CN214025706U - Base of desktop mechanical arm, desktop mechanical arm and robot - Google Patents

Abstract

The utility model discloses a base of desktop arm, this base includes: the rotary table comprises a box-shaped shell, and a rotary table driving motor, a rotary table speed reducing assembly, a rotary table driving shaft and a plurality of circuit boards which are arranged in the box-shaped shell; the box-shaped shell is provided with a plurality of bayonets, the rotary table driving shaft is positioned in the central area of the box-shaped shell and is provided with a hollow shaft hole, and the rotary table driving motor is positioned around the rotary table driving shaft and is in transmission connection with the rotary table driving shaft through the rotary table speed reducing assembly; a plurality of circuit boards are arranged in a stacked mode in the box-shaped shell and on the other side of the rotary table driving motor, a plurality of communication interfaces are arranged on the circuit boards, the communication interfaces are connected out through corresponding bayonets, and at least one circuit board is provided with a position avoiding notch used for avoiding a rotary table driving shaft. The utility model discloses a multi-functional compact base is provided. Furthermore, the utility model discloses still disclose a desktop arm and robot.

Description

Base of desktop mechanical arm, desktop mechanical arm and robot

Technical Field

The utility model relates to a desktop arm technical field, concretely relates to base, desktop arm and robot of desktop arm.

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.

At present, because desktop arm is used for educational use usually, consequently to precision and load capacity's requirement low, require few to output interface, do not need too much control circuit, generally provide more communication interfaces through external switch board, so its each part arranges comparatively dispersedly, and current desktop arm is compact inadequately. Meanwhile, the existing desktop mechanical arm is generally that a rotary table motor is inversely installed between a large arm motor and a small arm motor, 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, like the Chinese patent with the application number of CN 201910571696.6. Therefore, how to compactly arrange the motor and the speed reducing mechanism on the base and integrate a complex control circuit to provide various communication interfaces without influencing other element structures becomes a problem to be solved urgently.

SUMMERY OF THE UTILITY MODEL

The main objective of the present invention is to provide a base of a desktop mechanical arm to solve the technical problem in the background art.

In order to achieve the above object, the utility model provides a base of desktop arm, this base includes: the rotary table comprises a box-shaped shell, and a rotary table driving motor, a rotary table speed reducing assembly, a rotary table driving shaft and a plurality of circuit boards which are positioned in the box-shaped shell; the box-shaped shell is provided with a plurality of bayonets, the rotary table driving shaft is positioned in the central area of the box-shaped shell, the rotary table driving shaft is provided with a hollow shaft hole, and the rotary table driving motor is positioned around the rotary table driving shaft and is in transmission connection with the rotary table driving shaft through the rotary table speed reducing assembly; the circuit boards are arranged in the box-shaped shell in a stacked mode and are opposite to the other side of the rotary table driving motor, a plurality of communication interfaces are arranged on the circuit boards, the communication interfaces are connected out through the corresponding bayonets, and at least one circuit board is provided with a position avoiding notch used for avoiding the rotary table driving shaft. The utility model discloses a multi-functional compact base is provided.

The circuit board comprises a main control board, a driving control board and a driving power board which are arranged in a stacked mode, and the main control board, the driving control board and the driving power board are all provided with the avoiding notches.

Wherein a partition plate extending in the horizontal direction is configured in the box-shaped casing, the plurality of circuit boards are arranged below the partition plate and fixed on the partition plate, and the turntable driving shaft is arranged on the partition plate through a thrust bearing.

The air conditioner comprises a partition board, wherein a vent and a ventilating fan are constructed on the partition board, the ventilating fan is arranged on the partition board and located at the vent, and the ventilating fan can blow air on the lower layer of the partition board to the upper layer of the partition board.

Wherein the base further comprises a beam coil located directly below the turntable drive shaft and disposed on the partition plate.

The box-shaped shell further comprises a top plate and a bottom plate, the top plate comprises a first cover plate and a second 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.

Wherein, mounting notch is provided on the side of the box-shaped casing, the box-shaped casing further comprises a mounting plate covered on the mounting notch, and the plurality of communication interface bayonets are all located on the mounting plate.

The rotary table driving motor is a servo motor, an encoder is arranged on the servo motor and is a multi-circle absolute value encoder, and a battery mounting seat electrically connected with the multi-circle absolute value encoder is further arranged in the box-shaped shell.

