CN105835039A - Integrated base and robot - Google Patents

Abstract

The invention relates to the technical field of robots, in particular to an integrated base and a robot. The integrated base is used for mounting a motor and outputting power generated by the motor; the motor is provided with a main shaft. The integrated base comprise shell, a fixed plate, a coupling and a rotation plate, wherein the shell is provided with a mounting cavity; the fixed plate is fixedly mounted in the mounting cavity; the coupling is arranged between the bottom of the mounting cavity and the fixed plate and fixedly connected with the main shaft; the rotation plate is arranged in the mounting cavity and fixedly connected with the motor to rotate along with the motor so as to output the power; the fixed plate is located between the coupling and the rotation plate; the fixed plate is provided with a through hole corresponding to the coupling; the rotation plate is provided with a second through hole corresponding to the first through hole; the main shaft passes through the second through hole and the first through hole in sequence and is connected with the coupling. The integrated base is compact in massive structure, free of a transmission mechanism, integrated in massive structure and smaller in volume, and can be used for avoiding the loss of the power output by the motor to the greatest extent and enhancing the precision of axial movement.

Description

Integrated base and robot

Technical field

The present invention relates to robotics, particularly relate to integrated base and robot.

Background technology

Robot and automated arm have wide application market, and as a example by robot, robotics is as advanced person The Typical Representative of manufacturing technology, is the multidisciplinary advanced technologies such as collection machinery, electronics, control, computer, sensor, artificial intelligence Important modern manufacturing industry automated arm in one.Wherein, robot the most all has the degree of freedom of axially-movable, existing In technology, the axial motion mechanism of robot has baroque defect.Such as, the axial motion mechanism of robot is the most logical Source of overdriving coordinates the drive mechanism being made up of screw mandrel and travelling nut or gear and tooth bar to be formed, the axial fortune that this sample is formed Motivation structure not only structure is complex, and volume is relatively big, is unfavorable for integrated installation；Meanwhile, the power driving source output passes through Drive mechanism transmits, and kinematic accuracy also can be caused to decline and the loss of power.

Summary of the invention

It is an object of the invention to provide a kind of integrated base and there is the robot of this integrated base, it is intended to solving existing The axial motion mechanism structure of the robot of technology is complicated, volume is big and the technical problem of power loss.

For achieving the above object, the technical scheme is that integrated base, be used for motor being installed and exporting described motor The power produced, described motor has main shaft, described integrated base include being provided with install cavity shell, be fixedly installed in described Fixed plate in installation cavity body, it is arranged between described installation cavity bottom and described fixed plate and fixing with described main shaft is connected Shaft coupling and be arranged in described installation cavity body and fixing with described motor is connected with the rotation of described motor to export institute Stating the swivel plate of power, described fixed plate is between described shaft coupling and described swivel plate, and described fixed plate is provided with described The first via that shaft coupling is corresponding, described swivel plate is provided with second via corresponding with described first via, described main shaft Sequentially pass through described second via and described first via and be connected to described shaft coupling.

Preferably, at least one it is provided with in described shell for the stopping means limiting described swivel plate rotational angle.

Preferably, described stopping means includes that rotary encoder, described rotary encoder include code-disc and read head, described reading Head is installed in described fixed plate and is electrically connected with described motor, and described code-disc is fixed on the periphery of the main shaft of described motor also It is connected with the sensing of described read head.

Preferably, described code-disc includes that the annular disk body with hollow hole, described annular disk body are provided with annular code channel, institute Stating read head to be connected with described annular code channel sensing, described annular code channel at least includes first area and second area, described first The first alternatively non-transparent district and the first transparent area between adjacent described first alternatively non-transparent district it is interval with in region, described Two regions are interval with the second alternatively non-transparent district and the second transparent area between adjacent described second alternatively non-transparent district；Described The width in one alternatively non-transparent district is different from the width in described second alternatively non-transparent district and/or the width of described first transparent area and described the The width of two transparent areas is different.

Preferably, the medial surface of described swivel plate is fixedly connected with installing rack, and described installing rack offers for described motor The 3rd via that wears of main shaft, described installing rack is fixing with described swivel plate and described motor to be connected, the fixing company of described code-disc It is connected on described installing rack.

Preferably, described installing rack includes protruding extension towards described fixed plate side and radially setting along described 3rd via The inner ring body put, the end face of described fixed plate offers bearing groove, and the spindle jacket of described motor is provided with bearing, and described bearing is embedding It is loaded between described bearing groove and described inner ring body.

Preferably, described fixed mount also includes protruding extension towards described fixed plate side and along described 3rd via radial direction Arrange and the outer ring body at described inner ring body interval；The bottom side of described swivel plate is provided with installing rack groove, and described installing rack is flush-mounted in institute State between installing rack groove with described outer ring body and fix with described swivel plate and be connected.

Preferably, described swivel plate is provided with in the side deviating from described fixed plate and limits what described motor moved along the radial Motor mounting groove, described motor is fixedly installed in described motor mounting groove.

Preferably, described stopping means includes the first stopper, the second stopper and the movable block that abuts, described movable abutting Block is fixedly installed in the medial surface of described swivel plate, described first stopper and described second stopper and is respectively arranged on described rotation The both sides of the plate direction of motion being used for stop and described movable abut block.

Preferably, described first stopper abuts the end face that block abuts and is provided with the first cushion pad with described activity, and described the Two stoppers abut the end face of block abutting and are provided with the second cushion pad with described activity.

Preferably, described stopping means includes that magnetic field sensor, described magnetic field sensor include Hall element and Magnet Block, described Hall element is installed in described fixed plate and is electrically connected with described motor, and described magnet piece is installed on described On swivel plate.

Preferably, also including the wiring board being installed in described installation cavity body, described motor and described wiring board are by leading Line is electrically connected with, and described wire stretches into described installation cavity and is set around described swivel plate and the outside of described fixed plate.

Preferably, be provided with in described shell between described fixed plate and described wiring board crosses line dividing plate, described mistake Line dividing plate offers the end of a thread via worn for described wire.

Preferably, described line dividing plate of crossing includes the first plate body, the second plate body and transition plate body, and described first plate body is with described Top and bottom with described transition plate body width respectively, the adjacent end of second plate body are connected, and described first plate body and Described second plate body lays respectively at the both sides that described transition plate body is relative；Described the end of a thread via is opened on described first plate body, Described transition plate body is provided with and connects with described the end of a thread via and be positioned at the passing channel above described second plate body.

Preferably, described fixed plate is positioned at the side of described wire slewing area and is provided with lower fan-shaped edge, described swivel plate The position corresponding with described lower fan-shaped edge is provided with upper fan-shaped edge, described lower fan-shaped edge and described fan-shaped edge with described The fan that described wire rotates it is formed for described swivel plate between the side of the slewing area that installation cavity body is positioned at described wire Shape behaviour area.

