WO2022099898A1 - Structure d'entraînement de bras robotique de bureau, bras robotique de bureau et robot - Google Patents

Structure d'entraînement de bras robotique de bureau, bras robotique de bureau et robot Download PDF

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Publication number
WO2022099898A1
WO2022099898A1 PCT/CN2020/141015 CN2020141015W WO2022099898A1 WO 2022099898 A1 WO2022099898 A1 WO 2022099898A1 CN 2020141015 W CN2020141015 W CN 2020141015W WO 2022099898 A1 WO2022099898 A1 WO 2022099898A1
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WO
WIPO (PCT)
Prior art keywords
turntable
boom
forearm
drive
bearing
Prior art date
Application number
PCT/CN2020/141015
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English (en)
Chinese (zh)
Inventor
刘培超
叶伟智
李叶鹏
王重彬
刘主福
王伦
郎需林
Original Assignee
深圳市越疆科技有限公司
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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 WO2022099898A1 publication Critical patent/WO2022099898A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present application relates to the field of desktop robotic arms, in particular to a desktop robotic arm drive structure, a desktop robotic arm and a robot.
  • the desktop robotic arm is a sub-category of robotic arms. It has strong adaptability and dynamic problem-solving capabilities, and is widely used in the field of teaching.
  • the drive motor and the forearm drive motor are formed.
  • the turntable and the base are rotatably connected, the big arm is connected with the turntable and the small arm respectively, the small arm is connected with the end, the end is used to set the actuator, and the turntable drive motor is used to drive the turntable relative to the base.
  • Rotation, the big arm drive motor is used to drive the big arm movement
  • the small arm drive motor is used to drive the small arm movement
  • 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 application number CN201620105515.2 China Patent.
  • the desktop robotic arm is usually used for educational purposes, and the objects it grabs are light in weight. After grabbing the objects, it will not affect the center of gravity of the desktop robotic arm, causing the desktop robotic arm to sway or roll over toward the side where the forearm is located. . Because the desktop manipulator has the advantages of small size and low cost, it is hoped that the desktop manipulator can meet the application requirements of industrial grade. However, if the desktop manipulator is directly applied to the industrial grade, due to the heavy weight of the objects it grabs, its After grabbing the item, it will sway or roll over toward the side where the forearm is.
  • the turntable drive motor and the turntable drive shaft of the existing desktop robotic arm are arranged coaxially up and down.
  • the first axis motor, the turntable connecting plate and the turntable are arranged in sequence from top to bottom, the first axis motor is equivalent to the turntable drive motor, the turntable connecting plate is equivalent to the turntable drive shaft, the turntable is equivalent to the turntable, the first axis motor and the turntable connecting plate Coaxial up and down will cause the overall height of the robot to increase, which in turn leads to a higher center of gravity of the robot, which makes the robot prone to shaking or rolling over when grabbing heavy objects.
  • the main purpose of this application is to propose a driving structure for a desktop manipulator, which aims to solve the technical problem that the existing desktop manipulator is prone to shaking or sideways when grabbing a heavy object, which is proposed in the above-mentioned background art.
  • a driving structure for a desktop manipulator comprising: a base and a turntable;
  • the base is provided with a turntable drive motor and a turntable drive shaft, the turntable drive motor is drive-connected with the turntable drive shaft, the turntable drive shaft is drive-connected with the turntable, and the turntable drive shaft is arranged on the base The central area of the turntable, and the turntable drive motor is dislocated around the turntable drive shaft;
  • the turntable includes a base on which a large arm driving motor and a small arm driving motor are arranged, and the large arm driving motor and the small arm driving motor are arranged on the rear side of the base.
  • the output shaft of the turntable drive motor is arranged upward.
  • the driving structure of the desktop manipulator further includes:
  • turntable drive motor is drive-connected to the turntable drive shaft through the turntable deceleration assembly
  • the boom deceleration assembly is drivingly connected with the boom drive motor
  • a forearm deceleration assembly the forearm deceleration assembly is drivingly connected with the forearm drive motor.
  • 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 to the turntable drive motor, the other end is drivingly connected to one end of the turntable secondary synchronous pulley, and the other end of the turntable secondary synchronous pulley is connected to the turntable.
  • Drive shaft drive connection One end of the turntable primary synchronous pulley is drivingly connected to the turntable drive motor, the other end is drivingly connected to one end of the turntable secondary synchronous pulley, and the other end of the turntable secondary synchronous pulley is connected to the turntable.
  • Drive shaft drive connection One end of the turntable primary synchronous pulley is drivingly connected to the turntable drive motor, the other end is drivingly connected to one end of the turntable secondary synchronous pulley, and the other end of the turntable secondary synchronous pulley is connected to the turntable.
  • a baffle plate extending in the horizontal direction is constructed in the base, the first-stage synchronous pulley of the turntable is arranged on the top surface of the baffle plate, and the turntable drive motor is arranged under the bottom surface of the baffle plate,
  • the output shaft of the turntable drive motor passes through the partition plate and is connected to one end of the turntable primary synchronous pulley in a transmission connection, and the turntable secondary synchronous pulley is arranged on the bottom surface of the partition plate.
  • one side of the base is configured with a mounting plate notch
  • the base further includes a mounting plate
  • the mounting plate is arranged at the mounting plate notch
  • the mounting plate is configured with a plurality of interface bayonets.
  • a stop plate is provided on the side of the partition plate adjacent to the mounting plate, the stop plate is located under the turntable, and a turntable limiter for abutting against the stop plate is provided on the turntable.
  • a positioning column, the turntable limiting column is located on the side close to the big arm and the small arm.
  • the stop plate includes a fixed portion connected with the partition plate and a limit portion extending toward the turntable drive shaft, and two side walls of the limit portion shrink toward the turntable drive shaft.
  • the included angle formed by the intersection of the two extension lines extending along the two side walls ranges from 5 to 60 degrees.
  • the turntable drive motor is a servo motor
  • the turntable drive motor includes an encoder
  • the encoder is a multi-turn absolute encoder
  • a battery electrically connected to the turntable drive motor is also arranged in the base mount.
  • the big arm drive motor and the small arm drive motor are servo motors including an absolute encoder and an electromagnetic brake, respectively, and the big arm drive motor and the small arm drive motor are respectively installed with the battery electrical connection.
  • the absolute value encoder is a multi-turn absolute value encoder
  • the electromagnetic brake is a power-off electromagnetic brake
  • the turntable drive shaft is arranged on the partition plate through a thrust bearing.
  • an accommodating cavity is configured on the partition, the accommodating cavity is configured with a receiving structure adapted to the lower edge of the outer ring of the thrust bearing, the thrust bearing is arranged in the accommodating cavity, and the The lower edge of the outer ring of the thrust bearing is connected to the bearing structure, the turntable drive shaft is inserted into the inner ring of the thrust bearing from top to bottom in the vertical direction, and the turntable drive shaft is configured with a bearing section, An inserting segment and a connecting segment, the bearing segment abuts against the upper edge of the inner ring of the thrust bearing, the inserting segment abuts on the inner ring of the thrust bearing, and the connecting segment contacts the second turntable Stage timing pulley drive connection.
  • the driving structure of the desktop manipulator further includes:
  • a bearing pressing plate 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 fixedly connected with the partition plate.
  • 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 Timing belt drive connection;
  • the turntable secondary synchronous pulley includes a turntable secondary driving pulley, a turntable secondary driven wheel and a turntable secondary synchronous belt, and the turntable secondary driving pulley and the turntable secondary driven wheel pass through the turntable secondary synchronous belt drive connection.
  • the base further includes a turntable drive shaft
  • the partition plate is configured with a shaft hole for the turntable drive shaft to pass through
  • the turntable drive shaft includes a mounting sleeve, two bearings and a shaft body, the two The bearings are respectively arranged at both ends of the mounting sleeve with interference fit, the shaft body is arranged in the mounting sleeve and is connected with the two bearing inner rings at the same time, and one end of the shaft body passes through the shaft
  • the hole is connected with the first-stage driven wheel of the turntable, and the other end is connected with the second-stage driving wheel of the turntable.
  • the driving structure of the desktop manipulator further includes:
  • the partition plate is configured with a plurality of first waist-shaped holes, and the first fixing screws are fixedly connected to the mounting sleeve through the first waist-shaped holes;
  • 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 communicates with the first connection end through the first connection end.
  • the baffle is fixedly connected, the first tensioning mechanism is located under the baffle, the first rotating bolt is rotatably connected with the first threaded end, and the screw head of the first rotating bolt is close to the
  • the installation sleeve is arranged, and the position of the first rotation bolt in the horizontal direction can be adjusted by rotating the first rotation bolt, so that the screw head of the first rotation bolt is in contact with the installation sleeve, and is squeezed
  • the installation sleeve makes the installation sleeve move along the trajectory corresponding to the first waist-shaped hole.