Wherein, still be provided with the interface that admits air on the box-like casing.

The utility model discloses a desktop arm is further provided, this desktop arm includes: the rotary table comprises a box-shaped shell, and a rotary table driving motor, a rotary table speed reducing assembly, a rotary table driving shaft and a plurality of circuit boards which are positioned in the box-shaped shell; the box-shaped shell is provided with a plurality of bayonets, the rotary table driving shaft is positioned in the central area of the box-shaped shell, the rotary table driving shaft is provided with a hollow shaft hole, and the rotary table driving motor is positioned around the rotary table driving shaft and is in transmission connection with the rotary table driving shaft through the rotary table speed reducing assembly; the circuit boards are arranged in the box-shaped shell in a stacked mode and are opposite to the other side of the rotary table driving motor, a plurality of communication interfaces are arranged on the circuit boards, the communication interfaces are connected out through the corresponding bayonets, and at least one circuit board is provided with a position avoiding notch used for avoiding the rotary table driving shaft. The utility model discloses a multi-functional compact base is provided.

The pneumatic air inlet device comprises a box-shaped shell, and is characterized in that a butt joint hole which is in butt joint with the upper opening end of a rotary table driving shaft is formed in the rotary table, an air outlet interface is formed in the large arm or the small arm, an air inlet interface is formed in the box-shaped shell, and the air inlet interface sequentially penetrates through the rotary table driving shaft and the butt joint hole through an air pipe and is communicated with the air outlet interface.

Wherein the tabletop arm further comprises an end effector coupled to the forearm.

The utility model discloses further provide a robot, this robot include foretell desktop arm, and this desktop arm includes above-mentioned base, and above-mentioned base includes: the rotary table comprises a box-shaped shell, and a rotary table driving motor, a rotary table speed reducing assembly, a rotary table driving shaft and a plurality of circuit boards which are positioned in the box-shaped shell; the box-shaped shell is provided with a plurality of bayonets, the rotary table driving shaft is positioned in the central area of the box-shaped shell, the rotary table driving shaft is provided with a hollow shaft hole, and the rotary table driving motor is positioned around the rotary table driving shaft and is in transmission connection with the rotary table driving shaft through the rotary table speed reducing assembly; the circuit boards are arranged in the box-shaped shell in a stacked mode and are opposite to the other side of the rotary table driving motor, a plurality of communication interfaces are arranged on the circuit boards, the communication interfaces are connected out through the corresponding bayonets, and at least one circuit board is provided with a position avoiding notch used for avoiding the rotary table driving shaft. The utility model discloses a multi-functional compact base is provided.

The embodiment of the utility model provides a base of desktop arm is through setting up revolving stage driving motor, revolving stage speed reduction subassembly and circuit board in the base to adopt the revolving stage drive shaft of hollow pattern, wear out with big arm motor and forearm motor with the cable in supplying the base and be connected, arrange the circuit board range upon range of in the week of revolving stage drive shaft simultaneously, and revolving stage driving motor also arranges in the week of revolving stage drive week, thereby has realized providing a multi-functional compact 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 cross-sectional view of an embodiment of a base of a middle table robot according to the present invention;

FIG. 4 is a schematic diagram of the circuit board shown in FIG. 3;

FIG. 5 is a schematic structural view of the box-like housing shown in FIG. 3;

FIG. 6 is a cross-sectional view of the base portion structure shown in FIG. 3;

FIG. 7 is a schematic structural view of the base portion structure shown in FIG. 3 from a perspective;

FIG. 8 is a schematic structural view of the base portion structure shown in FIG. 3 from another perspective;

FIG. 9 is a cross-sectional view of the base portion structure shown in FIG. 3;

FIG. 10 is a schematic view of the base portion structure shown in FIG. 3 from a further perspective;

FIG. 11 is a schematic structural view of the first tensioning mechanism shown in FIG. 8;

FIG. 12 is a schematic structural view of the second tensioning mechanism shown in FIG. 8;

FIG. 13 is an exploded view of the box-like housing, floor and mounting plate shown in FIG. 3;

fig. 14 is a schematic structural view of an embodiment of a middle table robot according to the present invention;

fig. 15 is a schematic structural view of the turn table shown in fig. 14.