Beneficial effects of the present invention: the integrated base of the present invention by arrange the swivel plate that rotates with described electric machine main shaft with And in described installation cavity body, be arranged at main shaft connect and relative to the fixed plate of main axis and shaft coupling, shaft coupling is to motor The rotation of main shaft is played a supporting role, and swivel plate, fixed plate and shaft coupling are compactly installed on main shaft so that whole integrated base Simple in construction, and without additionally installing drive mechanism so that whole integrated base volume is substantially reduced；Meanwhile, by described rotation Flap so that the parts being fixedly mounted on swivel plate also followed by carries out axially-movable, forms an axle with described main axis To the degree of freedom of motion, described swivel plate is i.e. utilized directly to export the power of described motor to the portion being arranged on swivel plate Part such that it is able to avoid the power loss that motor exports the precision promoting axially-movable.

The present invention another solution is that robot, including above-mentioned integrated base and be located on described swivel plate Mechanical hand.

Preferably, described mechanical hand includes bracing frame, mechanical arm and actuator, and support frame as described above is fixed on described rotation On plate, described mechanical arm is installed on support frame as described above, and described actuator is connected with the end of described mechanical arm.

Preferably, described mechanical arm includes the first side plate, the second side plate and the top installing plate being oppositely arranged, described top Upper end with the upper end of described first side plate and described second side plate respectively, the both sides of installing plate is connected；And described top installing plate One-body molded with described first side plate and described second side plate.Robot, including above-mentioned integrated base and be located at described rotation Mechanical hand on flap.

The robot of the present invention, owing to employing above-mentioned integrated base, so that the structure of whole robot The compactest, volume is less；Also can ensure that the power loss and hoisting machine people as far as possible avoiding the motor of robot to export The precision of axially-movable.

Accompanying drawing explanation

The structural representation of the integrated base that Fig. 1 provides for the embodiment of the present invention.

Fig. 2 is the Section View of line A-A along Fig. 1.

The STRUCTURE DECOMPOSITION schematic diagram of the integrated base that Fig. 3 provides for the embodiment of the present invention.

The movable structural representation abutting block of the integrated base that Fig. 4 provides for the embodiment of the present invention.

The structural representation of the swivel plate of the integrated base that Fig. 5 provides for the embodiment of the present invention.

The structural representation of the fixed plate of the integrated base that Fig. 6 provides for the embodiment of the present invention.

The structural representation of the shell of the integrated base that Fig. 7 provides for the embodiment of the present invention.

The structural representation of the code-disc of the integrated base that Fig. 8 provides for the embodiment of the present invention.

Fig. 9 is the close-up schematic view in Fig. 8 at B.

The structural representation at the first visual angle crossing line dividing plate of the integrated base that Figure 10 provides for the embodiment of the present invention.

The structural representation at the second visual angle crossing line dividing plate of the integrated base that Figure 11 provides for the embodiment of the present invention.

The structural representation at the first visual angle of the first mechanical arm of the robot that Figure 12 provides for the embodiment of the present invention.

Figure 13 is the close-up schematic view in Figure 12 at C.

The structural representation at the second visual angle of the first mechanical arm of the robot that Figure 14 provides for the embodiment of the present invention.

The structural representation at the third visual angle of the first mechanical arm of the robot that Figure 15 provides for the embodiment of the present invention.

The structural representation at the first visual angle of the second mechanical arm of the robot that Figure 16 provides for the embodiment of the present invention.

The structural representation at the second visual angle of the second mechanical arm of the robot that Figure 17 provides for the embodiment of the present invention.

Figure 18 is the close-up schematic view in Fig. 2 at D.

The structural representation of the robot that Figure 19 provides for the embodiment of the present invention.

Reference includes:

1 integrated base 2 mechanical hand

3 bracing frame 4 mechanical arms

5 actuator 6 first side plates

7 second side plate 8 top installing plates

9 robot 10 shells

Cavity installed by 11 top boards 12

13 swivel plate 14 wiring boards

15 wire 16 sector movable districts

20 fixed plate 21 first vias

The 22 fan-shaped edges of shaft coupling 23 times

24 bearing groove 30 motors

Line dividing plate crossed by 31 main shafts 40

41 first plate body 42 second plate bodys

43 transition plate body 50 stopping means

51 rotary encoder 52 first stoppers

53 second stoppers 54 are movable abuts block

55 magnetic field sensor 60 installing racks

61 the 3rd via 62 inner ring bodies

63 outer ring body 70 bearings

Fan-shaped edge on 131 second vias 132

133 arc angling 134 motor mounting grooves

135 installing rack groove 411 the end of a thread vias

412 dust-break flanges 413 cross line groove

421 supporting plate 431 passing channels

432 side shield 433 arc-shaped guide plates

434 wires for bundling band via 511 code-discs

512 read head 541 first cushion pads

542 second cushion pad 551 Hall elements

The 552 outer body contact block button holes of magnet piece 601 first

602 first positioning convex 603 first locating slots

604 first executive item connecting portion 605 first actuator connecting portions

The 678 outer body contact block button holes of bracing piece 701 second

702 second positioning convex 703 second locating slots

704 second executive item connecting portion 705 second actuator connecting portions

801 outer body contact draw-in groove 5111 annular disk bodies

5112 hollow hole 5113 annular code channels

5114 first area 5115 second areas

5116 install projection 5117 demarcation line

6704 executive item connecting hole 6705 actuator connecting holes

51141 first alternatively non-transparent district 51,142 first transparent areas

51151 second alternatively non-transparent district 51,152 second transparent areas.

Detailed description of the invention

Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, the most from start to finish Same or similar label represents same or similar element or has the element of same or like function.Below with reference to attached The embodiment that Fig. 1～19 describes is exemplary, it is intended to is used for explaining the present invention, and is not considered as limiting the invention.

In describing the invention, it is to be understood that term " length ", " width ", " on ", D score, "front", "rear", The orientation of the instruction such as "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward " or position relationship are for based on accompanying drawing institute The orientation shown or position relationship, be for only for ease of and describe the present invention and simplify description rather than instruction or the dress of hint indication Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit to the present invention System.

Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or Implicitly include one or more this feature.In describing the invention, " multiple " are meant that two or more, Unless otherwise expressly limited specifically.

In the present invention, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", " fixing " etc. Term should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or integral；Can be that machinery connects Connect, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, in can being two elements The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to concrete feelings Condition understands above-mentioned term concrete meaning in the present invention.

