WO2022099897A1 - 桌面机械臂的底座、桌面机械臂及机器人 - Google Patents
桌面机械臂的底座、桌面机械臂及机器人 Download PDFInfo
- Publication number
- WO2022099897A1 WO2022099897A1 PCT/CN2020/141013 CN2020141013W WO2022099897A1 WO 2022099897 A1 WO2022099897 A1 WO 2022099897A1 CN 2020141013 W CN2020141013 W CN 2020141013W WO 2022099897 A1 WO2022099897 A1 WO 2022099897A1
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- WIPO (PCT)
- Prior art keywords
- turntable
- partition plate
- box
- base
- thrust bearing
- Prior art date
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- 238000005192 partition Methods 0.000 claims abstract description 108
- 230000001360 synchronised effect Effects 0.000 claims abstract description 72
- 230000007246 mechanism Effects 0.000 claims description 25
- 238000009434 installation Methods 0.000 claims description 16
- 238000003825 pressing Methods 0.000 claims description 13
- 238000009423 ventilation Methods 0.000 claims description 8
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 239000012636 effector Substances 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Definitions
- the present application relates to the technical field of desktop robotic arms, in particular to a base of a desktop robotic arm, a desktop robotic arm and a robot.
- Desktop robotic arm is a sub-category of robotic arm. It has strong adaptability and dynamic problem-solving capabilities, and is widely used in the field of teaching. It is composed of a small arm motor.
- the turntable and the base are rotatably connected.
- the big arm is connected to the turntable and the small arm respectively.
- the small arm is connected to the end.
- the end is used to set the actuator.
- the turntable motor is used to drive the turntable to rotate relative to the base.
- the motor is used to drive the movement of the big arm, and the forearm motor is used to drive the movement of the small arm.
- the big arm and the small arm can use the parallelogram principle to drive the end to move in the working space, such as the Chinese patent with the application number CN201620105515.2.
- the turntable motor usually adopts a stepper motor, but due to the advancement of drive control technology, and the desktop robotic arm has a small size and low cost. Therefore, it is hoped that the desktop robot arm can adapt to the application requirements of industrial grades, and then the direct drive mode of stepper motor needs to be transformed into the drive mode of servo motor + synchronous pulley deceleration, so how to set the servo motor in the base with small space and volume
- the motor and synchronous pulley do not affect the structure of other components, which has become an urgent problem to be solved.
- the main purpose of the present application is to provide a base for a desktop robotic arm, so as to solve the existing technical problem of how to set a servo motor and a synchronous pulley in a base with a small space and volume.
- the present application proposes a base for a desktop manipulator, the base includes a box-shaped shell and a turntable drive motor, a turntable deceleration assembly and a turntable drive shaft arranged in the box-shaped shell, and the box-shaped shell
- the body is constructed with a partition extending in the horizontal direction, the turntable drive shaft is arranged in the central area of the partition, the turntable drive motor is arranged under the partition, and the turntable deceleration assembly is a synchronous belt deceleration structure and arranged on the partition.
- the turntable deceleration assembly includes a turntable primary synchronous pulley and a turntable secondary synchronous pulley; one end of the turntable primary synchronous pulley is drivingly connected with the turntable drive motor, and the other end is synchronized with the turntable secondary synchronous pulley One end of the pulley is drivingly connected, and the other end of the turntable secondary synchronous pulley is drivingly connected to the turntable drive shaft; the turntable primary synchronous pulley is arranged on the top surface of the partition, and the turntable drive motor It is arranged under the bottom surface of the baffle, and the output shaft of the turntable drive motor passes through the baffle and is connected to one end of the first-stage synchronous pulley of the turntable, and the second-stage synchronous pulley of the turntable is arranged on the on the bottom of the partition.
- the turntable drive motor is disposed around the turntable drive shaft in a staggered position, and the output shaft of the turntable drive motor is arranged upward.
- the turntable drive shaft is arranged on the partition plate through a thrust bearing.
- a receiving cavity for installing the thrust bearing and receiving the outer ring of the thrust bearing is constructed on the partition plate, and the turntable drive shaft is divided into an insertion section and a bearing section, and the insertion section can be inserted into In the inner ring of the thrust bearing and drivingly connected with the secondary synchronous pulley of the turntable, an end face of the bearing section facing the insertion section can abut with the inner ring of the thrust bearing.
- the base further includes: a bearing pressing plate, the bearing pressing plate is configured as a hollow ring, the bearing pressing plate is arranged on the thrust bearing and abuts with the outer ring of the thrust bearing, and the bearing pressing plate is in contact with the thrust bearing.
- the partitions are fixedly connected.
- the thrust bearing is a double row angular contact bearing.
- the turntable primary synchronous pulley includes a turntable primary drive pulley, a turntable primary driven pulley and a turntable primary synchronous belt, and the turntable primary driving pulley and the turntable primary driven pulley pass through the turntable primary
- the synchronous belt is connected by transmission;
- the turntable secondary synchronous pulley includes a turntable secondary driving wheel, a turntable secondary driven wheel and a turntable secondary synchronous belt, and the turntable secondary driving wheel and the turntable secondary driven wheel pass through the turntable secondary driven wheel.
- the turntable is connected by a secondary synchronous belt drive;
- the base also includes a turntable drive shaft, and the baffle is configured with a shaft hole for the turntable drive shaft to pass through, and
- the turntable drive shaft includes a mounting sleeve, two bearings and a shaft
- the two bearings are respectively arranged on both ends of the mounting sleeve with interference fit, and the shaft body is arranged in the mounting sleeve and is connected with the inner rings of the two bearings at the same time.
- One end of the body is connected to the first-stage driven wheel of the turntable through the shaft hole, and the other end is connected to the second-stage driving wheel of the turntable.
- the base further includes: a plurality of first fixing screws and a first tensioning mechanism;
- the partition plate is configured with a plurality of first waist-shaped holes, and the first fixing screws are connected with the first waist-shaped holes through the first waist-shaped holes.
- the mounting sleeve is fixedly connected;
- the first tensioning mechanism includes a first bracket and a first rotating bolt, the first bracket is configured with a first connection end and a first threaded end, and the first tensioning mechanism passes through the The first connecting end is fixedly connected to the partition plate, the first tensioning mechanism is located under the partition plate, the first rotating bolt is rotatably connected to the first threaded end, and the first The screw head of the rotating bolt is arranged close to the mounting sleeve, and the position of the first rotating bolt in the horizontal direction can be adjusted by rotating the first rotating bolt, so that the screw head of the first rotating bolt is connected to the mounting sleeve. abut each other, and by squeezing the installation sleeve,
- the secondary driven wheel of the turntable is detachably connected to the connecting section, the secondary driven wheel of the turntable is configured with an abutting structure, and the abutting structure is configured as a ring shape adapted to the connecting section, and the second driven wheel of the turntable is configured in a ring shape.
- the abutting structure is in contact with the lower edge of the inner ring of the thrust bearing, and the secondary driven wheel of the turntable is provided with a connecting structure
- the connecting structure is multiple a threaded through hole
- the connecting segment is configured with a threaded hole adapted to the threaded through hole.
- the connecting section is provided with a positioning hole
- the second-stage driven wheel of the turntable is provided with a positioning through hole
- the positioning pin is inserted into the positioning hole through the positioning through hole.
- the base further includes: a plurality of second fixing screws and a second tensioning mechanism;
- the partition plate is configured with a plurality of second waist-shaped holes, and the second fixing screws are connected with the second waist-shaped holes through the second waist-shaped holes.
- the turntable drive motor is fixedly connected;
- the second tensioning mechanism includes a second bracket and a second rotating bolt, the second bracket is configured with a second connecting end and a second threaded end, and the second tensioning mechanism is The second connecting end is fixedly connected to the partition plate, the second tensioning mechanism is located under the partition plate, the second rotating bolt is rotatably connected to the threaded end, and the second rotating bolt is rotatably connected to the threaded end.