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 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 used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

The utility model discloses an improvement scheme based on as shown in figure 1 and the desktop arm that figure 2 shows proposes, desktop arm as shown in figure 1 is by the base, the revolving stage, big arm, the forearm, end and revolving stage motor, big arm motor and forearm motor constitute, the revolving stage is connected with the base is rotatable, big arm is connected with revolving stage and forearm respectively, forearm and end-to-end connection, the end is used for setting up the executor, the revolving stage motor is used for driving the revolving stage rotatory for the base, big arm motor is used for driving big arm motion, the forearm motor is used for driving the forearm motion, big arm and forearm utilize the parallelogram principle can drive end in workspace motion. 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. Therefore, how to compactly arrange the motor and the speed reducing mechanism on the base and integrate a complex control circuit to provide various communication interfaces without influencing other element structures becomes a problem to be solved urgently.

The utility model provides a base of desktop arm, as shown in fig. 3 to 5, this base includes:

a box-like housing 100 and a turntable driving motor 200, a turntable deceleration assembly 300, a turntable driving shaft 140 and a plurality of circuit boards 400 located inside the box-like housing 100;

a plurality of bayonets 191 are arranged on the box-shaped shell, the turntable driving shaft 140 is arranged in the central area of the box-shaped shell 100, the turntable driving shaft 140 is provided with a hollow shaft hole, and the turntable driving motor 200 is arranged on one side of the turntable driving shaft 140 in a staggered mode and is in transmission connection with the turntable driving shaft 140 through the turntable speed reducing assembly 300;

the circuit boards 400 are stacked in the box-shaped housing 100 and are disposed on the other side of the turntable driving motor 200, the circuit boards 400 are provided with a plurality of communication interfaces 410, the communication interfaces 410 are connected out through corresponding bayonets 191, and at least one circuit board 400 is configured with a position avoiding notch 420 for avoiding the turntable driving shaft 140.

In this embodiment, the box-shaped housing 100 is preferably rectangular, and a plurality of bayonets 191 are provided on the side surface of the box-shaped housing 100. The turntable driving shaft 140 is penetratingly disposed at the top of the box-shaped housing 100 with one end thereof located inside the box-shaped housing 100, and preferably, the turntable driving shaft is located at a central region of the box-shaped housing 100. At this time, the turntable driving motor 200 may be in transmission connection with the turntable driving shaft 140 through the turntable deceleration assembly 300, so as to drive the turntable of the tabletop robot to rotate by using the turntable driving shaft 140. Meanwhile, the turntable driving shaft 140 is preferably a hollow shaft so that a cable electrically connected with the circuit board 400 can conveniently pass through, the circuit board 400 can conveniently control the operation of the large arm motor and the small arm motor on the turntable, and the circuit boards 400 are arranged in a stacked manner so as to improve the compactness of the base, and the form and the number of the circuit boards 400 can be arranged according to actual conditions. Meanwhile, it is preferable that the circuit board 400 is disposed opposite to the turntable driving motor 200 at the circumferential side of the turntable driving shaft 140, thereby facilitating improvement of space utilization of the base. And it is preferable that the circuit board 400 has a clearance gap 420 on a side facing the turntable driving shaft 140, so that the circuit board 400 is convenient to avoid the turntable driving shaft 140 or a cable passing through the turntable driving shaft 140, and the clearance gap 420 is arranged on the circuit board 400, which is beneficial to increase the area of the circuit board 400, so that more circuit structures can be arranged. At this time, it is preferable that each circuit board 400 is provided with a plurality of communication interfaces 410, and each communication interface 410 can be fixed by corresponding to the box-shaped casing 100, wherein the communication interfaces 410 can be a signal output interface, a power supply interface, and the like, and the specific form can be set with reference to the existing control box. In this embodiment, the turntable driving motor 200, the turntable deceleration assembly 300, and the circuit board 400 are disposed in the base, and the hollow turntable driving shaft 140 is used to allow the cable in the base to penetrate through and be connected with the large arm motor and the small arm motor, and the circuit board 400 is disposed in a stacked manner on the periphery of the turntable driving shaft 140, and the turntable driving motor 200 is also disposed on the periphery of the turntable driving shaft, thereby providing a multifunctional compact base.

