WO2017198219A1 - 集成底座和机器人 - Google Patents

集成底座和机器人 Download PDF

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Publication number
WO2017198219A1
WO2017198219A1 PCT/CN2017/085119 CN2017085119W WO2017198219A1 WO 2017198219 A1 WO2017198219 A1 WO 2017198219A1 CN 2017085119 W CN2017085119 W CN 2017085119W WO 2017198219 A1 WO2017198219 A1 WO 2017198219A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
motor
integrated base
rotating plate
wire
Prior art date
Application number
PCT/CN2017/085119
Other languages
English (en)
French (fr)
Inventor
刘培超
Original Assignee
深圳市越疆科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市越疆科技有限公司 filed Critical 深圳市越疆科技有限公司
Publication of WO2017198219A1 publication Critical patent/WO2017198219A1/zh

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • B25J9/0021—All motors in base

Definitions

  • the present invention relates to the field of robot technology, and more particularly to an integrated base and a robot.
  • Robots and automation equipment have a broad application market. Taking robots as an example, robot technology is a typical representative of advanced manufacturing technology. It is a multi-disciplinary advanced technology integrating mechanical, electronic, control, computer, sensor, artificial intelligence. Important modern manufacturing automation equipment. Among them, the robot generally has the freedom of axial motion, and the axial motion mechanism of the robot in the prior art has a complicated structure.
  • the axial movement mechanism of the robot is generally formed by a driving source that cooperates with a transmission mechanism composed of a screw rod and a moving nut or a gear and a rack.
  • the axial movement mechanism formed by the robot is not only complicated in structure but also large in size, which is disadvantageous for Integrated installation; At the same time, the power output from the drive source is transmitted through the transmission mechanism, which also causes a decrease in motion accuracy and loss of power.
  • the technical solution of the present invention is: an integrated base for mounting a motor and outputting power generated by the motor, the motor having a main shaft, the integrated base including an outer casing provided with a mounting cavity, a fixing plate fixedly mounted in the mounting cavity, a coupling disposed between the bottom of the mounting cavity and the fixing plate and fixedly connected to the main shaft, and being disposed in the mounting cavity and being a rotating plate fixedly coupled to rotate with the motor to output the power, the fixing plate being located between the coupling and the rotating plate, the fixing plate being provided corresponding to the coupling a first through hole, the rotating plate is provided with a second through hole corresponding to the first through hole, the main shaft sequentially passes through the second through hole and the first through hole and is connected to the Said coupling.
  • the limiting device includes a rotary encoder, the rotary encoder includes a code wheel and a read head, and the read head is mounted on the fixed plate and electrically connected to the motor, A code wheel is fixed to a periphery of the main shaft of the motor and is inductively coupled to the read head.
  • the code wheel includes an annular disk body having a hollow hole, the annular disk body is provided with a ring code channel, and the read head is inductively connected to the ring code channel, and the ring code channel is at least
  • the first region and the second region are disposed, and the first region is provided with a first non-transmissive region and a first light transmissive region between the adjacent first non-transmissive regions, the second a second non-transmissive region and a second transparent region between the adjacent second non-transmissive regions; a width of the first non-transmissive region and the second non-transparent
  • the width of the regions is different and/or the width of the first light transmissive region is different from the width of the second light transmissive region.
  • the inner side of the rotating plate is fixedly connected with a mounting bracket
  • the mounting bracket is provided with a third through hole for the main shaft of the motor, the mounting bracket and the rotating plate and The motor is fixedly connected, and the code wheel is fixedly connected to the mounting bracket.
  • the mounting bracket includes an inner ring body extending toward a side of the fixing plate and radially disposed along the third through hole, and a top surface of the fixing plate is provided with a bearing groove.
  • the main shaft casing of the motor is provided with a bearing, and the bearing is fitted between the bearing groove and the inner ring body.
  • the fixing frame further includes an outer ring body protrudingly extending toward a side of the fixing plate and radially spaced apart from the inner ring body along the third through hole; a bottom of the rotating plate
  • the mounting bracket is disposed on the side, and the mounting bracket is embedded between the mounting bracket slot and the outer ring body and is fixedly connected to the rotating plate.
  • the rotating plate is provided with a motor mounting groove for restricting movement of the motor in a radial direction thereof on a side facing away from the fixing plate, and the motor is fixedly mounted in the motor mounting groove.
  • the limiting device comprises a first blocking block, a second blocking block and a movable abutting block, the movable abutting block is fixedly mounted on an inner side of the rotating plate, the first blocking block And the second blocking block are respectively disposed at two sides of the rotating plate in the moving direction and are used for blocking the movable abutting block.
  • an end surface of the first blocking block abutting the movable abutting block is provided with a first cushion
  • an end surface of the second blocking block abutting the movable abutting block is provided with a first end Two cushions.
  • the limiting device comprises a magnetic field sensor
  • the magnetic field sensor comprises a Hall sensor and a magnet block
  • the Hall sensor is mounted on the fixing plate and electrically connected to the motor
  • a magnet block is mounted on the rotating plate.
  • the method further includes a circuit board installed in the mounting cavity, the motor and the circuit board are electrically connected by a wire, and the wire extends into the mounting cavity and is disposed around the wire The rotating plate and the outer side of the fixing plate.
  • the outer casing is provided with a line partition between the fixed plate and the circuit board, and the line partition is provided with a wire through hole for the wire to pass through.
  • the wire passing partition comprises a first plate body, a second plate body and a transition plate body, and the end portions of the first plate body adjacent to the second plate body respectively and the transition The upper end and the lower end of the width direction of the board are connected, and the first board body and the second board body are respectively located on opposite sides of the transition board body; the line head through hole is disposed on the first board body
  • the transition plate body is provided with a line passage communicating with the wire head through hole and located above the second plate body.
  • the fixing plate is provided with a lower fan-shaped edge portion on a side of the rotating range of the wire, and the rotating plate has an upper fan-shaped edge portion corresponding to the lower fan-shaped edge portion, the lower portion A fan-shaped movable area for rotating the wire with the rotating plate is formed between the scallop portion and the upper scallop portion and a side of the mounting cavity at a range of rotation of the wire.
  • the integrated base of the present invention is provided by providing a rotating plate that rotates with the motor main shaft and a fixing plate and a coupling that are disposed in the mounting cavity and that are coupled to the main shaft and rotate relative to the main shaft.
  • the shaft supports the rotation of the motor main shaft, and the rotating plate, the fixing plate and the coupling are compactly mounted on the main shaft, so that the entire integrated base structure is simple, and no additional installation of the transmission mechanism is required, so that the entire integrated base is greatly reduced in size; ⁇ , by rotating the rotating plate with the main shaft so that the components fixedly mounted on the rotating plate also follow the axial movement, forming a degree of freedom of axial movement, that is, directly using the rotating plate
  • the power is output to the components mounted on the rotating plate, thereby avoiding the power loss of the motor output and improving the accuracy of the axial motion.
  • Another technical solution of the present invention is: a robot comprising the above-mentioned integrated base and a robot provided on the rotating plate.
  • the robot includes a support frame, a mechanical arm and an actuator, the support frame is fixed on the rotating plate, the mechanical arm is mounted on the support frame, the actuator and the The ends of the arms are connected.
  • the mechanical arm includes a first side plate, a second side plate and a top mounting plate disposed opposite to each other, Two sides of the top mounting plate are respectively connected to an upper end of the first side plate and an upper end of the second side plate; and the top mounting plate is integrally formed with the first side plate and the second side plate.
  • the robot includes the above integrated base and a robot provided on the rotating plate.
  • the robot of the present invention can make the structure of the whole robot more compact and smaller in size by using the above-mentioned integrated base; it can also ensure that the power loss of the motor output of the robot is avoided as much as possible and the axial movement of the robot is improved. Precision.
  • FIG. 1 is a schematic structural diagram of an integrated base according to an embodiment of the present invention.
  • FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1.
  • FIG 3 is a schematic exploded view of an integrated base according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a movable abutting block of an integrated base according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a rotating board of an integrated base according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a fixing plate of an integrated base according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an outer casing of an integrated base according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a code wheel of an integrated base according to an embodiment of the present invention.
  • FIG. 9 is a partially enlarged schematic view of a portion B in FIG. 8.
  • FIG. 10 is a schematic structural view of a first viewing angle of a line spacer of an integrated base according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural view of a second perspective view of a line spacer of an integrated base according to an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a first perspective view of a first type of robot arm of a robot according to an embodiment of the present invention
  • FIG. 13 is a partially enlarged schematic view showing a portion C in FIG.
  • FIG. 14 is a schematic structural diagram of a second perspective view of a first type of robot of a robot according to an embodiment of the present invention.
  • FIG. 15 is a third perspective view of a first type of robot of the robot according to an embodiment of the present invention.
  • schematic diagram 16 is a schematic structural diagram of a first perspective view of a second robot arm of a robot according to an embodiment of the present invention.
  • FIG. 17 is a second schematic diagram of a second robot arm of a robot according to an embodiment of the present invention. Schematic diagram of the perspective
  • FIG. 18 is a partially enlarged schematic view showing a portion D in FIG. 2.
  • FIG. 19 is a schematic structural diagram of a robot according to an embodiment of the present invention.
  • the reference numerals include:
  • first and second are used for descriptive purposes only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of “plurality” is two or more, unless specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like are to be understood broadly, and may be, for example, a fixed connection or a Removable connection, or integrated; can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediate medium, which can be the internal connection of two elements or the interaction of two elements.
  • the meaning of the above terms in the present invention can be understood by those skilled in the art on a case-by-case basis.
  • an integrated base 1 for installing a motor 30 and outputting power generated by the motor 30 is provided.
  • the motor 30 has a main shaft 31, and the integrated base 1 is provided.
  • the housing 10 including the mounting cavity 12 and the fixing plate 20 fixedly mounted in the mounting cavity 12 are disposed between the bottom of the mounting cavity 12 and the fixing plate 20 and fixed to the spindle 31 a coupled coupling 22 and a rotating plate 13 disposed in the mounting cavity 12 and fixedly coupled to the motor 30 for rotation with the motor to output the power, the fixing plate 20 being located at the coupling Between the rotating plate 13 and the rotating plate 13, the fixing plate 20 is provided with a first through hole 21 corresponding to the coupling 22, and the rotating plate 13 is provided with the first through hole 21.
  • the main shaft 31 sequentially passes through the second through holes 131 and the first through holes 21 and is connected to the coupling 22 .
  • the main shaft 31 of the motor 30 rotates, and the arrangement of the coupling 22 provides a supporting function for the rotation of the main shaft 31 of the motor 30, that is, the main shaft 31 of the motor 30 is opposite to the main shaft 31 of the motor 30.
  • the coupling 22 and the fixed plate 20 are rotated.
  • the rotating plate 13 Since the rotating plate 13 is fixedly coupled to the main shaft 31 of the motor 30, the rotating plate 13 follows the rotation of the main shaft 31, and the rotating plate 13 realizes axial movement, and is fixedly mounted on the rotating plate 13 The upper part also follows the axial movement to form a degree of freedom of axial movement.
  • the integrated structure of the integrated base 1 of the present invention is compact, and the integrated structure is not required to be added, so that the overall structure can be integrated and the volume is smaller; and the motor 3 can be avoided as much as possible. 0 output power loss and accuracy of lifting axial motion.
  • a top plate 11 is disposed above the mounting cavity 12 for forming the mounting cavity 12 into a semi-closed state.
  • a circuit board 14 is disposed in the outer casing 10.
