CN112454329B - Base of desktop mechanical arm, desktop mechanical arm and robot - Google Patents
Base of desktop mechanical arm, desktop mechanical arm and robot Download PDFInfo
- Publication number
- CN112454329B CN112454329B CN202011259843.5A CN202011259843A CN112454329B CN 112454329 B CN112454329 B CN 112454329B CN 202011259843 A CN202011259843 A CN 202011259843A CN 112454329 B CN112454329 B CN 112454329B
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- turntable
- rotary table
- base
- driving motor
- shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a base of a desktop mechanical arm, which comprises a box-shaped shell, a rotary table driving motor, a rotary table speed reducing assembly and a rotary table driving shaft, wherein the rotary table driving motor, the rotary table speed reducing assembly and the rotary table driving shaft are arranged in the box-shaped shell, the rotary table driving shaft is arranged in the central area of the box-shaped shell, the rotary table driving motor is staggered around the rotary table driving shaft, the output shaft of the rotary table driving motor faces upwards, and the rotary table driving motor drives the rotary table driving shaft to rotate through the rotary table speed reducing assembly. The invention is beneficial to reducing the load weight of the turntable motor and the gravity center height of the base. In addition, the invention also discloses a desktop mechanical arm and a robot.
Description
Technical Field
The invention relates to the technical field of desktop mechanical arms, in particular to a base of a desktop mechanical arm, the desktop mechanical arm and a robot.
Background
The table top mechanical arm is a subdivision of mechanical arms, has strong adaptability and dynamic problem solving capability, and is widely applied to the teaching field, generally comprises a base, a rotary table, a big arm, a small arm, a tail end, a rotary table motor, a big arm motor and a small arm motor, wherein the rotary table is rotatably connected with the base, the big 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 motor is used for driving the rotary table to rotate relative to the base, the big arm motor is used for driving the big arm to move, the small arm motor is used for driving the small arm to move, and the big arm and the small arm can drive the tail end to move in a working space by utilizing a parallelogram principle, for example, the Chinese patent with the application number of CN 201620105515.2.
The existing desktop mechanical arm has two schemes of arranging a rotary table motor, one scheme is that the rotary table motor is generally arranged between a large arm motor and a small arm motor in an inverted mode, an output shaft of the rotary table motor is fixedly connected with a base through a synchronous belt rotary table speed reducing assembly, when the motor works, the base is not moved, and the motor drives a body and the rotary table speed reducing assembly to rotate together, so that the load is large, the service life of the motor is short, the control precision is poor, and the power consumption is high, for example, the Chinese patent with the application number of CN 201910571696.6; the other is that a turntable motor and a speed reducer are inversely arranged on a turntable, and an output shaft of the turntable motor is directly connected with a base through the speed reducer, so that the center of gravity of the base is higher, the center of gravity of the whole machine is inclined forwards, the stability is poor, and the load-limiting capacity of the tabletop mechanical arm is reduced, as in the Chinese patent with the application number of CN201810921858.
Disclosure of Invention
The present invention is directed to a base of a desktop robot arm, so as to solve the technical problems of the related art.
In order to achieve the purpose, the invention provides a base of a desktop mechanical arm, which comprises a box-shaped shell, and a rotary table driving motor, a rotary table speed reducing assembly and a rotary table driving shaft which are arranged in the box-shaped shell, wherein the rotary table driving shaft is arranged in the central area of the box-shaped shell, the rotary table driving motor is arranged around the rotary table driving shaft in a staggered manner, an output shaft of the rotary table driving motor is arranged upwards, and the rotary table driving motor is in transmission connection with the rotary table driving shaft through the rotary table speed reducing assembly.
The turntable speed reducing assembly comprises a turntable primary synchronous belt wheel and a turntable secondary synchronous belt wheel; one end of the turntable primary synchronous belt pulley is in transmission connection with the turntable driving motor, the other end of the turntable primary synchronous belt pulley is in transmission connection with one end of the turntable secondary synchronous belt pulley, and the other end of the turntable secondary synchronous belt pulley is in transmission connection with the turntable driving shaft.
The box-shaped shell is internally provided with a partition plate extending in the horizontal direction, the turntable primary synchronous belt pulley is arranged on the top surface of the partition plate, the turntable driving motor is arranged below the bottom surface of the partition plate, an output shaft of the turntable driving motor penetrates out of the partition plate to be in transmission connection with one end of the turntable primary synchronous belt pulley, and the turntable secondary synchronous belt pulley is arranged on the bottom surface of the partition plate.
Wherein the turntable drive shaft is disposed on the partition plate through a thrust bearing.
The bearing section is abutted to the upper edge of the inner ring of the thrust bearing, the insertion section is abutted to the inner ring of the thrust bearing, and the connecting section is in transmission connection with the secondary synchronous belt pulley of the rotary table.
Wherein, the base still includes: the bearing pressing plate is in a hollow annular structure, the bearing pressing plate is arranged on the thrust bearing and is abutted to the outer ring of the thrust bearing, and the bearing pressing plate is fixedly connected with the partition plate.
Wherein, the thrust bearing is a double-row angular contact bearing.