As shown in Fig. 1 to Figure 19, the integrated base 1 that the embodiment of the present invention provides, it is used for motor 30 being installed and exporting described The power that motor 30 produces, described motor 30 has main shaft 31, and described integrated base 1 includes being provided with the shell installing cavity 12 10, the fixed plate 20 that is fixedly installed in described installation cavity 12, be arranged at bottom described installation cavity 12 with described fixed plate Between 20 and the shaft coupling 22 that be connected fixing with described main shaft 31 and be arranged at described installation cavity 12 interior and with described motor 30 fixing connections are to rotate to export the swivel plate 13 of described power with described motor, and described fixed plate 20 is positioned at described shaft coupling Between 22 and described swivel plate 13, described fixed plate 20 is provided with first via 21 corresponding with described shaft coupling 22, described rotation Flap 13 is provided with second via 131 corresponding with described first via 21, and described main shaft 31 sequentially passes through described second via 131 and described first via 21 be connected to described shaft coupling 22.Concrete, the integrated base 1 of the embodiment of the present invention, work Time, the main shaft 31 of motor 30 rotates, and the rotation arranging the main shaft 31 to motor 30 of shaft coupling 22 is played and provided a supporting role, i.e. The main shaft 31 of motor 30 rotates relative to shaft coupling 22 and fixed plate 20, owing to swivel plate 13 is fixing even with the main shaft 31 of motor 30 Connecing, then swivel plate 13 followed by main shaft 31 and rotates, swivel plate 13 i.e. achieves axially-movable, then be fixedly mounted on swivel plate Parts on 13 also followed by and carry out axially-movable, thus form the degree of freedom of an axially-movable.The integrated base 1 of the present invention Compact overall structure, it is not necessary to increase install drive mechanism so that overall structure is integrated, volume is less；And can be true Protect the power loss as far as possible avoiding motor 30 to export and promote the precision of axially-movable.

It addition, install cavity 12 be arranged over top board 11, be used for so that install cavity 12 form semi-closed state.

In the present embodiment, as shown in figures 2-3, being provided with wiring board 14 in shell 10, motor 30 and wiring board 14 pass through wire 15 are electrically connected with, and wire 15 stretches into installation cavity 12 and is set around swivel plate 13 and the outside of fixed plate 20.Concrete, due to Below fixed plate 20 in shell 10, wiring board 14 is set, then be electrically connected with wiring board 14 and motor 30 by wire 15 Time, wire 15 can pass the installation cavity 12 of shell 10 setting and be set around swivel plate 13 and the outside of fixed plate 20, so, On the one hand avoid the outside setting of wire 15, reach to hide the purpose of wire 15；On the other hand motor 30 and wiring board are shortened The distance of 14, i.e. shortens the length of wire 15, and the contraction in length of wire 15 can avoid wire 15 to be wound around asking of miscellaneous part Topic occurs, also further such that total is more integrated.

In the present embodiment, as shown in Fig. 5～6, fixed plate 20 is positioned at the side of wire 15 slewing area and is provided with lower fan-shaped edge Portion 23, the position that swivel plate 13 is corresponding with lower fan-shaped edge 23 is provided with upper fan-shaped edge 132, lower fan-shaped edge 23 and upper fan-shaped edge Portion 132 and installation cavity 12 are formed for what wire 15 rotated with swivel plate 13 between the side of the slewing area of wire 15 Sector movable district 16；Upper fan-shaped edge 132 is suitable with the shape of lower fan-shaped edge 23.Concrete, when motor 30 works, electricity Machine 30 is rotated plate 13 and rotates, owing to the wire 15 being electrically connected with between motor 30 and wiring board 14 is set around at swivel plate 13 With the outside of fixed plate 20, followed by swivel plate 13 move to prevent swivel plate 13 and fixed plate 20 from affecting wire 15, respectively Fixed plate 20 and swivel plate 13 be positioned at wire 15 dynamic in the range of a sidepiece be arranged to lower fan-shaped edge 23 and on fan-shaped edge 132, so, wire 15 lower fan-shaped edge 23 and on fan-shaped edge 132 and install the sector movable formed between cavity 12 Carry out the most axially circular motion in district 16, without being affected by fixed plate 20 and swivel plate 13, can either reach hiding The purpose of wire 15 design, it can also be ensured that the motion of wire 15 is unfettered, scientific structure design is reasonable, practical.

In the present embodiment, as it is shown in figure 5, upper fan-shaped edge 132 be respectively arranged at two ends with arc angling 133.Concrete, by Adaptation in swivel plate 13 is arranged in installation cavity 12, then swivel plate 13 is relative to the peritreme motion installing cavity 12 , owing to swivel plate 13 is provided with upper fan-shaped edge 132, in order to avoid two ends and the chamber installing cavity 12 of upper fan-shaped edge 132 Wall produces friction or clamping stagnation, is respectively provided with arc angling 133 at the two ends of upper fan-shaped edge 132；This kind of design can also be true Protect when swivel plate 13 being installed in installation cavity 12, convenient.

Move along the radial as it is shown in figure 5, swivel plate 13 is provided with limiting motor 30 in the side deviating from described fixed plate 20 Motor mounting groove 134, motor 30 is fixedly installed in motor mounting groove 134.Pacify by offering motor on swivel plate 13 Tankage 134, then by the end accommodation of motor 30 in this motor mounting groove 134, is further added by the securing member end by motor 30 Being locked on swivel plate 13, so can be fixedly mounted on swivel plate 13 by motor 30, limiting motor is along described swivel plate footpath To movement, when the main shaft 31 of motor 30 rotates, owing to main shaft 31 is by shaft coupling 11 locking, motor 30 rotate relative to main shaft 31 and Plate 13 is rotated rotate, plate 13 is rotated by motor 30 and rotates, form an axial rotational structure, i.e. work as swivel plate When miscellaneous part (such as mechanical hand 2) is installed on 13, these parts can be driven to carry out axially-movable, i.e. formed one axial Degree of freedom.

It addition, as shown in figures 2-3, the main shaft 31 of motor 30 being socketed with bearing 70, bearing 70 is fixing with fixed plate 20 even Connect.Concrete, bearing 70 plays and supports the coefficient of friction that swivel plate 13 rotates and reduces in swivel plate 13 motor process, so may be used More smooth and easy to guarantee the rotation of swivel plate 13.

In the present embodiment, on wiring board 14, integrated installation has processor (not shown).On wiring board 14 at integrated installation Reason device so that wiring board 14 forms a panel, the direct output signal motor 30 to being electrically connected etc. drives source to enter Row controls, and so, whole integrated base 1 is equivalent to be integrated with control box, it is not necessary to additionally arrange power line external control box.