  • the motor 30 and the circuit board 14 are electrically connected by a wire 15, and the wire 15 extends into the mounting cavity 12 and is wound.
  • the wire 15 extends into the mounting cavity 12 and is wound.
  • the circuit board 14 is disposed under the fixing plate 20 in the outer casing 10, the electric wire 15 is electrically connected to the circuit board 14 and the motor 30 through the wire 15, and the wire 15 can pass through the mounting cavity 12 provided by the outer casing 10 and be wound around.
  • the external arrangement of the wires 15 is avoided, and the purpose of concealing the wires 15 is achieved; on the other hand, the distance between the motor 30 and the circuit board 14 is shortened, that is, the length of the wires 15 is shortened.
  • the shortening of the length of the wire 15 can prevent the problem that the wire 15 is wound around other components, and further makes the entire structure more integrated.
  • the fixing plate 20 is provided with a lower fan-shaped edge portion 23 on a side of the rotation range of the wire 15, and the rotating plate 13 is provided at a position corresponding to the lower fan-shaped edge portion 23.
  • the scalloped portion 132, the lower scallop portion 23 and the upper scallop portion 132 and the side of the mounting cavity 12 located at the range of rotation of the wire 15 are formed with a fan-shaped movable region 16 for the wire 15 to rotate with the rotating plate 13;
  • the edge portion 132 is adapted to the shape of the lower scallop portion 23.
  • the motor 30 drives the rotating plate 13 to rotate, and the wire 15 electrically connected between the motor 30 and the circuit board 14 is wound around the rotating plate 13 and the fixed plate 20, in order to prevent the rotating plate.
  • 13 and the fixing plate 20 affect the movement of the wire 15 following the rotating plate 13, and the lower fan-shaped edge portion 23 and the upper fan-shaped edge portion 132 are disposed on one side of the fixed plate 20 and the rotating plate 13 in the moving range of the wire 15, respectively.
  • the wire 15 is freely axially moved in the sector-shaped movable region 16 formed between the lower scallop portion 23 and the upper scallop portion 132 and the mounting cavity 12 without being affected by the fixed plate 20 and the rotating plate 13,
  • the purpose of designing the hidden wire 15 can be achieved, and the movement of the wire 15 can be ensured unconstrained, and the structural design is scientific and reasonable, and the utility is strong.
  • the two ends of the upper fan-shaped edge portion 132 are respectively provided with arcuate chamfers 133.
  • the rotating plate 13 is fitted in the mounting cavity 12, the rotating plate 13 is moved relative to the hole edge of the mounting cavity 12, since the rotating plate 13 is provided with the upper fan-shaped edge portion 132, in order to avoid Both ends of the upper scallop portion 132 are frictional or stuck with the cavity wall of the mounting cavity 12, and arcuate chamfers 133 are respectively disposed at both ends of the upper scallop portion 132; this design also ensures that the rotating plate 13 is installed. It is more convenient to be inside the mounting cavity 12. As shown in FIG.
  • the rotating plate 13 is provided with a motor mounting groove 134 for restricting the movement of the motor 30 in the radial direction thereof on a side facing away from the fixed plate 20.
  • the motor 30 is fixedly mounted in the motor mounting groove 134.
  • the fastener is added to lock the end of the motor 30 to the rotating plate 13,
  • the motor 30 can be fixedly mounted on the rotary plate 13, restricting the motor from moving radially along the rotary plate, and the spindle 31 of the motor 30 is rotated. Since the spindle 31 is locked by the coupling 11, the motor 30 is opposed to the spindle 31.
  • Rotating to drive the rotating plate 13 to rotate the rotating plate 13 is rotated by the motor 30 to form an axial rotating structure, that is, when the rotating plate 13 is mounted with other components (such as the robot 2), the component can be driven to perform axial direction. Movement, that is, forming an axial degree of freedom.
  • the main shaft 31 of the motor 30 is sleeved with a bearing 70, and the bearing 70 is fixedly coupled to the fixed plate 20.
  • the bearing 70 serves to support the rotation of the rotary plate 13 and reduce the friction coefficient during the movement of the rotary plate 13, thereby ensuring smoother rotation of the rotary plate 13.
  • a processor (not shown) is integrally mounted on the circuit board 14.
  • the processor is integrated on the circuit board 14, so that the circuit board 14 forms a control board, and the direct output signal controls the driving source such as the motor 30 electrically connected thereto, so that the entire integrated base 1 is equivalent to the integrated control box, and Also set the power cord external control box.
  • At least one limiting device 50 for restricting the rotation of the rotating plate 13 by a certain angle is provided in the outer casing 10.
  • the working of the motor 30 drives the axial movement of the rotating plate 13 , and the rotating plate 13 realizes the degree of freedom of axial circular motion, and then other components mounted on the rotating plate 13 also achieve axial circular motion;
  • a limiting device 50 for limiting the rotation of the rotating plate 13 by a certain angle is provided therein.
  • the limiting device 50 can restrict the rotating plate 13 from continuing to rotate after the rotating plate 13 is rotated to a certain angle, so that the rotating plate 13 can be prevented from rotating more than 360° to connect the motor 30.
  • the wire 15 is wound around the motor 30.
  • the angle at which the rotating plate 13 can be rotated can be set as needed.
  • the motor 30 can be set to rotate the rotating plate 13 to the left or right.
  • the 135° ⁇ limits the rotation of the rotating plate 13 to continue.
  • the limiting device 50 may be limited by the signal output control motor 30; or may be a mechanical structure to limit the angle of rotation of the rotating plate 13; or may be limited by the signal output control motor 30, and then The angle of rotation of the rotating plate 13 is defined in conjunction with the mechanical structure.
  • the limiting device 50 includes a rotary encoder 51.
  • the rotary encoder 51 includes a code wheel 511 and a read head 512.
  • the read head 512 is fixed to the fixed position.
  • the board 20 is electrically connected to the motor 30.
  • the code wheel 511 is fixed to the periphery of the main shaft 31 of the motor 30 and is inductively connected to the read head 512.
  • the read head 512 is fixedly mounted on the fixed plate 20 as a stationary member, and the code wheel 511 is fixed to the periphery of the main shaft 31 of the motor 30 to rotate along with the rotation of the main shaft 31, so that the code wheel 511 is always rotated.
  • the signal sensing connection is generated between the read heads 512.
  • the read head 512 After the rotary encoder 51 is activated, the read head 512 first reads the zero point on the code wheel 511, and then the code wheel 511 follows when the main shaft 31 of the motor 30 rotates by a certain angle. The spindle 31 of the motor 30 is rotated by a certain angle until the read head 512 detects that the code wheel 511 is rotated to the set limit angle, and transmits the detected signal to the motor 30, thereby controlling the motor 30 to stop working, the motor When the operation is stopped, the rotary plate 13 is also stopped, so that the wire 15 disposed outside the motor 30 is prevented from being wound around the motor 30, so that the integrated base 1 realizes the function of preventing the entanglement.
  • the code wheel 511 includes an annular disk body 5111 having a hollow hole 5112.
  • the annular disk body 5111 is provided with an annular code channel 5113, and the read head 512 and the ring code channel 5113.
  • the annular track 5113 includes at least a first region 5114 and a second region 5115.
  • the first region 5114 is spaced apart from the first non-transmissive region 51141 and between the adjacent first non-transmissive regions 51141.
  • the second region 5115 is spaced apart from the second non-transmissive region 51151 and the second light transmissive region 51152 between the adjacent second non-transmissive regions 51151; the first non-transparent region 51141
  • the width is different from the width of the second non-transmissive region 51151 and/or the width of the first light-transmitting region 51142 is different from the width of the second light-transmitting region 51152.
  • the distance between the adjacent first non-transmissive regions 51141 disposed in the first region 5114 is different from the distance between the adjacent second non-transmissive regions 51151 disposed in the second region 5115,
  • a region 5114 and a second region 5115 can output different position information, then the boundary line 511 7 of the first region 5114 and the second region 5115 can be defined as a zero point, and when the boundary line 5117 is detected, the boundary line can be 5117 is used as the starting zero point to calculate, so as to conveniently determine the specific angle value at which the code wheel 511 is rotated.
  • the structure of the code wheel 5111 provided by the embodiment of the present invention has at least three modes:
  • the width of the first non-transmissive region 51141 is different from the width of the second non-transmissive region 51151; thus, the first The area 5114 and the second area 5115 can output different location information;
  • the width of the first light transmitting region 51142 is different from the width of the second light transmitting region 51152; it is also ensured that the first region 5114 and the second region 5115 output different position information;
  • the width of the first non-transmissive region 51141 is different from the width of the second non-transmissive region 51151 and the width of the first transparent region 51142 is different from the width of the second transparent region 51152;
  • a region 5114 and a second region 5115 output different location information.
  • the hole edge of the hollow hole 5112 extends toward the hole center of the hollow hole 5112 to provide at least one mounting protrusion 5116 for facilitating the mounting of the code wheel 511.
  • a mounting bracket 60 fixedly mounted on a bottom surface of the rotating plate 13 is further included; the mounting bracket 60 is provided with the main shaft 31 passing through to a third through hole 61 to which the fixing plate 20 is fitted, and includes an inner ring body 6 2 extending toward the side of the fixing plate 20 and radially disposed along the third through hole 61, the top of the fixing plate 20
  • the face spring is provided with a bearing groove 24, and the main shaft 31 of the motor 30 is jacketed with a bearing 70, and the bearing 70 is fitted between the bearing groove 24 and the inner ring body 62.
  • the bearing 70 can be positioned and mounted by the mounting bracket 60, and the shaft 31 can be prevented from being shaken in the axial direction. And the bearing 70 serves to support the rotation of the rotary plate 13 and reduce the friction coefficient during the movement of the rotary plate 13, which ensures smoother rotation of the rotary plate 13.
  • the code wheel 511 is fixedly attached to the mounting frame 60. Wherein, the mounting frame 60, the rotating plate 13 and the fuselage of the motor 30 can be locked together by a fastener to form a whole, that is, the main shaft 31 of the motor 30 is rotated, since the main shaft 31 is coupled by the coupling.
  • the motor 30 rotates relative to the main shaft 31 to drive the rotating plate 13 to rotate, and the rotating plate 13 drives the mounting frame 60 and the motor 30 to rotate, and the code wheel 511 is directly fixed on the mounting frame 60, which is equivalent to eliminating the code.
  • the backlash gap is connected between the disk 511 and the main shaft 31 of the motor 30, that is, the angle of the spindle 31 of the motor 30 is rotated, and the angle of rotation of the code wheel 511 is increased, so that the head 512 can detect the rotation angle of the code wheel 511.
  • the accuracy reduce the error of the limit, and ensure that the signal output from the read head 512 to the motor 30 is accurate, ensuring that the component is not damaged due to the occurrence of entanglement.
  • the fixing frame 60 further includes a protrusion extending toward the side of the fixing plate 20 and radially disposed along the third through hole 61.
  • the outer ring body of the ring body is spaced apart; the bottom side of the rotating plate 13 is provided with a mounting bracket groove 45, and the mounting bracket 60 is embedded between the mounting frame slot 45 and the outer ring body 103
  • the rotating plate 13 is fixedly connected.
  • the mounting frame 60 is ensured by the structural design
  • the connection with the rotating plate 13 is stabilized, and the mounting frame 60 is prevented from falling off during the movement.
  • the limiting device 50 includes a first blocking block 52, a second blocking block 53 and a movable abutting block 54, and the movable abutting block 54 is fixedly mounted on the rotating plate 13
  • the inner side surface, the first blocking block 52 and the second blocking block 53 are respectively disposed on both sides of the moving direction of the rotating plate 13 and are used to block the movable abutting block 54.