The turntable primary synchronous belt pulley comprises a turntable primary driving wheel, a turntable primary driven wheel and a turntable primary synchronous belt, and the turntable primary driving wheel and the turntable primary driven wheel are in transmission connection through the turntable primary synchronous belt; the second-stage synchronous belt pulley of the rotary table comprises a second-stage driving wheel of the rotary table, a second-stage driven wheel of the rotary table and a second-stage synchronous belt of the rotary table, and the second-stage driving wheel of the rotary table and the second-stage driven wheel of the rotary table are in transmission connection through the second-stage synchronous belt of the rotary table; the base still includes the revolving stage transmission shaft, just the baffle is constructed to have the confession the shaft hole that the revolving stage transmission shaft passed, the revolving stage transmission shaft includes installation cover, two bearings and axis body, two bearings respectively interference fit set up in the both ends of installation cover, the axis body set up in within the installation cover and simultaneously with two bearing inner rings are connected, axis body one end is passed the shaft hole with the revolving stage one-level is connected from the driving wheel, the other end with revolving stage second grade action wheel is connected.
Wherein, the base still includes: a plurality of first set screws and a first tensioning mechanism; the partition plate is provided with a plurality of first kidney-shaped holes, and the first fixing screws are fixedly connected with the mounting sleeve through the first kidney-shaped holes; the first tensioning mechanism comprises a first support and a first rotating bolt, the first support is provided with a first connecting end and a first threaded end, the first tensioning mechanism is fixedly connected with the partition plate through the first connecting end, the first tensioning mechanism is located below the partition plate, the first rotating bolt is rotatably connected with the first threaded end, the screw head of the first rotating bolt is arranged close to the mounting sleeve, the position of the first rotating bolt in the horizontal direction can be adjusted by rotating the first rotating bolt, the screw head of the first rotating bolt is abutted to the mounting sleeve, and the mounting sleeve is moved along a track corresponding to the first kidney-shaped hole by extruding the mounting sleeve.
The rotary table secondary driven wheel is detachably connected with the connecting section, the rotary table secondary driven wheel is provided with a butt structure, the butt structure is in a ring shape matched with the connecting section, the rotary table secondary driven wheel is in butt joint with the lower edge of the inner ring of the thrust bearing when being fixedly connected with the connecting section, the rotary table secondary driven wheel is provided with a connecting structure, the connecting structure is a plurality of threaded through holes, and the connecting section is provided with threaded holes matched with the threaded through holes.
The base further comprises a positioning pin, the connecting section is provided with a positioning hole, the second-stage driven wheel of the rotary table is provided with a positioning through hole, and the positioning pin is inserted into the positioning hole through the positioning through hole.
Wherein, the base still includes: a plurality of second set screws and a second tensioning mechanism; the partition plate is provided with a plurality of second kidney-shaped holes, and the second fixing screws are fixedly connected with the rotary table driving motor through the second kidney-shaped holes; the second tensioning mechanism comprises a second support and a second rotating bolt, the second support is provided with a second connecting end and a second threaded end, the second tensioning mechanism is fixedly connected with the partition plate through the second connecting end, the second tensioning mechanism is located below the partition plate, the second rotating bolt is rotatably connected with the threaded end, the screw head of the second rotating bolt is close to the rotary table driving motor, the position of the second rotating bolt in the horizontal direction can be adjusted through rotating the second rotating bolt, the screw head of the second rotating bolt is abutted to the rotary table driving motor, and the rotary table driving motor moves along the track corresponding to the second kidney-shaped hole through extrusion.
The box-shaped shell further comprises a top plate and a bottom plate, the top plate comprises a first cover plate and a first cover plate, semicircular gaps are respectively formed in the first cover plate and the second cover plate, the first cover plate and the second cover plate are arranged on the partition plate and detachably connected with the box-shaped shell, the semicircular gaps of the first cover plate and the second cover plate are combined to form a circular gap, the circular gap is located in the vertical direction of the rotary table driving shaft, and the bottom plate is arranged below the partition plate and detachably connected with the box-shaped shell.
The rotary table driving motor is a servo motor, an encoder is arranged on the servo motor and is an absolute value encoder, and a battery mounting seat electrically connected with the absolute value encoder is further arranged in the box-shaped shell.
The invention further provides a desktop mechanical arm which comprises a rotary table, a large arm, a small arm and the base, wherein the base comprises a box-shaped shell, a rotary table driving motor, a rotary table speed reducing assembly and a rotary table driving shaft, the rotary table driving motor, the rotary table speed reducing assembly and the rotary table driving shaft are arranged in the box-shaped shell, the rotary table driving shaft is arranged in the central area of the box-shaped shell, the rotary table driving motor is arranged around the rotary table driving shaft in a staggered mode, the output shaft of the rotary table driving motor is arranged upwards, and the rotary table driving motor is in transmission connection with the rotary table driving shaft through the rotary table speed reducing assembly.
Wherein the tabletop arm further comprises an end effector coupled to the forearm.
The invention further provides a robot, which comprises the desktop mechanical arm, wherein the desktop mechanical arm comprises the base, the base comprises a box-shaped shell, and a rotary table driving motor, a rotary table speed reducing assembly and a rotary table driving shaft which are arranged in the box-shaped shell, the rotary table driving shaft is arranged in the central area of the box-shaped shell, the rotary table driving motor is arranged around the rotary table driving shaft in a staggered mode, the output shaft of the rotary table driving motor is arranged upwards, and the rotary table driving motor is in transmission connection with the rotary table driving shaft through the rotary table speed reducing assembly.