In the present embodiment, as shown in figures 2-3, it is provided with at least one in shell 10 to rotate necessarily for limiting swivel plate 13 The stopping means 50 of angle.Concrete, motor 30 is rotated plate 13 axial circular motion when working, swivel plate 13 i.e. achieves The axially degree of freedom of circular motion, then be installed on the miscellaneous part on swivel plate 13 and also realize axial circular motion；Due to outward It is provided with in shell 10 and limits the stopping means 50 that swivel plate 13 turns an angle, can be avoided by arranging of this stopping means 50 The angle that swivel plate 13 rotates is excessive and that cause motor 30 to connect wire 15 is wrapped on motor 30 or miscellaneous part, and then Realize the function of anti-kinking, it is ensured that the normal work of integrated base 1.

More specifically, stopping means 50 can limit this swivel plate 13 after swivel plate 13 turns to certain angle It is rotated further, then can prevent such as swivel plate 13 from rotating more than 360 ° and the wire 15 that connected by motor 30 is wrapped in motor On 30, certainly, when this stopping means 50 of actual installation, the angle that can limit swivel plate 13 rotation sets as required, example As can set motor 30 be rotated plate 13 to the left or turn right 135 ° time limit this swivel plate 13 and be rotated further.

Wherein, stopping means 50 can be to control motor 30 by signal output to limit；It can also be employing machine The angle that tool structure qualification swivel plate 13 rotates；Can also is that both controlling motor 30 by signal output limits, then tie Close frame for movement the rotational angle of swivel plate 13 is defined.

In the present embodiment, as shown in Fig. 2～3 and Fig. 8～9, stopping means 50 includes rotary encoder 51, rotary encoder 51 include code-disc 511 and read head 512, and read head 512 is installed in fixed plate 20 and is electrically connected with motor 30, and code-disc 511 is fixed In motor 30 main shaft 31 periphery and with read head 512 sensing be connected.Concrete, read head 512 is fixedly mounted in fixed plate 20 As not moving part, and the periphery of the main shaft 31 that code-disc 511 is fixed on motor 30 followed by the rotation of main shaft 31 and rotates, then code Dish 511 is to be connected with generation induction of signal between read head 512 all the time when rotating, after starting this rotary encoder 51, and read head First 512 read the zero point on code-disc 511, and then after the main shaft 31 of motor 30 turns an angle, this code-disc 511 is also followed The main shaft 31 motor 30 rotates certain angle, until read head 512 detects that code-disc 511 turns to the spacing angle set, And the transmission of this signal detected is given to motor 30, thus control motor 30 and quit work, motor 30 quits work, and rotates Plate 13 also quits work, thus avoids the wire 15 being arranged on outside motor 30 to be wrapped on motor 30 so that integrated base 1 realizes The function of anti-kinking.

In the present embodiment, as shown in Fig. 8～9, code-disc 511 includes the annular disk body 5111 with hollow hole 5112, annular Disk body 5111 is provided with annular code channel 5113, and read head 512 is connected with annular code channel 5113 sensing, and annular code channel 5113 at least includes First area 5114 and second area 5115, be interval with the first alternatively non-transparent district 51141 and be positioned at adjacent in first area 5114 The first alternatively non-transparent district 51141 between the first transparent area 51142, second area 5115 is interval with the second alternatively non-transparent district 51151 and the second transparent area 51152 between the second adjacent alternatively non-transparent district 51151；The width in the first alternatively non-transparent district 51141 Spend and/or the width of first transparent area 51142 different from the width in the second alternatively non-transparent district 51151 and the second transparent area 51152 Width is different.Concrete, due to the distance between the first adjacent alternatively non-transparent district 51141 of arranging in first area 5114 and the Distance between the second adjacent alternatively non-transparent district 51151 arranged in two regions 5115 is different, first area 5114 and the secondth district Territory 5115 can export different positional informationes, then can be by the demarcation line 5117 of first area 5114 with second area 5115 It is defined as zero point, when this demarcation line 5117 being detected, i.e. can start to calculate as leading zero's in this demarcation line 5117, thus Convenient judgement detects the concrete angle value that code-disc 511 rotates.

More specifically, structure at least three modes of the code-disc 5111 that the embodiment of the present invention provides:

One, the width in the first alternatively non-transparent district 51141 and the width in the second alternatively non-transparent district 51151 are different；So, first area 5114 and second area 5115 can export different positional informationes；

Two, the width of the first transparent area 51142 and the width of the second transparent area 51152 are different；Can likewise ensure that first Region 5114 and second area 5115 export different positional informationes；

Three, the width in the first alternatively non-transparent district 51141 and width in the second alternatively non-transparent district 51151 is different and the first transparent area The width of 51142 and the width of the second transparent area 51152 are different；Also ensure that first area 5114 and second area equally The positional information that 5115 outputs are different.

Concrete, as shown in Figure 8, the peritreme of hollow hole 5112 is provided with at least one towards the hole heart extension of hollow hole 5112 It is easy to the installation projection 5116 that code-disc 511 is installed.

In the present embodiment, as shown in figures 2-3, the installing rack 60 being fixedly installed in described swivel plate 13 bottom surface is also included；Institute State installing rack 60 to be provided with for described main shaft 31 through with the 3rd via 61 coordinated with described fixed plate 20, and include towards described The inner ring body 62 extending and being radially arranged along described 3rd via 61 is protruded in fixed plate 20 side, and the end face of described fixed plate 20 is opened Be provided with bearing groove 24, outside the main shaft 31 of described motor 30, be arranged with bearing 70, described bearing 70 be flush-mounted in described bearing groove 24 with Between described inner ring body 62.Concrete, by installing rack 60, bearing 70 can be carried out location by this kind of structure design and pacify Dress, it is also possible to play the effect preventing main shaft 31 from axially shaking.And bearing 70 plays support swivel plate 13 and rotates and reduce rotation Coefficient of friction in plate 13 motor process, so may insure that the rotation of swivel plate 13 is more smooth and easy.Code-disc 511 is fixedly connected on On installing rack 60.Wherein, the fuselage three of installing rack 60, swivel plate 13 and motor 30 can be locked together into by securing member It is an entirety, in other words, when the main shaft 31 of motor 30 rotates, owing to main shaft 31 is by shaft coupling 22 locking, then motor 30 Rotating relative to main shaft 31 and plate 13 is rotated and rotates, swivel plate 13 drives installing rack 60 and motor 30 to rotate, by code-disc 511 It is directly anchored on installing rack 60, then be equivalent to eliminate and between code-disc 511 and the main shaft 31 of motor 30, be connected returning of existing Journey gap, say, that the main shaft 31 of motor 30 rotates how many angles, drives code-disc 511 to rotate how many angles, such energy simultaneously Enough improve read head 512 and detect the precision of code-disc 511 rotational angle, reduce spacing error, it is ensured that read head 512 exports to motor 30 Signal accurate, it is ensured that will not be because of occurring that kinking etc. causes the situation of parts damages to occur.