  • the motor 30 drives the rotating plate 13 to rotate in two directions, that is, to the left or to the right, the first blocking is set in the two directions of the rotating plate 13 to the left and the right.
  • the block 52 and the second blocking block 53 are such that when the rotating plate 13 is rotated to the left or to the right by a certain angle, the movable abutting blocks 54 fixedly mounted on the inner side of the rotating plate 13 respectively abut the first blocking block.
  • the 52 and the second blocking block 53 are stopped to continue the movement, thereby realizing that the angle of the rotation of the rotating plate 13 is prevented from being excessively large, and the wire 15 disposed outside the motor 30 is entangled.
  • first blocking block 52 and the second blocking block 53 may be respectively fixed on the inner side of the outer casing 10, or the inner bottom of the outer casing 10 may be extended upwardly to be supported for fixing, or may be fixed to other fixings of the outer casing 10;
  • the position of the first blocking block 52 and the second blocking block 53 can be respectively abutted against the movable abutting block 54 as long as the position of the rotating plate 13 can be limited to be rotated (the angle is set according to the actual situation). The angle of the rotating rotating plate is blocked.
  • the movable abutting block 54 abuts the first blocking block 52 and the second blocking block 53 to achieve a flexible contact
  • the movable abutting block 54 and the first blocking are not caused by the excessive impact force of the rotating jaw.
  • the block 52 and the second blocking block 53 are damaged;
  • the first cushion pad 541 and the second cushion pad 542 may be made of a material such as silicone rubber or rubber.
  • the limiting device 50 includes a magnetic field sensor 55.
  • the magnetic field sensor 55 includes a Hall sensor 551 and a magnet block 552.
  • the Hall sensor 551 is mounted on the fixing plate 20 and
  • the motor 30 is electrically connected, and the magnet block 552 is mounted on the rotating plate 13. Specifically, the magnet block 552 rotates following the rotating plate 13. After the rotating plate 13 is rotated by a certain angle, the Hall sensor 551 is fixedly mounted on the fixing plate 20 to sense the magnet block 552, thereby transmitting the induced signal to the motor. 30, the control motor 30 stops working, When the motor 30 is stopped, the rotary plate 13 is also stopped, so that the wire 15 provided outside the motor 30 is prevented from being wound around the motor 30, and the function of preventing the entanglement is realized.
  • the limit implemented by the magnetic field sensor 55 can be separately applied to the integrated base 1 of the embodiment, or the rotary encoder 51 and the first blocking block 52, the second blocking block 53 and the activity can be combined.
  • the limiting structure formed by the abutting block 54 can be applied to the integrated base 1 of the embodiment in any one or more of the three. If the three limits are used in combination, the triple protection can be achieved.
  • the outer casing 10 is provided with a line partition 40 between the fixed board 20 and the circuit board 14, and the line partition 40 is disposed.
  • the function of the line spacer 40 is to provide the passage of the wire 15 and to separate the circuit board 14 from other components above it, thereby preventing other components or impurities from contacting the circuit board 14, affecting the operation of the circuit board 14;
  • the wire 15 is well arranged to prevent the wire 15 from being messy and affecting the operation of the entire integrated base 1.
  • the line partition 40 includes a first plate body 41, a second plate body 42, and a transition plate body 43, the first plate body 41 and the second plate body 42.
  • the adjacent ends are respectively connected to the upper end and the lower end of the transition plate body 43 in the width direction, and the first plate body 41 and the second plate body 42 are respectively located on opposite sides of the transition plate body 43;
  • the wire head through hole 411 is disposed at the On a plate body 41, the transition plate body 43 is provided with a line passage 431 which communicates with the wire head through hole 411 and is located above the second plate body 42.
  • the end of the wire 15 can be routed along the wire passage 431 through the wire through hole 411 toward the lower side of the first plate 41, and then the two ends of the wire 15 can be electrically connected to other electronic components, respectively.
  • the number of guides has a plurality of turns, and the wires 15 can be collectively pressed into the wire passages 431, and the wire ends of the plurality of wires 15 are uniformly routed through the wire through holes 411 downward, since the position of the first plate 41 is relative to The second plate body 42 is high, and then the upper portion of the wire 15 is disposed above the second plate body 42 and the lower portion of the guide is disposed below the first plate body 41, and the plurality of wires 15 each have a portion. It is placed in the line passage 431, thus forming a proper arrangement of the wires 15, improving the space utilization in the integrated base 1 using the line spacer 40, and ensuring that the circuit board 14 and the motor 30 connected to the wires 15 can Normally perform its work performance.
  • the second plate 42 has a support plate 421 for supporting the wire 15 extending outward from the position corresponding to the line passage 431.
  • the structure in which the support plate 421 extends for the second plate body 42 can function as a support for the wire 15 in the through-line passage 431, and the wire 15 is located above the second plate body 42.
  • the position gradually transitions to a position below the first plate body 41, especially when the number of the wires 15 is large, and can be uniformly accommodated on the support plate 421, so that a plurality of wires 15 are conveniently arranged, and the structural design is scientific and reasonable. , practical.
  • the through-channels 431 are respectively provided with side fences 432 on opposite sides of the transition plate body 43.
  • the two side baffles 432 disposed on both sides of the line passage 431 are used for laterally restricting the wires 15 concentrated in the line passage 431, ensuring that the number of the wires 15 is large, and the plurality of wires 15 can be concentrated. Not messy, convenient for the staff to identify and connect the wires 15.
  • the end of the side baffle 432 facing the wire through hole 411 is flush with the end of the receiving plate 421, and the side baffle 432 is opposite to the wire end.
  • the end of the through hole 411 is extended with an arcuate guide plate 433 which is open.
  • the wire 15 is generally wired from top to bottom, that is, the general wire 15 is first disposed from above the second plate body 42 along the wire passage 431 and through the wire through hole 411 to the lower side of the first plate body 41;
  • the line channel 431 requires an over-line for the wires 15 at various positions above the second plate 42 in the entire plate.
  • the guide plate 433 enters the passage passage 431, and the curved guide plate 433 of the curved structure also prevents the end of the sharp passage passage 431 from damaging the wire 15.
  • a wire wrapping tape via 434 is provided at a position of the side fence 432 near the wire through hole 411.
  • a space for the supply wire 15 wrapping tape to be wrapped to wrap the wires 15 is provided, and the wire 15 wrapping tape passes through the wire wrapping tape through hole 434, and also covers the side baffle 432 and the supporting plate 421, that is, can
  • Each of the wires 15 is fixedly wrapped around the wire separator 40 to ensure that the wires 15 are installed without a mess.
  • the upper end surface of the side fence 432 is higher than the upper surface of the first plate 41.
  • Each of the wires 15 is received in the wire passage 431. Then, when other components are disposed above the first plate body 41, the other components disposed above are pressed to the wires 15 located in the wire passage 431, and the side fences are passed.
  • the upper end surface of the 432 is designed to be higher than the upper surface of the first plate 41, so that the side baffle 432 is higher than the portion of the first plate 41 for abutting against other components, thereby preventing other components from being directly pressed to the line.
  • the portion of the side baffle 432 which is higher than the upper surface of the first plate body 41 is abutted, so that a larger gap is formed between the other members and the first plate body 41, in order to prevent foreign matter such as dust from passing through the gap.
  • the wire head through hole 411 enters the lower side of the first plate body 41.
  • the peripheral edge of the wire head through hole 411 extends upwardly with a dustproof flange 412, and the upper end surface of the dustproof flange 412 and the side baffle The upper end of the 432 is flush.
  • the gap can be closed by the dust-shielding flange 412 to prevent impurities such as foreign matter dust from entering the lower portion of the first plate body 41 through the gap through the gap, thereby ensuring normal operation of the electronic components below the first plate body 41.
  • the dust-shielding flange 412 is provided with a wire groove 413, and the groove bottom of the wire groove 413 is flush with the upper surface of the first plate 41.
  • a wire groove 413 is disposed in the dust-shielding flange 412, that is, a wire 15 disposed above the first plate body 41 is provided with a space through which the wire-heading hole 411 can be passed, and the groove bottom of the wire groove 413 is The flush design of the upper surface of the first plate body 41 ensures that the wire 15 disposed on the first plate body 41 as close as possible to the upper surface of the first plate body 41 enters the wire through hole 411 without being affected by the dustproof flange 412.
  • the arrangement causes the wires 15 arranged above the first plate 41 to be lifted up, so that the most rational arrangement of the wires 15 can be ensured.
  • the width of the line passage 431 is smaller than the width of the line header 411.
  • the end of the wire 15 is generally connected with a male plug or a female socket, and the structure of the male plug or the female socket is larger than the wire 15, so that the width of the wire through hole 411 is designed to be larger than the width of the wire passage 431, which can facilitate the wire 15
  • the male connector or the female socket connected at the end enters the wiring below the first plate 41 through the wire through hole 411, and the wire 15 has a plurality of turns, which can be wrapped more tightly by the wire 15 and the space occupied. Small, therefore, the width of the line passage 431 can be designed such that the width of the line through hole 411 is smaller; that is, the most reasonable design of the width of the line passage 431 and the width of the line through hole 411 can avoid redundant through structures. There is a possibility that impurities located above the line partition 40 can be prevented from entering below the line partition 40 as much as possible.
  • an embodiment of the present invention further provides a robot 9, which comprises the above-mentioned integrated base 1 and a robot 2 provided on the rotating plate 13.
  • the robot 9 of the embodiment of the present invention can make the structure of the entire robot 9 more compact and smaller in size by using the above-described integrated base 1, and can also ensure that the motor 30 of the robot 9 is avoided as much as possible. The power loss and the accuracy of the axial movement of the robot 9 are improved.
  • the robot 2 includes a support frame 3, a mechanical arm 4, and an actuator 5.
  • the support frame 3 is fixed on the rotating plate 13, and the mechanical arm 4 is mounted on the support frame 3, and is executed.
  • the mechanism 5 is connected to the end of the robot arm 4. Specifically, the rotating plate 13 of the rotating base rotates to drive the support frame 3 to rotate, the support frame 3 drives the mechanical arm 4 to rotate, and the mechanical arm 4 drives the actuator 5 to rotate, thereby achieving axial movement.
  • the mechanical arm 4 includes a first side plate 6, a second side plate 7, and a top mounting plate 8 which are oppositely disposed, and the two sides of the top mounting plate 8 respectively
  • the upper end of the one side panel 6 is connected to the upper end of the second side panel 7; and the top mounting panel 8 is integrally formed with the first side panel 6 and the second side panel 7.
  • the mechanical arm 4 is composed of a top mounting plate 8, a first side plate 6, and a second side plate 7, and the top mounting plate 8, the first side plate 6, and the second side plate 7 are integrally formed.
  • the structural strength of the entire mechanical arm 4 can be strengthened.
  • the top mounting plate 8, the first side plate 6, and the second side plate 7 of the mechanical arm 4 are not easily deformed; and the top mounting plate 8 can also serve as other electronic components.
  • the mounting substrate is used, and the top mounting board 8, the first side board 6 and the second side board 7 are arranged to form a module having a floating space, and wiring and other transmission mechanisms can be performed inside and outside the space.
  • the application of the robot arm 4 is more flexible, the application range is wider, and the adaptability is better.
  • the first side plate 6 is adjacent to the upper end of the first side plate 6 and is provided with at least one first outer casing latching hole 601, and the second side plate 7 is adjacent to the second side plate 7.
