CN108274454A - Integrated base and robot - Google Patents
Integrated base and robot Download PDFInfo
- Publication number
- CN108274454A CN108274454A CN201810254509.7A CN201810254509A CN108274454A CN 108274454 A CN108274454 A CN 108274454A CN 201810254509 A CN201810254509 A CN 201810254509A CN 108274454 A CN108274454 A CN 108274454A
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- CN
- China
- Prior art keywords
- plate
- motor
- integrated base
- swivel plate
- fixed plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotic technology fields, more particularly to integrated base and robot, integrated base is used to install the power that motor and output motor generate, motor has main shaft, integrated base includes the shell for being equipped with installation cavity, the fixed plate being fixedly installed in installation cavity body, it the shaft coupling that is fixedly connected with main shaft and is fixedly connected between installation cavity bottom and fixed plate and in installation cavity body and with motor to be rotated with motor to export the swivel plate of power, fixed plate is between shaft coupling and swivel plate, fixed plate is equipped with the first via corresponding with shaft coupling, swivel plate is equipped with the second via corresponding with the first via, main shaft sequentially passes through the second via and the first via and is connected to shaft coupling.The compact overall structure of the integrated base of the present invention can so that overall structure is integrated, volume smaller without increasing installation transmission mechanism；And it can ensure the power loss for avoiding motor to export as possible and promote the precision being axially moved.
Description
Technical field
The present invention relates to robotic technology field more particularly to integrated bases and robot.
Background technology
Robot and automated arm have wide application market, and by taking robot as an example, robot technology is as advanced
The Typical Representative of manufacturing technology is the multidisciplinary advanced technologies such as collection machinery, electronics, control, computer, sensor, artificial intelligence
In the important modern manufacturing industry automated arm of one.Wherein, robot generally all has the degree of freedom of circumferential movement, existing
The circumferential movement mechanism of robot has complicated defect in technology.For example, the circumferential movement mechanism of robot is generally logical
The transmission mechanism that source cooperation is made of lead screw and travelling nut or gear and rack of overdriving is formed, the circumferential fortune which forms
Not only structure is complex for motivation structure, but also volume is larger, is unfavorable for integrated installation；Meanwhile the power of driving source output passes through
Transmission mechanism transmits, and kinematic accuracy can also be caused to decline the loss with power.
Invention content
The purpose of the present invention is to provide a kind of integrated base and with the robot of the integrated base, it is intended to solve existing
The technical issues of circumferential movement mechanism structure of the robot of technology is complicated, volume is big and power loss.
To achieve the above object, the technical scheme is that：Integrated base, for installing motor and exporting the motor
The power of generation, the motor have a main shaft, and the integrated base includes the shell for being equipped with installation cavity, it is described to be fixedly installed in
Fixed plate in installation cavity body is set between the installation cavity bottom and the fixed plate and is fixedly connected with the main shaft
Shaft coupling and be set in the installation cavity body and be fixedly connected with the motor to be rotated with the motor to export
State the swivel plate of power, the fixed plate between the shaft coupling and the swivel plate, the fixed plate be equipped with it is described
Corresponding first via of shaft coupling, the swivel plate are equipped with the second via corresponding with first via, the main shaft
It sequentially passes through second via and first via and is connected to the shaft coupling；
The integrated base further includes code-disc and read head, the read head be installed in the fixed plate and with motor electricity
Property connection, the code-disc, which is fixed on the main shaft of the motor and incudes with the read head, to be connected, and the read head detects described
Code-disc turns to the limit angle of setting and the signal transmission that this is detected is given to the motor.
Beneficial effects of the present invention：The integrated base of the present invention by be arranged the swivel plate rotated with the motor and
The fixed plate and shaft coupling that setting connect with main shaft and rotates relative to motor in the installation cavity body, master of the shaft coupling to motor
Axis plays the role of fixed support, and fixed plate and shaft coupling are compactly installed on main shaft so that and entire integrated base is simple in structure,
Without additionally installing transmission mechanism so that entire integrated base volume is substantially reduced；Meanwhile by the swivel plate with described
Motor rotates so that the component being fixedly mounted on swivel plate is also followed by carry out circumferential movement, formed circumferential movement from
By spending, i.e., the component being directly extremely mounted on the power output of the motor using the swivel plate on swivel plate, so as to
Avoid the power loss that motor exports and the precision for promoting circumferential movement.
The present invention another technical solution be：Robot comprising above-mentioned integrated base and be set to the swivel plate
On manipulator.
The robot of the present invention, due to the use of above-mentioned integrated base, so that the structure of entire robot
Also compacter, volume smaller；It also can ensure that the power loss for avoiding the motor of robot to export as possible and hoisting machine people
The precision of circumferential movement.
Description of the drawings
Fig. 1 is the structural schematic diagram of integrated base provided in an embodiment of the present invention.
Fig. 2 is the Section View of the line A-A along Fig. 1.
Fig. 3 is the structural decomposition diagram of integrated base provided in an embodiment of the present invention.
Fig. 4 is that the activity of integrated base provided in an embodiment of the present invention abuts the structural schematic diagram of block.
Fig. 5 is the structural schematic diagram of the swivel plate of integrated base provided in an embodiment of the present invention.