In a preferred embodiment, as shown in fig. 3, the circuit board 400 includes a main control board, a driving control board and a driving power board, which are stacked, wherein the specific electrical connection is as in the prior art, and the specific fixing manner may be that the main control board is fixed on the box-shaped casing 100 through fixing posts, and the driving power board is connected with the fixing posts for fixing the driving control board through the fixing posts. The fixing columns are in the form of studs at one end and threaded holes at the other end, so that the circuit board 400 can be fixed through the matching of the studs on the two fixing columns and the threaded holes, and the driving power board located at the lowest position can be fixed through screws. At this time, the main control board, the driving control board and the driving power board are all provided with a space-avoiding notch 420, preferably, the space-avoiding notch 420 on the main control board is used for avoiding the turntable driving shaft 140, and the space-avoiding notches 420 on the driving control board and the driving power board are used for avoiding the cable penetrating out of the turntable driving shaft 140.

In a preferred embodiment, as shown in fig. 3 and 5, it is preferable that a partition 130 extending in a horizontal direction is formed in the box-shaped casing 100 to divide the inner space of the box-shaped casing 100 into two spaces, and it is preferable that the distance between the partition 130 and the top of the box-shaped casing 100 is smaller than the distance between the partition 130 and the bottom of the box-shaped casing 100, and the circuit boards 400 are located below the partition 130 and fixed to the partition 130, thereby making the space of the box-shaped casing 100 available.

Meanwhile, as shown in fig. 3, it is preferable that the turntable driving shaft 140 is disposed on the partition 130 through the thrust bearing 160, and the turntable speed reduction assembly 300 is in transmission connection with the turntable through the turntable driving shaft 140, so as to prevent the turntable speed reduction assembly 300 from directly bearing the weight of the turntable, thereby being beneficial to increasing the service life of the turntable speed reduction assembly 300, that is, when the output shaft of the turntable speed reduction assembly 300 is directly connected with the turntable, the output shaft needs to directly bear the weight of the turntable, so that the turntable speed reduction assembly 300 is stressed greatly, and accordingly, the load weight of the turntable speed reduction 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 further provided with a vent 135, and a heat dissipation fan 700 is further provided at the vent 135, so that heat generated from components below the partition 130 is conveniently transferred to the upper side of the partition 130, and due to the principle that high-temperature air rises, the rising speed of the air is accelerated by the heat dissipation fan 700, thereby accelerating heat dissipation.

In a preferred embodiment, as shown in fig. 7 and 8, it is preferable that the turntable deceleration assembly 300 comprises 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.

Meanwhile, according to the arrangement state of the box-shaped housing 100, as shown in fig. 3, X represents a horizontal direction, Y represents a vertical direction, a represents a top surface of the partition 130, and B represents a bottom surface of the partition 130, it is preferable that the partition 130 is horizontally provided in the box-shaped housing 100 to divide the inner space of the box-shaped housing 100 into two spaces, and it is preferable that a distance between the partition 130 and the top of the box-shaped housing 100 is smaller than a distance between the partition 130 and the bottom of the box-shaped housing 100, and the turn table primary timing pulley 310 is provided on the top surface of the partition 130, and the turn table secondary timing pulley 320 and the turn table 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. Meanwhile, the partition plate 130 is provided in the box-shaped housing 100 to mount the turntable driving motor 200, the turntable primary timing pulley 310, the turntable secondary timing pulley 320, and the like, thereby contributing to the improvement of the compactness of the base.

Further, as shown in fig. 6, it is preferable that an accommodating cavity 133 for installing the thrust bearing 160 is configured at a central position of the partition 130, and a bearing structure 134 capable of receiving a lower edge of an outer ring of the thrust bearing 160 is disposed at a bottom of the accommodating cavity, at this time, 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 a lower edge of an 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 an 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. The base further preferably includes a bearing pressing plate 170, and the bearing pressing plate 170 is preferably an annular plate body, 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 accommodating 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. 7, 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. 8, 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. 9, 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.

Further, as shown in fig. 13, the base further includes a plurality of first fixing screws and a first tensioning mechanism 500, preferably, the partition 130 has a plurality of first kidney-shaped holes 131, at this time, the mounting sleeve 151 may be connected to the first fixing screws penetrating 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 screws may also be utilized to move in the first kidney-shaped holes 131, so as to drive the secondary driving pulley 321 of the turntable located on the shaft body 152 to move toward or away from the secondary driven pulley 322 of the turntable, thereby facilitating to adjust the tension of the secondary timing belt 323 of the turntable.