  • the upper end position is provided with at least one second outer casing snap hole 701 corresponding to the first outer casing snap hole 601.
  • the electronic component is protected by the cover, so that the first outer casing snap hole 601 and the second outer casing snap hole 701 are provided on the first side plate 6 and the second side plate 7 to supply the outer casing buckle.
  • the outer casing can be stably connected to the entire robot arm 4.
  • the number of the first outer casing snap hole 601 and the second outer casing snap hole 701 may be determined according to the size of the entire mechanical arm 4, and is generally preferably two, and is disposed near the front end and the rear end of the mechanical arm 4.
  • the top mounting plate 8 is disposed such that the inner space and the outer space formed by the first side plate 6 and the second side plate 7 can be spaced apart, and the transmission mechanism can be disposed between the first side plate 6 and the second side plate 7 In the space, the wiring of the power cord can be arranged outside the top mounting plate 8, which can prevent the power cord from winding the transmission mechanism to affect the movement of the transmission mechanism, or prevent the transmission.
  • the twisting line is formed on the power line to ensure the normal operation of the arm 4.
  • the side of the top mounting plate 8 is provided with an outer casing card slot 801 at a position close to the front end and the rear end of the top mounting plate 8, respectively.
  • the top mounting plate 8 can be configured such that the external casing provided can be connected to the top mounting plate 8 by providing the external casing slot 801, so that an external casing can be provided, and the external casing can be combined with the top mounting plate 8 and the first side plate 6
  • the second side plate 7 realizes the contact connection, which can further improve the stability of the connection between the outer casing and the mechanical arm 4, and ensure that the mechanical arm 4 is operated and the external casing is not dropped.
  • the front end of the joint of the first side plate 6 and the top mounting plate 8 is provided with a first positioning protrusion 602, between the first positioning protrusion 602 and the top mounting plate 8.
  • a first positioning groove 603 a front end of the junction of the second side plate 7 and the top mounting plate 8 is provided with a second positioning protrusion 702 corresponding to the first positioning protrusion 602, and the second positioning protrusion 702 is mounted on the top
  • a second positioning groove 703 corresponding to the first positioning groove 603 is formed between the plates 8.
  • the outer casing of the outer casing needs to be installed, and the front end of the outer casing abuts against the first positioning groove 603 and the second positioning groove 703, so that the outer casing can be installed, and then the rear end of the outer casing is pressed and externally connected.
  • the corresponding position of the shell is fastened to the external shell card slot 801 disposed on the top mounting plate 8 and the first outer shell latching hole 601 of the first side panel 6 and the second outer shell latching hole provided by the second side panel 7 On the 701, the installation of the outer casing is completed.
  • the arrangement of the first positioning groove 603 and the second positioning groove 703 realizes the rapid positioning of the mounting of the outer casing and the work of assisting the installation.
  • first positioning groove 603 and the second positioning groove 703 are formed between the first positioning protrusion 602 and the second positioning protrusion 702 and the top mounting plate 8, which can ensure that the front end of the outer casing abuts against the first The positioning groove 603 and the second positioning groove 703 are closed, and the front end of the top mounting plate 8 is sealed by the front end of the outer casing to improve the sealing property between the outer casing and the top mounting plate 8.
  • the front end of the first side plate 6 is extended with a first actuator connecting portion 604, and the front end of the second side plate 7 is extended to correspond to the first actuator connecting portion 604.
  • the first actuator connecting portion 604 and the second actuator connecting portion 704 are disposed at the front end of the robot arm 4 to connect the actuator 5.
  • the actuator 5 may be a clamp, a suction cup, etc.;
  • the piece is mounted in connection with the front end of the robot arm 4.
  • the first actuator connecting portion 604 and/or the second actuator connecting portion 704 are provided with an actuator connecting hole 6704; the arrangement of the actuator connecting hole 6704 facilitates connection of the actuator 5.
  • the rear end of the first side plate 6 is extended with a first driving member connecting portion 605, and the rear end of the second side plate 7 is extended to be connected with the first driving member connecting portion 605.
  • Corresponding second driver connection portion 705. The arrangement of the first driver connection portion 605 and the second driver member connection portion 705 facilitates connection of the drive member, for example, the drive member may be the motor 30 or the like.
  • the first driving member connecting portion 605 and/or the second driving member connecting portion 705 are provided with a driving member connecting hole 6705.
  • the arrangement of the drive member connection hole 6705 facilitates the connection of the drive member.