- the screw heads of the bolts are arranged close to the turntable drive motor, and the position of the second rotation bolts in the horizontal direction can be adjusted by rotating the second rotation bolts, so that the screw heads of the second rotation bolts are driven with the turntable.
- the motors are in contact with each other, and by squeezing the turntable driving motor, the turntable driving motor moves along the track corresponding to the second waist-shaped hole.
- the box-shaped housing further includes a top plate and a bottom plate
- the top plate includes a first cover plate and a second cover plate
- the first cover plate and the second cover plate are respectively configured with semi-circular notches, so
- the first cover plate and the second cover plate are arranged on the partition plate and are detachably connected with the box-shaped shell, and the semi-circular notch of the first cover plate and the second cover plate Combined to form a circular notch, the circular notch is located above the vertical direction of the turntable drive shaft, and the bottom plate is arranged under the partition plate and is detachably connected to the box-shaped housing.
- the turntable drive motor is a servo motor
- an encoder is provided on the servo motor
- the encoder is a multi-turn absolute encoder
- the box-shaped housing is also provided with a multi-turn absolute encoder.
- the baffle plate is constructed with a ventilation opening and a ventilation fan arranged on the baffle plate and located at the ventilation opening, and the ventilation fan can blow the air in the lower layer of the baffle plate to the upper layer of the baffle plate .
- the application further proposes a desktop robotic arm, the desktop robotic arm includes a turntable, a large arm, a small arm and the above-mentioned base, and the base includes a box-shaped housing and a turntable drive motor and a turntable deceleration arranged in the box-shaped housing.
- an assembly and a turntable drive shaft the box-shaped casing is constructed with a partition extending in the horizontal direction, the turntable drive shaft is arranged in the central area of the partition, and the turntable drive motor is arranged under the partition , the turntable deceleration assembly is a synchronous belt deceleration structure and is arranged on the baffle.
- the desktop robotic arm further includes an end effector connected with the small arm.
- the present application further proposes a robot, the robot includes the above-mentioned desktop mechanical arm, the desktop mechanical arm includes the above-mentioned base, and the base includes a box-shaped casing and a turntable drive motor, a turntable deceleration assembly and A turntable drive shaft, the box-shaped casing is constructed with a partition extending in the horizontal direction, the turntable drive shaft is arranged in the central area of the partition, and the turntable drive motor is arranged under the partition, so
- the turntable deceleration assembly is a synchronous belt deceleration structure and is arranged on the baffle.
- the partition plate is arranged in the box-shaped casing, and the turntable drive motor and the turntable deceleration assembly are fixed on the partition plate, so as to facilitate the integral connection between the partition plate and the box-shaped casing.
- the turntable drive motor and the turntable deceleration assembly it is also conducive to rational utilization of the internal space of the box-shaped housing.
- 1 is a schematic structural diagram of an existing desktop robotic arm
- FIG. 2 is a cross-sectional view of an embodiment of the base of the desktop robotic arm in the application
- FIG. 3 is a schematic structural diagram of the base part structure shown in FIG. 2 from a viewing angle
- FIG. 4 is a schematic structural diagram of the base part structure shown in FIG. 2 from another perspective;
- Fig. 5 is the sectional view of the base part structure shown in Fig. 2;
- FIG. 6 is a cross-sectional view of the base portion structure shown in FIG. 2;
- Fig. 7 is the exploded schematic diagram of box-shaped housing, top plate and bottom plate shown in Fig. 2;
- FIG. 8 is a schematic structural diagram of the base part structure shown in FIG. 2 from another perspective;
- FIG. 9 is a schematic structural diagram of the first tensioning mechanism shown in FIG. 7;
- FIG. 10 is a schematic structural diagram of an embodiment of a desktop robotic arm in the present application.
- the robotic arm is composed of a base, a turntable, a large arm, a small arm, an end, a turntable motor, a large arm motor and a small arm motor.
- the turntable is rotatably connected to the base, and the large arm is connected to the turntable and the small arm respectively.
- the small arm is connected to the end, the end is used to set the actuator, the turntable motor is used to drive the turntable to rotate relative to the base, the big arm motor is used to drive the big arm movement, the small arm motor is used to drive the small arm movement, the big arm and the small arm Using the principle of parallelogram, the tip can be driven to move in the working space.
- stepper motor Because the desktop robotic arm is usually used for educational purposes, the requirements for accuracy and load capacity are low, so its turntable motor usually adopts a stepper motor, which cannot be used for industrial-grade applications.
- stepper motor due to the advancement of drive control technology, the direct drive mode of stepper motor can be transformed into a drive mode of servo motor + synchronous pulley deceleration, so how to set up servo motor and synchronous pulley in the base with small space volume
- the structure of other components does not have any influence, which has become an urgent problem to be solved.
- the applicant has proposed the following improvement scheme.
- the base includes a box-shaped casing 100 , a turntable drive motor 200 , a turntable deceleration assembly 300 and a turntable drive shaft 140 arranged in the box-shaped casing 100 ,
- the box-shaped housing 100 is constructed with a partition 130 extending in the horizontal direction, the turntable drive shaft 140 is arranged in the central area of the partition 130, the turntable drive motor 200 is arranged under the partition 130, and the turntable deceleration assembly 300 is a synchronous belt deceleration structure and arranged on the separator 130 .
- the box-shaped casing 100 is preferably set in a rectangular shape (at this time, according to the arrangement state of the box-shaped casing 100 , as shown in FIG. 2 , X represents the horizontal direction, Y represents the vertical direction, and A represents the partition plate 130 top surface, B represents the bottom surface of the partition plate 130), and the partition plate 130 is horizontally arranged in the box-shaped casing 100 to divide the inside of the box-shaped casing 100 into two spaces.
- the turntable drive shaft 140 is located in the central area of the partition plate 130, and the turntable drive motor 200 is drivingly connected with the turntable reduction assembly 300 to drive the turntable drive shaft 140 to rotate, wherein the turntable drive motor 200 and the turntable reduction assembly 300 are both arranged on the partition plate 130,
- the specific arrangement can be determined according to the actual situation.
- the turntable deceleration assembly 300 is a synchronous belt deceleration structure. The specific number of stages of deceleration can be determined according to the actual situation.
- the function of the partition 130 here is to facilitate the fixing of the turntable drive motor 200 and the turntable deceleration assembly 300, thereby facilitating the optimization of the base arrangement.
- the base in this solution is provided with a partition 130 in the box-shaped casing 100 , and the turntable drive motor 200 and the turntable deceleration assembly are fixed on the partition 130 . 300, so as to increase the stability of the fixation of the turntable drive motor 200 and the turntable deceleration assembly 300 by the integral connection of the baffle 130 and the box-shaped casing 100, and also facilitate the rational use of the internal space of the box-shaped casing 100. .
- the distance from the partition plate 130 to the top of the box-like shell 100 is smaller than the distance from the partition plate 130 to the bottom of the box-like shell 100, so as to facilitate and rationally distribute the box-like shells.
- the inner space of the housing 100 is smaller than the distance from the partition plate 130 to the bottom of the box-like shell 100, so as to facilitate and rationally distribute the box-like shells.
- the turntable deceleration assembly 300 includes a turntable primary synchronous pulley 310 and a turntable secondary synchronous pulley 320, wherein the turntable primary synchronous pulley 310 is disposed on the top surface of the partition 130, and the turntable primary synchronous pulley 310 and the turntable drive
- the motor 200 is drivingly connected
- the turntable secondary synchronous pulley 320 is arranged on the bottom surface of the partition plate 130
- the turntable secondary synchronous pulley 320 is respectively connected with the turntable primary synchronous pulley 310 and the turntable drive shaft 140, so as to facilitate driving the turntable turn.
- the turntable drive motor 200 is located on the bottom surface of the partition plate 130 , and the turntable drive motor 200 is drivingly connected with the turntable primary synchronous pulley 310 .
- the partition plate 130 is arranged in the box-shaped housing 100, and the turntable drive motor 200, the turntable primary synchronous pulley 310 and the turntable secondary synchronous pulley 320 are respectively arranged on the partition plate 130, so as to facilitate the Various components are reasonably arranged in the box-shaped housing 100, and at the same time, the partitions 130 are used to carry the above components, which is beneficial to increase the stability of each component.
