CN112548997A

CN112548997A - Lightweight desktop mechanical arm base and lightweight desktop mechanical arm

Info

Publication number: CN112548997A
Application number: CN202011464369.XA
Authority: CN
Inventors: 叶伟智; 刘主福
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2021-03-26
Anticipated expiration: 2040-12-11
Also published as: WO2022121689A1; CN112548997B

Abstract

The invention discloses a light-weight desktop mechanical arm base which comprises a box-shaped shell, and a motor, a speed reduction assembly and a driving shaft which are arranged in the box-shaped shell, wherein a partition plate extending in the horizontal direction is constructed in the box-shaped shell, the driving shaft is arranged in the central area of the partition plate, the motor is arranged below the partition plate and is in transmission connection with the driving shaft through the speed reduction assembly, and the speed reduction assembly is of a synchronous belt speed reduction structure and is arranged above the partition plate. The invention is beneficial to reducing the cost of the lightweight desktop mechanical arm base, reducing the weight of the lightweight desktop mechanical arm base and simplifying the installation of the lightweight desktop mechanical arm base. In addition, the invention also discloses a lightweight desktop mechanical arm which comprises the lightweight desktop mechanical arm base.

Description

Lightweight desktop mechanical arm base and lightweight desktop mechanical arm

Technical Field

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

Background

Lightweight desktop mechanical arm possesses strong adaptability and dynamic problem solution ability, by the wide application in the teaching field, generally comprises base, arm and executor, and the arm is connected with the base is rotatable, and the end of arm is used for setting up the executor.

The existing lightweight desktop mechanical arm base generally drives a mechanical arm to move by arranging a motor and a speed reducer, but a commonly-used RV speed reducer or a commonly-used harmonic speed reducer generally has high cost, large weight and high installation and use requirements, and cannot completely meet the requirements of lightweight, low cost and simple and convenient installation and use of a part of lightweight desktop mechanical arms, such as Chinese patent with application number CN201810921858.

Disclosure of Invention

The invention mainly aims to provide a lightweight desktop mechanical arm base and a lightweight desktop mechanical arm, and aims to solve the technical problems of high cost and heavy weight of the lightweight desktop mechanical arm base.

In order to achieve the above purpose, the present invention provides a lightweight desktop robot arm base, which includes a box-shaped housing, and a motor, a deceleration assembly and a driving shaft that are disposed in the box-shaped housing, wherein a partition plate extending in a horizontal direction is configured in the box-shaped housing, the driving shaft is disposed in a central region of the partition plate, the motor is disposed below the partition plate and is in transmission connection with the driving shaft through the deceleration assembly, and the deceleration assembly is a synchronous belt deceleration structure and is disposed above the partition plate.

Wherein, be provided with the transmission shaft on the baffle, the speed reduction subassembly includes one-level synchronous pulley and second grade synchronous pulley, and one-level synchronous pulley is connected second grade synchronous pulley and is connected with motor and transmission shaft transmission respectively with transmission shaft and drive shaft transmission respectively.

The primary synchronous belt wheel comprises a first driving wheel connected with an output shaft of the motor, a first driven wheel connected with the transmission shaft and a first synchronous belt respectively connected with the first driving wheel and the first driven wheel; the secondary synchronous belt wheel comprises a second driving wheel connected with the transmission shaft, a second driven wheel connected with the driving shaft and a second synchronous belt respectively connected with the second driving wheel and the second driven wheel.

Wherein, the baffle is the rectangle form, and the output shaft of drive shaft and motor is located two diagonal departments of baffle respectively.

Wherein the drive shaft is positioned between the output shaft of the motor and the transmission shaft.

Wherein, be provided with adjusting device on the baffle, adjusting device includes the take-up pulley with the hold-in range laminating in the one-level synchronous pulley, and the take-up pulley can remove along the horizontal direction.

The adjusting device further comprises a mounting seat in sliding connection with the partition plate, the mounting seat can move in the direction perpendicular to the connecting line of the driving shaft and the output shaft of the motor, and the tensioning wheel is rotatably arranged on the mounting seat.