According to the base of the desktop mechanical arm provided by the embodiment of the invention, the rotary table driving motor, the rotary table speed reducing assembly and the rotary table driving shaft are arranged in the box-shaped shell, and the rotary table driving shaft is connected with the rotary table to drive the rotary table to rotate, so that the weight of the rotary table is reduced, the service life and the precision of the rotary table motor can be prolonged, and the power consumption of the motor can be reduced. Simultaneously, the base in this scheme passes through revolving stage driving motor dislocation arrangement around the revolving stage drive shaft to this height that is favorable to reducing the base, thereby be favorable to reducing the focus of base and the stability that improves the base.
Drawings
FIG. 1 is a schematic diagram of a conventional tabletop arm;
FIG. 2 is a schematic view of another prior art tabletop arm configuration;
FIG. 3 is a schematic view of another prior art tabletop robot;
FIG. 4 is a cross-sectional view of one embodiment of the base of the robot table of the present invention;
FIG. 5 is a schematic view of the base portion structure shown in FIG. 4 from a perspective;
FIG. 6 is a schematic view of the base portion structure shown in FIG. 4 from another perspective;
FIG. 7 is a cross-sectional view of the base portion structure shown in FIG. 4;
FIG. 8 is a cross-sectional view of the base portion structure shown in FIG. 4;
FIG. 9 is an exploded view of the box-like housing, top plate and bottom plate shown in FIG. 4;
FIG. 10 is a schematic view of the base portion structure shown in FIG. 4 from a further perspective;
FIG. 11 is a schematic structural view of the first tensioning mechanism shown in FIG. 10;
FIG. 12 is a schematic diagram of a desktop robot according to an embodiment of the present invention.
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 the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
The invention provides an improved scheme based on a desktop mechanical arm shown in figures 1, 2 and 3, wherein the desktop mechanical arm shown in figure 1 comprises a base, a rotary table, a large arm, a small arm, a tail end, a rotary table motor, a large arm motor and a small arm motor, 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 motor is used for driving the rotary table to rotate relative to the base, the large arm motor is used for driving the large arm to move, the small arm 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. As shown in fig. 2, the table top mechanical arm is inversely installed between the large arm motor and the small arm motor, the output shaft of the rotary table motor is fixedly connected with the base through the synchronous belt rotary table speed reducing assembly, the base is fixed when the motor works, the motor drives the body and the rotary table speed reducing assembly to rotate together, so that the load is large, the service life of the motor is short, the control precision is poor, and the power consumption is high. As the desktop mechanical arm shown in figure 3, the rotary table motor and the speed reducer are inversely installed on the rotary table, the output shaft of the rotary table motor is directly connected with the base through the speed reducer, the gravity center of the base is higher, the gravity center of the whole machine inclines forwards, the stability is poorer, and the load limiting capacity of the desktop mechanical arm is reduced.
The present invention provides a base of a robot arm, as shown in fig. 4, the base includes a box-shaped housing 100, a turntable driving motor 200, a turntable speed reducing assembly 300, and a turntable driving shaft 140, which are disposed in the box-shaped housing 100, the turntable driving shaft 140 is disposed in a central region of the box-shaped housing 100, the turntable driving motor 200 is disposed around the turntable driving shaft 140 in a staggered manner, an output shaft of the turntable driving motor 200 faces upward, and the turntable driving motor 200 drives the turntable driving shaft 140 to rotate through the turntable speed reducing assembly 300.
In the present embodiment, the box-like housing 100 is preferably provided in a rectangular shape (at this time, X represents a horizontal direction and Y represents a vertical direction as shown in fig. 4 according to the arrangement state of the box-like housing 100), the turntable drive motor 200, the turntable deceleration assembly 300 and the turntable drive shaft 140 are all fixed within the box-like housing 100, and the turntable drive shaft 140 is preferably located in a central region of the box-like housing 100, that is, the turntable drive shaft 140 is located at a central position of the top of the box-like housing 100. Meanwhile, the turntable driving motor 200 is disposed around the turntable driving shaft 140 in a staggered manner, thereby facilitating the reduction of the height of the base, and it is preferable that the output shaft of the turntable motor 200 is disposed vertically upward. Further, the turntable driving motor 200 drives the turntable driving shaft to rotate through the turntable deceleration assembly 300, so that the turntable connected to the turntable driving shaft 140 rotates. Wherein the turntable speed reduction assembly 300 may be in the form of a speed reducer or a timing belt. In this embodiment, compared with the robot arm shown in fig. 2, the base in this embodiment arranges the turntable driving motor 200, the turntable speed reduction assembly 300, and the turntable driving shaft 140 in the box-shaped housing 100, and uses the turntable driving shaft 140 to connect with the turntable to drive the turntable to rotate, so as to reduce the weight of the turntable, improve the service life and accuracy of the turntable motor 200, and reduce the power consumption of the motor. Meanwhile, compared with the mechanical arm shown in fig. 3, the base in the scheme is arranged around the rotary table driving shaft 140 in a staggered manner through the rotary table driving motor 200, so that the height of the base is favorably reduced, the gravity center of the base is favorably reduced, and the stability of the base is favorably improved.