In the present embodiment, in conjunction with Fig. 2, shown in 7, described fixed mount 60 also includes protruding towards described fixed plate 20 side prolonging Stretch and along described 3rd outer ring body that via 61 is radially arranged and described inner ring body is spaced；The bottom side of described swivel plate 13 is provided with peace Shelve groove 45, described installing rack 60 be flush-mounted between described installing rack groove 45 and described outer ring body 103 and with described swivel plate 13 Fixing connection.Concrete, designed by this kind of structure, it is ensured that installing rack 60 and the stable connection of swivel plate 13, prevent installing rack 60 there is the phenomenon come off when motion.

In the present embodiment, as shown in figures 2-3, stopping means 50 includes the first stopper the 52, second stopper 53 and activity Abutting block 54, the movable block 54 that abuts is fixedly installed in the medial surface of swivel plate 13, the first stopper 52 and the second stopper 53 points It is not located at the both sides of swivel plate 13 direction of motion and abuts block 54 for barrier activity.Concrete, owing to motor 30 is rotated Plate 13 carries out the rotation of both direction, i.e. turns left or turns right, therefore at swivel plate 13 to the left and turn right two The position in direction sets the first stopper 52 and the second stopper 53 respectively, so, when swivel plate 13 to the left or turns right After certain angle, the movable block 54 that abuts being fixedly mounted on swivel plate 13 medial surface can abut to the first stopper 52 He respectively Stop on second stopper 53 continuing motion, it is achieved thereby that the angle preventing swivel plate 13 from rotating is excessive and cause and be arranged on There is kinking in wire 15 outside motor 30.

Wherein, the first stopper 52 and the second stopper 53 can be separately fixed at the inner side of shell 10, it is also possible to shell 10 inner bottom parts upwardly extend setting and support and fix, it is also possible to be fixed on its other fixtures arranged of shell 10, its position Swivel plate 13 can be limited to turn an angle after (this angle be according to practical situation set) as long as putting, the first stopper 52 Block 54 can be abutted respectively with activity with the second stopper 53 to abut, thus carry out stopping limit to the angle of the rotor plate rotated Fixed.

More specifically, in order to prevent swivel plate 13 drive activity from abutting block 54 and the first stopper 52 and the second stopper 53 Realize occurring when abutting spacing hard contact, and cause movable abutting block the 54, first stopper 52 and the second stopper 53 to damage； In the present embodiment, the first stopper 52 is provided with the first cushion pad 541, the second stopper with the movable end face abutting block 54 abutting 53 are provided with the second cushion pad 542 with the movable end face abutting block 54 abutting.So, block 54 and the first stopper 52 are abutted when activity During with the second stopper 53 abutting contact, it is achieved flexible contact, activity will be caused to support because impulsive force when rotating is excessive Connect block the 54, first stopper 52 and the second stopper 53 damages；First cushion pad 541 and the second cushion pad 542 can use silicon The materials such as glue, rubber or plastic cement are made.

In the present embodiment, as shown in figures 2-3, stopping means 50 includes that magnetic field sensor 55, magnetic field sensor 55 include suddenly That sensor 551 and magnet piece 552, Hall element 551 is installed in fixed plate 20 and is electrically connected with motor 30, magnet piece 552 are installed on swivel plate 13.Concrete, magnet piece 552 followed by swivel plate 13 and rotates, when swivel plate 13 rotates certain angle After degree, it is fixedly mounted on Hall element 551 in fixed plate 20 and can sense magnet piece 552, thus by the signal of this sensing Being transferred to motor 30, control motor 30 and quit work, motor 30 quits work, and swivel plate 13 also quits work, thus avoids setting Put the wire 15 outside motor 30 to be wrapped on motor 30, it is achieved the function of anti-kinking.

In the present embodiment, spacing can being used alone on the present embodiment integrated base 1, also of magnetic field sensor 55 realization Can be in conjunction with above-mentioned rotary encoder 51 and first stopper the 52, second stopper 53 with movable abut the limit that block 54 is formed Bit architecture, say, that can be any one or the two or more integrated base 1 that all can be applicable to the present embodiment in three On, it is used in combination if three is spacing, the effect of triple protection can be reached, it is achieved definitely avoid motor 30 kinking, integrated base 1 Safety coefficient during work is greatly improved.

In the present embodiment, as shown in Fig. 2～3 and Figure 10～11, it is provided with in shell 10 and is positioned at fixed plate 20 and wiring board 14 Between cross line dividing plate 40, cross line dividing plate 40 and offer the end of a thread via 411 worn for wire 15.The effect crossing line dividing plate 40 is There is provided wire 15 to pass through, and wiring board 14 is spaced apart with the miscellaneous part above it, be so possible to prevent miscellaneous part or Impurity touches wiring board 14, affects the work of wiring board 14；Well wire 15 can also be arranged simultaneously, prevent from leading Line 15 is in disorder and affects the work of whole integrated base 1.

In the present embodiment, as shown in Figure 10～11, cross line dividing plate 40 and include first plate body the 41, second plate body 42 and rebound Body 43, the first plate body 41 end adjacent with the second plate body 42 is respectively with the top and bottom of transition plate body 43 width even Connect, and the first plate body 41 lays respectively at, with the second plate body 42, the both sides that transition plate body 43 is relative；The end of a thread via 411 is opened in first On plate body 41, transition plate body 43 is provided with and connects with the end of a thread via 411 and be positioned at the passing channel 431 above the second plate body 42.Tool Body, the end of wire 15 can be passed the end of a thread via 411 lower section cloth towards the first plate body 41 along passing channel 431 Line, then the two ends of wire 15 can be electrically connected with other electronic components respectively, and when the quantity guided has many, permissible Concentrating and be squeezed in passing channel 431 by wire 15, the end of a thread of multiple conducting wires 15 is all unified through the end of a thread via 411 cloth down Line, owing to the position of the first plate body 41 is high relative to the second plate body 42, then the upper part centralized arrangement of wire 15 is at the second plate The top of body 42, the lower part centralized arrangement of guiding in the lower section of the first plate body 41, and multiple conducting wires 15 be respectively provided with a position Being contained in passing channel 431, the most i.e. form the reasonable Arrangement to wire 15, promoting to use has this to cross the integrated of line dividing plate 40 Space availability ratio in base 1 and guarantee that the wiring board 14 being connected with wire 15 and motor 30 can normally play its workability Energy.