  • 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 driving structure of the desktop robotic arm further includes a positioning pin
  • the connecting section is provided with a positioning hole
  • the secondary driven wheel of the turntable is provided with a positioning through hole
  • the positioning pin is inserted into the positioning through the positioning through hole Hole set.
  • the driving structure of the desktop manipulator further includes:
  • the partition plate is configured with a plurality of second waist-shaped holes, and the second fixing screws are fixedly connected with the turntable driving motor through the second waist-shaped holes;
  • 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 connected to the second tensioning mechanism through the second connecting end.
  • the baffle is fixedly connected, the second tensioning mechanism is located under the baffle, the second rotating bolt is rotatably connected with the threaded end, and the screw head of the second rotating bolt is close to the turntable
  • the drive motor is arranged, and the position of the second rotating bolt in the horizontal direction can be adjusted by rotating the second rotating bolt, so that the screw head of the second rotating bolt is in contact with the turntable drive motor, and is squeezed
  • the turntable driving motor makes the turntable driving motor move along the track corresponding to the second waist-shaped hole.
  • the base is provided with limiters located on the front and rear sides of the boom, and the limiters are used to form abutting fit with the stop blocks provided on the end of the boom.
  • the big arm driving motor and the small arm driving motor are arranged up and down, and the big arm deceleration assembly and the small arm deceleration assembly are respectively located on the left and right outer sides of the base.
  • the boom deceleration assembly includes a boom primary synchronous pulley and a boom secondary synchronous pulley disposed adjacent to the base;
  • the forearm deceleration assembly includes a forearm primary synchronous pulley and a forearm secondary synchronous pulley disposed adjacent to the base.
  • the boom deceleration assembly further includes a boom drive shaft and a boom drive shaft, the boom drive shaft is located above the boom drive shaft, and the boom primary synchronous pulley is arranged on the boom Between the output shaft of the drive motor and the boom drive shaft, the boom secondary synchronous pulley is arranged between the boom drive shaft and the boom drive shaft;
  • the forearm deceleration assembly also includes a forearm drive shaft and a forearm drive shaft, the forearm drive shaft is located above the forearm drive shaft, and the forearm primary synchronous pulley is arranged on the forearm drive motor Between the output shaft of the small arm and the small arm drive shaft, the small arm secondary synchronous pulley is arranged between the small arm drive shaft and the small arm drive shaft.
  • the boom primary synchronous pulley includes a boom primary driving pulley, a boom primary driven pulley and a boom primary timing belt
  • the boom secondary timing pulley includes a boom secondary driving pulley, The secondary driven wheel of the boom and the secondary timing belt of the boom
  • the first-stage driving wheel of the boom is arranged on the output shaft of the driving motor of the boom, the first-stage driven wheel of the boom is arranged on the transmission shaft of the boom, and the first-stage synchronous belt of the boom is arranged on the the boom primary driving wheel and the boom primary driven wheel;
  • the boom secondary driving wheel is arranged on the boom transmission shaft, and the boom secondary driven wheel is arranged on the boom
  • the boom secondary synchronous belt is arranged on the boom secondary driving wheel and the boom secondary driven wheel;
  • the forearm first-level synchronous pulley includes a forearm first-level driving pulley, a forearm first-level driven wheel and a forearm first-level synchronous belt
  • the forearm second-level synchronous pulley includes a forearm second-level driving pulley, a forearm second-level driving wheel, a small arm Secondary driven wheel and forearm secondary synchronous belt;
  • the first-level driving wheel of the forearm is arranged on the output shaft of the forearm driving motor, the first-level driven wheel of the forearm is arranged on the transmission shaft of the forearm, and the first-level synchronous belt of the forearm is arranged on the On the forearm primary driving wheel and the forearm primary driven wheel, the forearm secondary driving wheel is provided on the forearm transmission shaft, and the forearm secondary driven wheel is provided on the forearm On the drive shaft, the secondary synchronous belt of the small arm is arranged on the secondary driving wheel of the small arm and the secondary driven wheel of the small arm.
  • the base comprises: a bottom plate; and a first bearing member and a second bearing member, the first bearing member and the second bearing member are oppositely arranged on the bottom plate, and the first bearing member is constructed on the There is a first mounting seat, and a second mounting seat is constructed on the second carrier.
  • the boom primary driving wheel is arranged at the end of the output shaft of the boom driving motor, so that the output shaft of the boom driving motor is located between the boom primary driving wheel and the first boom driving motor. the first free section between the mounts;
  • the forearm primary drive wheel is arranged at the end of the output shaft of the forearm drive motor, so as to form the forearm primary drive wheel and the second mounting seat on the output shaft of the forearm drive motor. the second free segment between;
  • the first mounting seat protrudes toward the side opposite to the second carrier, and the second mounting seat protrudes toward the side opposite to the first carrier.
  • the boom transmission shaft includes a first installation section at its end position, the boom secondary driving wheel is located on the first installation section, and the middle area of the boom primary driven wheel is provided with a first threaded through hole, the end surface of the boom transmission shaft is provided with a first threaded hole matched with the first threaded through hole;
  • the forearm transmission shaft includes a second mounting section at its end position, the forearm secondary driving wheel is located on the second mounting section, and the middle area of the forearm primary driven wheel is provided with a second mounting section.
  • a threaded through hole, the end face of the forearm transmission shaft is provided with a second threaded hole matched with the second threaded through hole.
  • the first carrier is provided with a first through hole, a first fixing seat corresponding to the first through hole, and two first bearings located on the first fixing seat, the first fixing seat
  • the seat is provided with a first bearing installation hole, the two first bearings are arranged in the first bearing installation hole at intervals, the boom transmission shaft is arranged through the first through hole, and the boom transmission shaft is arranged in the first through hole.
  • It also includes a first connecting section that is in interference fit with the inner rings of the two first bearings, the first connecting section is provided with a first bushing located between the two first bearings;
  • the second bearing member is provided with a second through hole, a second fixed seat corresponding to the second through hole, and two second bearings located on the second fixed seat, and the second fixed seat is provided with a second bearing.
  • a second bearing installation hole is provided, the two second bearings are arranged in the second bearing installation hole at intervals, the forearm transmission shaft is arranged through the second through hole, and the forearm transmission shaft further comprises
  • the second connecting section is in interference fit with the inner rings of the two second bearings, and the second connecting section is provided with a second bushing located between the two second bearings.
  • the first bearing member is provided with a third bearing installation hole and a third bearing located in the third bearing installation hole, and the boom drive shaft is in interference fit with the inner ring of the third bearing;
  • the second bearing member is also provided with a fourth bearing installation hole, a fourth bearing located in the fourth bearing installation hole, and a boom driven shaft that is in interference fit with the inner ring of the fourth bearing, so
  • the driven shaft of the boom is provided with a fifth bearing installation hole and a fifth bearing located in the fifth bearing installation hole, the small arm drive shaft and the inner ring of the fifth bearing are in an interference fit and the two of them are in an interference fit.
  • the end protrudes from the fifth bearing mounting hole.
  • the first bearing member is further provided with a first annular cover plate arranged corresponding to the third bearing installation hole, the first annular cover plate is in contact with the outer ring of the third bearing, and the large
  • the middle area of the secondary driven wheel of the arm is provided with a plurality of third threaded through holes, and the end face of the boom drive shaft is provided with third threaded holes matched with the third threaded through holes;
  • the second bearing member is also provided with a second annular cover plate arranged corresponding to the fourth bearing installation hole, the second annular cover plate is in contact with the outer ring of the fourth bearing, and the boom is arranged from the outer ring of the fourth bearing.
  • the movable rotating shaft is also provided with a third annular cover plate arranged corresponding to the mounting hole of the fifth bearing, the third annular cover plate is in contact with the outer ring of the fifth bearing, and the second driven wheel of the small arm is provided with a third annular cover plate.
  • a fourth threaded through hole is formed in the middle area, and a fourth threaded hole matched with the fourth threaded through hole is formed on the end surface of the forearm drive shaft.
  • the driving structure of the desktop manipulator further comprises: an execution motor;
  • the execution motor is a servo motor, and the execution motor includes an absolute value encoder and an electromagnetic brake, and the electromagnetic brake is an electromagnetic brake with a power-off brake.
  • the desktop robotic arm drive structure further includes: a control board;
  • the control board is respectively connected with the turntable drive motor, the big arm drive motor, the small arm drive motor and the execution motor.