Wherein, set up waist type hole on the mount pad, be provided with two threaded holes of interval arrangement on the baffle, and the spaced distance of two threaded holes is less than the length in waist type hole, and adjusting device still includes two screws that can pass waist type hole respectively and the one-to-one is connected with the threaded hole.

Wherein the drive shaft is arranged on the partition plate through a thrust bearing.

Wherein, the chamber is held to the structure on the baffle, it has the structure of accepting with thrust bearing's outer loop lower edge looks adaptation to hold the chamber structure, thrust bearing sets up in holding the chamber, and thrust bearing's outer loop lower edge meets with accepting the structure, the drive shaft is in the interior ring setting of top-down's that vertical direction goes up thrust bearing, the drive shaft structure has the bearing section, cartridge section and linkage segment, the bearing section goes up the limit butt with thrust bearing's inner ring, the interior butt of cartridge section and thrust bearing's inner ring, be provided with the axle sleeve with thrust bearing's inner ring lower edge butt on the linkage segment.

The box-shaped shell further comprises a top plate and a bottom plate, the top plate is arranged on the partition plate and detachably connected with the box-shaped shell, and a circular gap is formed in the top plate and is positioned in the vertical direction of the driving shaft; the bottom plate is arranged below the partition plate and is detachably connected with the box-shaped shell.

The motor is a servo motor, an encoder is arranged on the servo motor, and the encoder is a multi-circle absolute value encoder.

Wherein the drive shaft is configured with a hollow shaft bore.

The invention further provides a light-weight desktop mechanical arm, which comprises a light-weight desktop mechanical arm base and a mechanical arm joint in transmission connection with a driving shaft, wherein the light-weight desktop mechanical arm base comprises a box-shaped shell, and a motor, a speed reduction assembly and a driving shaft which are arranged in the box-shaped shell, a partition plate extending in the horizontal direction is constructed in the box-shaped shell, the driving shaft is arranged in the central area of the partition plate, the motor is arranged below the partition plate and is in transmission connection with the driving shaft through the speed reduction assembly, and the speed reduction assembly is of a synchronous belt speed reduction structure and is arranged above the partition plate.

The mechanical arm joint comprises a plurality of rotary joints which are sequentially connected in a transmission manner, and the rotary joint at the head end of the mechanical arm joint is connected with the driving shaft.

The lightweight desktop mechanical arm further comprises an actuator arranged at the tail end of the joint of the mechanical arm.

According to the base for the lightweight desktop mechanical arm, provided by the embodiment of the invention, the partition plate is arranged in the box-shaped shell, the motor is arranged below the partition plate, and the speed reduction assembly is arranged above the partition plate, so that the speed reduction assembly is convenient to disassemble and assemble, and the auxiliary component of the lightweight desktop mechanical arm is convenient to install below the partition plate. Meanwhile, the optimal speed reduction assembly is of a synchronous belt speed reduction structure, so that the cost of the light-weight desktop mechanical arm base is reduced, the weight of the light-weight desktop mechanical arm base is reduced, and the light-weight desktop mechanical arm base is easy and convenient to mount.

Drawings

FIG. 1 is a schematic view of a conventional lightweight robotic tabletop arm;

FIG. 2 is a cross-sectional view of one embodiment of a base of a lightweight robotic desktop arm of the present invention;

FIG. 3 is a schematic view of a base portion of the lightweight robotic desktop arm shown in FIG. 2;

FIG. 4 is a schematic view of the adjustment device shown in FIG. 3;

FIG. 5 is a cross-sectional view of a portion of the configuration of the base of the lightweight robotic desktop arm shown in FIG. 3;

FIG. 6 is a schematic diagram of a lightweight robotic desktop 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 lightweight desktop mechanical arm shown in figure 1, wherein the lightweight desktop mechanical arm shown in figure 1 comprises a lightweight desktop mechanical arm base, a mechanical arm joint and an actuator, the mechanical arm joint is rotatably connected with the lightweight desktop mechanical arm, the tail end of the mechanical arm joint is used for arranging the actuator, a motor and a speed reducer are inversely arranged on the mechanical arm joint, an output shaft of the motor is directly connected with the base through the speed reducer, and the mechanical arm joint is driven to rotate in a manner of higher cost, higher weight and the like.