In a preferred embodiment, as shown in fig. 4 to 6, it is preferable that the turntable deceleration assembly 300 includes a turntable primary synchronous pulley 310 and a turntable secondary synchronous pulley 320, and the turntable primary synchronous pulley 310 is in transmission connection with the turntable driving motor 200 and the turntable secondary synchronous pulley 320, respectively, and the turntable secondary synchronous pulley 320 is also in transmission connection with the turntable driving shaft 140. At this time, the turntable primary timing pulley 310 and the turntable secondary timing pulley 320 may be disposed in the box-shaped housing 100 in a general fixing manner, for example, a plurality of supporting members may be provided in the box-shaped housing 100 to fix the turntable driving motor 200, the turntable primary timing pulley 310, and the turntable secondary timing pulley 320, respectively. In this embodiment, carry out the speed reduction through synchronous pulley's mode to be favorable to reducing the manufacturing cost of base under the circumstances of guaranteeing control accuracy.
In a preferred embodiment, as shown in fig. 4 to 6, at this time, according to the arrangement state of the box-like housing 100, a represents the top surface of the partition 130, B represents the bottom surface of the partition 130, and the partition 130 is preferably horizontally provided in the box-like housing 100 as shown in fig. 4 to divide the inner space of the box-like housing 100 into two spaces, and preferably, the distance between the partition 130 and the top of the box-like housing 100 is smaller than the distance between the partition 130 and the bottom of the box-like housing 100, and the turntable primary timing pulley 310 is provided on the top surface of the partition 130, and the turntable secondary timing pulley 320 and the turntable driving motor 200 are both located on the bottom surface of the partition 130. In the present embodiment, the partition plate 130 is provided in the box-like casing 100 to mount the parts such as the turntable driving motor 200, the turntable primary timing pulley 310, and the turntable secondary timing pulley 320, thereby contributing to increase stability in fixing the above parts.
In another embodiment, the turntable driving motor 200, the turntable primary synchronous pulley 310 and the turntable secondary synchronous pulley 320 may be detachably mounted on the partition plate 130, and the turntable driving motor 200, the turntable primary synchronous pulley 310 and the turntable secondary synchronous pulley 320 may be first fixed on the partition plate 130, and then the partition plate 130 may be fixed in the box-shaped housing 100.
In a preferred embodiment, as shown in fig. 7, it is preferable that the turntable driving shaft 140 is disposed on the partition 130 through the thrust bearing 160, and the turntable speed reducing assembly 300 (i.e. the turntable secondary synchronous pulley 320) is in transmission connection with the turntable through the turntable driving shaft 140, so as to avoid the turntable speed reducing assembly 300 directly bearing the weight of the turntable, thereby increasing the service life of the turntable speed reducing assembly 300, i.e. when the output shaft of the turntable speed reducing assembly 300 is directly connected with the turntable, the turntable speed reducing assembly 300 is subjected to a large force, and the load weight of the turntable speed reducing assembly 300 is increased. At this time, it is preferable that the turntable driving shaft 140 is located at the center position of the partition 130.
In a preferred embodiment, as shown in fig. 7, it is preferable that the partition 130 is configured with an accommodating cavity 133 at a central position thereof for installing the thrust bearing 160, and a bearing structure 134 capable of receiving the lower edge of the outer ring of the thrust bearing 160 is disposed at the bottom of the accommodating cavity, in this case, it is preferable that the bearing structure 134 is a ring, and after the thrust bearing 160 is installed in the accommodating cavity 133, the bearing structure 134 can abut against the lower edge of the outer ring of the thrust bearing 160 to achieve the purpose of receiving the thrust bearing 160, and the turntable driving shaft 140 can be inserted into the inner ring of the thrust bearing 160 from top to bottom in the vertical direction. Meanwhile, the turntable driving shaft 140 is divided into a connecting section 141, an inserting section 142 and a bearing section 143 (i.e. the diameter of the inserting section 142 is smaller than that of the bearing section 143, and at this time, the diameter of the connecting section 141 is preferably the same as that of the inserting section 142), wherein the inserting section 142 can be inserted into the inner ring of the thrust bearing 160, the connecting section 141 passes through the thrust bearing 160 and is in transmission connection with the turntable secondary synchronous pulley 320, and one end of the bearing section 143, which is close to the inserting section 142, can be abutted against the upper edge of the inner ring of the thrust bearing 160, so that the thrust bearing 160 bears the weight of the turntable.
In a preferred embodiment, as shown in fig. 7, the base further preferably includes a bearing pressing plate 170, and the bearing pressing plate 170 is preferably an annular plate, the bearing pressing plate 170 can be sleeved on the bearing section 143, and at this time, the bearing pressing plate 170 can close the open end of the receiving cavity 133 and can abut against the upper edge of the outer ring of the thrust bearing 160. It is preferred that the bearing retainer 170 be removably attached to the spacer 130, such as by screws, to help prevent the thrust bearing 160 located in the receiving cavity 133 from slipping out.
In a preferred embodiment, the thrust bearing 160 is preferably a double row angular contact bearing, which occupies a small axial space, thereby facilitating the reduction of the length of the turntable drive shaft 140 and thus the height of the pedestal. Meanwhile, the double-row angular contact ball bearing can provide a bearing configuration with higher rigidity and can bear overturning moment.
In a preferred embodiment, as shown in fig. 5, it is preferable that the turntable primary synchronous pulley 310 includes a turntable primary driving pulley 311, a turntable primary driven pulley 312 and a turntable primary synchronous belt 313, wherein the turntable primary driving pulley 311 is sleeved on the output shaft of the turntable driving motor 200, the turntable primary driven pulley 312 is disposed on the partition 130 through the turntable transmission shaft 150, the turntable primary synchronous belt 313 is respectively connected to the turntable primary driving pulley 311 and the turntable primary driven pulley 312, and the transmission ratio between the turntable primary driving pulley 311 and the turntable primary driven pulley 312 is arranged according to the actual requirement of speed reduction.