  • the application also proposes a desktop robotic arm, which includes the desktop robotic arm drive structure described in the foregoing embodiments, and the desktop robotic arm drive structure includes: a base and a turntable;
  • the base is provided with a turntable drive motor and a turntable drive shaft, the turntable drive motor is drive-connected with the turntable drive shaft, the turntable drive shaft is drive-connected with the turntable, and the turntable drive shaft is arranged on the base The central area of the turntable, and the turntable drive motor is dislocated around the turntable drive shaft;
  • the turntable includes a base on which a large arm driving motor and a small arm driving motor are arranged, and the large arm driving motor and the small arm driving motor are arranged on the rear side of the base.
  • the desktop robotic arm further includes an end effector connected with the forearm through the end.
  • the present application further proposes a robot, which includes the desktop robotic arm described in the foregoing embodiments, the desktop robotic arm includes the desktop robotic arm drive structure described in the foregoing embodiments, and the desktop robotic arm drive structure includes: base, turntable;
  • the base is provided with a turntable drive motor and a turntable drive shaft, the turntable drive motor is drive-connected with the turntable drive shaft, the turntable drive shaft is drive-connected with the turntable, and the turntable drive shaft is arranged on the base The central area of the turntable, and the turntable drive motor is dislocated around the turntable drive shaft;
  • the turntable includes a base on which a large arm driving motor and a small arm driving motor are arranged, and the large arm driving motor and the small arm driving motor are arranged on the rear side of the base.
  • the turntable drive shaft and the turntable drive motor are arranged in the base in a dislocation, compared with the existing coaxial arrangement, the overall height of the desktop manipulator can be reduced, thereby reducing the height of the desktop manipulator.
  • the height of the center of gravity of the arm ensures that the desktop robotic arm is not easy to shake or roll over when grabbing heavy objects, which can improve the stability of the desktop robotic arm.
  • a large arm drive motor and a small arm drive motor are provided on the rear side of the base, and a large arm and a small arm are provided on the front side of the base to be driven by the large arm drive motor and the small arm on the rear side of the base
  • the motor is balanced with the big arm and the small arm located on the front side of the base, so as to ensure that the center of gravity of the desktop robotic arm is located at the center of the base, thereby ensuring the stable operation of the desktop robotic arm.
  • 1 is a schematic structural diagram of an existing desktop robotic arm
  • Fig. 2 is the structural representation of another existing desktop manipulator
  • FIG. 3 is a schematic structural diagram of an embodiment of the driving structure of the desktop manipulator of the present application.
  • FIG. 4 is an exploded schematic diagram of the driving structure of the desktop manipulator shown in FIG. 3;
  • FIG. 5 is a schematic diagram of the internal structure of the base of the driving structure of the desktop robotic arm of the application;
  • FIG. 6 is an assembly structure diagram of a turntable drive motor, a turntable drive shaft and a turntable deceleration assembly of the desktop robotic arm drive structure of the application;
  • FIG. 7 is an exploded schematic diagram of a turntable drive motor, a turntable drive shaft and a turntable deceleration assembly of the desktop robotic arm drive structure of the application;
  • FIG. 8 is a cross-sectional view of the base of the driving structure of the desktop robotic arm of the application.
  • FIG. 10 is a schematic structural diagram of the turntable of the desktop robotic arm drive structure of the application.
  • 11 is a partial cross-sectional view of the base of the desktop robotic arm drive structure of the application.
  • FIG. 13 is a schematic diagram of the bottom structure of the base of the desktop robotic arm drive structure of the application.
  • FIG. 14 is a schematic structural diagram of the first tensioning mechanism of the desktop robotic arm drive structure of the application.
  • 15 is a schematic diagram of the assembly structure of the turntable, the large arm and the small arm of the desktop robotic arm drive structure of the application;
  • Fig. 16 is a partial enlarged schematic diagram at C in Fig. 15;
  • FIG. 17 is a schematic structural diagram of a part of the turntable of the desktop robotic arm drive structure of the application.
  • 18 is a schematic structural diagram of another part of the turntable of the desktop robotic arm drive structure of the application.
  • 20 is a schematic diagram of a part of the exploded structure of the turntable of the desktop robotic arm drive structure of the application;
  • 21 is a schematic diagram of another part of the exploded structure of the turntable of the desktop robotic arm drive structure of the application;
  • FIG. 22 is a schematic structural diagram of an embodiment of a desktop robotic arm of the present application.
  • the desktop robotic arm is a sub-category of robotic arms. It has strong adaptability and dynamic problem-solving capabilities, and is widely used in the field of teaching.
  • the drive motor and the forearm drive motor are formed.
  • the turntable and the base are rotatably connected, the big arm is connected with the turntable and the small arm respectively, the small arm is connected with the end, the end is used to set the actuator, and the turntable drive motor is used to drive the turntable relative to the base.
  • Rotation, the big arm drive motor is used to drive the big arm movement
  • the small arm drive motor is used to drive the small arm movement
  • 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 application number CN201620105515.2 Chinese patent, see Figure 1.
  • the desktop robotic arm is usually used for educational purposes, and the objects it grabs are light in weight. After grabbing the objects, it will not affect the center of gravity of the desktop robotic arm, causing the desktop robotic arm to sway or roll over toward the side where the forearm is located. . Because the desktop manipulator has the advantages of small size and low cost, it is hoped that the desktop manipulator can meet the application requirements of industrial grade. However, if the desktop manipulator is directly applied to the industrial grade, due to the heavy weight of the objects it grabs, its After grabbing the item, it will sway or roll over toward the side where the forearm is.
  • the turntable drive motor and the turntable drive shaft of the existing desktop manipulator are arranged coaxially up and down, such as a vertical flip-chip compact small four-axis robot disclosed in the Chinese patent application number CN201810921858.X, see Fig. 2. It includes a first axis motor 01, a turntable connecting plate 02 and a turntable 03 arranged in sequence from top to bottom.
  • the first axis motor 01 is equivalent to a turntable drive motor
  • the turntable connecting plate 02 is equivalent to a turntable drive shaft
  • the turntable 03 is equivalent to a turntable drive shaft.
  • the turntable, the first axis motor 01 and the turntable connecting plate 02 are coaxial up and down, which will cause the overall height of the robot to become higher, which in turn will cause the robot's center of gravity to become higher, so that the robot is prone to shake or roll over when grabbing heavy objects.
  • the present application proposes a driving structure of a desktop robotic arm.
  • the driving structure of the desktop robotic arm includes: a base 1 and a turntable 2;
  • the base 1 is provided with a turntable drive motor 3 and a turntable drive shaft 4, the turntable drive motor 3 is drive-connected with the turntable drive shaft 4, the turntable drive shaft 4 is drive-connected with the turntable 2, and the turntable drive shaft 4 is arranged in the central area of the base 1, and the turntable The drive motor 3 is dislocated around the turntable drive shaft 4;
  • the turntable 2 includes a base 21 .
  • the turntable 2 is provided with a large arm drive motor 5 and a small arm drive motor 6 .
  • the base 1 is configured in a rectangular shape, and the rectangular base 1 is configured with an accommodating cavity.
  • the accommodating cavity is used to install the turntable drive motor 3 and the turntable drive shaft 4.
  • the turntable drive shaft 4 is a hollow rotating shaft to The cables between the base 1 and the boom drive motor 5 and the arm drive motor 6 are routed through the hollow shaft.
  • the turntable drive shaft 4 is located in the central area of the accommodating cavity, and the turntable drive motor 3 is located around the turntable drive shaft 4 to form a dislocation arrangement in the accommodating cavity of the base 1.
  • the dislocation arrangement of the turntable drive shaft 4 and the turntable drive motor 3 can be Reduce the overall height of the desktop robotic arm, thereby lowering the center of gravity of the desktop robotic arm, thereby ensuring that the desktop robotic arm will not shake or roll over when grabbing heavy objects.
  • the turntable drive motor 3 can be installed upright or upside down, and those skilled in the art can design it according to the actual situation.
  • the turntable drive motor 3 When the turntable drive motor 3 is installed upright, its output shaft faces the top of the base 1 , and when the turntable drive motor 3 is installed upside down, its output shaft faces the bottom of the base 1 .
  • the turntable drive motor 3 proposed in the embodiment of the present application is installed in the base 1 in a positive manner, which is only an example and not a limitation.
  • the turntable 2 includes a base 21.
  • the front side of the base 21 is provided with a large arm 500 and a small arm 2000 for grabbing objects
  • the rear side of the base 21 is provided with a large arm drive motor 5 and a small arm drive motor 6 to pass
  • the big arm drive motor 5 and the forearm drive motor 6 form a balance with the big arm 500 and the small arm 2000 to prevent the center of gravity of the desktop robotic arm from deviating from the center of the base 1, so as to ensure that the desktop robotic arm will not be affected by the center of gravity when grabbing heavy objects. Deviating to the side where the big arm 500 and the small arm 2000 are located, causing shaking or rolling over.