In the present embodiment, as shown in Figure 10～11, the position that the second plate body 42 is corresponding with passing channel 431 is outward extended with Supporting plate 421 for support wire 15.Supporting plate 421 is that the structure that the second plate body 42 extends can play at passing channel 431 pairs of wires 15 play the effect of support, and wire 15 is positioned at the position above the second plate body 42 is gradually transitions and is positioned at Position below one plate body 41, particularly when the radical of wire 15 is more, can unify to be contained on this supporting plate 421, side Just centralized arrangement multiple conducting wires 15, scientific structure design is reasonable, practical.

In the present embodiment, as shown in Figure 10～11, passing channel 431 is respectively provided on two sides with side corresponding to transition plate body 43 Baffle plate 432.Concrete, two side shields 432 that passing channel 431 both sides are arranged concentrate on this passing channel for limiting in side Wire 15 in 431, it is ensured that when wire 15 radical is more, it is possible to ensure that multiple conducting wires 15 is concentrated the most in disorder, facilitate staff Identification and connection to wire 15.

In the present embodiment, as shown in Figure 10～11, side shield 432 is toward end and the supporting plate 421 of the end of a thread via 411 End flush, side shield 432 towards be in reverse to the end of a thread via 411 end extend be provided with the arc-shaped guide plate 433 in open state. Wire 15 typically connects up from top to bottom, say, that general wire 15 be first from the top of the second plate body 42 along passing channel 431 and be arranged into the lower section of the first plate body 41 by the end of a thread via 411；And passing channel 431 needs for second in entire plate Above plate body 42, the wire 15 of each position crosses line, then by the setting of the arc-shaped guide plate 433 in open state, Ke Yirang Each wire 15 enters into passing channel 431 along this arc-shaped guide plate 433, and the arc-shaped guide plate 433 of arcuate structure also functions to Wire 15 is caused damage by the end preventing sharp-pointed passing channel 431.

In the present embodiment, as shown in Figure 10～11, the position of close the end of a thread via 411 of side shield 432 is provided with wire bag Band via 434.When wire 15 quantity concentrated in passing channel 431 is more, in addition it is also necessary to increase and arrange each wire 15 Carry out wire 15 binder wrapped up, by offering wires for bundling band via 434 on side shield 432, then provide for Supply wire 15 binder wears to wrap up the space of each wire 15, and wire 15 binder wears wires for bundling band via 434 Time, also wrap up side shield 432 and supporting plate 421, namely can each fixing wrapping of wire 15 crossed on line dividing plate 40, Ensure that each wire 15 does not haves in disorder situation after installing.

In the present embodiment, as shown in Figure 10～11, the upper surface of side shield 432 is higher than the upper surface of the first plate body 41.Respectively Wire 15 is contained in passing channel 431, then when the first plate body 41 is arranged over miscellaneous part, in order to be provided above its His parts are pressed into each wire 15 being positioned at passing channel 431, by the upper surface of side shield 432 is designed higher than first The upper surface of plate body 41, so, side shield 432 exceeds the position of the first plate body 41 for abutting with miscellaneous part, such that it is able to Prevent miscellaneous part direct pressing to the wire 15 in passing channel 431.

More specifically, as shown in Figure 10～11, owing to the upper surface of side shield 432 is higher than the upper surface of the first plate body 41, When the top of the first plate body 41 is provided with miscellaneous part, miscellaneous part can be connected to exceed the side block of the upper surface of the first plate body 41 The position of plate 432, forms a bigger gap, in order to prevent foreign body dust between such miscellaneous part and the first plate body 41 Enter into the lower section of the first plate body 41 from the end of a thread via 411 through this gap Deng impurity；In the present embodiment, at the end of a thread via The periphery of 411 upwardly extends and is provided with dust-break flange 412, and the upper surface of dust-break flange 412 flushes with the upper surface of side shield 432. This gap can be closed, it is to avoid the impurity such as foreign body dust enter into from the end of a thread via 411 through this gap by dust-break flange 412 The lower section of the first plate body 41, it is ensured that the normal work of the electronic component below the first plate body 41.

In the present embodiment, as shown in Figure 10～11, dust-break flange 412 offered line groove 413, crossed line groove 413 Bottom land and the upper surface flush of the first plate body 41.Offered line groove 413 at dust-break flange 412, be on the first plate body 41 The wire 15 that side arranges provides the space that can wear the end of a thread via 411, and will cross bottom land and first plate body of line groove 413 The upper surface flush design of 41 may insure that the wire 15 being arranged on the first plate body 41 reclines the upper table of the first plate body 41 as far as possible Face enters into the end of a thread via 411, will not cause being arranged in the wire above the first plate body 41 because of the setting of dust-break flange 412 15 tilt, such that it is able to guarantee the reasonable Arrangement of wire 15.

In the present embodiment, as shown in Figure 10～11, the width of passing channel 431 is less than the width of the end of a thread via 411.Wire The end of 15 typically connects public plug or mother socket, and the structure of public plug or mother socket is more than wire 15, then will The width design of the end of a thread via 411 must be bigger than the width of passing channel 431, can facilitate the male plug that the end of wire 15 connects Head or mother socket enter into the lower section wiring of the first plate body 41 through the end of a thread via 411, and when wire 15 has many, Ke Yitong Crossing wire 15 binder and wrap up compacter, the space taken is less, and therefore, the width of passing channel 431 can be designed to The width of the end of a thread via 411 is less；It is to say, the most reasonably design width and the width of the end of a thread via 411 of passing channel 431 Degree can avoid the existence of unnecessary communicating structure, it is possible to prevents being positioned at the impurity above line dividing plate 40 as far as possible and entered into line The lower section of dividing plate 40.

As shown in Fig. 1～18, the embodiment of the present invention additionally provides a kind of robot 9, including above-mentioned integrated base 1 with set Mechanical hand 2 on swivel plate 13.

The robot 9 of the embodiment of the present invention, owing to employing above-mentioned integrated base 1, so that whole machine The structure of people 9 is the compactest, and volume is less；Also can ensure that the power loss as far as possible avoiding the motor 30 of robot 9 to export Precision with hoisting machine people 9 axially-movable.

In the present embodiment, as shown in figure 18, mechanical hand 2 includes bracing frame 3, mechanical arm 4 and actuator 5, and bracing frame 3 is solid On swivel plate 13, mechanical arm 4 is installed on bracing frame 3, and actuator 5 is connected with the end of mechanical arm 4.Concrete, rotation Swivel plate 13 rotation turning base drives bracing frame 3 to rotate, and bracing frame 3 driving mechanical arm 4 rotates, and mechanical arm 4 drives execution again Mechanism 5 rotates, thus realizes axial motion.