- the way to install the turntable drive motor 200 , the turntable primary synchronous pulley 310 and the turntable secondary synchronous pulley 320 on the partition plate 130 may be that the partition plate 130 and the box-shaped housing 100 are detachably connected First, the turntable drive motor 200 , the turntable primary synchronous pulley 310 and the turntable secondary synchronous pulley 320 are fixed on the partition plate 130 , and then the partition plate 130 is fixed in the box-shaped housing 100 .
- the turntable drive motor 200 is located on the bottom surface of the partition plate 130 and is staggered around the turntable drive shaft 140, so as to help reduce the height of the base.
- the output shaft of the turntable motor 200 is arranged vertically upward and is in driving connection with the turntable primary synchronous pulley 310 through the partition plate 130 .
- the turntable drive shaft 140 is disposed on the partition 130 through the thrust bearing 160 , and the turntable deceleration assembly 300 (ie the turntable secondary synchronous pulley 320 ) passes through the turntable drive shaft 140 .
- the central position of the partition plate 130 is configured with a receiving cavity 133 for installing the thrust bearing 160 , and the bottom of the cavity is provided with a lower edge of the outer ring that can receive the thrust bearing 160 .
- the bearing structure 134 is preferably a ring body, and after the thrust bearing 160 is installed in the accommodating cavity 133, the bearing structure 134 can abut with the lower edge of the outer ring of the thrust bearing 160, so as to realize the bearing of the thrust bearing 160.
- the turntable drive shaft 140 can be inserted into the inner ring of the thrust bearing 160 from top to bottom in the vertical direction.
- the turntable drive shaft 140 is divided into a connecting section 141, an inserting section 142 and a bearing section 143 from bottom to top (that is, the diameter of the inserting section 142 is smaller than the diameter of the bearing section 143, at this time, the connecting section 141 and the inserting section are preferably The diameter of 142 is the same), wherein the inserting section 142 can be inserted in the inner ring of the thrust bearing 160, and the connecting section 141 passes through the thrust bearing 160 and is drivingly connected with the secondary synchronous pulley 320 of the turntable, and the bearing section 143 is close to the inserting One end of the mounting section 142 can abut with the upper edge of the inner ring of the thrust bearing 160, so that the thrust bearing 160 can bear the weight of the turntable.
- the base further includes a bearing pressing plate 170, and preferably the bearing pressing plate 170 is an annular plate body, the bearing pressing plate 170 is sleeved on the bearing section 143, at this time the bearing pressing plate 170 can be The open end of the accommodating cavity 133 is blocked and can be abutted with the upper edge of the outer ring of the thrust bearing 160 .
- the bearing pressing plate 170 and the partition plate 130 are detachably connected, such as fixed by screws, so as to help prevent the thrust bearing 160 located in the accommodating cavity 133 from slipping out.
- the thrust bearing 160 is preferably a double-row angular contact bearing. Since the double-row angular contact bearing only occupies a small axial space, it is beneficial to reduce the length of the turntable drive shaft 140, thereby reducing the high. At the same time, due to the double row angular contact ball bearing, it can also provide a bearing arrangement with higher rigidity and can withstand overturning moments.
- the turntable primary synchronous pulley 310 comprises 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 313 .
- the turntable primary driven wheel 312 is set on the partition 130 through the turntable transmission shaft 150, and the turntable primary synchronous belt 313 is respectively connected to the turntable primary driving wheel 311 and the turntable primary
- the driven wheel 312 is sufficient, and the transmission ratio of the first-stage driving wheel 311 of the turntable and the first-stage driven wheel 312 of the turntable can be arranged according to the actual need for deceleration.
- 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
- the turntable secondary driven wheel 322 is sleeved on the turntable drive shaft 140 (at this time, one end of the turntable drive shaft 140 is from top to bottom. 130)
- the turntable secondary synchronous belt 323 is respectively connected to the turntable secondary driving wheel 321 and the turntable secondary driven wheel 322.
- the ratio can be arranged according to the actual need to decelerate.
- it is preferable that the turntable drive shaft 140 , the turntable transmission shaft 150 and the output shaft of the turntable drive motor 200 are arranged in a triangular state, which is beneficial to increase the stability of the base.
- the turntable transmission shaft 150 includes an installation sleeve 151 , a shaft body 152 and two bearings 153 , and the shaft body 152 is installed in the installation sleeve 151 through the two bearings 153 , and the installation sleeve 151 is fixed on the partition plate 130, preferably, the mounting sleeve 151 is located below the partition plate 130, and the partition plate 130 has a shaft hole corresponding to the mounting sleeve 151, so that the shaft body 152 installed in the mounting sleeve 151 can pass through.
- the primary driven wheel 312 of the turntable is connected to the end of the shaft body 152 above the partition 130
- the secondary driving wheel 321 of the turntable is connected to the end of the shaft body 152 below the partition 130 .
- the partition plate 130 has a plurality of first waist-shaped holes 131 .
- the mounting sleeve 151 can be connected with the first fixing screws passing through the first waist-shaped holes 131 . , so as to fix the mounting sleeve 151 on the partition plate 130, and at the same time, the first fixing screw can be used to move in the first waist-shaped hole 131, thereby driving the turntable secondary driving wheel 321 located on the shaft body 152 toward or away from The secondary driven wheel 322 of the turntable moves, so that the tension of the secondary synchronous belt 323 of the turntable can be easily adjusted.
- a first tensioning mechanism 400 is also arranged in the box-shaped housing 100 , and the first tensioning mechanism 400 is arranged on the bottom surface of the partition plate 130 and is located on the secondary driving wheel 321 of the turntable Between it and the secondary driven wheel 322 of the turntable, the first tensioning mechanism 400 includes a first bracket 410 and a first rotating bolt 420 connected with the partition plate 130, the first bracket 410 includes a first connection end and a first threaded end, A connecting end is connected to the partition plate 130, and the first rotating bolt 420 is threadedly engaged with the first threaded end, so that the screw head of the first rotating bolt 420 can abut the mounting sleeve 151, and the contact position can be determined according to the actual situation The situation can be arranged.
- the first fixing screw passes through the first waist-shaped hole 131 to connect with the mounting sleeve 151 but the first fixing screw is not fully tightened, so that the turntable drive shaft 150 can follow
- the first fixing screw can move in the first waist-shaped hole 131.
- 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 twisting the first rotating bolt 420, thereby Change the tension of the secondary synchronous belt 323 of the turntable.
- the secondary driven wheel 322 of the turntable is sleeved on the turntable drive shaft 140 (ie, the inserting section 142 ), and the secondary driven wheel 322 of the turntable is set on the turntable drive shaft 140 .
- Connection structure 324 directly below 140.
- the connection structure 324 is a plurality of threaded through holes provided on the secondary driven wheel 322 of the turntable, and the bottom of the turntable drive shaft 140 is provided with threaded holes that can be matched with the threaded through holes. The holes and the threaded holes can fix the secondary driven wheel 322 of the turntable on the drive shaft 140 of the turntable.
- an abutment structure 325 is provided on the secondary driven wheel 322 of the turntable, and the abutment structure 325 is preferably a sleeve structure, which can be sleeved on the turntable drive shaft 140 , and the abutment structure 325 is The top can abut against the lower edge of the inner ring of the thrust bearing 160 .
- there is a preset distance between the top surface of the connection structure 324 and the bottom surface of the turntable drive shaft 140 that is, there is a certain gap between the connection structure 324 and the bottom of the turntable drive shaft 140 .
- the base also includes a positioning pin 326, a positioning hole is provided at the bottom of the connecting section 141, a positioning through hole is provided on the secondary driven wheel 322 of the turntable, and the positioning pin 326 can be used for positioning.
- the secondary driven wheel 322 of the turntable is positioned on the connecting section 141 through the positioning through holes and the positioning holes in sequence, so as to facilitate the fixing of the secondary driven wheel 322 of the turntable.