  • the driving structure of the desktop manipulator proposed in the embodiment of the present application also includes:
  • the turntable deceleration assembly 7 the turntable drive motor 3 is drive-connected with the turntable drive shaft 4 through the turntable deceleration assembly 7;
  • the boom deceleration assembly 8 the boom deceleration assembly 8 is drivingly connected with the boom drive motor 5;
  • the forearm deceleration assembly 9, the forearm deceleration assembly 9 is connected with the forearm drive motor 6 in a driving manner.
  • the turntable drive shaft 4 is decelerated and transmitted through the turntable deceleration assembly 7, and the turntable deceleration assembly 7 plays the role of matching the rotational speed and transmitting torque.
  • the torque generated by the turntable drive motor 3 is first transmitted to the turntable deceleration assembly 7, and then the turntable deceleration assembly 7 matches the rotational speed of the transmitted torque, and then transmits the matched rotational speed to the turntable drive shaft. 4, so that the turntable drive shaft 4 drives the turntable 2 to rotate.
  • the torque generated by the boom drive motor 5 will also be first transmitted to the boom deceleration assembly 8, and then the boom deceleration assembly 8 will match the rotational speed of the transmitted torque, and then transmit the torque after the matching rotational speed to the large arm.
  • the torque generated by the forearm drive motor 6 will also be first transmitted to the forearm deceleration assembly 9, and then the forearm deceleration assembly 9 matches the rotational speed of the transmitted torque, and then transmits the matched rotational speed to the small arm.
  • the turntable deceleration assembly 7 proposed in the embodiment of the present application includes a turntable primary synchronous pulley 71 and a turntable secondary synchronous pulley 72 ; one end of the turntable primary synchronous pulley 71 is connected to the turntable
  • the drive motor 3 is drivingly connected, the other end is drivingly connected with one end of the turntable secondary synchronous pulley 72 , and the other end of the turntable secondary synchronous pulley 72 is drivingly connected with the turntable drive shaft 4 .
  • the turntable deceleration assembly 7 includes a turntable primary synchronous pulley 71 and a turntable secondary synchronous pulley 72, which are generated by the turntable primary synchronous pulley 71 and the turntable secondary synchronous pulley 72 to the turntable drive motor 3.
  • the second-level deceleration is performed to ensure that the decelerated torque can meet the use requirements of the turntable drive shaft 4.
  • the torque generated by the turntable drive motor 3 is first decelerated by the turntable primary synchronous pulley 71, and the torque after the primary deceleration is then subjected to secondary deceleration through the turntable secondary synchronous pulley 72, and the secondary deceleration The latter torque is then transmitted to the turntable drive shaft 4 to drive the turntable 2 to rotate through the turntable drive shaft 4 .
  • the base 1 proposed in the embodiment of the present application is constructed with a partition 11 extending in the horizontal direction, and the turntable primary synchronous pulley 71 is arranged on the top surface of the partition 11
  • the turntable drive motor 3 is arranged under the bottom surface of the partition plate 11, the output shaft of the turntable drive motor 3 passes through the partition plate 11 and is connected to one end of the turntable primary synchronous pulley 71, and the turntable secondary synchronous pulley 72 is arranged in the partition. on the bottom surface of the board 11 .
  • the arrangement state of the base 1 at this time as shown in FIG.
  • A represents the top surface of the partition 11
  • B represents the bottom surface of the partition 11 .
  • the inner space is divided into two spaces, and the distance between the partition 11 and the top of the base 1 is preferably smaller than the distance between the partition 11 and the bottom of the base 1, and the turntable first-level synchronous pulley 71 is arranged on the top of the partition 11.
  • the turntable secondary synchronous pulley 72 and the turntable drive motor 3 are both located on the bottom surface of the partition plate 11 .
  • the turntable drive motor 3 , the turntable primary synchronous pulley 71 , and the turntable secondary synchronous pulley 72 are installed by disposing the partition plate 11 in the base 1 , thereby helping to increase the stability of fixing the above components.
  • the way to install the turntable drive motor 3, the turntable primary synchronous pulley 71 and the turntable secondary synchronous pulley 72 on the partition 11 may be that the partition 11 and the base 1 are detachably connected.
  • the turntable drive motor 3 , the turntable primary synchronous pulley 71 and the turntable secondary synchronous pulley 72 are fixed on the partition plate 11 , and then the partition plate 11 can be fixed in the base 1 .
  • a mounting plate gap 12 is formed on one side of the base 1 proposed in the embodiment of the present application, and the base 1 further includes a mounting plate 13 .
  • the board 13 is constructed with several interface bayonets 14 .
  • a mounting plate notch 12 is formed on one side of the base 1 , and the mounting plate notch 12 is covered by the mounting plate 13 .
  • the mounting plate 13 is provided with a plurality of interface bayonets 14 for installation through the interface bayonet 14 circuit interface. Since the interface bayonet 14 proposed in the embodiment of the present application is provided on the mounting plate 13, and the mounting plate 13 is detachably connected to the base 1, only the corresponding mounting plate needs to be replaced when the circuit interface changes. 13 is enough, or the original mounting plate 13 is removed and then the interface bayonet 14 corresponding to the newly added circuit interface is opened on it.
  • the baffle plate 11 proposed in the embodiment of the present application is provided with a stopper plate 10 on the side adjacent to the mounting plate 13 , and the stopper plate 10 is located under the turntable 2 , and the turntable 2 There is a turntable limit post 20 for abutting with the stop plate 10 , and the turntable limit post 20 is located on the side close to the big arm 500 and the small arm 2000 .
  • the turntable drive shaft 4 is a hollow shaft, and the cables of the desktop robotic arm are routed through the turntable drive shaft 4 . It can be understood that one end of the cable passing through the turntable drive shaft 4 is fixed in the base 1, and the other end is fixed on the turntable 2.
  • a stop plate 10 for limiting the rotation angle of the turntable drive shaft 4 is provided on the partition plate 11 .
  • a turntable limit post 20 is provided for the stop plate 10 to abut, so as to limit the rotation angle of the turntable drive shaft 4 through the abutment of the turntable limit post 20 and the stop plate 10 .
  • the stop plate 10 is located on the rear side of the turntable 2. During the rotation of the turntable drive shaft 4, if the turntable limit post 20 contacts and abuts against the stop plate 10, it will stop rotating in this direction to prevent Avoid continuing to turn and tear the cable.
  • the stop plate 10 proposed in the embodiment of the present application includes a fixed portion connected to the partition plate 11 and a limit portion extending toward the turntable drive shaft 4 , and the two side walls of the limit portion face the turntable drive shaft 4 4 shrink.
  • the fixed part is connected with the partition plate 11 , and the fixed part is connected with a limit part extending toward the turntable drive shaft 4 , so as to limit the rotation angle of the turntable 2 through the abutment of the limit part and the stop plate 10 . .
  • the end surface of the limiting portion facing the turntable drive shaft 4 is a circular arc surface, and the circular arc surface is adapted to the circumferential arc surface of the turntable drive shaft 4 to avoid collision of the turntable drive shaft 4 during rotation.
  • the included angle formed by the intersection of the extension lines of the two side walls of the limiting portion proposed in the embodiment of the present application ranges from 5 to 60 degrees. When the included angle is 5 degrees, the rotation angle of the turntable drive shaft 4 is 177.5 degrees, and when the included angle is 60 degrees, the rotation angle of the turntable drive shaft 4 is 150 degrees.
  • the turntable drive motor 3 proposed in the embodiment of the present application is a servo motor
  • the turntable drive motor 3 includes an encoder
  • the encoder is a multi-turn absolute encoder
  • the base 1 is also provided with
  • a battery mount 900 electrically connected to the turntable drive motor 3 .
  • the turntable drive motor 3 is a servo motor, which is beneficial to improve the accuracy of the turntable drive motor 3 to drive the turntable 2 to rotate.
  • an encoder is provided on the servo motor, so that it is more convenient to use the encoder to record the zero position of the servo motor. and the number of rotations, which is also beneficial to the accuracy of the zero return operation of the servo motor, and also helps to improve the accuracy of the rotation of the turntable 2 driven by the turntable drive motor 3 .
  • the encoder is a multi-turn absolute value encoder
  • the base 1 is also provided with a battery mounting seat 900 electrically connected to the multi-turn absolute value encoder, so as to facilitate the installation of the battery in the battery mounting seat 900 for multiple The loop absolute encoder is powered.
  • the multi-turn encoder can not only sense the absolute angular position within one circle, but also sense how many circles the encoder has rotated since the day of use.
  • the boom drive motor 5 and the forearm drive motor 6 proposed in the embodiments of the present application are servo motors including an absolute encoder and an electromagnetic brake, respectively.
  • the boom drive motor 5 and the forearm drive The motors 6 are respectively electrically connected to the battery mounts 900 .
  • the electromagnetic brake can make the big arm drive motor 5 and the forearm drive motor 6 stop quickly to perform mechanical braking after the power is cut off, so as to avoid the big arm 500 of the desktop manipulator after the power cut off.