In the present embodiment, as shown in Figure 12～17, mechanical arm 4 includes first side plate the 6, second side plate 7 and being oppositely arranged Top installing plate 8, the both sides of top installing plate 8 are connected with the upper end of the first side plate 6 and the upper end of the second side plate 7 respectively；And top Portion's installing plate 8 is one-body molded with the first side plate 6 and the second side plate 7.Concrete, mechanical arm 4 is by top installing plate the 8, first side plate 6 Constitute with the second side plate 7, and top installing plate the 8, first side plate 6 and the second side plate 7 three in one molding and make, such that it is able to add The structural strength of strong whole mechanical arm 4, during use, top installing plate 8, first side plate 6 of mechanical arm 4 and the second side plate 7 are the most not It is easily generated deformation；And top installing plate 8 is also used as the installation base plate use of other electronic components, top installing plate 8, first Enclose between side plate 6 and the second side plate 7 three and set one module with open space of formation, then can enter inside and outside this space Row connects up and installs other drive mechanisms, and this makes the application of mechanical arm 4 more flexibly, and the scope of application is wider, and adaptability is more Good.

As shown in Figure 12～17, it is first external that the first side plate 6 offers at least one near the position of the first side plate 6 upper end Shell block button hole 601, the second side plate 7 offers at least one and the first outer body contact block button hole near the position of the second side plate 7 upper end 601 the second corresponding outer body contact block button holes 701.By the setting of top installing plate 8, be equivalent to provide for whole mechanical arm 4 The installation base plate of other electronic components, such as, can be installed on panel, processor, button etc. on top installing plate 8, so After above-mentioned electronic component can also be carried out cover set protection, so at the first side plate 6 and the second side plate 7 by arranging outer body contact On corresponding first outer body contact block button hole 601 and the second outer body contact block button hole 701 be set to supply outer body contact snapping, it is thus possible to When enough holdings are provided with outer body contact, it is possible to outer body contact is stably connected with whole mechanical arm 4.Wherein, the first outer body contact block button hole 601 and second the quantity of outer body contact block button hole 701 can be according to the size of whole mechanical arm 4 depending on, it is generally preferable to be two, if Put in the position near mechanical arm 4 front-end and back-end.And the setting of top installing plate 8 allows to be spaced the first side plate 6 and The interior space of two side plates 7 formation and the external space, drive mechanism can be arranged between the first side plate 6 and the second side plate 7 formation In interior space, the wiring of power line then can so be possible to prevent power cord wrap driver in the outer setting of top installing plate 8 Structure affects the action of drive mechanism, or prevents drive mechanism from power line is caused twisted wire, it is ensured that the normal work of mechanical arm 4.

Further, as shown in Figure 12～17, the sidepiece of top installing plate 8 is near top installing plate 8 front-end and back-end Position is respectively equipped with outer body contact draw-in groove 801.Top installing plate 8 by arranging outer body contact draw-in groove 801 so that arrange external Shell can realize being connected with top installing plate 8, and when so can realize being provided with outer body contact, outer body contact can be with top installing plate 8 and first side plate 6 and the second side plate 7 all realize the connection of contact, so can promote further the outer body contact of setting with The stability that mechanical arm 4 connects, it is ensured that when mechanical arm 4 works, the outer body contact of setting does not haves the phenomenon dropped to be occurred.

Wherein, as shown in Figure 12～17, the first side plate 6 is provided with the first location with the front end of the junction of top installing plate 8 Protruding 602, form the first locating slot 603 between the first positioning convex 602 and top installing plate 8；Second side plate 7 is installed with top The front end of the junction of plate 8 is provided with second positioning convex 702 corresponding with the first positioning convex 602, the second positioning convex 702 Be formed with second locating slot 703 corresponding with the first locating slot 603 between top installing plate 8.The outer body contact arranged needs During installation, the front end of outer body contact is resisted against in the first locating slot 603 and the second locating slot 703, external body contact peace can be completed The location of dress, press down the rear end of outer body contact and the relevant position of outer body contact is snapped onto that top installing plate 8 offers external The second outer body contact card that shell draw-in groove 801 and the first outer body contact block button hole 601 of the first side plate 6 setting and the second side plate 7 are arranged On button hole 701, i.e. complete the installation of external body contact.So, reality is set by the first locating slot 603 and the second locating slot 703 Quickly location and the work of auxiliary installation of the installation of external body contact are showed.

It addition, the first locating slot 603 and the second locating slot 703 the first positioning convex 602 and the second positioning convex 702 with Formed between top installing plate 8, it can be ensured that the front end of outer body contact is resisted against on the first locating slot 603 and the second locating slot 703 Time, sealed the front end of top installing plate 8 by the front end of outer body contact, promote after outer body contact is installed and between top installing plate 8 Sealing.

As shown in Figure 12～17, the front end extension of the first side plate 6 is provided with the first executive item connecting portion 604, the second side plate 7 Front end extension is provided with the second executive item connecting portion 704 corresponding with the first executive item connecting portion 604.Concrete, by first Executive item connecting portion 604 and the second executive item connecting portion 704 are arranged on the front end of mechanical arm 4 to connect actuator 5, such as, Actuator 5 can be fixture, sucker etc.；Thus facilitate the connection installation of various executive item and the front end of mechanical arm 4.

First executive item connecting portion 604 and/or the second executive item connecting portion 704 offer executive item connecting hole 6704；Hold Arranging of row part connecting hole 6704 conveniently connects actuator 5.

As shown in Figure 12～17, the rear end extension of the first side plate 6 is provided with the first actuator connecting portion 605, the second side plate 7 Rear end extension is provided with the second actuator connecting portion 705 corresponding with the first actuator connecting portion 605.First actuator connecting portion 605 and second setting of actuator connecting portion 705, convenient connect actuator, such as, actuator can be motor 30 etc..It addition, First actuator connecting portion 605 and/or the second actuator connecting portion 705 offer actuator connecting hole 6705.Actuator connects Arranging of hole 6705 conveniently connects actuator.

As shown in Figure 12～15, mechanical arm 4 also includes that at least one is connected between the first side plate 6 and the second side plate 7 Bracing piece 678.Bracing piece 678 is arranged between the first side plate 6 and the second side plate 7 position near lower end, so may insure that The lower end of the first side plate 6 and the second side plate 7 will not the most inwardly and outwardly bend deformation, namely can prevent machine further Mechanical arm 4 the most easily produces deformation.