The present invention provides a light-weight desktop robot arm base, as shown in fig. 2 and 3, the light-weight desktop robot arm base includes a box-shaped housing 100, and a motor 200, a speed reduction assembly 300 and a driving shaft 120 which are arranged in the box-shaped housing 100, a partition 110 extending in a horizontal direction is configured in the box-shaped housing 100, the driving shaft 120 is arranged in a central region of the partition 110, the motor 200 is arranged below the partition 110 and is in transmission connection with the driving shaft 120 through the speed reduction assembly 300, and the speed reduction assembly 300 is a synchronous belt speed reduction structure and is arranged on the partition 110.

In the present embodiment, the box-like casing 100 is preferably provided in a rectangular shape, and a partition 110 is horizontally arranged inside the box-like casing 100 to divide the inside of the box-like casing 100 into two spaces (at this time, according to the arrangement state of the box-like casing 100, X represents a horizontal direction, Y represents a vertical direction, a represents a top surface of the partition 110, and B represents a bottom surface of the partition 110 as shown in fig. 2). Preferably, the driving shaft 120 is located at a central region of the partition 110, and the motor 200 is drivingly connected to the reduction assembly 300 to rotate the driving shaft 120. The motor 200 is located below the partition plate 110, and the speed reduction assembly 300 is correspondingly located above the partition plate 110, so that the center of gravity of the base of the lightweight desktop mechanical arm is lowered. Meanwhile, the speed reduction assembly 300 is preferably a synchronous belt speed reduction structure, and the specific speed reduction can be determined according to actual conditions, the partition plate 110 is used for facilitating the fixation of the motor 200 and the speed reduction assembly 300, so that the arrangement mode of the base of the lightweight desktop mechanical arm is facilitated to be optimized, and meanwhile, auxiliary components of the lightweight desktop mechanical arm, such as a circuit board and the like, can be arranged below the partition plate 110 (namely, on the side where the motor 200 is located). In this embodiment, compared to the lightweight robotic tabletop arm shown in fig. 1, the base of the lightweight robotic tabletop arm in the present embodiment is provided with the partition 110 inside the box-shaped casing 100, the motor 200 is disposed below the partition 110, and the speed reduction assembly 300 is disposed above the partition 110, so as to facilitate the assembly and disassembly of the speed reduction assembly 300 and facilitate the installation of the auxiliary components of the lightweight robotic tabletop arm below the partition 110. Meanwhile, the speed reduction assembly 300 is preferably of a synchronous belt speed reduction structure, so that the cost of the light-weight desktop mechanical arm base is reduced, the weight of the light-weight desktop mechanical arm base is reduced, the light-weight desktop mechanical arm base is easy and convenient to mount, and the like.

In a preferred embodiment, as shown in fig. 2 and 3, the bulkhead 110 is preferably further provided with a drive shaft 130, while the reduction assembly 300 preferably includes a primary timing pulley 310 and a secondary timing pulley 320. Wherein, the primary synchronous pulley 310 is respectively in transmission connection with the motor 200 and the transmission shaft 130, and the secondary synchronous pulley 320 is respectively in transmission connection with the transmission shaft 130 and the driving shaft 120, so as to conveniently drive the mechanical arm joint to rotate. At this time, it is preferable that the motor 200 is fixed on the bottom surface of the partition 110, and the partition 110 is integrally formed with the box-shaped case 100.

In another embodiment, the partition plate 110 may be detachably connected to the box-shaped housing 100, and the motor 200, the primary timing pulley 310, and the secondary timing pulley 320 may be first fixed to the partition plate 110, and then the partition plate 110 may be fixed to the box-shaped housing 100.