  • the robot arm 4 further includes at least one reinforcing rod 678 connected between the first side plate 6 and the second side plate 7.
  • the reinforcing rod 678 is disposed at a position near the lower end between the first side plate 6 and the second side plate 7, so that the lower ends of the first side plate 6 and the second side plate 7 are not easily bent inward or outward. That is, it is possible to further prevent the mechanical arm 4 from being easily deformed during use.
  • the structure of the first embodiment of the mechanical arm 4, as shown in FIGS. 16-17, is the structure of the second embodiment of the mechanical arm 4.
  • the difference is mainly the first driving member connecting portion.
  • the structure of the 605 and the second driving member connecting portion 70 5 and the first actuator connecting portion 604 and the first driving member connecting portion 605 are different; for example, the first driving member connecting portion 605 and the second driving member connecting portion 705 and the first
  • the structure of the actuator connecting portion 604 and the first driving member connecting portion 605 may be a rectangular plate shape, a circular plate shape or an elliptical plate-like structure with irregular plate-like structures, and the first driving member is connected according to the requirement of using the crucible.
  • the shape of the structure of the portion 605 and the second driver connecting portion 705 and the first actuator connecting portion 604 and the first driver connecting portion 605 is defined.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种集成底座（1）和一种包括集成底座（1）的机器人，其中，集成底座（1）用于安装电机（30）并输出电机（30）产生的动力，电机（30）具有主轴（31），集成底座（1）包括设有安装腔体（12）的外壳（10）、固定安装于安装腔体（12）内的固定板（20）、设于安装腔体（12）底部与固定板（20）之间并与主轴（31）固定连接的联轴器（22）以及设于安装腔体（12）内并与电机（30）固定连接以随电机（30）旋转以输出动力的旋转板（13），固定板（20）位于联轴器（22）与旋转板（13）之间，固定板（20）设有与联轴器（22）相对应的第一过孔（21），旋转板（13）设有与第一过孔（21）相对应的第二过孔（131），主轴（31）依次穿过第二过孔（131）和第一过孔（21）并连接于联轴器（22）；同时，机器人包括集成底座（1）以及设于旋转板（13）上的机械手；集成底座（1）的结构紧凑，使得机器人的整体结构集成化，体积小，且能够减少电机输出的动力损失和提升轴向运动的精度。

Description

集成底座和机器人
技术领域
[0001] 本发明涉及机器人技术领域， 尤其涉及集成底座和机器人。
背景技术
[0002] 机器人及自动化装备有着广阔的应用市场， 以机器人为例， 机器人技术作为先 进制造技术的典型代表， 是集机械、 电子、 控制、 计算机、 传感器、 人工智能 等多学科先进技术于一体的重要的现代制造业自动化装备。 其中， 机器人一般 都具有轴向运动的自由度， 现有技术中机器人的轴向运动机构具有结构复杂的 缺陷。 例如， 机器人的轴向运动机构一般通过驱动源配合由丝杆和移动螺母或 者齿轮和齿条组成的传动机构形成， 该样形成的轴向运动机构不仅结构较为复 杂， 而且体积较大， 不利于集成安装； 同吋， 驱动源输出的动力经过传动机构 传输， 还会造成运动精度下降和动力的损失。
技术问题
[0003] 本发明的目的在于提供一种集成底座和具有该集成底座的机器人， 旨在解决现 有技术的机器人的轴向运动机构结构复杂、 体积大且动力损失的技术问题。 问题的解决方案
技术解决方案
[0004] 为实现上述目的， 本发明的技术方案是： 集成底座， 用于安装电机并输出所述 电机产生的动力， 所述电机具有主轴， 所述集成底座包括设有安装腔体的外壳 、 固定安装于所述安装腔体内的固定板、 设置于所述安装腔体底部与所述固定 板之间并与所述主轴固定连接的联轴器以及设置于所述安装腔体内并与所述电 机固定连接以随所述电机旋转以输出所述动力的旋转板， 所述固定板位于所述 联轴器与所述旋转板之间， 所述固定板设有与所述联轴器相对应的第一过孔， 所述旋转板设有与所述第一过孔相对应的第二过孔， 所述主轴依次穿过所述第 二过孔和所述第一过孔并连接于所述联轴器。
[0005] 优选地， 所述外壳内设有至少一个用于限制所述旋转板转动角度的限位装置。 [0006] 优选地， 所述限位装置包括旋转编码器， 所述旋转编码器包括码盘和读头， 所 述读头安装于所述固定板上并与所述电机电性连接， 所述码盘固定于所述电机 的主轴的外围并与所述读头感应连接。
[0007] 优选地， 所述码盘包括具有中空孔的环形盘体， 所述环形盘体上设有环形码道 ， 所述读头与所述环形码道感应连接， 所述环形码道至少包括第一区域和第二 区域， 所述第一区域内间隔设有第一非透光区和位于相邻的所述第一非透光区 之间的第一透光区， 所述第二区域间隔设有第二非透光区和位于相邻的所述第 二非透光区之间的第二透光区； 所述第一非透光区的宽度与所述第二非透光区 的宽度不同和 /或所述第一透光区的宽度与所述第二透光区的宽度不同。
[0008] 优选地， 所述旋转板的内侧面固定连接有安装架， 所述安装架幵设有供所述电 机的主轴穿设的第三过孔， 所述安装架与所述旋转板和所述电机固定连接， 所 述码盘固定连接于所述安装架上。
[0009] 优选地， 所述安装架包括朝向所述固定板一侧凸出延伸且沿所述第三过孔径向 设置的内环体， 所述固定板的顶面幵设有轴承槽， 所述电机的主轴外套设有轴 承， 所述轴承嵌装于所述轴承槽与所述内环体之间。
[0010] 优选地， 所述固定架还包括朝向所述固定板一侧凸出延伸且沿所述第三过孔径 向设置与所述内环体间隔的外环体； 所述旋转板的底侧设有安装架槽， 所述安 装架嵌装于所述安装架槽与所述外环体之间并与所述旋转板固定连接。
[0011] 优选地， 所述旋转板于背离所述固定板的一侧设有限制所述电机沿其径向移动 的电机安装槽， 所述电机固定安装于所述电机安装槽内。
[0012] 优选地， 所述限位装置包括第一阻挡块、 第二阻挡块和活动抵接块， 所述活动 抵接块固定安装于所述旋转板的内侧面， 所述第一阻挡块和所述第二阻挡块分 别设于所述旋转板运动方向的两侧并用于阻挡所述活动抵接块。
[0013] 优选地， 所述第一阻挡块与所述活动抵接块抵接的端面设有第一缓冲垫， 所述 第二阻挡块与所述活动抵接块抵接的端面设有第二缓冲垫。
[0014] 优选地， 所述限位装置包括磁场传感器， 所述磁场传感器包括霍尔传感器和磁 铁块， 所述霍尔传感器安装于所述固定板上并与所述电机电性连接， 所述磁铁 块安装于所述旋转板上。 [0015] 优选地， 还包括安装于所述安装腔体内的线路板， 所述电机与所述线路板通过 导线电性连接， 且所述导线伸入所述安装腔体并绕设于所述旋转板和所述固定 板的外侧。
[0016] 优选地， 所述外壳内设有位于所述固定板与所述线路板之间的过线隔板， 所述 过线隔板幵设有供所述导线穿设的线头过孔。
[0017] 优选地， 所述过线隔板包括第一板体、 第二板体和过渡板体， 所述第一板体与 所述第二板体相邻的端部分别与所述过渡板体宽度方向的上端和下端连接， 且 所述第一板体和所述第二板体分别位于所述过渡板体相对的两侧； 所述线头过 孔幵设于所述第一板体上， 所述过渡板体设有与所述线头过孔连通并位于所述 第二板体上方的过线通道。
[0018] 优选地， 所述固定板位于所述导线转动范围的一侧设有下扇形缘部， 所述旋转 板与所述下扇形缘部对应的位置设有上扇形缘部， 所述下扇形缘部和所述上扇 形缘部与所述安装腔体位于所述导线的转动范围的一侧之间形成有供所述导线 随所述旋转板转动的扇形活动区。
[0019] 本发明的有益效果： 本发明的集成底座通过设置随所述电机主轴旋转的旋转板 以及在所述安装腔体内设置于主轴连接并相对于主轴转动的固定板和联轴器， 联轴器对电机主轴的转动起到支撑作用， 旋转板、 固定板和联轴器紧凑地安装 主轴上， 使得整个集成底座结构简单， 而无需额外安装传动机构， 使得整个集 成底座体积大大缩小； 同吋， 通过所述旋转板随所述主轴转动以使固定安装在 旋转板上的部件也跟随着进行轴向运动， 形成一个轴向运动的自由度， 即利用 所述旋转板直接将所述电机的动力输出至安装在旋转板上的部件， 从而能够避 免电机输出的动力损失并提升轴向运动的精度。
[0020] 本发明的另一技术方案是： 机器人， 包括上述的集成底座以及设于所述旋转板 上的机械手。
[0021] 优选地， 所述机械手包括支撑架、 机械臂和执行机构， 所述支撑架固定于所述 旋转板上， 所述机械臂安装于所述支撑架上， 所述执行机构与所述机械臂的末 端连接。
[0022] 优选地， 所述机械臂包括相对设置的第一侧板、 第二侧板和顶部安装板， 所述 顶部安装板的两侧分别与所述第一侧板的上端和所述第二侧板的上端连接； 且 所述顶部安装板与所述第一侧板和所述第二侧板一体成型。 机器人， 包括上述 的集成底座以及设于所述旋转板上的机械手。
发明的有益效果
有益效果
[0023] 本发明的机器人， 由于使用了上述的集成底座， 从而可以使得整个机器人的结 构也更加紧凑， 体积更小； 还能够确保尽量避免机器人的电机输出的动力损失 和提升机器人轴向运动的精度。
对附图的简要说明
附图说明
[0024] 图 1为本发明实施例提供的集成底座的结构示意图。
[0025] 图 2为沿图 1中 A-A线的剖切视图。
[0026] 图 3为本发明实施例提供的集成底座的结构分解示意图。
[0027] 图 4为本发明实施例提供的集成底座的活动抵接块的结构示意图。
[0028] 图 5为本发明实施例提供的集成底座的旋转板的结构示意图。
[0029] 图 6为本发明实施例提供的集成底座的固定板的结构示意图。
[0030] 图 7为本发明实施例提供的集成底座的外壳的结构示意图。
[0031] 图 8为本发明实施例提供的集成底座的码盘的结构示意图。
[0032] 图 9为图 8中 B处的局部放大示意图。
[0033] 图 10为本发明实施例提供的集成底座的过线隔板的第一种视角的结构示意图。
[0034] 图 11为本发明实施例提供的集成底座的过线隔板的第二种视角的结构示意图。
[0035] 图 12为本发明实施例提供的机器人的第一种机械臂的第一种视角的结构示意图
[0036] 图 13为图 12中 C处的局部放大示意图。
[0037] 图 14为本发明实施例提供的机器人的第一种机械臂的第二种视角的结构示意图 图 15为本发明实施例提供的机器人的第一种机械臂的第三种视角的结构示意图 [0039] 图 16为本发明实施例提供的机器人的第二种机械臂的第一种视角的结构示意图 [0040] 图 17为本发明实施例提供的机器人的第二种机械臂的第二种视角的结构示意图
[0041] 图 18为图 2中 D处的局部放大示意图。
[0042] 图 19为本发明实施例提供的机器人的结构示意图。
[0043] 附图标记包括：
[0044] 1 集成底座 2_机械手
[0045] 3_支撑架 4_机械臂
[0046] 5_执行机构 6_第一侧板
[0047] 7_第二侧板 8_顶部安装板
[0048] 9_机器人 10—外壳