- the partition plate 130 has a plurality of second waist-shaped holes 132 .
- the turntable driving motor 200 can be connected with the second fixing screws passing through the second waist-shaped holes 132 .
- the turntable driving motor 200 is fixed on the partition plate 130, and the second fixing screw can be used to move in the second waist-shaped hole 132, so as to drive the turntable first-stage driving wheel 311 located on the turntable driving motor 200. Move toward or away from the first-stage driven pulley 312 of the turntable, so as to conveniently adjust the tension of the first-stage synchronous belt 313 of the turntable.
- the turntable drive motor 200 has a threaded hole matched with the second fixing screw, so that the turntable drive motor 200 can be fixed without providing a nut.
- a second tensioning mechanism 500 is also arranged in the box-shaped housing 100 , and the second tensioning mechanism 500 is arranged on the bottom surface of the partition plate 130 and is located at the first-stage driving wheel 311 of the turntable and the first-stage driving wheel 311 of the turntable.
- the second tensioning mechanism 500 includes a second bracket and a second rotating bolt connected to the partition plate 130, the second bracket includes a second connection end and a second threaded end, and the second connection end is connected to the partition plate.
- the turntable driving motor 200 when the turntable driving motor 200 is installed, the turntable driving motor 200 is first connected to the turntable driving motor 200 through the second fixing screw through the second waist-shaped hole 132, but the second fixing screw is not completely fastened, so that the turntable driving motor 200 can be connected to the turntable driving motor 200.
- the second fixing screw follows the second fixing screw to move in the second waist-shaped hole 132.
- 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, thereby Change the tension of the turntable primary synchronous belt 313, when the tension of the turntable primary synchronous belt 313 is in an appropriate state (ie, the turntable drive motor 200 moves to the preset position), then use the second fixing screw to fix the turntable drive motor 200 is sufficient, which facilitates the installation of the turntable drive motor 200, and at the same time, the use of the second rotating bolt to abut the turntable drive motor 200 can also increase the stability of the turntable drive motor 200 during operation.
- the structure of the second tensioning mechanism 500 is similar to that of the first tensioning mechanism 400 , and the arrangement can be made with reference to FIG. 9 here.
- the box-shaped casing 100 further includes a top plate 110 and a bottom plate 120.
- the box-shaped casing 100 is in the shape of a rectangle with two open ends, wherein the top plate 110 and the bottom plate 120 are respectively The covers are closed on both ends of the box-shaped casing 100 , and the top plate 110 and the bottom plate 120 are detachably connected to the box-shaped casing 100 to form a closed space.
- the top plate 110 is composed of a combination of a first cover plate 111 and a second cover plate 112, and both the first cover plate 111 and the second cover plate 112 have semi-circular gaps, and the two semi-circular gaps can be combined to form a circle A notch 113 is formed for the turntable drive shaft to pass through 140 .
- the partition plate 130 and the box-shaped casing 100 are integrally formed, and specifically, welding or engraving and milling can be used, which is beneficial to increase the stability of the components located on the partition plate 130 .
- the reinforcing ribs are connected to the inner wall of the box-shaped casing 100 to increase the connection strength between the partition plate 130 and the box-shaped casing 100 .
- an extension edge is provided on the outer wall of a port on the box-shaped housing 100 near the bottom plate 120, and the extension edge has a fixing hole, and the base is fixed by screws through the fixing hole.
- the partition plate 130 is integrally formed with the box-shaped casing 100 , which is beneficial to increase the connection strength between the partition plate 130 and the box-shaped casing 100 .
- the connection is disassembled, so as to facilitate the installation of the above components on the partition plate 130 respectively.
- connection between the partition plate 130 and the box-shaped housing 100 may be through screws, so as to facilitate the disassembly of the partition plate 130 .
- the inner wall of the box-shaped casing 100 has a bearing capable of supporting the partition plate 130 so as to provide a support point for the partition plate 130 .
- the form of the support table may be several blocks distributed on the inner wall of the box-shaped casing 100 , or may be annular bosses arranged on the inner wall of the box-shaped casing 100 .
- the turntable drive motor 200 is a servo motor, so as to help improve the accuracy of the turntable rotation driven by the turntable drive motor 200, and an encoder is provided on the servo motor, so that it is more convenient to use the encoder to record the servo motor.
- the zero point position and the number of rotations are also beneficial to the accuracy of the zero return operation of the servo motor, and are also beneficial to improve the accuracy of the rotation of the turntable driven by the turntable drive motor 200 .
- the encoder is a multi-turn absolute encoder
- the box-shaped housing 100 is also provided with a battery mount 600 that is electrically connected to the multi-turn absolute encoder, so that the battery can be easily installed in the battery mount. Powers the multi-turn absolute encoder.
- the multi-turn absolute encoder compared with the single-turn absolute encoder, the multi-turn absolute encoder has the advantages of simple installation and debugging, no zero-finding, multi-function output, and long service life.
- the partition 130 is further provided with a vent 145 , and a cooling fan 700 is also provided at the vent 145 , so that the components below the partition 130 are easily removed.
- the generated heat is transported to the top of the partition plate 130. Due to the principle of high temperature air rising, the rising speed of the air is accelerated by the cooling fan 700, thereby accelerating the discharge of heat.
- the desktop robotic arm includes a turntable 2 , a large arm 3 , a small arm 4 and a base 1 , and the specific structure of the base refers to the above-mentioned embodiments.
- the arm adopts all the technical solutions of all the above-mentioned embodiments, and therefore at least has all the technical effects brought about by the technical solutions of the above-mentioned embodiments, which will not be repeated here.
- the turntable is set on the base
- the big arm is set on the turntable
- the small arm is set on the big arm.
- an end effector 5 is connected to the end of the forearm 4 .
- the end effector 5 is mainly used for grabbing items.
- the movement of the end effector 5 is formed by the movement of the turntable 2 , the large arm 3 and the small arm 4 . .
- the present application also proposes a robot, which includes the desktop manipulator described in the foregoing embodiments. Since the desktop manipulator adopts all the technical solutions of all the above embodiments, it has at least all the technical solutions of the above embodiments. The technical effects are not repeated here.