  • the forearm 2000 automatically falls to improve safety.
  • the encoder is arranged at the opposite end of the extended end of the output shaft of the motor and is connected with the output shaft, and the zero position of the motor is recorded by the encoder, so as to help the motor to perform the zero return operation.
  • the absolute encoder proposed in the embodiment of the present application is a multi-turn absolute encoder
  • the electromagnetic brake is an electromagnetic brake with a power-off brake.
  • the multi-turn encoder can not only sense the absolute angular position within one circle, but also sense how many circles the encoder has rotated since the day of use.
  • the turntable drive shaft 4 proposed in the embodiment of the present application is disposed on the partition plate 11 through a thrust bearing 30 .
  • the turntable drive shaft 4 is disposed on the partition plate 11 through the thrust bearing 30, and the turntable deceleration assembly 7 (ie, the turntable secondary synchronous pulley 72) is connected to the turntable 2 through the turntable drive shaft 4 in a driving manner, so as to avoid
  • the turntable deceleration assembly 7 directly bears the weight of the turntable 2, which is beneficial to increase the life of the turntable deceleration assembly 7.
  • the turntable drive shaft 4 is located at the center position of the partition plate 11 .
  • an accommodation cavity 40 is constructed on the partition plate 11 proposed in the embodiment of the present application, and the accommodation cavity 40 is constructed with a receiving structure 50 adapted to the lower edge of the outer ring of the thrust bearing 30 .
  • the thrust bearing 30 is arranged in the accommodating cavity 40, and the lower edge of the outer ring of the thrust bearing 30 is connected with the receiving structure 50, and the turntable drive shaft 4 is inserted into the inner ring of the thrust bearing 30 from top to bottom in the vertical direction.
  • the turntable drive shaft 4 is constructed with a bearing section 41, an inserting section 42 and a connecting section 43, the bearing section 41 is in contact with the upper edge of the inner ring of the thrust bearing 30, and the inserting section 42 is in contact with the inner ring of the thrust bearing 30,
  • the connecting section 43 is in driving connection with the secondary synchronous pulley 72 of the turntable.
  • the center position of the partition plate 11 is configured with a receiving cavity 40 for installing the thrust bearing 30, and the bottom of the cavity is provided with a bearing structure that can receive the lower edge of the outer ring of the thrust bearing 30.
  • the bearing structure is preferably It is a ring body, and after the thrust bearing 30 is installed in the accommodating cavity 40, the bearing structure 50 can abut with the lower edge of the outer ring of the thrust bearing 30, so as to realize the purpose of bearing the thrust bearing 30. It can be inserted into the inner ring of the thrust bearing 30 from top to bottom in the straight direction.
  • the turntable drive shaft 4 is divided into a connecting section 43, an inserting section 42 and a bearing section 41 from bottom to top (that is, the diameter of the inserting section 42 is smaller than the diameter of the bearing section 41, at this time, it is preferable that the connecting section 43 and the inserting section are 42), wherein the inserting section 42 can be inserted into the inner ring of the thrust bearing 30, and the connecting section 43 passes through the thrust bearing 30 and is drivingly connected with the secondary synchronous pulley 72 of the turntable, and the bearing section 41 is close to the inserting
  • One end of the mounting section 42 can be in contact with the upper edge of the inner ring of the thrust bearing 30 , so that the thrust bearing 30 can bear the weight of the turntable 2 .
  • the driving structure of the desktop manipulator proposed in the embodiment of the present application further includes a bearing pressing plate 60 , the bearing pressing plate 60 is configured as a hollow ring, and the bearing pressing plate 60 is arranged on the thrust bearing 30 and is connected with the thrust force The outer ring of the bearing 30 is in contact with each other, and the bearing pressing plate 60 is fixedly connected to the partition plate 11 .
  • the base 1 further includes a bearing pressing plate 60, and preferably the bearing pressing plate 60 is an annular plate body, the bearing pressing plate 60 can be sleeved on the bearing section 41, and at this time, the bearing pressing plate 60 can block the opening of the accommodating cavity 40 The end can abut with the upper edge of the outer ring of the thrust bearing 30 .
  • the bearing pressing plate 60 and the partition plate 11 are detachably connected, such as fixed by screws, so as to help prevent the thrust bearing 30 located in the accommodating cavity 40 from slipping out.
  • the thrust bearing 30 proposed in the embodiment of the present application is a double row angular contact bearing.
  • the thrust bearing 30 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 4 and thereby reduce the height of the base 1 . 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 71 proposed in the embodiment of the present application includes a turntable primary driving pulley 711 , a turntable primary driven pulley 712 and a turntable primary synchronous belt 713 .
  • the driving wheel 711 and the first-stage driven wheel 712 of the turntable are connected by transmission through the first-stage synchronous belt 713 of the turntable;
  • the second-stage synchronous belt pulley 72 of the turntable includes the second-stage driving wheel 721 of the turntable, the second-stage driven wheel 722 of the turntable and the second-stage timing belt 723 of the turntable.
  • the secondary driving wheel 721 and the secondary driven wheel 722 of the turntable are connected in a driving manner through the secondary synchronous belt 723 of the turntable.
  • the turntable primary synchronous pulley 71 includes a turntable primary driving pulley 711 , a turntable primary driven pulley 712 and a turntable primary synchronous belt 713 , wherein the turntable primary driving pulley 711 is sleeved on the turntable driving motor 3 .
  • the first-stage driven wheel 712 of the turntable is arranged on the partition 11 through the drive shaft of the turntable 2, and the first-stage synchronous belt 713 of the turntable is respectively connected to the first-stage driving wheel 711 of the turntable and the first-stage driven wheel 712 of the turntable.
  • the transmission ratio of the primary driving wheel 711 and the primary driven wheel 712 of the turntable can be arranged according to the actual need for deceleration.
  • the turntable secondary synchronous pulley 72 includes a turntable secondary driving pulley 721, a turntable secondary driven pulley 722 and a turntable secondary synchronous belt 723, wherein the turntable secondary driving pulley 721 is sleeved on the drive shaft of the turntable 2 (at this time the turntable 2 One end of the transmission shaft is arranged through the partition 11 from top to bottom), and the turntable secondary driven wheel 722 is sleeved on the turntable drive shaft 4 (at this time, one end of the turntable drive shaft 4 is arranged from top to bottom through the partition 11) , and the turntable secondary synchronous belt 723 is respectively connected to the turntable secondary driving wheel 721 and the turntable secondary driven wheel 722.
  • the transmission ratio of the turntable secondary driving wheel 721 and the turntable secondary driven wheel 722 it is necessary to decelerate according to actual needs. Arrange it.
  • the base 1 proposed in the embodiment of the present application further includes a turntable drive shaft 70
  • the partition plate 11 is configured with a shaft hole for the turntable drive shaft 70 to pass through
  • the turntable drive shaft 70 includes a mounting A sleeve 701 , two bearings 702 and a shaft body 703 .
  • the two bearings 702 are respectively arranged on both ends of the installation sleeve 701 with interference fit.
  • one end of the shaft body 703 is connected to the first-stage driven wheel 712 of the turntable through the shaft hole, and the other end is connected to the second-stage driving wheel 721 of the turntable.
  • the turntable transmission shaft 70 includes an installation sleeve 701, a shaft body 703 and two bearings 702, and the shaft body 703 is installed in the installation sleeve 701 through the two bearings 702, and the installation sleeve 701 is fixed on the partition plate 11,
  • the mounting sleeve 701 is located below the partition plate 11 , and the partition plate 11 has a shaft hole corresponding to the mounting sleeve 701 , so that the shaft body 703 installed in the mounting sleeve 701 can pass through.
  • the primary driven wheel 712 of the turntable is connected to the end of the shaft body 703 above the partition 11
  • the secondary driving wheel 721 of the turntable is connected to the end of the shaft body 703 below the partition 11 .
  • the driving structure of the desktop manipulator proposed in the embodiment of the present application further includes:
  • the partition plate 11 is configured with a plurality of first waist-shaped holes 111, and the first fixing screws are fixedly connected to the mounting sleeve 701 through the first waist-shaped holes 111;
  • the first tensioning mechanism 90 includes a first bracket 901 and a first rotating bolt 902, the first bracket 901 is configured with a first connection end and a first threaded end, and the first tensioning mechanism 90 is fixed to the partition plate 11 through the first connection end connection, the first tensioning mechanism 90 is located under the partition plate 11, the first rotating bolt 902 is rotatably connected with the first threaded end, the screw head of the first rotating bolt 902 is set close to the mounting sleeve 701, and by rotating the first rotating bolt 902 can adjust the position of the first rotating bolt 902 in the horizontal direction, so that the screw head of the first rotating bolt 902 is in contact with the mounting sleeve 701, and by squeezing the mounting sleeve 701, the mounting sleeve 701 is located along the first waist-shaped hole. The trajectory corresponding to 111 moves.