[0049] 11一顶板 12_安装腔体
[0050] 13—旋转板 14_线路板
[0051] 15—导线 16_扇形活动区
[0052] 20—固定板 21_第一过孔
[0053] 22—联轴器 23—下扇形缘部
[0054] 24—轴承槽 30_电机
[0055] 31—主轴 40_过线隔板
[0056] 41一第一板体 42_第二板体
[0057] 43—过渡板体 50_限位装置
[0058] 51—旋转编码器 52—第一阻挡块
[0059] 53_第二阻挡块 54—活动抵接块
[0060] 55_磁场传感器 60—安装架
[0061] 61—第三过孔 62_内环体
[0062] 63—外环体 70—轴承
[0063] 131—第二过孔 132—上扇形缘部
[0064] 133—弧形倒角 134—电机安装槽 [0065] 135- -安装架槽 411_线头过孔
[0066] 412- -挡尘凸缘 413—过线凹槽
[0067] 421- -承托板 431—过线通道
[0068] 432- -侧挡板 433—弧形导向板
[0069] 434 -导线包扎带过孔 ' 511—码盘
[0070] 512- -读头 541_第一缓冲垫
[0071] 542- -第二缓冲垫 551_霍尔传感器
[0072] 552— -磁铁块 601_第一外接壳卡扣孔
[0073] 602- -第一定位凸起 603_第一定位槽
[0074] 604 -第一执行件连接部 605 第一驱动件连接部
[0075] 678- -加强杆 701_第二外接壳卡扣孔
[0076] 702- -第二定位凸起 703_第二定位槽
[0077] 704 -第二执行件连接部 705 第二驱动件连接部
[0078] 801- -外接壳卡槽 51 1 1_环形盘体
[0079] 5112- _中空孔 5113_环形码道
[0080] 5114- 第一区域 5115—第二区域
[0081] 5116- _安装凸块 5117—分界线
[0082] 6704- _执行件连接孔 6705_驱动件连接孔
[0083] 51141 _第一非透光区 51142—第一透光区
[0084] 51151 _第二非透光区 51152—第二透光区。
本发明的实施方式
[0085] 下面详细描述本发明的实施例， 所述实施例的示例在附图中示出， 其中自始至 终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。 下 面通过参考附图 1~19描述的实施例是示例性的， 旨在用于解释本发明， 而不能 理解为对本发明的限制。
[0086] 在本发明的描述中， 需要理解的是， 术语"长度"、 "宽度"、 "上"、 "下"、 "前" 、 "后"、 "左"、 "右"、 "竖直"、 "水平"、 "顶"、 "底 ""内"、 "外"等指示的方位或 位置关系为基于附图所示的方位或位置关系， 仅是为了便于描述本发明和简化 描述， 而不是指示或暗示所指的装置或元件必须具有特定的方位、 以特定的方 位构造和操作， 因此不能理解为对本发明的限制。
[0087] 此外， 术语"第一"、 "第二 "仅用于描述目的， 而不能理解为指示或暗示相对重 要性或者隐含指明所指示的技术特征的数量。 由此， 限定有 "第一"、 "第二 "的特 征可以明示或者隐含地包括一个或者更多个该特征。 在本发明的描述中， "多个" 的含义是两个或两个以上， 除非另有明确具体的限定。
[0088] 在本发明中， 除非另有明确的规定和限定， 术语"安装"、 "相连"、 "连接"、 "固 定"等术语应做广义理解， 例如， 可以是固定连接， 也可以是可拆卸连接， 或成 一体； 可以是机械连接， 也可以是电连接； 可以是直接相连， 也可以通过中间 媒介间接相连， 可以是两个元件内部的连通或两个元件的相互作用关系。 对于 本领域的普通技术人员而言， 可以根据具体情况理解上述术语在本发明中的具 体含义。
[0089] 如图 1至图 19所示， 本发明实施例提供的集成底座 1， 用于安装电机 30并输出所 述电机 30产生的动力， 所述电机 30具有主轴 31， 所述集成底座 1包括设有安装腔 体 12的外壳 10、 固定安装于所述安装腔体 12内的固定板 20、 设置于所述安装腔 体 12底部与所述固定板 20之间并与所述主轴 31固定连接的联轴器 22以及设置于 所述安装腔体 12内并与所述电机 30固定连接以随所述电机旋转以输出所述动力 的旋转板 13， 所述固定板 20位于所述联轴器 22与所述旋转板 13之间， 所述固定 板 20设有与所述联轴器 22相对应的第一过孔 21， 所述旋转板 13设有与所述第一 过孔 21相对应的第二过孔 131， 所述主轴 31依次穿过所述第二过孔 131和所述第 一过孔 21并连接于所述联轴器 22。 具体的， 本发明实施例的集成底座 1， 工作吋 ， 电机 30的主轴 31转动， 联轴器 22的设置对电机 30的主轴 31的转动起到提供支 撑作用， 即电机 30的主轴 31相对于联轴器 22和固定板 20转动， 由于旋转板 13与 电机 30的主轴 31固定连接， 那么旋转板 13跟随着主轴 31转动， 旋转板 13即实现 了轴向运动， 那么固定安装在旋转板 13上的部件也跟随着进行轴向运动， 从而 形成一个轴向运动的自由度。 本发明的集成底座 1的整体结构紧凑， 无需增加安 装传动机构， 可以使得整体结构集成化， 体积更小； 且能够确保尽量避免电机 3 0输出的动力损失和提升轴向运动的精度。
[0090] 另外， 安装腔体 12的上方设有顶板 11， 用于使得安装腔体 12形成半封闭状态。
[0091] 本实施例中， 如图 2~3所示， 外壳 10内设有线路板 14， 电机 30与线路板 14通过 导线 15电性连接， 且导线 15伸入安装腔体 12并绕设于旋转板 13和固定板 20的外 侧。 具体的， 由于在外壳 10内的固定板 20下方设置线路板 14， 那么通过导线 15 与线路板 14和电机 30电性连接吋， 导线 15可以穿过外壳 10设置的安装腔体 12并 绕设于旋转板 13和固定板 20的外侧， 这样， 一方面避免了导线 15外部设置， 达 到隐藏导线 15的目的； 另一方面缩短了电机 30与线路板 14的距离， 即缩短了导 线 15的长度， 导线 15的长度缩短可以避免导线 15缠绕其他部件的问题发生， 也 进一步使得整个结构更加集成化。
[0092] 本实施例中， 如图 5~6所示， 固定板 20位于导线 15转动范围的一侧设有下扇形 缘部 23， 旋转板 13与下扇形缘部 23对应的位置设有上扇形缘部 132， 下扇形缘部 23和上扇形缘部 132与安装腔体 12位于导线 15的转动范围的一侧之间形成有供导 线 15随旋转板 13转动的扇形活动区 16; 上扇形缘部 132与下扇形缘部 23的形状相 适配。 具体的， 当电机 30工作吋， 电机 30带动旋转板 13转动， 由于电机 30与线 路板 14之间电性连接的导线 15绕设于在旋转板 13和固定板 20的外侧， 为了防止 旋转板 13和固定板 20影响导线 15跟随着旋转板 13运动， 分别在固定板 20和旋转 板 13位于导线 15动范围内的一侧部设置成下扇形缘部 23和上扇形缘部 132， 这样 ， 导线 15在下扇形缘部 23和上扇形缘部 132与安装腔体 12的之间形成的扇形活动 区 16内进行自由轴向圆周运动， 而不会受到固定板 20和旋转板 13的影响， 既能 够达到隐藏导线 15设计的目的， 还可以保证导线 15的运动不受约束， 结构设计 科学合理， 实用性强。
[0093] 本实施例中， 如图 5所示， 上扇形缘部 132的两端分别设有弧形倒角 133。 具体 的， 由于旋转板 13的适配安装在安装腔体 12内的， 那么旋转板 13是相对于安装 腔体 12的孔缘运动的， 由于旋转板 13设有上扇形缘部 132， 为了避免上扇形缘部 132的两端与安装腔体 12的腔壁产生摩擦或者卡滞， 在上扇形缘部 132的两端分 别设置弧形倒角 133; 该种设计也可以确保将旋转板 13安装于安装腔体 12内吋， 更加方便。 [0094] 如图 5所示， 旋转板 13于背离所述固定板 20的一侧设有限制电机 30沿其径向移 动的电机安装槽 134， 电机 30固定安装于电机安装槽 134内。 通过在旋转板 13上 幵设有电机安装槽 134， 然后将电机 30的端部容置在该电机安装槽 134内， 再增 加紧固件将电机 30的端部锁紧在旋转板 13上， 这样即可将电机 30固定安装在旋 转板 13上， 限制电机沿所述旋转板径向移动， 电机 30的主轴 31转动吋， 由于主 轴 31被联轴器 11抱死， 电机 30相对于主轴 31转动而带动旋转板 13转动， 通过电 机 30带动旋转板 13转动， 形成一个轴向的旋转结构， 即当旋转板 13上安装有其 他部件 （例如机械手 2) 吋， 即可带动该部件进行轴向运动， 即形成一个轴向的 自由度。
[0095] 另外， 如图 2~3所示， 电机 30的主轴 31上套接有轴承 70， 轴承 70与固定板 20固 定连接。 具体的， 轴承 70起到支撑旋转板 13转动和降低旋转板 13运动过程中的 摩擦系数， 这样可以确保旋转板 13的转动更加顺畅。
[0096] 本实施例中， 线路板 14上集成安装有处理器 （图未示） 。 在线路板 14上集成安 装处理器， 使得线路板 14形成一个控制板， 直接输出信号对与其电性连接的电 机 30等驱动源进行控制， 这样， 整个集成底座 1相当于集成了控制盒， 无需另外 设置电源线外接控制盒。
[0097] 本实施例中， 如图 2~3所示， 外壳 10内设有至少一个用于限制旋转板 13转动一 定角度的限位装置 50。 具体的， 电机 30工作吋带动旋转板 13轴向圆周运动， 旋 转板 13即实现了轴向圆周运动的自由度， 那么安装于旋转板 13上的其他部件也 实现轴向圆周运动； 由于外壳 10内设有限制旋转板 13转动一定角度的限位装置 5 0， 通过该限位装置 50的设置可以避免旋转板 13转动的角度过大而导致电机 30连 接的导线 15缠绕在电机 30或者其他部件上， 进而实现防缠线的功能， 保证集成 底座 1的正常工作。
[0098] 更具体的， 限位装置 50能够在旋转板 13转动到一定的角度后， 限制住该旋转板 13继续转动， 那么即可防止例如旋转板 13转动超过 360°而将电机 30连接的导线 15 缠绕在电机 30上， 当然， 在实际安装该限位装置 50吋， 可以限制旋转板 13转动 的角度根据需要设定， 例如可以设定电机 30带动旋转板 13向左或者向右转动 135° 吋即限制住该旋转板 13继续转动。 [0099] 其中， 限位装置 50可以是通过信号输出控制电机 30来进行限制； 也可以是采用 机械结构限定旋转板 13转动的角度； 还可以是既通过信号输出控制电机 30来进 行限制， 再结合机械结构对旋转板 13的转动角度进行限定。
[0100] 本实施例中， 如图 2~3和图 8~9所示， 限位装置 50包括旋转编码器 51， 旋转编码 器 51包括码盘 511和读头 512， 读头 512安装于固定板 20上并与电机 30电性连接， 码盘 511固定于电机 30的主轴 31的外围并与读头 512感应连接。 具体的， 读头 512 固定安装在固定板 20上作为不动件， 而码盘 511固定在电机 30的主轴 31的外围跟 随着主轴 31的转动而转动， 那么码盘 511在转动吋是始终与读头 512之间产生信 号感应连接的， 启动该旋转编码器 51后， 读头 512首先读取码盘 511上的零点， 然后当电机 30的主轴 31转动一定角度后， 该码盘 511也跟随着电机 30的主轴 31转 动一定的角度， 直至读头 512检测到码盘 511转动到设定的限位角度， 并将该检 测到的信号传输给到电机 30， 从而控制电机 30停止工作， 电机 30停止工作则旋 转板 13也停止工作， 从而避免设置在电机 30外的导线 15缠绕在电机 30上， 使得 集成底座 1实现防缠线的功能。
[0101] 本实施例中， 如图 8~9所示， 码盘 511包括具有中空孔 5112的环形盘体 5111， 环 形盘体 5111上设有环形码道 5113， 读头 512与环形码道 5113感应连接， 环形码道 5113至少包括第一区域 5114和第二区域 5115， 第一区域 5114内间隔设有第一非 透光区 51141和位于相邻的第一非透光区 51141之间的第一透光区 51142， 第二区 域 5115间隔设有第二非透光区 51151和位于相邻的第二非透光区 51151之间的第 二透光区 51152; 第一非透光区 51141的宽度与第二非透光区 51151的宽度不同和 / 或第一透光区 51142的宽度与第二透光区 51152的宽度不同。 具体的， 由于第一 区域 5114内设置的相邻的第一非透光区 51141之间的距离与第二区域 5115内设置 的相邻的第二非透光区 51151之间的距离不同， 第一区域 5114和第二区域 5115可 以输出不同的位置信息， 那么可以将第一区域 5114与第二区域 5115的分界线 511 7定义为零点， 当检测到该分界线 5117吋， 即可以该分界线 5117作为起始零点幵 始计算， 从而方便判断检测出码盘 511转动的具体角度值。