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Abstract
一种桌面机械臂的底座、桌面机械臂及机器人，该底座包括盒状壳体（100）以及设置在盒状壳体（100）内的转台驱动电机（200）、转台减速组件（300）和转台驱动轴（140），盒状壳体（100）内构造有在水平方向上延展的隔板（130），转台驱动轴（140）设置于隔板（130）中心区域，转台驱动电机（200）设置于隔板（130）之下，转台减速组件（300）为同步带减速结构并设置于隔板（130）上。所述底座利用隔板（130）与盒状壳体（100）整体连接的方式来增加转台驱动电机（200）和转台减速组件（300）固定的稳定性，也有利于对盒状壳体（100）的内部空间进行合理利用。
Description
本申请涉及桌面机械臂技术领域，具体涉及一种桌面机械臂的底座、桌面机械臂及机器人。
桌面机械臂是机械臂的一个细分品类，其具备强适应性以及动态问题解决能力，被广泛应用于教学领域，一般由底座、转台、大臂、小臂、末端以及转台电机、大臂电机和小臂电机构成，转台与底座可旋转的连接，大臂分别与转台和小臂连接，小臂与末端连接，末端用于设置执行器，转台电机用于驱动转台相对于底座旋转，大臂电机用于驱动大臂运动，小臂电机用于驱动小臂运动，大臂与小臂利用平行四边形原理能够驱动末端在工作空间内运动，如申请号为CN201620105515.2的中国专利。
当前，由于桌面机械臂通常用于教育用途，因此对精度和负载能力的要求低，故其转台电机通常采用步进电机，但由于驱动控制技术的进步，以及桌面机械臂具有体积小、成本低的优点，所以希望桌面机械臂能够适应工业级的应用需求，进而步进电机直驱的方式需要转变为伺服电机+同步带轮减速的驱动方式，因此如何在空间体积较小的底座中设置伺服电机和同步带轮，又对其他元件结构不造成影响，成为了一个急需解决的问题。
本申请的主要目的在于提供一种桌面机械臂的底座，以解决现有如何在空间体积较小的底座内设置伺服电机和同步带轮的技术问题。
为实现上述目的，本申请提出一种桌面机械臂的底座，该底座包括盒状壳体以及设置在所述盒状壳体内的转台驱动电机、转台减速组件和转台驱动轴，所述盒状壳体内构造有在水平方向上延展的隔板，所述转台驱动轴设置 于所述隔板中心区域，所述转台驱动电机设置于所述隔板之下，所述转台减速组件为同步带减速结构并设置于所述隔板上。
其中，所述转台减速组件包括转台一级同步带轮和转台二级同步带轮；所述转台一级同步带轮的一端与所述转台驱动电机传动连接，另一端与所述转台二级同步带轮的一端传动连接，所述转台二级同步带轮的另一端与所述转台驱动轴传动连接；所述转台一级同步带轮设置在所述隔板顶面上，所述转台驱动电机设置于所述隔板底面之下，所述转台驱动电机的输出轴穿出所述隔板与所述转台一级同步带轮的一端传动连接，所述转台二级同步带轮设置在所述隔板底面上。
其中，所述转台驱动电机错位设置于所述转台驱动轴周围，且所述转台驱动电机的输出轴朝上布置。
其中，所述转台驱动轴通过推力轴承设置在所述隔板上。
其中，所述隔板上构造有安装所述推力轴承并可承接所述推力轴承的外环的容纳腔，所述转台驱动轴分为插装段和承载段，所述插装段可插装在所述推力轴承的内环内并与所述转台二级同步带轮传动连接，所述承载段朝向所述插装段的一端面可与所述推力轴承的内环抵接。
其中，所述底座还包括：轴承压板，所述轴承压板构造为中空环形，所述轴承压板设置于所述推力轴承之上并与所述推力轴承的外环抵接，所述轴承压板与所述隔板固定连接。
其中，所述推力轴承为双列角接触轴承。
其中，所述转台一级同步带轮包括转台一级主动轮、转台一级从动轮和转台一级同步带，所述转台一级主动轮和所述转台一级从动轮通过所述转台一级同步带传动连接；所述转台二级同步带轮包括转台二级主动轮、转台二级从动轮和转台二级同步带，所述转台二级主动轮和所述转台二级从动轮通过所述转台二级同步带传动连接；所述底座还包括转台传动轴，且所述隔板构造有供所述转台传动轴穿过的轴孔，所述转台传动轴包括安装套、两个轴承以及轴体，所述两个轴承分别过盈配合地设置于所述安装套的两端，所述轴体设置于所述安装套之内并同时与所述两个轴承内环相连接，所述轴体一端穿过所述轴孔与所述转台一级从动轮连接，另一端与所述转台二级主动轮连接。
其中，所述底座还包括：多个第一固定螺钉以及第一张紧机构；所述隔 板构造有多个第一腰型孔，所述第一固定螺钉通过所述第一腰型孔与所述安装套固定连接；所述第一张紧机构包括第一支架和第一转动螺栓，所述第一支架构造有第一连接端和第一螺纹端，所述第一张紧机构通过所述第一连接端与所述隔板固定连接，所述第一张紧机构位于所述隔板之下，所述第一转动螺栓与所述第一螺纹端可转动地连接，所述第一转动螺栓的螺头靠近所述安装套设置，通过转动所述第一转动螺栓可以调整所述第一转动螺栓在水平方向上的位置，使所述第一转动螺栓的螺头与所述安装套相抵接，并通过挤压所述安装套，使所述安装套在沿所述第一腰型孔对应的轨迹移动。
其中，所述转台二级从动轮与所述连接段可拆卸连接，转台二级从动轮构造有抵接结构，所述抵接结构构造成与所述连接段相适配的环形状，所述转台二级从动轮与所述连接段固定连接时所述抵接结构与所述推力轴承的内环的下缘相抵接，且所述转台二级从动轮上设置有连接结构，所述连接结构为多个螺纹通孔，所述连接段构造有与所述螺纹通孔适配的螺纹孔。
其中，还包括定位销，所述连接段设置有定位孔，所述转台二级从动轮设置有定位通孔，所述定位销通过所述定位通孔插入所述定位孔设置。
其中，所述底座还包括：多个第二固定螺钉以及第二张紧机构；所述隔板构造有多个第二腰型孔，所述第二固定螺钉通过所述第二腰型孔与所述转台驱动电机固定连接；所述第二张紧机构包括第二支架和第二转动螺栓，所述第二支架构造有第二连接端和第二螺纹端，所述第二张紧机构通过所述第二连接端与所述隔板固定连接，所述第二张紧机构位于所述隔板之下，所述第二转动螺栓与所述螺纹端可转动地连接，所述第二转动螺栓的螺头靠近所述转台驱动电机设置，通过转动所述第二转动螺栓可以调整所述第二转动螺栓在水平方向上的位置，使所述第二转动螺栓的螺头与所述转台驱动电机相抵接，并通过挤压所述转台驱动电机，使所述转台驱动电机在沿所述第二腰型孔对应的轨迹移动。
其中，所述盒状壳体还包括顶板和底板，所述顶板包括第一盖板和第二盖板，所述第一盖板和所述第二盖板分别构造有半圆形缺口，所述第一盖板和所述第二盖板设置于所述隔板之上并与所述盒状壳体可拆卸连接，所述第一盖板和所述第二盖板的半圆形缺口合并构成圆形缺口，所述圆形缺口处于所述转台驱动轴的竖直方向之上，所述底板设置于所述隔板之下并与所述盒状壳体可拆卸连接。
其中，所述转台驱动电机为伺服电机，所述伺服电机上设置有编码器，所述编码器为多圈绝对值编码器，所述盒状壳体内还设置有与所述多圈绝对值编码器电连接的电池安装座。
其中，所述隔板上构造有通风口以及设置在所述隔板上并位于所述通风口处的通风扇，所述通风扇能够将所述隔板下层的空气吹向所述隔板上层。
本申请进一步提出一种桌面机械臂，该桌面机械臂包括转台、大臂、小臂和上述的底座，该底座包括盒状壳体以及设置在所述盒状壳体内的转台驱动电机、转台减速组件和转台驱动轴，所述盒状壳体内构造有在水平方向上延展的隔板，所述转台驱动轴设置于所述隔板中心区域，所述转台驱动电机设置于所述隔板之下，所述转台减速组件为同步带减速结构并设置于所述隔板上。
其中，所述桌面机械臂还包括与所述小臂连接的末端执行器。
本申请进一步提出一种机器人，该机器人包括上述的桌面机械臂，该桌面机械臂包括上述底座，该底座包括盒状壳体以及设置在所述盒状壳体内的转台驱动电机、转台减速组件和转台驱动轴，所述盒状壳体内构造有在水平方向上延展的隔板，所述转台驱动轴设置于所述隔板中心区域，所述转台驱动电机设置于所述隔板之下，所述转台减速组件为同步带减速结构并设置于所述隔板上。
