi-turn absolute value encoder, and the electromagnetic band brake is an electromagnetic band brake of a power-off band brake.

20. A desktop robot arm comprising a base, a large arm, a small arm and a turntable according to any one of claims 1 to 19, wherein the turntable is arranged on the base, one end of the large arm is connected with the turntable, and the other end of the large arm is connected with the small arm.

21. The table top robot arm of claim 20, further comprising an end effector coupled to the forearm via an end.

22. A robot comprising a robot desktop as claimed in claim 20 or 21.