  • the partition plate 11 has a plurality of first waist-shaped holes 111 , and the mounting sleeve 701 can be connected with the first fixing screws passing through the first waist-shaped holes 111 to fix the mounting sleeve 701 on the On the partition plate 11, the first fixing screw can also be used to move in the first waist-shaped hole 111, so as to drive the turntable secondary driving wheel 721 located on the shaft body 703 to move toward or away from the turntable secondary driven wheel 722, thereby It is convenient to adjust the tension of the secondary synchronous belt 723 of the turntable.
  • a first tensioning mechanism 90 is also provided in the base 1, and the first tensioning mechanism 90 is arranged on the bottom surface of the partition plate 11 and is located between the turntable secondary driving wheel 721 and the turntable secondary driven wheel 722.
  • the tensioning mechanism 90 includes a first bracket 901 and a first rotating bolt 902 connected with the partition plate 11 , the first bracket 901 includes a first connection end and a first threaded end, the first connection end is connected with the partition plate 11 , and the first The rotating bolt 902 is threadedly matched with the first threaded end, so that the screw head of the first rotating bolt 902 can abut with the mounting sleeve 701, and the abutting position can be arranged according to the actual situation.
  • the first fixing screw when installing the turntable drive shaft 70 , the first fixing screw is firstly connected to the mounting sleeve 701 through the first waist-shaped hole 111 but the first fixing screw is not completely fastened, so that the turntable drive shaft 70 can follow The first fixing screw can be moved in the first waist-shaped hole 111.
  • the turntable transmission shaft 70 can be driven to drive the turntable secondary driving wheel 721 to move away from the turntable secondary driven wheel 722, thereby Change the tension of the secondary synchronous belt 723 of the turntable.
  • the second-stage driven wheel 722 of the turntable proposed in the embodiment of the present application is detachably connected to the connecting section 43 , and the second-stage driven wheel 722 of the turntable is configured with an abutting structure 100 , and the abutting structure 100 is configured In a ring shape adapted to the connecting section 43, the abutting structure 100 abuts against the lower edge of the inner ring of the thrust bearing 70230 when the second-stage driven wheel 722 of the turntable is fixedly connected with the connecting section 43, and the second-stage driven wheel 722 of the turntable is in contact with the lower edge of the inner ring of the thrust bearing 70230.
  • a connecting structure 200 is provided, the connecting structure 200 is a plurality of threaded through holes, and the connecting section 43 is configured with threaded holes adapted to the threaded through holes.
  • the turntable secondary driven wheel 722 is sleeved on the turntable drive shaft 4 (ie, the insertion section 42 ), and the turntable secondary driven wheel 722 is provided with a connection structure 200 directly below the turntable drive shaft 4 .
  • the connection structure 200 is a plurality of threaded through holes provided on the secondary driven wheel 722 of the turntable, and the bottom of the turntable drive shaft 4 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 722 of the turntable on the drive shaft 4 of the turntable.
  • the abutment structure 100 is provided on the second driven wheel 722 of the turntable, and the abutment structure 100 is preferably a sleeve structure, which can be sleeved on the turntable drive shaft 4, and the top of the abutment structure 100 can be in contact with the inside of the thrust bearing 70230.
  • the lower edge of the ring abuts.
  • the driving structure of the desktop manipulator proposed in the embodiment of the present application further includes a positioning pin 300 , the connecting section 43 is provided with a positioning hole, and the secondary driven wheel 722 of the turntable is provided with a positioning through hole.
  • the pins 300 are inserted into the positioning holes through the positioning through holes.
  • the base 1 further includes a positioning pin 300, a positioning hole is provided at the bottom of the connecting section 43, a positioning through hole is provided on the secondary driven wheel 722 of the turntable, and the positioning pin 300 can pass through the positioning through hole and the positioning hole in sequence.
  • the hole positions the secondary driven wheel 722 of the turntable on the connecting section 43 to facilitate the fixing of the secondary driven wheel 722 of the turntable.
  • the driving structure of the desktop manipulator proposed in the embodiment of the present application further includes:
  • the partition plate 11 is configured with a plurality of second waist-shaped holes 112, and the second fixing screws are fixedly connected to the turntable drive motor 3 through the second waist-shaped holes 112;
  • the second tensioning mechanism 400 includes a second bracket and a second rotating bolt.
  • the second bracket is configured with a second connecting end and a second threaded end.
  • the second tensioning mechanism 400 is fixedly connected to the partition plate 11 through the second connecting end.
  • the two tensioning mechanisms 400 are located under the partition plate 11, the second rotating bolt is rotatably connected to the threaded end, the screw head of the second rotating bolt is arranged close to the turntable drive motor 3, and the second rotating bolt can be adjusted by rotating the second rotating bolt At the horizontal position, the screw head of the second rotating bolt is in contact with the turntable driving motor 3, and the turntable driving motor 3 is moved along the trajectory corresponding to the second waist-shaped hole 112 by pressing the turntable driving motor 3.
  • the partition plate 11 has a plurality of second waist-shaped holes 112.
  • the turntable driving motor 3 can be connected with the second fixing screws passing through the second waist-shaped holes 112, so as to connect the turntable driving motor 3 It is fixed on the partition 11, and at the same time, the second fixing screw can be used to move in the second waist-shaped hole 112, so as to drive the turntable primary driving wheel 711 located on the turntable driving motor 3 toward or away from the turntable primary driven wheel 712. move, so as to easily adjust the tension of the first-stage synchronous belt 713 of the turntable.
  • the turntable drive motor 3 has a threaded hole matched with the second fixing screw, so that the turntable drive motor 3 can be fixed without providing a nut.
  • a second tensioning mechanism 400 is also provided in the base 1, and the second tensioning mechanism 400 is arranged on the bottom surface of the partition plate 11 and is located between the first-level driving wheel 711 of the turntable and the first-level driven wheel 712 of the turntable.
  • the tensioning mechanism 400 includes a second bracket connected to the partition plate 11 and a second rotating bolt, the second bracket includes a second connecting end and a second threaded end, the second connecting end is connected to the partition plate 11, and the second rotating bolt is connected to The second threaded end is threadedly matched, so that the screw head of the second rotating bolt can abut with the turntable drive motor 3, and the abutting position can be arranged according to the actual situation.
  • the turntable driving motor 3 when installing the turntable driving motor 3, firstly connect the turntable driving motor 3 with the second fixing screw through the second waist-shaped hole 112 but not completely fasten the second fixing screw, so that the turntable driving motor 3 can be Follow the second fixing screw to move in the second waist-shaped hole 112. At this time, by twisting the second rotating bolt, the turntable drive motor 3 can be driven to drive the turntable primary driving wheel 711 to move away from the turntable primary driven wheel 712, thereby Change the tension of the turntable primary synchronous belt 713. When the tension of the turntable primary synchronous belt 713 is in an appropriate state (that is, the turntable drive motor 3 moves to the preset position), then use the second fixing screw to fix the turntable drive motor.
  • the structure of the second tensioning mechanism 400 is similar to that of the first tensioning mechanism 90 .
  • the base 21 proposed in the embodiment of the present application is provided with limiters 600 located on the front and rear sides of the boom 500 , and the limiters 600 are used for connecting with the boom 500
  • the stopper 700 provided on the end forms an abutting fit.
  • the boom 500 rotates, it will drive the stop block 700 located thereon to rotate.
  • the stop block 700 rotates to the position where the stopper 600 is located, it will be blocked by the stopper 600 at this position.
  • a rotation limit for the boom 500 is formed.
  • the boom drive motor 5 and the forearm drive motor 6 proposed in the embodiment of the present application are arranged in layers up and down, and the boom deceleration assembly 8 and the forearm deceleration assembly 9 are respectively located on the left and right outer sides of the base 21 . .
  • the big arm drive motor 5 and the small arm drive motor 6 are preferably arranged one above the other, which can optimize the space layout, save space, improve the compactness of the structure, and contribute to the miniaturization and portability of the desktop manipulator, while the large
  • the arm deceleration assembly 8 and the forearm deceleration assembly 9 are respectively arranged on the left and right outer sides of the base 21 , which simplifies the structural design, simple disassembly and assembly, and facilitates daily maintenance.
  • the boom deceleration assembly 8 proposed in the embodiment of the present application includes a boom primary timing pulley 81 and a boom secondary timing pulley 82 disposed adjacent to the base 21 .
  • the forearm deceleration assembly 9 includes a forearm primary synchronous pulley 91 and a small arm secondary synchronous pulley 92 provided adjacent to the base 21 .