本申请实施例提供的桌面机械臂的底座，通过在盒状壳体内设置隔板，并在隔板上固定转台驱动电机和转台减速组件，以便于利用隔板与盒状壳体整体连接的方式来增加转台驱动电机和转台减速组件固定的稳定性，同时也有利于对盒状壳体的内部空间进行合理利用。
图1为一种现有桌面机械臂的结构示意图；
图2为本申请中桌面机械臂的底座一实施例的剖视图；
图3为图2中所示的底座部分结构一视角下的结构示意图；
图4为图2中所示的底座部分结构另一视角下的结构示意图；
图5为图2中所示的底座部分结构的剖视图；
图6为图2中所示的底座部分结构的剖视图；
图7为图2中所示盒状壳体、顶板以及底板的爆炸示意图；
图8为图2中所示的底座部分结构又一视角下的结构示意图；
图9为图7中所示的第一张紧机构的结构示意图；
图10为本申请中桌面机械臂一实施例的结构示意图。
本申请的实施方式
下面详细描述本申请的实施例，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。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制，基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
如图1所示的机械臂由底座、转台、大臂、小臂、末端以及转台电机、大臂电机和小臂电机构成，转台与底座可旋转的连接，大臂分别与转台和小臂连接，小臂与末端连接，末端用于设置执行器，转台电机用于驱动转台相对于底座旋转，大臂电机用于驱动大臂运动，小臂电机用于驱动小臂运动，大臂与小臂利用平行四边形原理能够驱动末端在工作空间内运动。由于该桌面机械臂通常用于教育用途，因此对精度和负载能力的要求低，故其转台电机通常采用步进电机，无法适用用于工业级的应用。但由于驱动控制技术的进步，进而步进电机直驱的方式可以转变为伺服电机+同步带轮减速的驱动方式，因此如何在空间体积较小的底座中设置伺服电机和同步带轮，又对其他元件结构不造成影响，成为了一个急需解决的问题，申请人即提出了以下改进方案。
本申请提出一种桌面机械臂的底座，如图2所示，该底座包括盒状壳体100以及设置在盒状壳体100内的转台驱动电机200、转台减速组件300和转台驱动轴140，盒状壳体100内构造有在水平方向上延展的隔板130，转台驱动轴140设置于隔板130中心区域，转台驱动电机200设置于隔板130之下，转台减速组件300为同步带减速结构并设置于隔板130上。
本实施例中，盒状壳体100优选设置为矩形(此时，根据盒状壳体100的布置状态，如图2中所示的X代表水平方向，Y代表竖直方向，A代表隔 板130顶面，B代表隔板130底面)，且盒状壳体100内水平布置有隔板130，以将盒状壳体100内部分为两个空间。优选转台驱动轴140位于隔板130的中心区域，转台驱动电机200与转台减速组件300传动连接以驱动转台驱动轴140转动，其中转台驱动电机200和转台减速组件300均布置在隔板130上，具体的布置方式可根据实际情况而定。同时优选转台减速组件300为同步带减速结构，至于具体为多少级减速可根据实际情况而定，隔板130在此的作用为方便转台驱动电机200和转台减速组件300的固定，从而方便优化底座的布置方式。本实施例中，相较于图1所示的桌面机械臂，本方案中的底座通过在盒状壳体100内设置隔板130，并在隔板130上固定转台驱动电机200和转台减速组件300，以便于利用隔板130与盒状壳体100整体连接的方式来增加转台驱动电机200和转台减速组件300固定的稳定性，同时也有利于对盒状壳体100的内部空间进行合理利用。
在一较佳实施例中，如图2至图4所示，优选隔板130至盒状壳体100顶部的距离小于隔板130至盒状壳体100底部的距离，从而方便合理分配盒状壳体100的内部空间。优选转台减速组件300包括转台一级同步带轮310和转台二级同步带轮320，其中转台一级同步带轮310设置在隔板130顶面上，且转台一级同步带轮310与转台驱动电机200传动连接，转台二级同步带轮320设置在隔板130的底面上，且转台二级同步带轮320分别与转台一级同步带轮310和转台驱动轴140传动连接，从而方便驱动转台转动。此时，转台驱动电机200位于隔板130的底面上，且转台驱动电机200与转台一级同步带轮310传动连接。本实施例中，通过在盒状壳体100内设置隔板130，并在隔板130上分别布置转台驱动电机200、转台一级同步带轮310和转台二级同步带轮320，从而便于在盒状壳体100内合理布置各个部件，同时利用隔板130承载上述部件，从而有利于增加各个部件的稳定性。
在另外的实施例中，在隔板130上安装转台驱动电机200、转台一级同步带轮310和转台二级同步带轮320的方式可以是隔板130与盒状壳体100为可拆卸连接，首先将转台驱动电机200、转台一级同步带轮310和转台二级同步带轮320固定在隔板130上，而后将隔板130固定在盒状壳体100内即可。
在一较佳实施例中，如图3和图4所示，转台驱动电机200位于隔板130 的底面上并错位设置与转台驱动轴140的周围，以此有利于降低底座的高度，此时优选转台电机200的输出轴竖直向上布置并穿过隔板130与转台一级同步带轮310传动连接。
在一较佳实施例中，如图5所示，优选转台驱动轴140通过推力轴承160设置在隔板130上，且转台减速组件300(即转台二级同步带轮320)通过转台驱动轴140与转台传动连接，以此避免转台减速组件300直接承受转台的重量，从而有利于增加转台减速组件300的寿命，即当转台减速组件300的输出轴直接与转台连接时需要直接承受转台的重量，从而使得转台减速组件300受力较大，从而相当于提升了转台减速组件300的负载重量。
在一较佳实施例中，如图5所示，优选隔板130的中心位置构造有安装推力轴承160的容纳腔133，且腔体的底部设置有与可承接推力轴承160的外环下缘的承载结构134，此时优选承载结构134为环体，而推力轴承160安装在容纳腔133内后，承载结构134即可与推力轴承160的外环下缘抵接，以实现承接推力轴承160的目的，至于转台驱动轴140则在竖直方向上自上而下的插入推力轴承160的内环中即可。同时，转台驱动轴140分为自下至上分为连接段141、插装段142和承载段143(即插装段142的直径小于承载段143的直径，此时优选连接段141与插装段142的直径一致)，其中插装段142可插装在推力轴承160的内环内，而连接段141则穿过推力轴承160并与转台二级同步带轮320传动连接，承载段143靠近插装段142的一端可与推力轴承160的内环上缘抵接，以使推力轴承160承接转台的重量。
在一较佳实施例中，如图5所示，优选底座还包括轴承压板170，且优选轴承压板170呈环形板体，该轴承压板170套设在承载段143上，此时轴承压板170可封堵容纳腔133的开口端并可与推力轴承160的外环上缘抵接。此时优选轴承压板170与隔板130为可拆卸连接，如通过螺钉固定，从而有利于防止位于容纳腔133内的推力轴承160滑出。
在一较佳实施例中，优选推力轴承160为双列角接触轴承，由于双列角接触轴承只占用较小的轴向空间，从而有利于减小转台驱动轴140的长度， 进而降低底座的高度。同时，由于双列角接触球轴承还可以提供刚性较高的轴承配置，并能承受倾覆力矩。
在一较佳实施例中，如图3所示，优选转台一级同步带轮310包括转台一级主动轮311、转台一级从动轮312和转台一级同步带313，其中转台一级主动轮311套设在转台驱动电机200的输出轴上，转台一级从动轮312通过转台传动轴150设置在隔板130上，而转台一级同步带313分别连接转台一级主动轮311和转台一级从动轮312即可，至于转台一级主动轮311和转台一级从动轮312的传动比则根据实际需要减速的情况进行布置即可。