Meanwhile, as shown in fig. 6, it is preferable that the turntable secondary synchronous pulley 320 includes a turntable secondary driving pulley 321, a turntable secondary driven pulley 322, and a turntable secondary synchronous belt 323, wherein the turntable secondary driving pulley 321 is sleeved on the turntable transmission shaft 150 (at this time, one end of the turntable transmission shaft 150 penetrates through the partition 130 from top to bottom), the turntable secondary driven pulley 322 is sleeved on the turntable driving shaft 140 (at this time, one end of the turntable driving shaft 140 penetrates through the partition 130 from top to bottom), and the turntable secondary synchronous belt 323 is connected to the turntable secondary driving pulley 321 and the turntable secondary driven pulley 322, respectively, and the transmission ratio between the turntable secondary driving pulley 321 and the turntable secondary driven pulley 322 is arranged according to the actual requirement of speed reduction. At this time, it is preferable that the turntable driving shaft 140, the turntable driving shaft 150, and the output shaft of the turntable driving motor 200 are arranged in a triangular state, thereby contributing to increase of the stability of the base.
As shown in fig. 8, the turntable drive shaft 150 preferably includes a mounting sleeve 151, a shaft body 152, and two bearings 153, the shaft body 152 is mounted in the mounting sleeve 151 through the two bearings 153, the mounting sleeve 151 is fixed on the partition 130, preferably, the mounting sleeve 151 is located below the partition 130, and the partition 130 has a shaft hole corresponding to the mounting sleeve 151, so that the shaft body 152 mounted in the mounting sleeve 151 passes through the shaft hole. At this time, the turntable primary driven wheel 312 is connected to one end of the shaft body 152 above the partition 130, and the turntable secondary driving wheel 321 is connected to one end of the shaft body 152 below the partition 130.
In a preferred embodiment, as shown in fig. 9, it is preferable that the partition 130 has a plurality of first kidney-shaped holes 131, and at this time, the mounting sleeve 151 can be connected to a first fixing screw passing through the first kidney-shaped holes 131, so as to fix the mounting sleeve 151 on the partition 130, and at the same time, the first fixing screw can move in the first kidney-shaped holes 131, so as to drive the second-stage driving pulley 321 of the turntable located on the shaft body 152 to move towards or away from the second-stage driven pulley 322 of the turntable, thereby facilitating to adjust the tension of the second-stage timing belt 323 of the turntable.
Meanwhile, as shown in fig. 10 and 11, a first tensioning mechanism 400 is further disposed in the box-shaped casing 100, the first tensioning mechanism 400 is disposed on the bottom surface of the partition 130 and located between the turntable secondary driving wheel 321 and the turntable secondary driven wheel 322, the first tensioning mechanism 400 includes a first bracket 410 connected to the partition 130 and a first rotating bolt 420, the first bracket 410 includes a first connecting end and a first threaded end, the first connecting end is connected to the partition 130, and the first rotating bolt 420 is in threaded engagement with the first threaded end, so that the screw head of the first rotating bolt 420 can abut against the mounting sleeve 151, and the abutting position can be arranged according to actual conditions. In this embodiment, when the turntable transmission shaft 150 is installed, first, the first fixing screw passes through the first waist-shaped hole 131 and is connected with the installation sleeve 151, but the first fixing screw is not completely fastened, so that the turntable transmission shaft 150 can move in the first waist-shaped hole 131 along with the first fixing screw, at this time, the turntable transmission shaft 150 can be driven to drive the turntable secondary driving wheel 321 to move away from the turntable secondary driven wheel 322 by screwing the first rotating screw 420, thereby changing the tension degree of the turntable secondary synchronous belt 323, when the tension degree of the turntable secondary synchronous belt 323 is in a proper state (i.e., the turntable transmission shaft 150 moves to a preset position), the installation sleeve 151 can be fixed by using the first fixing screw, thereby facilitating the installation of the turntable transmission shaft 150, and simultaneously, the stability of the turntable transmission shaft 150 during operation can also be increased by abutting the first rotating screw 420 and the installation sleeve 151.
In a preferred embodiment, as shown in fig. 7, the secondary turntable driven wheel 322 is sleeved on the turntable driving shaft 140 (i.e. the insertion section 142), and the secondary turntable driven wheel 322 is provided with a connecting structure 324 located right below the turntable driving shaft 140. At this time, the connecting structure 324 is a plurality of threaded through holes formed in the turntable secondary driven wheel 322, a threaded hole capable of being matched with the threaded through hole is formed in the bottom of the turntable driving shaft 140, and the turntable secondary driven wheel 322 can be fixed on the turntable driving shaft 140 by sequentially penetrating through the threaded through holes and the threaded hole through screws.
Meanwhile, as shown in fig. 7, an abutting structure 325 is preferably disposed on the secondary turntable driven wheel 322, and the abutting structure 325 is preferably a sleeve structure and can be sleeved on the turntable driving shaft 140, and the top of the abutting structure 325 can abut against the lower edge of the inner ring of the thrust bearing 160. At this time, it is preferable that a predetermined distance is provided between the top surface of the connection structure 324 and the bottom surface of the turntable drive shaft 140, that is, a certain gap is provided between the connection structure 324 and the bottom of the turntable drive shaft 140, and since there is a certain error in the processing, in order to avoid that the abutment structure 325 cannot abut against the inner ring lower edge of the thrust bearing when the connection structure 324 abuts against the bottom of the turntable drive shaft 140, the above situation can be avoided by using a certain gap between the connection structure 324 and the bottom of the turntable drive shaft 140, so that the thrust bearing 160 is clamped by the abutment structure 325 and the bearing section 143, and the thrust bearing 160 is prevented from sliding on the insertion section 142.