Further, such as the first example structure that Figure 12～15 is mechanical arm 4, if Figure 16～17 is mechanical arm 4 The second example structure, its difference mainly the first actuator connecting portion 605 and the second actuator connecting portion 705 and first Executive item connecting portion 604 is different with the structure of the first actuator connecting portion 605；Such as, the first actuator connecting portion 605 and second The structure of actuator connecting portion 705 and the first executive item connecting portion 604 and the first actuator connecting portion 605 can be irregular The rectangular plate-like of platy structure rule, circular plate-like shape or oval platy structure, drive first according to demand when using Part connecting portion 605 and the second actuator connecting portion 705 and the first executive item connecting portion 604 and the first actuator connecting portion 605 The shape of structure be defined.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all think ofs in the present invention Want with principle within any amendment, equivalent or the improvement etc. made, should be included within the scope of the present invention.

Claims (18)

1. integrated base, for installing motor and exporting the power that described motor produces, described motor has main shaft, and its feature exists In: described integrated base includes being provided with the installation shell of cavity, the fixed plate being fixedly installed in described installation cavity body, being arranged at Fix the shaft coupling being connected between described installation cavity bottom and described fixed plate and with described main shaft and be arranged at described peace Behave affectedly internal and fix with described motor be connected with described motor rotate with export described power swivel plate, described fixed plate Between described shaft coupling and described swivel plate, described fixed plate is provided with first via corresponding with described shaft coupling, institute Stating swivel plate and be provided with second via corresponding with described first via, described main shaft sequentially passes through described second via and described First via is also connected to described shaft coupling.

Integrated base the most according to claim 1, it is characterised in that: it is provided with at least one in described shell for limiting State the stopping means of swivel plate rotational angle.

Integrated base the most according to claim 2, it is characterised in that: described stopping means includes rotary encoder, described Rotary encoder includes that code-disc and read head, described read head are installed in described fixed plate and are electrically connected with described motor, described Code-disc is fixed on the periphery of the main shaft of described motor and is connected with the sensing of described read head.

Integrated base the most according to claim 3, it is characterised in that: described code-disc includes the annular disk with hollow hole Body, described annular disk body is provided with annular code channel, and described read head is connected with described annular code channel sensing, and described annular code channel is at least Including first area and second area, it is interval with the first alternatively non-transparent district in described first area and is positioned at adjacent described first The first transparent area between alternatively non-transparent district, described second area is interval with the second alternatively non-transparent district and is positioned at adjacent described second The second transparent area between alternatively non-transparent district；The width in described first alternatively non-transparent district is different from the width in described second alternatively non-transparent district And/or the width of described first transparent area is different from the width of described second transparent area.

Integrated base the most according to claim 3, it is characterised in that: the medial surface of described swivel plate is fixedly connected with installation Frame, described installing rack offers the 3rd via that the main shaft for described motor wears, described installing rack and described swivel plate and institute Stating the fixing connection of motor, described code-disc is fixedly connected on described installing rack.

Rotating base the most according to claim 5, it is characterised in that: described installing rack includes towards described fixed plate side Protruding the inner ring body extending and being radially arranged along described 3rd via, the end face of described fixed plate offers bearing groove, described electricity The spindle jacket of machine is provided with bearing, and described bearing is flush-mounted between described bearing groove and described inner ring body.

Rotating base the most according to claim 6, it is characterised in that: described fixed mount also includes towards described fixed plate one Side is protruded and is extended and along described 3rd outer ring body that via is radially arranged and described inner ring body is spaced；The bottom side of described swivel plate sets There are installing rack groove, described installing rack to be flush-mounted between described installing rack groove and described outer ring body and fix even with described swivel plate Connect.

Rotating base the most according to claim 5, it is characterised in that: described swivel plate is in the side deviating from described fixed plate Being provided with and limit the motor mounting groove that described motor moves along the radial, described motor is fixedly installed in described motor mounting groove.

Integrated base the most according to claim 2, it is characterised in that: described stopping means include the first stopper, second Stopper and the movable block that abuts, the described movable block that abuts is fixedly installed in the medial surface of described swivel plate, described first stopper It is respectively arranged on the both sides of the described swivel plate direction of motion and for stopping described movable abutting block with described second stopper.

Integrated base the most according to claim 9, it is characterised in that: described first stopper abuts block with described activity The end face abutted is provided with the first cushion pad, and described second stopper abuts the end face of block abutting and is provided with the second buffering with described activity Pad.

11. integrated bases according to claim 2, it is characterised in that: described stopping means includes magnetic field sensor, described Magnetic field sensor include Hall element and magnet piece, described Hall element be installed in described fixed plate and with described motor Being electrically connected with, described magnet piece is installed on described swivel plate.

12. according to the integrated base described in any one of claim 1～11, it is characterised in that: described integrated base also includes peace Being loaded on the wiring board in described installation cavity body, described motor is electrically connected with by wire with described wiring board, and described wire is stretched Enter described installation cavity and be set around described swivel plate and the outside of described fixed plate.

13. integrated bases according to claim 12, it is characterised in that: be provided with in described shell be positioned at described fixed plate with Line dividing plate excessively between described wiring board, described line dividing plate of crossing offers the end of a thread via worn for described wire.

14. integrated bases according to claim 13, it is characterised in that: described cross line dividing plate include the first plate body, second Plate body and transition plate body, the described first plate body end adjacent with described second plate body respectively with described transition plate body width Top and bottom connect, and described first plate body lays respectively at, with described second plate body, the both sides that described transition plate body is relative； Described the end of a thread via is opened on described first plate body, described transition plate body be provided with connect with described the end of a thread via and be positioned at described Passing channel above second plate body.

15. according to the integrated base described in any one of claim 1～11, it is characterised in that: described fixed plate be positioned at described in lead The side of line slewing area is provided with lower fan-shaped edge, and the position that described swivel plate is corresponding with described lower fan-shaped edge is provided with upper sector Edge, described lower fan-shaped edge and described fan-shaped edge are positioned at the side of the slewing area of described wire with described installation cavity body Between be formed for the sector movable district that described wire rotates with described swivel plate.

16. robots, it is characterised in that: include the integrated base described in claim 1 to 15 any one and be located at described Mechanical hand on swivel plate.

17. robots according to claim 16, it is characterised in that: described mechanical hand includes bracing frame, mechanical arm and holds Row mechanism, support frame as described above is fixed on described swivel plate, and described mechanical arm is installed on support frame as described above, described actuator It is connected with the end of described mechanical arm.

18. robots according to claim 17, it is characterised in that: described mechanical arm includes the first side being oppositely arranged Plate, the second side plate and top installing plate, the both sides of described top installing plate respectively with the upper end of described first side plate and described The upper end of two side plates connects；And described top installing plate is one-body molded with described first side plate and described second side plate.