同时，如图4所示，优选转台二级同步带轮320包括转台二级主动轮321、转台二级从动轮322和转台二级同步带323，其中转台二级主动轮321套设在转台传动轴150上(此时转台传动轴150的一端由上至下穿过隔板130布置)，转台二级从动轮322套设在转台驱动轴140上(此时转台驱动轴140的一端由上至下穿过隔板130布置)，而转台二级同步带323分别连接转台二级主动轮321和转台二级从动轮322即可，至于转台二级主动轮321和转台二级从动轮322的传动比则根据实际需要减速的情况进行布置即可。此时，优选转台驱动轴140、转台传动轴150以及转台驱动电机200的输出轴三者呈三角状态布置，从而有利于增加底座的稳定性。
其中，如图6所示，优选转台传动轴150包括安装套151、轴体152以及两个轴承153，且轴体152通过两个轴承153安装在安装套151内，安装套151固定在隔板130上，优选安装套151位于隔板130的下方，且隔板130上具有与安装套151对应的轴孔，以使安装在安装套151内的轴体152穿过。此时，转台一级从动轮312与轴体152位于隔板130之上的一端连接，转台二级主动轮321与轴体152位于隔板130之下的一端连接。
在一较佳实施例中，如图7所示，优选隔板130上具有多个第一腰型孔131，此时安装套151可以与穿过第一腰型孔131的第一固定螺钉连接，以此将安装套151固定在隔板130上，同时还可利用第一固定螺钉在第一腰型孔131内移动，以此带动位于轴体152上的转台二级主动轮321朝向或远离转台二级从动轮322移动，从而方便调节转台二级同步带323的张紧度。
同时，如图8和图9所示，盒状壳体100内还设置有第一张紧机构400， 且第一张紧机构400设置在隔板130的底面上并位于转台二级主动轮321和转台二级从动轮322之间，第一张紧机构400包括与隔板130连接的第一支架410和第一转动螺栓420，第一支架410包括第一连接端和第一螺纹端，第一连接端与隔板130连接，而第一转动螺栓420与第一螺纹端螺纹配合，以使第一转动螺栓420的螺头可与安装套151抵接，至于抵接的位置则可根据实际情况进行布置即可。本实施例中，在安装转台传动轴150时，首先通过第一固定螺钉穿过第一腰型孔131与安装套151连接但不完全紧固第一固定螺钉，以使转台传动轴150可跟随第一固定螺钉在第一腰型孔131内移动即可，此时通过拧动第一转动螺栓420即可驱动转台传动轴150带动转台二级主动轮321远离转台二级从动轮322移动，从而改变转台二级同步带323的张紧度，在转台二级同步带323的张紧度处于适当状态时(即转台传动轴150移动至预设位置)，再利用第一固定螺钉固定安装套151即可，从而方便了转台传动轴150的安装，同时利用第一转动螺栓420与安装套151抵接也可增加转台传动轴150运行时的稳定性。
在一较佳实施例中，如图5所示，转台二级从动轮322套设在转台驱动轴140(即插装段142)上，且转台二级从动轮322上设置有位于转台驱动轴140正下方的连接结构324。此时，连接结构324为转台二级从动轮322上设置的多个螺纹通孔，且转台驱动轴140的底部设置有可与螺纹通孔配合的螺纹孔，此时利用螺钉依次穿过螺纹通孔和螺纹孔即可转台二级从动轮322固定在转台驱动轴140上。
同时，如图5所示，优选转台二级从动轮322上设置抵接结构325，且优选抵接结构325为套筒结构，并可套设在转台驱动轴140上，且抵接结构325的顶部可与推力轴承160的内环下缘抵接。此时，优选连接结构324的顶面与转台驱动轴140的底面之间间隔预设距离，即连接结构324与转台驱动轴140的底部之间存在一定的缝隙，由于加工存在一定的误差，所以为了避免连接结构324与转台驱动轴140的底部抵接时抵接结构325无法与推力轴承的内环下缘抵接，从而即可利用连接结构324与转台驱动轴140的底部之间存在一定的缝隙来避免出现上述情形，以便于利用抵接结构325与承载段143对推力轴承160形成夹持状态，以避免推力轴承160在插装段142上滑动。
在一较佳实施例中，如图5所示，底座还包括定位销326，连接段141的底部设置有定位孔，转台二级从动轮322上设置有定位通孔，而定位销326则可依次穿过定位通孔和定位孔将转台二级从动轮322在连接段141上进行定位，以方便转台二级从动轮322的固定。
在一较佳实施例中，如图7所示，优选隔板130上具有多个第二腰型孔132，此时转台驱动电机200可以与穿过第二腰型孔132的第二固定螺钉连接，以此将转台驱动电机200固定在隔板130上，同时还可利用第二固定螺钉在第二腰型孔132内移动，以此带动位于转台驱动电机200上的转台一级主动轮311朝向或远离转台一级从动轮312移动，从而方便调节转台一级同步带313的张紧度。此时，优选转台驱动电机200上具有与第二固定螺钉配合的螺纹孔，从而无需设置螺母即可对转台驱动电机200进行固定。
同时，如图8所示，盒状壳体100内还设置有第二张紧机构500，且第二张紧机构500设置在隔板130的底面上并位于转台一级主动轮311和转台一级从动轮312之间，第二张紧机构500包括与隔板130连接的第二支架和第二转动螺栓，第二支架包括第二连接端和第二螺纹端，第二连接端与隔板130连接，而第二转动螺栓与第二螺纹端螺纹配合，以使第二转动螺栓的螺头可与转台驱动电机200抵接，至于抵接的位置则可根据实际情况进行布置即可。本实施例中，在安装转台驱动电机200时，首先通过第二固定螺钉穿过第二腰型孔132与转台驱动电机200连接但不完全紧固第二固定螺钉，以使转台驱动电机200可跟随第二固定螺钉在第二腰型孔132内移动即可，此时通过拧动第二转动螺栓即可驱动转台驱动电机200带动转台一级主动轮311远离转台一级从动轮312移动，从而改变转台一级同步带313的张紧度，在转台一级同步带313的张紧度处于适当状态时(即转台驱动电机200移动至预设位置)，再利用第二固定螺钉固定转台驱动电机200即可，从而方便了转台驱动电机200的安装，同时利用第二转动螺栓与转台驱动电机200抵接也可增加转台驱动电机200运行时的稳定性。其中，第二张紧机构500的结构与第一张紧机构400的结构相似，在此参照图9进行布置即可。
在一较佳实施例中，如图7所示，优选盒状壳体100还包括顶板110和底板120，此时盒状壳体100呈两端开口的矩形状，其中顶板110和底板120 分别盖合在盒状壳体100的两端，且顶板110和底板120与盒状壳体100均为可拆卸连接，以形成封闭空间。优选顶板110由第一盖板111和第二盖板112组合构成，且第一盖板111和第二盖板112上均具有半圆形缺口，且两个半圆形缺口以可组合形成圆形缺口113以供转台驱动轴穿过140。此时，优选隔板130与盒状壳体100一体成型，具体可以采用焊接或雕铣的方式，从而有利于增加位于隔板130上部件的稳定性，同时还可在隔板130上设置与盒状壳体100的内壁连接的加强筋，以增加隔板130与盒状壳体100的连接强度。当然，为了方便底座的固定，盒状壳体100上靠近底板120的一端口外壁上设置有延伸边，且该延伸边上具有固定孔，从方便底座通过螺钉穿过固定孔进行固定。本实施例中，通过隔板130与盒状壳体100一体成型，从而有利于增加隔板130与盒状壳体100的连接强度，同时通过顶板110和底板120分别与盒状壳体100可拆卸连接，从而方便将上述部件分别安装在隔板130的上。
当然，在另外的实施例中，隔板130与盒状壳体100的连接方式可以是通过螺钉，从而方便隔板130的拆卸。此时，优选框盒状壳体100的内壁上具有可承载隔板130的承载从而便于为隔板130提供支撑点。其中，支撑台的形式可以是若干分布在盒状壳体100内壁上的块体，也可以布置在盒状壳体100内壁上的环形凸台。
在一较佳实施例中，优选转台驱动电机200为伺服电机，从而有利于提高转台驱动电机200驱动转台转动的精度，同时伺服电机上设置有编码器，从而更加方便利用编码器记录伺服电机的零点位置和转动圈数，以此也有利于伺服电机的回零操作的精度，同样有利于提高转台驱动电机200驱动转台转动的精度。