In a preferred embodiment, as shown in fig. 7, the base further includes a positioning pin 326, a positioning hole is disposed at the bottom of the connecting section 141, a positioning through hole is disposed on the secondary turntable driven wheel 322, and the positioning pin 326 can sequentially pass through the positioning through hole and the positioning hole to position the secondary turntable driven wheel 322 on the connecting section 141, so as to facilitate the fixation of the secondary turntable driven wheel 322.
In a preferred embodiment, as shown in fig. 9, it is preferable that the partition 130 has a plurality of second kidney-shaped holes 132, and the turntable driving motor 200 can be connected to a second fixing screw passing through the second kidney-shaped holes 132 to fix the turntable driving motor 200 on the partition 130, and can also move in the second kidney-shaped holes 132 by using the second fixing screw to drive the turntable primary driving wheel 311 on the turntable driving motor 200 to move towards or away from the turntable primary driven wheel 312, so as to conveniently adjust the tension of the turntable primary timing belt 313. In this case, it is preferable that the turntable driving motor 200 has a screw hole to be engaged with the second fixing screw, so that the turntable driving motor 200 can be fixed without providing a nut.
Meanwhile, as shown in fig. 10, a second tensioning mechanism 500 is further disposed in the box-shaped casing 100, the second tensioning mechanism 500 is disposed on the bottom surface of the partition 130 and is located between the turntable primary driving wheel 311 and the turntable primary driven wheel 312, the second tensioning mechanism 500 includes a second support connected to the partition 130 and a second rotating bolt, the second support includes a second connecting end and a second threaded end, the second connecting end is connected to the partition 130, and the second rotating bolt is in threaded fit with the second threaded end, so that the screw head of the second rotating bolt can be abutted to the turntable driving motor 200, and the abutted position can be arranged according to actual conditions. In this embodiment, when the turntable driving motor 200 is installed, the second fixing screw is first connected to the turntable driving motor 200 through the second kidney-shaped hole 132 by passing through the second fixing screw but is not completely fastened, so that the turntable driving motor 200 can move in the second kidney-shaped hole 132 along with the second fixing screw, and at this time, the turntable driving motor 200 can be driven to drive the turntable primary driving wheel 311 to move away from the turntable primary driven wheel 312 by screwing the second rotating bolt, thereby changing the tension degree of the turntable primary synchronous belt 313, when the tension degree of the primary synchronous belt 313 of the turntable is in a proper state (namely the turntable driving motor 200 moves to a preset position), the turntable driving motor 200 is fixed by using a second fixing screw, thereby having made things convenient for the installation of revolving stage driving motor 200, also can increase the stability during revolving stage driving motor 200 operation simultaneously utilizing the second to rotate bolt and revolving stage driving motor 200 butt. Here, the second tensioning mechanism 500 has a structure similar to that of the first tensioning mechanism 400, and is arranged herein with reference to fig. 11.
In a preferred embodiment, as shown in fig. 9, the box-shaped casing 100 further preferably comprises a top plate 110 and a bottom plate 120, wherein the box-shaped casing 100 is rectangular with two open ends, the top plate 110 and the bottom plate 120 cover the two ends of the box-shaped casing 100 respectively, and the top plate 110 and the bottom plate 120 are detachably connected with the box-shaped casing 100 to form a closed space. Preferably, the top plate 110 is formed by combining a first cover plate 111 and a second cover plate 112, and the first cover plate 111 and the second cover plate 112 are both provided with a semicircular notch, and the two semicircular notches can be combined to form a circular notch 113 for the turntable driving shaft 140 to pass through. At this time, it is preferable that the partition 130 is integrally formed with the box-shaped casing 100, and particularly, welding or engraving may be adopted, so as to increase the stability of the components on the partition 130, and meanwhile, reinforcing ribs connected with the inner wall of the box-shaped casing 100 may be further provided on the partition 130, so as to increase the connection strength between the partition 130 and the box-shaped casing 100. Of course, in order to facilitate the fixing of the base, an extension edge is provided on an outer wall of a port of the box-shaped casing 100 near the bottom plate 120, and the extension edge has a fixing hole, so that the base can be fixed by a screw passing through the fixing hole. In this embodiment, the partition 130 is integrally formed with the box-shaped casing 100, so as to increase the connection strength between the partition 130 and the box-shaped casing 100, and the top plate 110 and the bottom plate 120 are detachably connected to the box-shaped casing 100, so as to facilitate the installation of the above components on the partition 130.
Of course, in another embodiment, the partition 130 may be coupled to the box-shaped housing 100 by screws, thereby facilitating the detachment of the partition 130. At this time, it is preferable that the inner wall of the box-shaped case 100 has a bearing capable of bearing the partition 130 so as to provide a supporting point for the partition 130. Wherein, the support platform can be in the form of a plurality of blocks distributed on the inner wall of the box-shaped casing 100, and can also be an annular boss arranged on the inner wall of the box-shaped casing 100.