In a preferred embodiment, the primary synchronous pulley 310 preferably includes a first driving pulley, a second driven pulley and a first synchronous belt, wherein the first driving pulley is sleeved on the output shaft of the motor, the second driven pulley is disposed on the partition 110 through the transmission shaft 130, the first synchronous belt is connected to the first driving pulley and the second driven pulley respectively, and the transmission ratio of the first driving pulley and the second driven pulley is arranged according to the actual requirement of speed reduction.

Meanwhile, it is preferable that the secondary synchronous pulley 320 includes a second driving wheel, a second driven wheel and a second synchronous belt, wherein the second driving wheel is sleeved on the transmission shaft 130 (at this time, one end of the transmission shaft 130 penetrates through the partition plate 110 from top to bottom to be arranged), the second driven wheel is sleeved on the driving shaft 120 (at this time, one end of the driving shaft 120 penetrates through the partition plate 110 from top to bottom to be arranged), the second synchronous belt is respectively connected with the second driving wheel and the second driven wheel, and the transmission ratio of the second driving wheel and the second driven wheel is arranged according to the actual requirement of speed reduction.

In a preferred embodiment, the spacer 110 is preferably rectangular in shape, and the base of the lightweight desktop robot arm is also a corresponding rectangular frame. At this time, it is preferable that the output shafts of the driving shaft 120 and the motor 200 are respectively located at two opposite corners of the partition 110, so as to facilitate increasing a distance between the driving shaft 120 and the output shaft of the motor 200, thereby improving compactness of the base of the lightweight tabletop mechanical arm, and simultaneously, by increasing the distance, the primary synchronous belt 310 with a larger transmission ratio can be arranged.

In a preferred embodiment, as shown in figures 2 and 3, drive shaft 120 is preferably positioned between the output shaft of motor 200 and drive shaft 130, thereby facilitating a more compact and stable base for a lightweight desktop robot by positioning the output shaft of motor 200 and drive shaft 130 on opposite sides of drive shaft 120. The driving shaft 120, the output shaft of the motor 200, and the transmission shaft 130 are only required to be located on the same straight line, and the output shaft of the motor 200 and the transmission shaft 130 are not required to be symmetrically arranged with respect to the driving shaft 120.

In a preferred embodiment, as shown in fig. 3 and 4, the spacer 110 is preferably provided with an adjusting device 400 to adjust the tension of the timing belt in the primary timing pulley 310. Wherein, adjusting device 400 includes the take-up pulley 410 that can laminate with one of them section of hold-in range in one-level synchronous pulley 310, and take-up pulley 410 can remove along the horizontal direction to can drive one of them end removal of this hold-in range, with the rate of tension of adjusting this hold-in range, specifically the inboard or the outside laminating of regulating wheel and hold-in range then can arrange according to actual conditions.

Further, the number of the adjusting devices 400 may be two, wherein one adjusting device 400 may adjust the tension of the timing belt in the primary timing pulley 310, and the other adjusting device 400 may adjust the tension of the timing belt in the secondary timing pulley 320.

In a preferred embodiment, as shown in fig. 3 and 4, it is preferable that the adjusting device 400 further includes a mounting seat 420 slidably disposed on the partition 110, and the mounting seat 420 can move along a direction perpendicular to a connection line between the driving shaft 120 and the output shaft of the motor 200, the tensioning wheel 410 is rotatably disposed on the mounting seat 420, so that the tensioning wheel 410 can be driven to move by moving the mounting seat 420, and the manner of moving the mounting seat 420 can be arranged according to practical situations, for example, the mounting seat 420 is disposed on the partition 110 by a linear guide, and can be fixed by a fastening device, for example, a screw, after the mounting seat 420 moves to a preset position. Of course, the adjusting device 400 may further include a swing rod, wherein one end of the swing rod is hinged to the partition 110, and the tensioning wheel 410 is rotatably disposed at the other end of the swing rod, so that the position of the swing rod can be utilized to drive the tensioning wheel 410 to move, and as for the way of fixing the swing rod, the ratchet matched with the ratchet can be disposed on the partition 110 by disposing a torsion spring on the hinged shaft of the swing rod and the partition 110 or by disposing the ratchet on the hinged shaft of the swing rod and the partition 110. Wherein, the manner of setting up the torsional spring is favorable to maintaining the rate of tension of hold-in range at invariable numerical value range all the time to be convenient for motor 200 to pass through one-level synchronous pulley 310 drive transmission shaft 130 and rotate.