  • the boom secondary synchronous pulley 82 of the boom deceleration assembly 8 is arranged adjacent to the base 21, that is, the boom secondary synchronous pulley 82 is located between the boom primary synchronous pulley 81 and the base 21;
  • the forearm secondary synchronous pulley 92 of the forearm deceleration assembly 9 is arranged adjacent to the base 21, that is, the forearm secondary synchronous pulley 92 is located between the forearm primary synchronous pulley 91 and the base 21.
  • the distance arrangement of the primary synchronous belt and the primary synchronous belt of the forearm from the structure on the turntable 2 not only does not cause structural interference, but also eliminates the need for the setting of auxiliary components and reduces the manufacturing cost. Due to the structural limitation of the components, the size of the pulley of the primary synchronous pulley can be enlarged, thereby improving the reduction ratio and the deceleration effect and ensuring the control accuracy.
  • the boom deceleration assembly 8 proposed in the embodiment of the present application further includes a boom drive shaft 83 and a boom drive shaft 84 , and the boom drive shaft 84 is located on the boom drive shaft Above 83, the first-level timing pulley 81 of the boom is arranged between the output shaft of the boom drive motor 5 and the boom drive shaft 83, and the second-level timing pulley 82 of the boom is arranged between the boom drive shaft 83 and the boom drive shaft between 84;
  • the forearm deceleration assembly 9 also includes a forearm drive shaft 93 and a forearm drive shaft 94, the forearm drive shaft 94 is located above the forearm drive shaft 93, and the forearm primary synchronous pulley 91 is provided on the output shaft of the forearm drive motor 6 Between the forearm transmission shaft 93 , the forearm secondary synchronous pulley 92 is arranged between the forearm transmission shaft 93 and the forearm drive shaft 94 .
  • the boom drive shaft 84 is used to connect with the boom 500, and the output shaft of the boom drive motor 5 drives the boom drive shaft 83 to rotate through the boom primary synchronous pulley 81 to realize a primary reduction transmission;
  • the shaft 83 drives the boom drive shaft 84 to rotate through the boom secondary synchronous pulley 82 to realize the secondary deceleration transmission, and finally drives the boom 500 to rotate through the boom drive shaft 84 .
  • the forearm drive shaft 94 is used to drive the forearm 2000 to rotate, and a plurality of transmission links can be arranged between the forearm 2000 and the forearm 2000 for transmission.
  • the output shaft of the forearm drive motor 6 drives the forearm drive shaft 93 to rotate through the forearm primary synchronous pulley 91 to realize the first-level deceleration transmission; the forearm drive shaft 93 drives the forearm drive shaft through the forearm secondary synchronous pulley 92 94 rotates to realize two-stage deceleration transmission, and finally drives the forearm 2000 to rotate through the forearm drive shaft 94 .
  • the primary boom timing pulley 81 proposed in the embodiment of the present application includes a primary boom driving pulley 811 , a primary boom driven pulley 812 and a primary boom primary pulley 812 .
  • the timing belt 813, the boom secondary timing belt pulley 82 includes the boom secondary driving wheel 821, the boom secondary driven wheel 822 and the boom secondary timing belt 823;
  • the first stage driving wheel 811 of the boom is arranged on the output shaft of the boom driving motor 5, the first stage driven wheel 812 of the boom is arranged on the driving shaft 83 of the boom, and the first stage timing belt 813 of the boom is arranged on the first stage driving wheel of the boom 811 and the primary driven wheel 812 of the boom;
  • the secondary driving wheel 821 of the secondary boom is set on the driving shaft 83 of the boom, the secondary driven wheel 822 of the secondary boom is set on the driving shaft 84 of the boom, and the secondary timing belt 823 of the secondary boom Set on the boom secondary driving wheel 821 and the boom secondary driven wheel 822;
  • the forearm primary synchronous pulley 91 includes the forearm primary driving pulley 911, the forearm primary driven pulley 912 and the forearm primary timing belt 913, and the forearm secondary timing pulley 92 includes the forearm secondary driving pulley 921, Forearm secondary driven wheel 922 and forearm secondary synchronous belt 923;
  • the forearm first-level driving wheel 911 is arranged on the output shaft of the forearm drive motor 6, the forearm first-level driven wheel 912 is arranged on the forearm transmission shaft 93, and the forearm first-level synchronous belt 913 is arranged on the forearm first-level driving wheel 911 and the forearm primary driven wheel 912, the forearm secondary driving wheel 921 is set on the forearm transmission shaft 93, the forearm secondary driven wheel 922 is provided on the forearm drive shaft 94, the forearm secondary synchronous belt 923 It is arranged on the secondary driving wheel 921 of the forearm and the secondary driven wheel 922 of the forearm.
  • the diameter of the first-stage driven wheel 812 of the boom is larger than the diameter of the first-stage driving wheel 811 of the boom
  • the diameter of the second-stage driven wheel 822 of the boom is larger than the diameter of the second-stage driving wheel 821 of the boom
  • the boom driving motor 5 The output shaft drives the first-stage driving wheel 811 of the boom to rotate, and drives the first-stage driven wheel 812 of the boom through the first-stage timing belt 813 of the boom to make the boom drive shaft 83 rotate.
  • the boom drive shaft 83 drives the boom
  • the secondary driving wheel 821 rotates, and drives the secondary driven wheel 822 of the boom through the secondary synchronous belt 823 of the boom, so that the driving shaft 84 of the boom rotates.
  • the diameter of the forearm primary driven wheel 912 is larger than the diameter of the forearm primary driving wheel 911
  • the diameter of the forearm secondary driven wheel 922 is larger than the diameter of the forearm secondary driving wheel 921
  • the output shaft of the forearm drive motor 6 drives the small arm.
  • the arm primary drive wheel 911 rotates, and drives the forearm primary driven wheel 912 through the forearm primary synchronous belt 913 to make the forearm drive shaft 93 rotate.
  • the forearm drive shaft 93 drives the forearm secondary drive wheel 921 It rotates and drives the secondary driven wheel 922 of the forearm through the secondary synchronous belt 923 of the forearm to make the driving shaft 94 of the forearm rotate.
  • the base 21 proposed in the embodiment of the present application includes: a bottom plate 211 ; and a first carrier 212 and a second carrier 213 , the first carrier 212 and the second carrier 213 Opposite to the bottom plate 211 , a first mounting seat 212A is formed on the first bearing member 212 , and a second mounting seat 213A is formed on the second bearing member 213 .
  • the bottom plate 211 is a plate body
  • the first bearing member 212 and the second bearing member 213 can be in the form of a frame body, a plate body and the like, and are disposed opposite to the bottom plate 211 .
  • the first mounting seat 212A on the first carrier 212 is used for mounting the boom drive motor 5, and the boom deceleration assembly 8 is disposed on the first carrier 212, and the second mounting seat 213A on the second carrier 213 is used for The forearm drive motor 6 is installed, and the forearm deceleration assembly 9 is arranged on the second carrier 213 .
  • the first mounting seat 212A can be integrally formed with the first carrier 212 or detachably connected to the first carrier 212, such as screw connection.
  • the arrangement of the second mounting seat 213A on the second carrier 213 can also be the same.
  • the boom primary driving wheel 811 proposed in the embodiment of the present application is arranged at the end of the output shaft of the boom drive motor 5 to constitute the output of the boom drive motor 5 the first free section 51 on the shaft between the primary driving wheel 811 of the boom and the first mounting seat 212A;
  • the forearm primary driving wheel 911 is arranged at the end of the output shaft of the forearm driving motor 6 to form a second forearm driving motor 6 between the forearm primary driving wheel 911 and the second mounting seat 213A on the output shaft of the forearm driving motor 6 .
  • the first mounting seat 212A protrudes toward the side opposite to the second carrier 213
  • the second mounting seat 213A protrudes toward the side opposite to the first carrier 212 .
  • the length of the reserved first spare section 51 is respectively greater than the length of the protruding structure (such as the fixing screw of the boom driving motor 5 ) provided on the first mounting seat 212A, so that , it can be ensured that the first-stage synchronous belt 813 of the boom does not contact the protruding structure on the first mounting seat 212A during operation, so as to realize normal deceleration transmission.
  • the reservation of the second vacant segment 52 also adopts the same principle as above, and can obtain the same effect, which will not be elaborated here.
  • first spare section 51 can be further lengthened to provide an installation position for the secondary synchronous belt 823 of the boom and the pulley 82 of the secondary synchronous belt 823 of the boom
  • second spare section 52 can be further lengthened to provide the secondary synchronous belt 923 of the forearm with the pulley 92 Provide an installation location.