In a preferred embodiment, the turntable driving motor 200 is preferably a servo motor, so as to facilitate improving the precision of the turntable driving motor 200 driving the turntable to rotate, and the servo motor is provided with an encoder, so as to more conveniently record the zero point position and the number of rotation turns of the servo motor by using the encoder, thereby also facilitating the precision of the zeroing operation of the servo motor and also facilitating the improvement of the precision of the turntable driving motor 200 driving the turntable to rotate.
Simultaneously, preferred encoder is many rings of absolute value encoder, and still be provided with in box-like casing 100 with many rings of absolute value encoder electric connection's battery mount pad 600 to conveniently install the battery in the battery mount pad in order to supply power to many rings of absolute value encoders. 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 and long service life.
As shown in fig. 12, the desktop mechanical arm further provided by the present invention includes a turntable 2, a large arm 3, a small arm 4, and a base 1, and the specific structure of the base refers to the above embodiments, and since the desktop mechanical arm adopts all technical solutions of all the above embodiments, the desktop mechanical arm at least has all the technical effects brought by the technical solutions of the above embodiments, and thus, no further description is provided herein. Wherein, the revolving stage is arranged on the base, the big arm is arranged on the revolving stage, and the small arm is arranged on the big arm. Preferably, an end effector 5 is connected to the end of the small arm 4, the end effector 5 is mainly used for grasping an object, and the movement of the end effector 5 is formed by combining the movements of the turntable 2, the large arm 3 and the small arm 4.
The invention further provides a robot, which includes the tabletop mechanical arm described in each of the foregoing embodiments, and since the tabletop mechanical arm employs all technical solutions of all the foregoing embodiments, at least all technical effects brought by the technical solutions of the foregoing embodiments are achieved, and no further description is given here.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.
Claims (17)
1. A base of a desktop mechanical arm is characterized by comprising a box-shaped shell, a rotary table driving motor, a rotary table speed reducing assembly and a rotary table driving shaft, wherein the rotary table driving motor, the rotary table speed reducing assembly and the rotary table driving shaft are arranged in the box-shaped shell;
the turntable speed reducing assembly comprises a turntable primary synchronous belt pulley and a turntable secondary synchronous belt pulley;
one end of the turntable primary synchronous belt pulley is in transmission connection with the turntable driving motor, the other end of the turntable primary synchronous belt pulley is in transmission connection with one end of the turntable secondary synchronous belt pulley, and the other end of the turntable secondary synchronous belt pulley is in transmission connection with the turntable driving shaft;
the turntable primary synchronous belt pulley and the turntable secondary synchronous belt pulley are arranged on the base in a triangular shape.
2. The base of claim 1, wherein the turntable primary synchronous pulley comprises a turntable primary driving wheel and a turntable primary driven wheel, the turntable secondary synchronous pulley comprises a turntable secondary driving wheel and a turntable secondary driven wheel, the base is further provided with a turntable transmission shaft, the turntable primary driving wheel is sleeved on an output shaft of the turntable driving motor, the turntable primary driven wheel is sleeved on one end of the turntable transmission shaft, the turntable secondary driving wheel is sleeved on the other end of the turntable transmission shaft, the turntable secondary driven wheel is sleeved on the turntable driving shaft, and the turntable driving shaft, the turntable transmission shaft and the output shaft of the turntable driving motor are arranged in a triangular state.
3. The base of claim 2, wherein a partition plate extending in a horizontal direction is formed in the box-shaped housing, the turntable primary synchronous pulley is disposed on a top surface of the partition plate, the turntable driving motor is disposed below a bottom surface of the partition plate, an output shaft of the turntable driving motor penetrates through the partition plate and is in transmission connection with one end of the turntable primary synchronous pulley, and the turntable secondary synchronous pulley is disposed on a bottom surface of the partition plate.
4. The base of claim 3, wherein the turntable drive shaft is disposed on the partition via a thrust bearing.
5. The base of claim 4, wherein a receiving cavity is formed in the partition, the receiving cavity is formed with a receiving structure matched with a lower edge of an outer ring of the thrust bearing, the thrust bearing is arranged in the receiving cavity, the lower edge of the outer ring of the thrust bearing is connected with the receiving structure, the turntable driving shaft is inserted into the inner ring of the thrust bearing from top to bottom in the vertical direction, the turntable driving shaft is formed with a bearing section, an insertion section and a connecting section, the bearing section is abutted against the upper edge of the inner ring of the thrust bearing, the insertion section is abutted against the inner ring of the thrust bearing, and the connecting section is in transmission connection with the secondary synchronous pulley of the turntable.
6. The base of claim 5, further comprising:
the bearing pressing plate is in a hollow annular structure, the bearing pressing plate is arranged on the thrust bearing and is abutted to the outer ring of the thrust bearing, and the bearing pressing plate is fixedly connected with the partition plate.
7. The base of claim 4, wherein the thrust bearing is a double row angular contact bearing.
8. The base of claim 5,
the primary synchronous belt pulley of the rotary table also comprises a primary synchronous belt of the rotary table, and the primary driving wheel of the rotary table and the primary driven wheel of the rotary table are in transmission connection through the primary synchronous belt of the rotary table;
the turntable secondary synchronous belt pulley also comprises a turntable secondary synchronous belt, and the turntable secondary driving wheel and the turntable secondary driven wheel are in transmission connection through the turntable secondary synchronous belt;
the baffle structure has the confession the shaft hole that the revolving stage transmission shaft passed, the revolving stage transmission shaft includes installation cover, two bearings and axis body, two bearings respectively interference fit set up in the both ends of installation cover, the axis body set up in within the installation cover and simultaneously with two bearing inner rings are connected, axis body one end pass the shaft hole with the revolving stage one-level is connected from the driving wheel, the other end with revolving stage second grade action wheel is connected.