In a preferred embodiment, as shown in fig. 3 and 4, the mounting seat 420 is preferably provided with two waist-shaped holes 421, and the two waist-shaped holes 421 are oppositely arranged on the mounting seat 420. Meanwhile, preferably, two threaded holes are formed in the partition plate 110 corresponding to each kidney-shaped hole 421, and the distance between the two threaded holes is smaller than the length of the kidney-shaped hole 421. At this time, the adjusting device 400 further includes screws respectively passing through the waist-shaped holes 421 and connected to the threaded holes in a one-to-one correspondence manner, so that the mounting base 420 can be fixed to the mounting base 420 by tightening the screws after moving to a preset position along the length direction of the waist-shaped holes 421.

In a preferred embodiment, as shown in fig. 5, it is preferable that the driving shaft 120 is disposed on the partition 110 through the thrust bearing 160, and the speed reducing assembly 300 (i.e. the secondary synchronous pulley 320) is in transmission connection with the robot joint through the driving shaft 120, so as to avoid the speed reducing assembly 300 directly bearing the weight of the robot joint, thereby increasing the lifetime of the speed reducing assembly 300, i.e. when the output shaft of the speed reducing assembly 300 is directly connected with the robot joint, the output shaft of the speed reducing assembly 300 needs to directly bear the weight of the robot joint and the transported object, so that the speed reducing assembly 300 is stressed more greatly, while the light-weight desktop robot base in this embodiment is equivalent to lifting the load weight of the speed reducing assembly 300 and is beneficial to increasing. In this case, the thrust bearing 160 is preferably a double row angular contact bearing, and the double row angular contact bearing occupies a small axial space, so that the length of the driving shaft 120 is advantageously reduced, and the height of the lightweight desktop robot base is reduced. 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 center of the partition 110 is configured with an accommodating cavity 111 for installing the thrust bearing 160, and the bottom of the cavity is provided with a bearing structure 112 capable of receiving the lower edge of the outer ring of the thrust bearing 160, in this case, it is preferable that the bearing structure 112 is a ring, and after the thrust bearing 160 is installed in the accommodating cavity 111, the bearing structure 112 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 driving shaft 120 can be inserted into the inner ring of the thrust bearing 160 from top to bottom in the vertical direction. Meanwhile, the driving shaft 120 is divided into a connecting section 123, an inserting section 122 and a bearing section 121 (i.e. the diameter of the inserting section 122 is smaller than that of the bearing section 121, and it is preferable that the diameter of the connecting section 123 is the same as that of the inserting section 122 at this time), wherein the inserting section 122 can be inserted into the inner ring of the thrust bearing 160, and a shaft sleeve 180 is arranged on the connecting section 123, and the shaft sleeve 180 can abut against the lower edge of the inner ring of the thrust bearing 160, so as to be beneficial to avoiding the inner ring of the thrust bearing 160 from moving, and one end of the bearing section 121 close to the inserting section 122 can abut against the upper edge of the inner ring of the thrust bearing 160, so that the thrust bearing. At this time, preferably, the lightweight desktop robot base further includes a bearing pressing plate 170, and preferably, the bearing pressing plate 170 is an annular plate body, the bearing pressing plate 170 is sleeved on the bearing section 121, and at this time, the bearing pressing plate 170 may close the open end of the accommodating cavity 111 and may abut against the upper edge of the outer ring of the thrust bearing 160. It is preferable that the bearing retainer 170 be detachably connected to the partition 110, such as by screws, to prevent the thrust bearing 160 located in the receiving cavity 111 from slipping out.