同时，优选编码器为多圈绝对值编码器，且盒状壳体100内还设置有与多圈绝对值编码器电性连接的电池安装座600，从而方便将电池安装在电池安装座内以对多圈绝对值编码器进行供电。本实施例中，相对于单圈绝对值编码器，多圈绝对值编码器具备安装调试简单、无需找零点、多功能输出和使用寿命长等优点。
在一较佳实施例中，如图3和图4所示，优选隔板130上还设置有通风 口145，且位于通风口145处还设置有散热扇700，从而便于将隔板130下方部件产生的热量输送至隔板130的上方，由于高温空气上升的原理，从而通过散热扇700加速了空气的上升速度，以此加快了热量的排出。
本申请进一步提出的一种桌面机械臂，如图10所示，该桌面机械臂包括转台2、大臂3、小臂4和底座1，该底座的具体结构参照上述各实施例，由于桌面机械臂采用了上述所有实施例的所有技术方案，因此至少具有上述实施例的技术方案所带来的全部技术效果，在此不再一一赘述。其中，转台设于底座上，大臂设于转台上，小臂设于大臂上。作为优选，在小臂4的末端连接有末端执行器5，末端执行器5主要用于抓取物品，末端执行器5的运动是由转台2、大臂3和小臂4的运动复合而成。
本申请还提出一种机器人，该机器人包括前述各实施例记载的桌面机械臂，由于桌面机械臂采用了上述所有实施例的所有技术方案，因此至少具有上述实施例的技术方案所带来的全部技术效果，在此不再一一赘述。
以上的仅为本申请的部分或优选实施例，无论是文字还是附图都不能因此限制本申请保护的范围，凡是在与本申请一个整体的构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请保护的范围内。
Claims (18)
- 一种桌面机械臂的底座，其特征在于，包括盒状壳体以及设置在所述盒状壳体内的转台驱动电机、转台减速组件和转台驱动轴，所述盒状壳体内构造有在水平方向上延展的隔板，所述转台驱动轴设置于所述隔板中心区域，所述转台驱动电机设置于所述隔板之下，所述转台减速组件为同步带减速结构并设置于所述隔板上。
- 根据权利要求1所述的底座，其特征在于，所述转台减速组件包括转台一级同步带轮和转台二级同步带轮；所述转台一级同步带轮的一端与所述转台驱动电机传动连接，另一端与所述转台二级同步带轮的一端传动连接，所述转台二级同步带轮的另一端与所述转台驱动轴传动连接；所述转台一级同步带轮设置在所述隔板顶面上，所述转台驱动电机设置于所述隔板底面之下，所述转台驱动电机的输出轴穿出所述隔板与所述转台一级同步带轮的一端传动连接，所述转台二级同步带轮设置在所述隔板底面上。
- 根据权利要求1所述的底座，其特征在于，所述转台驱动电机错位设置于所述转台驱动轴周围，且所述转台驱动电机的输出轴朝上布置。
- 根据权利要求2或3所述的底座，其特征在于，所述转台驱动轴通过推力轴承设置在所述隔板上。
- 根据权利要求4所述的底座，其特征在于，所述隔板上构造容纳腔，所述容纳腔构造有与所述推力轴承的外环下缘相适配的承接结构，所述推力轴承设置于所述容纳腔之内，且所述推力轴承的外环下缘与所述承接结构相接，所述转台驱动轴在竖直方向上自上而下的插入所述推力轴承的内环设置，所述转台驱动轴构造有承载段、插装段和连接段，所述承载段与所述推力轴承的内环上缘抵接，所述插装段与所述推力轴承的内环内抵接，所述连接段 与所述转台二级同步带轮传动连接。
- 根据权利要求5所述的底座，其特征在于，还包括：轴承压板，所述轴承压板构造为中空环形，所述轴承压板设置于所述推力轴承之上并与所述推力轴承的外环抵接，所述轴承压板与所述隔板固定连接。
- 根据权利要求5所述的底座，其特征在于，所述推力轴承为双列角接触轴承。
- 根据权利要求5所述的底座，其特征在于，所述转台一级同步带轮包括转台一级主动轮、转台一级从动轮和转台一级同步带，所述转台一级主动轮和所述转台一级从动轮通过所述转台一级同步带传动连接；所述转台二级同步带轮包括转台二级主动轮、转台二级从动轮和转台二级同步带，所述转台二级主动轮和所述转台二级从动轮通过所述转台二级同步带传动连接；所述底座还包括转台传动轴，且所述隔板构造有供所述转台传动轴穿过的轴孔，所述转台传动轴包括安装套、两个轴承以及轴体，所述两个轴承分别过盈配合地设置于所述安装套的两端，所述轴体设置于所述安装套之内并同时与所述两个轴承内环相连接，所述轴体一端穿过所述轴孔与所述转台一级从动轮连接，另一端与所述转台二级主动轮连接。
- 根据权利要求8所述的底座，其特征在于，还包括：多个第一固定螺钉以及第一张紧机构；所述隔板构造有多个第一腰型孔，所述第一固定螺钉通过所述第一腰型孔与所述安装套固定连接；所述第一张紧机构包括第一支架和第一转动螺栓，所述第一支架构造有第一连接端和第一螺纹端，所述第一张紧机构通过所述第一连接端与所述隔板固定连接，所述第一张紧机构位于所述隔板之下，所述第一转动螺栓与所 述第一螺纹端可转动地连接，所述第一转动螺栓的螺头靠近所述安装套设置，通过转动所述第一转动螺栓可以调整所述第一转动螺栓在水平方向上的位置，使所述第一转动螺栓的螺头与所述安装套相抵接，并通过挤压所述安装套，使所述安装套在沿所述第一腰型孔对应的轨迹移动。
- 根据权利要求8所述的底座，其特征在于，所述转台二级从动轮与所述连接段可拆卸连接，转台二级从动轮构造有抵接结构，所述抵接结构构造成与所述连接段相适配的环形状，所述转台二级从动轮与所述连接段固定连接时所述抵接结构与所述推力轴承的内环的下缘相抵接，且所述转台二级从动轮上设置有连接结构，所述连接结构为多个螺纹通孔，所述连接段构造有与所述螺纹通孔适配的螺纹孔。
- 根据权利要求5所述的底座，其特征在于，还包括定位销，所述连接段设置有定位孔，所述转台二级从动轮设置有定位通孔，所述定位销通过所述定位通孔插入所述定位孔设置。
- 根据权利要求2所述的底座，其特征在于，还包括：多个第二固定螺钉以及第二张紧机构；所述隔板构造有多个第二腰型孔，所述第二固定螺钉通过所述第二腰型孔与所述转台驱动电机固定连接；所述第二张紧机构包括第二支架和第二转动螺栓，所述第二支架构造有第二连接端和第二螺纹端，所述第二张紧机构通过所述第二连接端与所述隔板固定连接，所述第二张紧机构位于所述隔板之下，所述第二转动螺栓与所述螺纹端可转动地连接，所述第二转动螺栓的螺头靠近所述转台驱动电机设置，通过转动所述第二转动螺栓可以调整所述第二转动螺栓在水平方向上的位置，使所述第二转动螺栓的螺头与所述转台驱动电机相抵接，并通过挤压所述转台驱动电机，使所述转台驱动电机在沿所述第二腰型孔对应的轨迹移动。
- 根据权利要求1所述的底座，其特征在于，所述盒状壳体还包括顶 板和底板，所述顶板包括第一盖板和第二盖板，所述第一盖板和所述第二盖板分别构造有半圆形缺口，所述第一盖板和所述第二盖板设置于所述隔板之上并与所述盒状壳体可拆卸连接，所述第一盖板和所述第二盖板的半圆形缺口合并构成圆形缺口，所述圆形缺口处于所述转台驱动轴的竖直方向之上，所述底板设置于所述隔板之下并与所述盒状壳体可拆卸连接。
- 根据权利要求1所述的底座，其特征在于，所述转台驱动电机为伺服电机，所述伺服电机上设置有编码器，所述编码器为多圈绝对值编码器，所述盒状壳体内还设置有与所述多圈绝对值编码器电连接的电池安装座。
- 根据权利要求1所述的底座，其特征在于，所述隔板上构造有通风口以及设置在所述隔板上并位于所述通风口处的通风扇，所述通风扇能够将所述隔板下层的空气吹向所述隔板上层。
- 一种桌面机械臂，其特征在于，包括转台、大臂、小臂和权利要求1至15任一项所述的底座，所述转台设于所述底座上，所述大臂设于所述转台上，所述小臂设于所述大臂上。
- 根据权利要求16所述的桌面机械臂，其特征在于，还包括与所述小臂连接的末端执行器。
- 一种机器人，其特征在于，包括权利要求16或17所述的桌面机械臂。
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