[0102] 更具体的， 本发明实施例提供的码盘 5111的结构至少有三个方式：
[0103] 一、 第一非透光区 51141的宽度与第二非透光区 51151的宽度不同； 这样， 第一 区域 5114和第二区域 5115可以输出不同的位置信息；
[0104] 二、 第一透光区 51142的宽度与第二透光区 51152的宽度不同； 同样可以确保第 一区域 5114和第二区域 5115输出不同的位置信息；
[0105] 三、 第一非透光区 51141的宽度与第二非透光区 51151的宽度不同和第一透光区 51142的宽度与第二透光区 51152的宽度不同； 同样也可以确保第一区域 5114和 第二区域 5115输出不同的位置信息。
[0106] 具体的， 如图 8所示， 中空孔 5112的孔缘朝向中空孔 5112的孔心延伸设有至少 一个便于码盘 511安装的安装凸块 5116。
[0107] 本实施例中， 如图 2~3所示， 还包括固定安装于所述旋转板 13底面的安装架 60 ； 所述安装架 60设有供所述主轴 31穿过以与所述固定板 20配合的第三过孔 61， 并包括朝向所述固定板 20—侧凸出延伸且沿所述第三过孔 61径向设置的内环体 6 2， 所述固定板 20的顶面幵设有轴承槽 24， 所述电机 30的主轴 31外套设有轴承 70 ， 所述轴承 70嵌装于所述轴承槽 24与所述内环体 62之间。 具体的， 通过该种结 构设计可以通过安装架 60来对轴承 70进行定位安装， 还可以起到防止主轴 31轴 向抖动的作用。 且轴承 70起到支撑旋转板 13转动和降低旋转板 13运动过程中的 摩擦系数， 这样可以确保旋转板 13的转动更加顺畅。 码盘 511固定连接于安装架 60上。 其中， 安装架 60、 旋转板 13和电机 30的机身三者可以通过紧固件锁紧在 一起成为一个整体， 也即是说， 电机 30的主轴 31转动吋， 由于主轴 31被联轴器 2 2抱死， 那么电机 30相对于主轴 31转动而带动旋转板 13转动， 旋转板 13带动安装 架 60和电机 30转动， 将码盘 511直接固定在安装架 60上， 那么相当于消除了码盘 511与电机 30的主轴 31之间连接存在的回程间隙， 也就是说电机 30的主轴 31转动 多少角度， 同吋带动码盘 511转动多少角度， 这样能够提高读头 512检测码盘 511 转动角度的精度， 减少限位的误差， 确保读头 512输出至电机 30的信号准确无误 ， 确保不会因为出现缠线等导致部件损坏的情况发生。
[0108] 本实施例中， 结合图 2、 7所示， 所述固定架 60还包括朝向所述固定板 20—侧凸 出延伸且沿所述第三过孔 61径向设置与所述内环体间隔的外环体； 所述旋转板 1 3的底侧设有安装架槽 45， 所述安装架 60嵌装于所述安装架槽 45与所述外环体 10 3之间并与所述旋转板 13固定连接。 具体的， 通过该种结构设计， 确保安装架 60 与旋转板 13的连接稳定， 防止安装架 60在运动吋出现脱落的现象。
[0109] 本实施例中， 如图 2~3所示， 限位装置 50包括第一阻挡块 52、 第二阻挡块 53和 活动抵接块 54， 活动抵接块 54固定安装于旋转板 13的内侧面， 第一阻挡块 52和 第二阻挡块 53分别设于旋转板 13运动方向的两侧并用于阻挡活动抵接块 54。 具 体的， 由于电机 30带动旋转板 13进行两个方向的转动， 即向左转或者向右转， 因此在旋转板 13向左和向右转动的两个方向的位置分别设定第一阻挡块 52和第 二阻挡块 53， 这样， 当旋转板 13向左或者向右转动一定的角度后， 固定安装在 旋转板 13内侧面的活动抵接块 54会分别抵接到第一阻挡块 52和第二阻挡块 53上 而停止继续运动， 从而实现了防止旋转板 13转动的角度过大而造成设置在电机 3 0外的导线 15出现缠线。
[0110] 其中， 第一阻挡块 52和第二阻挡块 53可以分别固定在外壳 10的内侧， 也可以外 壳 10内底部向上延伸设置支撑住来固定， 也可以固定在外壳 10其设置的其他固 定件上， 其位置只要可以限定在旋转板 13转动一定角度 （该角度是根据实际情 况设定） 后， 第一阻挡块 52和第二阻挡块 53能够分别与活动抵接块 54抵接， 从 而对旋转的转动板的角度进行阻挡限定。
[0111] 更具体的， 为了防止旋转板 13带动活动抵接块 54与第一阻挡块 52和第二阻挡块 53实现抵接限位吋出现硬性接触， 而造成活动抵接块 54、 第一阻挡块 52和第二 阻挡块 53损坏； 在本实施例中， 第一阻挡块 52与活动抵接块 54抵接的端面设有 第一缓冲垫 541， 第二阻挡块 53与活动抵接块 54抵接的端面设有第二缓冲垫 542 。 这样， 当活动抵接块 54与第一阻挡块 52和第二阻挡块 53抵接接触吋， 实现柔 性接触， 不会因为转动吋的冲击力过大而造成活动抵接块 54、 第一阻挡块 52和 第二阻挡块 53损坏； 第一缓冲垫 541和第二缓冲垫 542可以采用硅胶、 橡胶或者 塑胶等材料制成。
[0112] 本实施例中， 如图 2~3所示， 限位装置 50包括磁场传感器 55， 磁场传感器 55包 括霍尔传感器 551和磁铁块 552， 霍尔传感器 551安装于固定板 20上并与电机 30电 性连接， 磁铁块 552安装于旋转板 13上。 具体的， 磁铁块 552跟随着旋转板 13转 动， 当旋转板 13转动一定的角度后， 固定安装在固定板 20上霍尔传感器 551能够 感应到磁铁块 552， 从而将该感应的信号传输给电机 30， 控制电机 30停止工作， 电机 30停止工作则旋转板 13也停止工作， 从而避免设置在电机 30外的导线 15缠 绕在电机 30上， 实现防缠线的功能。
[0113] 本实施例中， 磁场传感器 55实现的限位可以单独应用在本实施例集成底座 1上 ， 也可以结合上述的旋转编码器 51以及第一阻挡块 52、 第二阻挡块 53和活动抵 接块 54形成的限位结构， 也就是说三者中可以是任意一种或者两种以上均可应 用在本实施例的集成底座 1上， 若三者限位结合使用， 可以达到三重保护的作用 ， 实现绝对避免电机 30缠线， 集成底座 1工作吋的安全系数大大提高。
[0114] 本实施例中， 如图 2~3和图 10~11所示， 外壳 10内设有位于固定板 20与线路板 14 之间的过线隔板 40， 过线隔板 40幵设有供导线 15穿设的线头过孔 411。 过线隔板 40的作用是提供导线 15通过， 并将线路板 14与其上方的其他部件间隔幵， 这样 可以防止其他部件或者杂质接触到线路板 14， 影响线路板 14的工作； 同吋也可 以很好的对导线 15进行布置， 防止导线 15凌乱而影响整个集成底座 1的工作。
[0115] 本实施例中， 如图 10~11所示， 过线隔板 40包括第一板体 41、 第二板体 42和过 渡板体 43， 第一板体 41与第二板体 42相邻的端部分别与过渡板体 43宽度方向的 上端和下端连接， 且第一板体 41和第二板体 42分别位于过渡板体 43相对的两侧 ； 线头过孔 411幵设于第一板体 41上， 过渡板体 43设有与线头过孔 411连通并位 于第二板体 42上方的过线通道 431。 具体的， 可以将导线 15的端部顺着过线通道 431穿过线头过孔 411朝向第一板体 41的下方布线， 那么导线 15的两端可以分别 与其他电子元件电性连接， 且当导向的数量有多根吋， 可以集中将导线 15挤压 在过线通道 431内， 多根导线 15的线头均统一穿过线头过孔 411朝下布线， 由于 第一板体 41的位置相对于第二板体 42高， 那么导线 15的上部分集中布置在第二 板体 42的上方， 导向的下部分集中布置在第一板体 41的下方， 且多根导线 15的 均具有一部位容置在过线通道 431内， 这样即形成对导线 15的合理布置， 提升使 用有该过线隔板 40的集成底座 1内的空间利用率和确保与导线 15连接的线路板 14 和电机 30能够正常发挥其工作性能。
[0116] 本实施例中， 如图 10~11所示， 第二板体 42与过线通道 431对应的位置向外延伸 有用于承托导线 15的承托板 421。 承托板 421为第二板体 42延伸的结构可以起到 在过线通道 431对导线 15起到承托的作用， 且将导线 15位于第二板体 42上方的部 位逐渐过渡到位于第一板体 41下方的部位， 特别是当导线 15的根数较多吋， 可 以统一容置在该承托板 421上， 方便集中布置多根导线 15， 结构设计科学合理， 实用性强。
[0117] 本实施例中， 如图 10~11所示， 过线通道 431对应于过渡板体 43的两侧分别设有 侧挡板 432。 具体的， 过线通道 431两侧设置的两侧挡板 432用于在侧方限制集中 在该过线通道 431内的导线 15， 确保导线 15根数较多吋， 能够保证多根导线 15集 中不凌乱， 方便工作人员对导线 15的识别和连接。
[0118] 本实施例中， 如图 10~11所示， 侧挡板 432朝向于线头过孔 411的端部与承托板 4 21的端部齐平， 侧挡板 432朝反向于线头过孔 411的端部延伸设有呈敞幵状的弧 形导向板 433。 导线 15—般从上往下布线， 也就是说一般导线 15是先从第二板体 42的上方沿着过线通道 431并通过线头过孔 411布置到第一板体 41的下方； 而过 线通道 431在整块板中需要供第二板体 42上方各个位置的导线 15的过线， 那么通 过呈敞幵状的弧形导向板 433的设置， 可以让各根导线 15顺着该弧形导向板 433 进入到过线通道 431， 弧形结构的弧形导向板 433也起到防止尖锐的过线通道 431 的端部对导线 15造成损伤。
[0119] 本实施例中， 如图 10~11所示， 侧挡板 432的靠近线头过孔 411的位置设有导线 包扎带过孔 434。 当集中在过线通道 431内的导线 15数量较多吋， 还需要增加设 置对各导线 15进行包扎的导线 15包扎带， 通过在侧挡板 432上幵设有导线包扎带 过孔 434， 那么就提供了供给导线 15包扎带穿设以包扎各导线 15的空间， 且导线 15包扎带穿设导线包扎带过孔 434吋， 也包扎住了侧挡板 432和承托板 421， 也就 是能够将各导线 15固定包扎在过线隔板 40上， 保证各导线 15安装后不会出现凌 乱的情况。
[0120] 本实施例中， 如图 10~11所示， 侧挡板 432的上端面高于第一板体 41的上表面。
各导线 15容置在过线通道 431内， 那么当第一板体 41上方设有其他部件吋， 为了 上方设置的其他部件压制到位于过线通道 431内的各导线 15， 通过将侧挡板 432 的上端面设计得高于第一板体 41的上表面， 这样， 侧挡板 432高出第一板体 41的 部位用于与其他部件抵接， 从而可以防止其他部件直接压制到过线通道 431内的 [0121] 更具体的， 如图 10~11所示， 由于侧挡板 432的上端面高于第一板体 41的上表面 ， 当第一板体 41的上部设有其他部件吋， 其他部件会抵接在高出第一板体 41的 上表面的侧挡板 432的部位， 这样其他部件与第一板体 41之间形成一个较大的间 隙， 为了防止有异物粉尘等杂质经过该间隙从线头过孔 411进入到第一板体 41的 下方； 在本实施例中， 在线头过孔 411的周缘向上延伸设有挡尘凸缘 412， 挡尘 凸缘 412的上端面与侧挡板 432的上端面齐平。 通过挡尘凸缘 412可以封闭该间隙 ， 避免异物粉尘等杂质经过该间隙从线头过孔 411进入到第一板体 41的下方， 保 证第一板体 41下方的电子元件的正常工作。
[0122] 本实施例中， 如图 10~11所示， 挡尘凸缘 412幵设有过线凹槽 413， 过线凹槽 413 的槽底与第一板体 41的上表面齐平。 在挡尘凸缘 412幵设有过线凹槽 413， 即为 第一板体 41上方布置的导线 15提供了可以穿设线头过孔 411的空间， 而将过线凹 槽 413的槽底与第一板体 41的上表面齐平设计可以确保布置在第一板体 41上的导 线 15尽量贴靠第一板体 41的上表面进入到线头过孔 411， 不会因为挡尘凸缘 412 的设置而导致布置在第一板体 41上方的导线 15翘起， 从而可以确保导线 15的最 合理布置。
[0123] 本实施例中， 如图 10~11所示， 过线通道 431的宽度小于线头过孔 411的宽度。
导线 15的端部一般连接有公插头或者母插座， 而公插头或者母插座的结构大于 导线 15， 那么将线头过孔 411的宽度设计得比过线通道 431的宽度更大， 可以方 便导线 15的端部连接的公插头或者母插座穿过线头过孔 411进入到第一板体 41的 下方布线， 且导线 15有多根吋， 可以通过导线 15包扎带包扎得更加紧凑， 占用 的空间更小， 因此， 过线通道 431的宽度可以设计得线头过孔 411的宽度更小； 也就是说， 最合理的设计过线通道 431的宽度和线头过孔 411的宽度可以避免多 余的贯通结构的存在， 能够尽量防止位于过线隔板 40上方的杂质进入到过线隔 板 40的下方。
[0124] 如图 1~18所示， 本发明实施例还提供了一种机器人 9， 包括上述的集成底座 1和 设于旋转板 13上的机械手 2。