In a preferred embodiment, as shown in fig. 2, it is preferable that the box-shaped casing 100 further comprises a top plate 140 and a bottom plate 150, wherein the box-shaped casing 100 is rectangular with two open ends, the top plate 140 and the bottom plate 150 cover the two ends of the box-shaped casing 100 respectively, and the top plate 140 and the bottom plate 150 are detachably connected to the box-shaped casing 100 to form a closed space, and the auxiliary components can be placed in the space between the bottom plate 150 and the partition 110. Preferably, the top plate 140 is provided with a circular notch 141, and the circular notch 141 is penetrated by the driving shaft 120. At this time, it is preferable that the partition plate 110 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 located on the partition plate 110, and meanwhile, reinforcing ribs connected with the inner wall of the box-shaped casing 100 may be further provided on the partition plate 110, so as to increase the connection strength between the partition plate 110 and the box-shaped casing 100. Certainly, in order to facilitate fixing of the lightweight desktop mechanical arm base, an extension edge is disposed on an outer wall of a port of the box-shaped casing 100 close to the bottom plate 150, and the extension edge has a fixing hole, so that the base of the lightweight desktop mechanical arm is fixed by passing through the fixing hole through a screw. In this embodiment, the partition plate 110 is integrally formed with the box-shaped casing 100, so that the connection strength between the partition plate 110 and the box-shaped casing 100 is increased, and meanwhile, the top plate 140 and the bottom plate 150 are detachably connected with the box-shaped casing 100, so that the above components are conveniently mounted on the partition plate 110 respectively.

Of course, in another embodiment, the partition 110 may be coupled to the box-shaped housing 100 by screws, thereby facilitating the detachment of the partition 110. At this time, it is preferable that the inner wall of the frame box-shaped casing 100 has a support base for supporting the partition 110, so as to provide a support point for the partition 110. 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 motor 200 is preferably a servo motor, which is beneficial to improving the precision of the rotation of the mechanical arm joint, and the servo motor is provided with an encoder, so that the encoder is more convenient to record the zero position and the number of rotation turns of the servo motor, thereby being beneficial to the precision of the zero returning operation of the servo motor and also being beneficial to improving the precision of the rotation of the mechanical arm joint driven by the motor 200.

Simultaneously, preferred encoder is many rings of absolute value encoder, and still be provided with in the box-like casing 100 with many rings of absolute value encoder electric connection's battery mount pad to conveniently install the battery in order to supply power to many rings of absolute value encoders in the battery mount pad. At this time, the battery mount seat is located below the separator 110. 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.

In a preferred embodiment, the drive shaft 120 is preferably configured with a hollow shaft hole open at both ends to facilitate cable routing. For example, the control cable on the lightweight desktop mechanical arm can pass through the hollow shaft hole to be connected with the control part in the box-shaped shell 100 or pass out after being combined with the control cable of the motor 200 in the box-shaped shell 100, so that the overall attractiveness and tidiness of the lightweight desktop mechanical arm are facilitated, and the protection of the cable is facilitated.

The invention further provides a lightweight desktop mechanical arm, as shown in fig. 6, the lightweight desktop mechanical arm includes a lightweight desktop mechanical arm base 1 and a mechanical arm joint 2 in transmission connection with a drive shaft 120 in the above embodiment, and the specific structure of the lightweight desktop mechanical arm base 1 refers to the above embodiment. Preferably, the mechanical arm joint 2 includes a plurality of rotary joints (arranged with reference to a six-axis robot) which are sequentially connected in a transmission manner, the rotary joint located at the head end of the mechanical arm joint 2 is connected to the driving shaft 120, and an actuator may be provided for the rotary joint located at the tail end of the mechanical arm joint 2. Wherein, the type of the actuator can be air clamp, vacuum suction head and automatic screwdriver and other functional components. Of course, the form of the mechanical arm joint 2 may also be arranged with reference to a four-axis robot or provided as shown in fig. 1.

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

1. The utility model provides a light-weight desktop mechanical arm base, characterized in that, includes box-like casing and sets up motor, speed reduction subassembly and drive shaft in the box-like casing, be constructed the baffle that extends in the horizontal direction in the box-like casing, the drive shaft set up in baffle central zone, the motor set up in under the baffle and through speed reduction subassembly with drive shaft transmission is connected, speed reduction subassembly be hold-in range speed reduction structure and set up in on the baffle.