  • the first mounting seat 212A protrudes toward the opposite side of the second carrier 213 , which can form an installation space inside the wheel 81 of the first-level timing belt 813 of the boom together with the above-mentioned first spare section 51 , that is, to expand
  • the space avoidance gap can better provide an installation position for the wheel 82 of the secondary synchronous belt 823 of the boom and improve the compactness of the structure; It can form the installation space inside the wheel 91 of the primary synchronous belt 913 of the forearm together with the above-mentioned second spare section 52, that is, to expand the avoidance gap, which can better provide the installation position for the secondary synchronous belt 923 of the forearm 92. , to further improve the compactness of the structure.
  • the boom transmission shaft 83 proposed in the embodiment of the present application includes a first mounting section 831 at its end position, and the boom secondary driving wheel 821 is located at the first mounting section On the segment 831, the middle area of the boom primary driven wheel 812 is provided with a first threaded through hole, and the end face of the boom transmission shaft 83 is provided with a first threaded hole matching the first threaded through hole;
  • the forearm transmission shaft 93 includes a second mounting section 931 at its end position, the forearm secondary driving wheel 921 is located on the second mounting section 931, and the middle area of the forearm primary driven wheel 912 is provided with a second threaded through hole , the end surface of the forearm transmission shaft 93 is provided with a second threaded hole which is matched with the second threaded through hole.
  • the boom secondary driving wheel 821 is fixedly sleeved on the first installation section 831 of the boom transmission shaft 83 , the first installation section 831 is located at the end position of the boom transmission shaft 83 , and the boom first
  • the secondary driven wheel 812 is locked on the end face of the boom transmission shaft 83 by bolts, that is, the secondary driving wheel 821 of the boom is located inside the primary driven wheel 812 of the boom;
  • the secondary driving wheel 921 of the forearm is fixedly sleeved on the forearm transmission
  • the second installation section 931 is located at the end position of the boom transmission shaft 83, and the forearm primary driven wheel 912 is locked on the end face of the forearm transmission shaft 93 by bolts, that is,
  • the secondary driving wheel 921 of the forearm is located inside the primary driven wheel 912 of the forearm, and has a simple structure, stable setting and convenient disassembly and assembly.
  • the first carrier 212 proposed in the embodiment of the present application is provided with a first through hole, a first fixing seat 214 arranged corresponding to the first through hole, and a Two first bearings 215 on a fixed base 214, the first fixed base 214 is provided with first bearing installation holes, the two first bearings 215 are arranged in the first bearing installation holes at intervals, and the boom transmission shaft 83 passes through the first bearing installation holes Through holes are provided, the boom transmission shaft 83 also includes a first connecting section 43 that is interference fit with the inner rings of the two first bearings 215 , and the first connecting section 43 is provided with a first shaft located between the two first bearings 215 set 216;
  • the second bearing member 213 is provided with a second through hole, a second fixing seat 217 arranged corresponding to the second through hole, and two second bearings 218 located on the second fixing seat 217 , and the second fixing seat 217 is provided with a first Two bearing installation holes, the two second bearings 218 are arranged at intervals in the second bearing installation holes, the forearm transmission shaft 93 is disposed through the second through holes, and the forearm transmission shaft 93 also includes an inner ring passing through the two second bearings 218
  • the second connecting section 43 is fitted with a fitting, and the second connecting section 43 is provided with a second bushing 219 located between the two second bearings 218 .
  • the diameter of the first through hole on the first bearing member 212 is larger than the shaft diameter of the boom transmission shaft 83 , the boom transmission shaft 83 passes through the first through hole, and its two ends are respectively located at the end of the first bearing member 212 .
  • the boom transmission shaft 83 is rotatably fitted with the first fixing seat 214 through the two first bearings 215 , and is fixed on the first bearing member 212 through the first fixing seat 214 .
  • the diameter of the second through hole on the second bearing member 213 is larger than the shaft diameter of the forearm transmission shaft 93, the forearm transmission shaft 93 passes through the second through hole, and its two ends are respectively located on both sides of the second bearing member 213, and,
  • the forearm transmission shaft 93 is rotatably fitted with the second fixing seat 217 through the two second bearings 218 , and is fixed on the second bearing member 213 through the second fixing seat 217 .
  • the two first bearings 215 are spaced and limited by the first bushings 216
  • the two second bearings 218 are spaced and limited by the second bushings 219 .
  • the first bearing member 212 proposed in the embodiment of the present application is provided with a third bearing mounting hole and a third bearing 21A located in the third bearing mounting hole, and the boom
  • the drive shaft 84 has an interference fit with the inner ring of the third bearing 21A;
  • the second bearing member 213 is further provided with a fourth bearing mounting hole, a fourth bearing 21B located in the fourth bearing mounting hole, and a boom driven shaft 85 that is in interference fit with the inner ring of the fourth bearing 21B.
  • the rotating shaft 85 is provided with a fifth bearing mounting hole and a fifth bearing 21C located in the fifth bearing mounting hole.
  • the forearm drive shaft 94 has an interference fit with the inner ring of the fifth bearing 21C and its two ends are mounted from the fifth bearing. through the hole.
  • the first carrier 212 proposed in the embodiment of the present application is further provided with a first annular cover plate 21D arranged corresponding to the third bearing mounting holes.
  • 21D is in contact with the outer ring of the third bearing 21A
  • the middle area of the boom secondary driven wheel 822 is provided with a plurality of third threaded through holes
  • the end face of the boom drive shaft 84 is provided with a third threaded through hole matching. the third threaded hole;
  • the second bearing member 213 is also provided with a second annular cover plate 21E arranged corresponding to the fourth bearing mounting hole, the second annular cover plate 21E is in contact with the outer ring of the fourth bearing 21B, and the boom driven shaft 85 is also provided with a second annular cover plate 21E.
  • the driving structure of the desktop manipulator proposed in the embodiment of the present application further includes: an execution motor 1000 ; the execution motor 1000 is a servo motor, and the execution motor 1000 includes an absolute encoder and an electromagnetic brake , the electromagnetic brake is an electromagnetic brake with a power-off brake.
  • the driving structure of the desktop manipulator proposed in the embodiment of the present application further includes: a control board; the control board is respectively connected with the turntable driving motor 3 , the big arm driving motor 5 , the small arm driving motor 6 and the execution motor 1000 . connect.
  • a desktop robotic arm further proposed by the present application includes a driving structure, and the specific structure of the driving structure refers to the above-mentioned embodiments. Since the desktop robotic arm adopts all the technical solutions of all the above-mentioned embodiments, it has at least the All the technical effects brought by the technical solutions of the examples will not be repeated here.
  • the present application also proposes a robot, which includes a desktop robotic arm, and the desktop robotic arm includes the desktop robotic arm drive structure described in the foregoing embodiments. At least it has all the technical effects brought by the technical solutions of the above embodiments, and will not be repeated here.

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

Abstract

L'invention concerne une structure d'entraînement de bras robotique de bureau, un bras robotique de bureau et un robot. La structure d'entraînement comprend une base (1) et un plateau tournant (2). Un moteur d'entraînement de plateau tournant (3) et un arbre d'entraînement de plateau tournant (4) se situent dans la base. Le moteur d'entraînement de plateau tournant (3) est relié en transmission à l'arbre d'entraînement de plateau tournant (4). L'arbre d'entraînement de plateau tournant (4) est relié en transmission au plateau tournant (2). L'arbre d'entraînement de plateau tournant (4) se situe dans une zone centrale de la base (1). Le moteur d'entraînement de plateau tournant (3) se situe autour de l'arbre d'entraînement de plateau tournant (4) d'une manière décalée. Le plateau tournant (2) comprend une base (21). La base (21) est pourvue d'un moteur d'entraînement de grand bras (5) et d'un moteur d'entraînement de petit bras (6). Le moteur d'entraînement de grand bras (5) et le moteur d'entraînement de petit bras (6) se situent sur le côté arrière de la base (21). L'arbre d'entraînement de plateau tournant (4) et le moteur d'entraînement de plateau tournant (3) de la structure d'entraînement de bras robotique de bureau se situent dans la base (1) de manière décalée, ce qui permet de réduire la hauteur globale du bras robotique de bureau par rapport à l'agencement coaxial existant, et de réduire ainsi la hauteur du centre de gravité du bras robotique de bureau ; et d'assurer ainsi que le bras robotique de bureau n'est pas sujet à des secousses ou ne se renverse pas lorsqu'il saisit un objet lourd, et d'améliorer la stabilité du bras robotique de bureau.
PCT/CN2020/141015 2020-11-11 2020-12-29 Structure d'entraînement de bras robotique de bureau, bras robotique de bureau et robot WO2022099898A1 (fr)

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CN202011259844.XA CN112318547A (zh) 2020-11-11 2020-11-11 桌面机械臂驱动结构、桌面机械臂及机器人
CN202011259844.X 2020-11-11

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CN114434431A (zh) * 2022-02-11 2022-05-06 浙江大丰实业股份有限公司 一种舞台led屏幕用机械臂电机驱动装置

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