9. The base of claim 8, further comprising:
a plurality of first set screws and a first tensioning mechanism;
the partition plate is provided with a plurality of first kidney-shaped holes, and the first fixing screws are fixedly connected with the mounting sleeve through the first kidney-shaped holes;
the first tensioning mechanism comprises a first support and a first rotating bolt, the first support is provided with a first connecting end and a first threaded end, the first tensioning mechanism is fixedly connected with the partition plate through the first connecting end, the first tensioning mechanism is located below the partition plate, the first rotating bolt is rotatably connected with the first threaded end, the screw head of the first rotating bolt is arranged close to the mounting sleeve, the position of the first rotating bolt in the horizontal direction can be adjusted by rotating the first rotating bolt, the screw head of the first rotating bolt is abutted to the mounting sleeve, and the mounting sleeve is moved along a track corresponding to the first kidney-shaped hole by extruding the mounting sleeve.
10. The base of claim 8, wherein the secondary turntable driven wheel is detachably connected to the connecting section, the secondary turntable driven wheel is configured with an abutting structure, the abutting structure is configured in a ring shape matched with the connecting section, the abutting structure abuts against a lower edge of an inner ring of the thrust bearing when the secondary turntable driven wheel is fixedly connected to the connecting section, the secondary turntable driven wheel is provided with a connecting structure, the connecting structure is a plurality of threaded through holes, and the connecting section is configured with threaded holes matched with the threaded through holes.
11. The base of claim 5, further comprising a positioning pin, wherein the connecting section is provided with a positioning hole, the turntable secondary driven wheel is provided with a positioning through hole, and the positioning pin is inserted into the positioning hole through the positioning through hole.
12. The base of claim 3, further comprising:
a plurality of second set screws and a second tensioning mechanism;
the partition plate is provided with a plurality of second kidney-shaped holes, and the second fixing screws are fixedly connected with the rotary table driving motor through the second kidney-shaped holes;
the second tensioning mechanism comprises a second support and a second rotating bolt, the second support is provided with a second connecting end and a second threaded end, the second tensioning mechanism is fixedly connected with the partition plate through the second connecting end, the second tensioning mechanism is located below the partition plate, the second rotating bolt is rotatably connected with the threaded end, the screw head of the second rotating bolt is close to the rotary table driving motor, the position of the second rotating bolt in the horizontal direction can be adjusted through rotating the second rotating bolt, the screw head of the second rotating bolt is abutted to the rotary table driving motor, and the rotary table driving motor moves along the track corresponding to the second kidney-shaped hole through extrusion.
13. The base of claim 3, wherein the box-shaped housing further comprises a top plate and a bottom plate, the top plate comprises a first cover plate and a second cover plate, the first cover plate and the second cover plate are respectively configured with semicircular notches, the first cover plate and the second cover plate are arranged above the partition plate and detachably connected with the box-shaped housing, the semicircular notches of the first cover plate and the second cover plate are combined to form a circular notch, the circular notch is located above the vertical direction of the turntable driving shaft, and the bottom plate is arranged below the partition plate and detachably connected with the box-shaped housing.
14. The base of claim 1, wherein the turntable driving motor is a servo motor, an encoder is arranged on the servo motor, the encoder is a multi-turn absolute value encoder, and a battery mounting seat electrically connected with the multi-turn absolute value encoder is further arranged in the box-shaped shell.
15. A desktop robot arm comprising a turntable, a large arm, a small arm and the base of any one of claims 1 to 14, wherein the turntable is disposed on the base, the large arm is disposed on the turntable, and the small arm is disposed on the large arm.
16. The table top robot arm of claim 15, further comprising an end effector coupled to the forearm.
17. A robot comprising a robot desktop according to claim 15 or 16.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011259843.5A CN112454329B (en) | 2020-11-11 | 2020-11-11 | Base of desktop mechanical arm, desktop mechanical arm and robot |
| CN202111304526.5A CN114043455B (en) | 2020-11-11 | 2020-11-11 | Small-sized industrial desktop mechanical arm, base thereof and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011259843.5A CN112454329B (en) | 2020-11-11 | 2020-11-11 | Base of desktop mechanical arm, desktop mechanical arm and robot |
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| CN202111304526.5A Division CN114043455B (en) | 2020-11-11 | 2020-11-11 | Small-sized industrial desktop mechanical arm, base thereof and robot |
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| CN112454329B true CN112454329B (en) | 2022-01-11 |
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| CN202011259843.5A Active CN112454329B (en) | 2020-11-11 | 2020-11-11 | Base of desktop mechanical arm, desktop mechanical arm and robot |
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| CN113305811B (en) * | 2021-06-28 | 2023-03-31 | 深圳市越疆科技有限公司 | Driving assembly of desktop mechanical arm, desktop mechanical arm and robot |
| CN113855248B (en) * | 2021-10-25 | 2024-02-23 | 佗道医疗科技有限公司 | Zero point positioning method for surgical robot instrument assembly |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112454329A (en) | 2021-03-09 |
| CN114043455B (en) | 2023-06-23 |
| CN114043455A (en) | 2022-02-15 |
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