Meanwhile, as shown in fig. 10 and 11, the first tensioning mechanism 500 is disposed on the bottom surface of the partition 130 and between the turntable secondary driving wheel 321 and the turntable secondary driven wheel 322, the first tensioning mechanism 500 includes a first bracket 510 connected to the partition 130 and a first rotating bolt 520, the first bracket 510 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 520 is in threaded engagement with the first threaded end, so that the head of the first rotating bolt 520 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 520, 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 520 and the installation sleeve 151.

In a preferred embodiment, as shown in fig. 11, it is preferable that a bundling coil 530 is further disposed in the box-shaped housing 100, and the bundling coil 530 is located right below the turntable driving shaft 140, and the distance between the bundling coil 530 and the turntable driving shaft 140 can be set according to the actual situation, so as to restrain the cable passing through the turntable driving shaft 140 by the bundling coil 530. Wherein the bundle coil 530 is preferably disposed on the first support 510 through a connection bar. At this time, the bundling coil 530 is preferably a flexible ring made of rubber to facilitate avoiding the cable from being damaged when following the rotation of the turntable.

In a preferred embodiment, as shown in fig. 6, it is preferable that 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. 6, 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.

Meanwhile, the preferable base further comprises a positioning pin 326, a positioning hole is formed in the bottom of the connecting section 141, a positioning through hole is formed in the second-stage turntable driven wheel 322, and the positioning pin 326 can sequentially penetrate through the positioning through hole and the positioning hole to position the second-stage turntable driven wheel 322 on the connecting section 141 so as to facilitate the fixation of the second-stage turntable driven wheel 322.

In a preferred embodiment, as shown in fig. 13, 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 and 12, a second tensioning mechanism 600 is further disposed in the box-shaped casing 100, the second tensioning mechanism 600 is disposed on the bottom surface of the partition 130 and located between the turntable primary driving wheel 311 and the turntable primary driven wheel 312, the second tensioning mechanism 600 includes a second bracket 610 and a second rotating bolt 620 connected to the partition 130, the second bracket 610 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 engagement with the second threaded end, so that the head of the second rotating bolt can abut against the turntable driving motor 200, and the abutting 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 620, thereby changing the tension 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 second rotation bolt 620 and revolving stage driving motor 200 butt.

In a preferred embodiment, as shown in fig. 13, the box-shaped casing 100 further comprises a top plate 110 and a bottom plate 120, in which the box-shaped casing 100 is rectangular with two open ends, the top plate 110 and the bottom plate 120 cover two ends of the box-shaped casing 100 respectively, and the top plate 110 and the bottom plate 120 are detachably connected to the box-shaped casing 100 to form a closed space, and the top plate 110 is preferably 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 have semicircular notches, and the two semicircular notches can be combined to form a circular notch 113. 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, as shown in fig. 13, it is preferable that the side of the box-shaped housing 100 (i.e. the side of the box-shaped housing 100 close to the circuit board 400) further has a mounting notch 180, the box-shaped housing 100 further includes a mounting plate 190 covering the mounting notch 180, and the bayonets 191 are all disposed on the mounting plate 190, so that when different bayonets 191 are replaced on the circuit board 400, only the corresponding mounting plate 190 needs to be replaced. At this time, the mounting plate 190 may further be provided with a power supply switch to facilitate control of power supply to the desktop mechanical arm.

In a preferred embodiment, the turntable driving motor 200 is provided with an encoder, the upper arm motor and the lower arm are provided with an electromagnetic brake and an encoder, and even the end actuating motor provided on the lower arm can be provided with an electromagnetic brake and an encoder. At this moment, preferably, the motors are all servo motors, so that the operation precision of the desktop mechanical arm is improved, the zero position of the servo motor is recorded by the aid of the encoder more conveniently, and the precision of zero returning operation of the servo motor is improved. Preferably, the encoder is a multi-turn absolute value encoder, and a battery mounting seat 700 electrically connected to the circuit board 400 is further disposed in the box-shaped housing 100, so that a battery conveniently mounted in the battery mounting seat 700 supplies power to the multi-turn absolute value encoder. 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, as shown in fig. 7, it is preferable that the box-shaped housing 100 is further provided with an air inlet 192, and the box-shaped housing 100 is further provided therein with an air tube communicating with the air inlet 192 and penetrating out of the turntable drive shaft 140, so as to facilitate air supply to an end effector (i.e., an air cylinder) provided on the forearm through the air inlet 192. In this case, the air inlet port 192 is preferably located on the mounting plate 190.