2. The lightweight base of a desktop mechanical arm as claimed in claim 1, wherein a transmission shaft is disposed on the partition, the speed reduction assembly comprises a primary synchronous pulley and a secondary synchronous pulley, the primary synchronous pulley is in transmission connection with the motor and the transmission shaft respectively, and the secondary synchronous pulley is in transmission connection with the transmission shaft and the driving shaft respectively.

3. The lightweight desktop arm base of claim 2, wherein the primary synchronous pulley comprises a first driving pulley connected to the output shaft of the motor, a first driven pulley connected to the transmission shaft, and a first synchronous belt connecting the first driving pulley and the first driven pulley, respectively; the secondary synchronous belt pulley comprises a second driving wheel connected with the transmission shaft, a second driven wheel connected with the driving shaft and a second synchronous belt respectively connected with the second driving wheel and the second driven wheel.

4. The lightweight desktop robot base of claim 2, wherein the partition is rectangular, and the drive shaft and the output shaft of the motor are located at two opposite corners of the partition, respectively.

5. The lightweight desktop robot arm base of claim 2, wherein the drive shaft is located between the output shaft of the motor and the drive shaft.

6. The lightweight desktop robot arm base of claim 2, wherein an adjusting device is disposed on the partition, the adjusting device comprises a tensioning wheel engaging with a synchronous belt in the primary synchronous pulley, and the tensioning wheel is movable in a horizontal direction.

7. The lightweight robotic desktop arm base of claim 6 wherein said adjustment mechanism further comprises a mounting block slidably coupled to said spacer, said mounting block being movable in a direction perpendicular to a line connecting said drive shaft to an output shaft of said motor, said tensioning wheel being rotatably disposed on said mounting block.

8. The lightweight desktop mechanical arm base of claim 7, wherein the mounting base is provided with a kidney-shaped hole, the partition is provided with two threaded holes spaced apart from each other, the distance between the two threaded holes is smaller than the length of the kidney-shaped hole, and the adjusting device further comprises two screws which can respectively pass through the kidney-shaped hole and are connected with the threaded holes in a one-to-one correspondence manner.

9. The lightweight desktop robot base of claim 2, wherein the drive shaft is disposed on the partition via a thrust bearing.

10. The lightweight desktop mechanical arm base of claim 9, wherein the partition board is configured with a receiving cavity, the receiving cavity is configured with a receiving structure adapted to a lower edge of an outer ring of the thrust bearing, the thrust bearing is disposed in the receiving cavity, the lower edge of the outer ring of the thrust bearing is connected to the receiving structure, the driving shaft is vertically inserted into the inner ring of the thrust bearing from top to bottom, the driving shaft is configured with a bearing section, an insertion section and a connecting section, the bearing section is abutted against an 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 provided with a shaft sleeve abutted against the lower edge of the inner ring of the thrust bearing.

11. The lightweight desktop mechanical arm base of claim 1, wherein the box-shaped housing further comprises a top plate and a bottom plate, the top plate is disposed above the partition plate and detachably connected to the box-shaped housing, the top plate has a circular notch, and the circular notch is located above the vertical direction of the driving shaft; the bottom plate is arranged below the partition plate and is detachably connected with the box-shaped shell.

12. The lightweight robotic desktop arm base of claim 1 wherein the motor is a servo motor having an encoder disposed thereon, the encoder being a multi-turn absolute encoder.

13. The lightweight robotic desktop arm base of claim 1 wherein the drive shaft is configured with a hollow shaft aperture.

14. A lightweight robotic desktop comprising the base of any one of claims 1 to 13 and a robotic joint drivingly connected to the drive shaft.

15. The lightweight robotic desktop arm of claim 14 wherein said arm joint comprises a plurality of revolute joints in sequential drive connection, and wherein said revolute joint at a leading end of said arm joint is connected to said drive shaft.

16. A lightweight robotic desktop arm as claimed in claim 14 further comprising an actuator disposed at an end of the arm joint.