[0125] 本发明实施例的机器人 9， 由于使用了上述的集成底座 1， 从而可以使得整个机 器人 9的结构也更加紧凑， 体积更小； 还能够确保尽量避免机器人 9的电机 30输 出的动力损失和提升机器人 9轴向运动的精度。
[0126] 本实施例中， 如图 18所示， 机械手 2包括支撑架 3、 机械臂 4和执行机构 5， 支撑 架 3固定于旋转板 13上， 机械臂 4安装于支撑架 3上， 执行机构 5与机械臂 4的末端 连接。 具体的， 旋转底座的旋转板 13转动带动支撑架 3转动， 支撑架 3带动机械 臂 4转动， 机械臂 4再带动执行机构 5转动， 从而实现轴向的运动。
[0127] 本实施例中， 如图 12~17所示， 机械臂 4包括相对设置的第一侧板 6、 第二侧板 7 和顶部安装板 8， 顶部安装板 8的两侧分别与第一侧板 6的上端和第二侧板 7的上 端连接； 且顶部安装板 8与第一侧板 6和第二侧板 7—体成型。 具体的， 机械臂 4 由顶部安装板 8、 第一侧板 6和第二侧板 7构成， 且顶部安装板 8、 第一侧板 6和第 二侧板 7三者一体成型而制， 从而可以加强整个机械臂 4的结构强度， 使用吋， 机械臂 4的顶部安装板 8、 第一侧板 6和第二侧板 7均不易产生形变； 且顶部安装 板 8还可以作为其他电子元件的安装基板使用， 顶部安装板 8、 第一侧板 6和第二 侧板 7三者之间围设形成一个具有幵放空间的模块， 那么可以在该空间内外进行 布线以及安装其他传动机构， 这使得机械臂 4的应用更加灵活， 适用范围更广， 适应性更佳。
[0128] 如图 12~17所示， 第一侧板 6靠近第一侧板 6上端的位置幵设有至少一个第一外 接壳卡扣孔 601， 第二侧板 7靠近第二侧板 7上端的位置幵设有至少一个与第一外 接壳卡扣孔 601相对应的第二外接壳卡扣孔 701。 通过顶部安装板 8的设置， 相当 于为整个机械臂 4提供了其他电子元件的安装基板， 例如可以将控制板、 处理器 、 按钮等安装于顶部安装板 8上， 然后还可以通过设置外接壳对上述的电子元件 进行罩设保护， 这样在第一侧板 6和第二侧板 7上设置相对应的第一外接壳卡扣 孔 601和第二外接壳卡扣孔 701来供给外接壳扣接， 从而能够保持设有外接壳吋 ， 能够使得外接壳与整个机械臂 4稳定连接。 其中， 第一外接壳卡扣孔 601和第 二外接壳卡扣孔 701的数量可以根据整个机械臂 4的大小而定， 一般优选为两个 ， 设置在靠近机械臂 4前端和后端的位置。 且顶部安装板 8的设置使得可以间隔 第一侧板 6与第二侧板 7形成的内空间与外空间， 传动机构可以设置在第一侧板 6 与第二侧板 7之间形成的内空间内， 而电源线的布线则可以在顶部安装板 8外设 置， 这样可以防止电源线缠绕传动机构影响传动机构的动作， 或者防止传动机 构对电源线造成绞线， 保证机械臂 4的正常工作。
[0129] 进一步地， 如图 12~17所示， 顶部安装板 8的侧部靠近顶部安装板 8前端和后端 的位置分别设有外接壳卡槽 801。 顶部安装板 8通过设置外接壳卡槽 801可以使得 设置的外接壳能够与顶部安装板 8实现连接， 这样即可实现设置有外接壳吋， 外 接壳能够与顶部安装板 8和第一侧板 6以及第二侧板 7均实现接触性的连接， 这样 能够进一步提升设置的外接壳与机械臂 4连接的稳定性， 确保机械臂 4工作吋， 设置的外接壳不会出现掉落的现象出现。
[0130] 其中， 如图 12~17所示， 第一侧板 6与顶部安装板 8的连接处的前端设有第一定 位凸起 602， 第一定位凸起 602与顶部安装板 8之间形成第一定位槽 603 ; 第二侧 板 7与顶部安装板 8的连接处的前端设有与第一定位凸起 602相对应的第二定位凸 起 702， 第二定位凸起 702与顶部安装板 8之间形成有与第一定位槽 603相对应的 第二定位槽 703。 设置的外接壳需要安装吋， 将外接壳的前端抵靠在第一定位槽 603和第二定位槽 703内， 即可完成对外接壳安装的定位， 然后下压外接壳的后 端并将外接壳的相应位置扣接在顶部安装板 8幵设的外接壳卡槽 801以及第一侧 板 6设置的第一外接壳卡扣孔 601和第二侧板 7设置的第二外接壳卡扣孔 701上， 即完成对外接壳的安装。 那么， 通过第一定位槽 603和第二定位槽 703的设置实 现了对外接壳的安装的快速定位以及辅助安装的工作。
[0131] 另外， 第一定位槽 603和第二定位槽 703在第一定位凸起 602和第二定位凸起 702 与顶部安装板 8之间形成， 可以确保外接壳的前端抵靠在第一定位槽 603和第二 定位槽 703上吋， 通过外接壳的前端封住顶部安装板 8的前端， 提升外接壳安装 后与顶部安装板 8之间的密封性。
[0132] 如图 12~17所示， 第一侧板 6的前端延伸设有第一执行件连接部 604， 第二侧板 7 的前端延伸设有与第一执行件连接部 604相对应的第二执行件连接部 704。 具体 的， 通过第一执行件连接部 604和第二执行件连接部 704设置在机械臂 4的前端以 连接执行机构 5， 例如， 执行机构 5可以是夹具、 吸盘等； 这样就方便各种执行 件与机械臂 4的前端的连接安装。
[0133] 第一执行件连接部 604和 /或第二执行件连接部 704幵设有执行件连接孔 6704; 执行件连接孔 6704的设置方便连接执行机构 5。 [0134] 如图 12~17所示， 第一侧板 6的后端延伸设有第一驱动件连接部 605， 第二侧板 7 的后端延伸设有与第一驱动件连接部 605相对应的第二驱动件连接部 705。 第一 驱动件连接部 605和第二驱动件连接部 705的设置， 方便连接驱动件， 例如， 驱 动件可以是电机 30等。 另外， 第一驱动件连接部 605和 /或第二驱动件连接部 705 幵设有驱动件连接孔 6705。 驱动件连接孔 6705的设置方便连接驱动件。
[0135] 如图 12~15所示， 机械臂 4还包括至少一条连接于第一侧板 6与第二侧板 7之间的 加强杆 678。 加强杆 678设置在第一侧板 6与第二侧板 7之间靠近下端的位置， 这 样可以确保第一侧板 6和第二侧板 7的下端不会轻易向内或者向外弯折形变， 也 就是可以进一步防止机械臂 4在使用过程中容易产生形变。
[0136] 进一步地， 如图 12~15为机械臂 4的第一种实施例结构， 如图 16~17为机械臂 4的 第二种实施例结构， 其区别主要是第一驱动件连接部 605和第二驱动件连接部 70 5以及第一执行件连接部 604和第一驱动件连接部 605的结构不同； 例如， 第一驱 动件连接部 605和第二驱动件连接部 705以及第一执行件连接部 604和第一驱动件 连接部 605的结构可以是不规则板状结构规则的矩形板状、 圆形板状或者椭圆形 板状结构， 根据使用吋的需求对第一驱动件连接部 605和第二驱动件连接部 705 以及第一执行件连接部 604和第一驱动件连接部 605的结构的形状进行限定。
[0137] 以上所述仅为本发明的较佳实施例而已， 并不用以限制本发明， 凡在本发明的 思想和原则之内所作的任何修改、 等同替换或改进等， 均应包含在本发明的保 护范围之内。

Claims

权利要求书
集成底座， 用于安装电机并输出所述电机产生的动力， 所述电机具有 主轴， 其特征在于： 所述集成底座包括设有安装腔体的外壳、 固定安 装于所述安装腔体内的固定板、 设置于所述安装腔体底部与所述固定 板之间并与所述主轴固定连接的联轴器以及设置于所述安装腔体内并 与所述电机固定连接以随所述电机旋转以输出所述动力的旋转板， 所 述固定板位于所述联轴器与所述旋转板之间， 所述固定板设有与所述 联轴器相对应的第一过孔， 所述旋转板设有与所述第一过孔相对应的 第二过孔， 所述主轴依次穿过所述第二过孔和所述第一过孔并连接于 所述联轴器。
根据权利要求 1所述的集成底座， 其特征在于： 所述外壳内设有至少 一个用于限制所述旋转板转动角度的限位装置。
根据权利要求 2所述的集成底座， 其特征在于： 所述限位装置包括旋 转编码器， 所述旋转编码器包括码盘和读头， 所述读头安装于所述固 定板上并与所述电机电性连接， 所述码盘固定于所述电机的主轴的外 围并与所述读头感应连接。
根据权利要求 3所述的集成底座， 其特征在于： 所述码盘包括具有中 空孔的环形盘体， 所述环形盘体上设有环形码道， 所述读头与所述环 形码道感应连接， 所述环形码道至少包括第一区域和第二区域， 所述 第一区域内间隔设有第一非透光区和位于相邻的所述第一非透光区之 间的第一透光区， 所述第二区域间隔设有第二非透光区和位于相邻的 所述第二非透光区之间的第二透光区； 所述第一非透光区的宽度与所 述第二非透光区的宽度不同和 /或所述第一透光区的宽度与所述第二 透光区的宽度不同。
根据权利要求 3所述的集成底座， 其特征在于： 所述旋转板的内侧面 固定连接有安装架， 所述安装架幵设有供所述电机的主轴穿设的第三 过孔， 所述安装架与所述旋转板和所述电机固定连接， 所述码盘固定 连接于所述安装架上。 [权利要求 6] 根据权利要求 5所述的旋转底座， 其特征在于： 所述安装架包括朝向 所述固定板一侧凸出延伸且沿所述第三过孔径向设置的内环体， 所述 固定板的顶面幵设有轴承槽， 所述电机的主轴外套设有轴承， 所述轴 承嵌装于所述轴承槽与所述内环体之间。
[权利要求 7] 根据权利要求 6所述的旋转底座， 其特征在于： 所述固定架还包括朝 向所述固定板一侧凸出延伸且沿所述第三过孔径向设置与所述内环体 间隔的外环体； 所述旋转板的底侧设有安装架槽， 所述安装架嵌装于 所述安装架槽与所述外环体之间并与所述旋转板固定连接。
[权利要求 8] 根据权利要求 5所述的旋转底座， 其特征在于： 所述旋转板于背离所 述固定板的一侧设有限制所述电机沿其径向移动的电机安装槽， 所述 电机固定安装于所述电机安装槽内。
[权利要求 9] 根据权利要求 2所述的集成底座， 其特征在于： 所述限位装置包括第 一阻挡块、 第二阻挡块和活动抵接块， 所述活动抵接块固定安装于所 述旋转板的内侧面， 所述第一阻挡块和所述第二阻挡块分别设于所述 旋转板运动方向的两侧并用于阻挡所述活动抵接块。
[权利要求 10] 根据权利要求 9所述的集成底座， 其特征在于： 所述第一阻挡块与所 述活动抵接块抵接的端面设有第一缓冲垫， 所述第二阻挡块与所述活 动抵接块抵接的端面设有第二缓冲垫。
[权利要求 11] 根据权利要求 2所述的集成底座， 其特征在于： 所述限位装置包括磁 场传感器， 所述磁场传感器包括霍尔传感器和磁铁块， 所述霍尔传感 器安装于所述固定板上并与所述电机电性连接， 所述磁铁块安装于所 述旋转板上。
[权利要求 12] 根据权利要求 1~11任一项所述的集成底座， 其特征在于： 所述集成底 座还包括安装于所述安装腔体内的线路板， 所述电机与所述线路板通 过导线电性连接， 且所述导线伸入所述安装腔体并绕设于所述旋转板 和所述固定板的外侧。
[权利要求 13] 根据权利要求 12所述的集成底座， 其特征在于： 所述外壳内设有位于 所述固定板与所述线路板之间的过线隔板， 所述过线隔板幵设有供所 述导线穿设的线头过孔。
根据权利要求 13所述的集成底座， 其特征在于： 所述过线隔板包括第 一板体、 第二板体和过渡板体， 所述第一板体与所述第二板体相邻的 端部分别与所述过渡板体宽度方向的上端和下端连接， 且所述第一板 体和所述第二板体分别位于所述过渡板体相对的两侧； 所述线头过孔 幵设于所述第一板体上， 所述过渡板体设有与所述线头过孔连通并位 于所述第二板体上方的过线通道。
根据权利要求 1~11任一项所述的集成底座， 其特征在于： 所述固定板 位于所述导线转动范围的一侧设有下扇形缘部， 所述旋转板与所述下 扇形缘部对应的位置设有上扇形缘部， 所述下扇形缘部和所述上扇形 缘部与所述安装腔体位于所述导线的转动范围的一侧之间形成有供所 述导线随所述旋转板转动的扇形活动区。
机器人， 其特征在于： 包括权利要求 1至 15任意一项所述的集成底座 以及设于所述旋转板上的机械手。
根据权利要求 16所述的机器人， 其特征在于： 所述机械手包括支撑架 、 机械臂和执行机构， 所述支撑架固定于所述旋转板上， 所述机械臂 安装于所述支撑架上， 所述执行机构与所述机械臂的末端连接。 根据权利要求 17所述的机器人， 其特征在于： 所述机械臂包括相对设 置的第一侧板、 第二侧板和顶部安装板， 所述顶部安装板的两侧分别 与所述第一侧板的上端和所述第二侧板的上端连接； 且所述顶部安装 板与所述第一侧板和所述第二侧板一体成型。
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CN105835039A (zh) * 2016-05-19 2016-08-10 深圳市越疆科技有限公司 集成底座和机器人
CN205734895U (zh) * 2016-05-19 2016-11-30 深圳市越疆科技有限公司 机器人及其防缠线旋转底座
CN205734897U (zh) * 2016-05-19 2016-11-30 深圳市越疆科技有限公司 集成底座和机器人
CN205734896U (zh) * 2016-05-19 2016-11-30 深圳市越疆科技有限公司 机器人及其旋转底座

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