The utility model discloses a desktop arm that further provides, as shown in fig. 14, this desktop arm includes revolving stage 2, big arm 3, forearm 4 and base 1, and the concrete structure of this base refers to above-mentioned each embodiment, because desktop arm has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary details here one by one. 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.

Further, as shown in fig. 14 and 15, the turntable 2 is provided with a docking hole 201 for docking with the upper open end of the turntable driving shaft 140, and the large arm 3 or the small arm 4 is provided with an air outlet port 401, preferably, the air outlet port 401 is located on the small arm 4. At this time, as shown in fig. 7, the box-shaped housing 100 is provided with an air inlet port 192, and the air inlet port 192 is communicated with an air outlet port 401 through an air pipe passing through the turntable driving shaft 140 and the docking hole 201 in sequence, thereby facilitating air supply when the end effector 5 includes an air cylinder.

The utility model discloses still provide a robot, this robot includes the desktop arm of aforementioned each embodiment record, because desktop arm has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary detail here.

The above is only the part or the preferred embodiment of the present invention, no matter the characters or the drawings can not limit the protection scope of the present invention, all under the whole concept of the present invention, the equivalent structure transformation performed by the contents of the specification and the drawings is utilized, or the direct/indirect application in other related technical fields is included in the protection scope of the present invention.

Claims (13)

1. The utility model provides a base of desktop arm, its characterized in that includes:

the rotary table comprises a box-shaped shell, and a rotary table driving motor, a rotary table speed reducing assembly, a rotary table driving shaft and a plurality of circuit boards which are positioned in the box-shaped shell;

the box-shaped shell is provided with a plurality of bayonets, the rotary table driving shaft is positioned in the central area of the box-shaped shell, the rotary table driving shaft is provided with a hollow shaft hole, and the rotary table driving motor is positioned around the rotary table driving shaft and is in transmission connection with the rotary table driving shaft through the rotary table speed reducing assembly;

the circuit boards are arranged in the box-shaped shell in a stacked mode and are opposite to the other side of the rotary table driving motor, a plurality of communication interfaces are arranged on the circuit boards, the communication interfaces are connected out through the corresponding bayonets, and at least one circuit board is provided with a position avoiding notch used for avoiding the rotary table driving shaft.

2. The base of claim 1, wherein the circuit board comprises a main control board, a driving control board and a driving power board, which are stacked, and the main control board, the driving control board and the driving power board are all provided with the avoiding gap.

3. The base of claim 1, wherein a partition plate extending in a horizontal direction is configured in the box-like housing, the plurality of circuit boards are disposed below and fixed to the partition plate, and the turntable driving shaft is disposed on the partition plate through a thrust bearing.

4. The base of claim 3, wherein the partition is configured with ventilation openings and a ventilation fan disposed on the partition at the ventilation openings, the ventilation fan being capable of blowing air from the lower layer of the partition toward the upper layer of the partition.

5. The base of claim 3, further comprising a beam coil positioned directly below the turntable drive shaft and disposed on the partition.

6. 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.

7. The base of claim 3, wherein the box-like housing has a mounting notch on a side thereof, the box-like housing further comprises a mounting plate covering the mounting notch, and the plurality of communication interface bayonets are located on the mounting plate.

8. 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.

9. The base of claim 1, wherein the box-like housing is further provided with an air inlet interface.

10. A desktop mechanical arm, comprising a turntable, a big arm, a small arm and the base of any one of claims 1 to 9, wherein the turntable is arranged on the base, the big arm is arranged on the turntable, and the small arm is arranged on the big arm.

11. The desktop mechanical arm according to claim 10, wherein the turntable is provided with a butt joint hole for butt joint with an upper opening end of the turntable driving shaft, the large arm or the small arm is provided with an air outlet port, the box-shaped housing is provided with an air inlet port, and the air inlet port sequentially penetrates through the turntable driving shaft and the butt joint hole through an air pipe to be communicated with the air outlet port.

12. The table top robot arm of claim 10, further comprising an end effector coupled to the forearm.

13. A robot comprising a robot desktop according to any of claims 10 to 12.

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