Fig. 6 is the structural schematic diagram of the fixed plate of integrated base provided in an embodiment of the present invention.
Fig. 7 is the structural schematic diagram of the shell of integrated base provided in an embodiment of the present invention.
Fig. 8 is the structural schematic diagram of the code-disc of integrated base provided in an embodiment of the present invention.
Fig. 9 is the close-up schematic view at B in Fig. 8.
Figure 10 is the structural schematic diagram at the first visual angle for crossing line partition board of integrated base provided in an embodiment of the present invention.
Figure 11 is the structural schematic diagram at second of visual angle for crossing line partition board of integrated base provided in an embodiment of the present invention.
Figure 12 is the structural schematic diagram at the first visual angle of the first mechanical arm of robot provided in an embodiment of the present invention.
Figure 13 is the close-up schematic view at C in Figure 12.
Figure 14 is the structural schematic diagram at second of visual angle of the first mechanical arm of robot provided in an embodiment of the present invention.
Figure 15 is the structural schematic diagram at the third visual angle of the first mechanical arm of robot provided in an embodiment of the present invention.
Figure 16 is the structural schematic diagram at the first visual angle of second of mechanical arm of robot provided in an embodiment of the present invention.
Figure 17 is the structural schematic diagram at second of visual angle of second of mechanical arm of robot provided in an embodiment of the present invention.
Figure 18 is the close-up schematic view at D in Fig. 2.
Figure 19 is the structural schematic diagram of robot provided in an embodiment of the present invention.
Reference numeral includes：
1-2-manipulator of integrated base
3-4-mechanical arms of supporting rack
5-the 6-the first side plates of executing agency
7-the second 8-top of side plate mounting plate
9-10-shells of robot
11-top plate 12-installation cavitys
13-14-wiring boards of swivel plate
15-16-sector movable of conducting wire areas
20-the 21-the first vias of fixed plate
22-23-time fan-shaped edges of shaft coupling
24-30-motors of bearing groove
31-main shaft 40-mistake line partition boards
41-the first the 42-the second plate body of plate body
43-transition 50-limiting devices of plate body
51-the 52-the first stoppers of rotary encoder
53-the second 54-activity of stopper abuts block
55-60-mounting brackets of magnetic field sensor
61-third 62-inner ring bodies of via
63-70-bearings of outer ring body
The upper fan-shaped edge of 131-the second via 132-
133-134-motor mounting grooves of arc angling
135-installation rack slot 411-the end of a thread vias
412-dust-break flange 413-mistake line grooves
421-431-passing channels of supporting plate
432-433-arc-shaped guide plates of side shield
434-wires for bundling band 511-code-disc of via
512-the 541-the first cushion pads of read head
542-the second 551-Hall sensor of cushion pad
552-the 601-the first outer body contact block button holes of magnet piece
602-the first the 603-the first locating slot of positioning protrusion
604-the first executive item interconnecting piece the 605-the first actuator interconnecting piece
678-the 701-the second outer body contact block button holes of bracing piece
702-the second the 703-the second locating slot of positioning protrusion
704-the second executive item interconnecting piece the 705-the second actuator interconnecting piece
801-outer body contact card slot 5111-annular disk bodies
5112-hollow hole 5113-annular code channels
5114-5115-second areas of first area
5116-5117-lines of demarcation of installation convex block
6704-executive item connecting hole 6705-actuator connecting holes
51141-the first the 51142-the first transparent area of alternatively non-transparent district
51151-the second the 51152-the second transparent area of alternatively non-transparent district.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment that Fig. 1~19 is described is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated dress
It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limit to the present invention
System.In addition, term " first ", " second " are used for description purposes only, be not understood to indicate or imply relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes one or more this feature.In the description of the present invention, the meaning of " plurality " is two or more, unless
Separately there is clearly specific restriction.In the present invention unless specifically defined or limited otherwise, term " installation ", " connects " connected "
Connect ", the terms such as " fixation " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；
It can be mechanical connection, can also be electrical connection；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
As shown in Fig. 1 to Figure 19, integrated base 1 provided in an embodiment of the present invention, for installing described in motor 30 and output
The power that motor 30 generates, it includes the shell for being equipped with installation cavity 12 that the motor 30, which has main shaft 31, the integrated base 1,
10, it is fixedly installed in the fixed plate 20 installed in cavity 12, is set to 12 bottom of installation cavity and the fixed plate
The shaft coupling 22 that is fixedly connected between 20 and with the main shaft 31 and be set in the installation cavity 12 and with the motor
30 are fixedly connected to be rotated with the motor to export the swivel plate 13 of the power, and the fixed plate 20 is located at the shaft coupling
Between 22 and the swivel plate 13, the fixed plate 20 is equipped with first via 21 corresponding with the shaft coupling 22, the rotation
Flap 13 is equipped with second via 131 corresponding with first via 21, and the main shaft 31 sequentially passes through second via
131 and first via 21 and it is connected to the shaft coupling 22.Specifically, the integrated base 1 of the embodiment of the present invention, work
When, the main shaft 31 of motor 30 rotates, and the setting of shaft coupling 22 plays the role of fixed support to the main shaft 31 of motor 30, due to master
Axis 31 is rotated by 22 locking of shaft coupling, i.e. motor 30 relative to shaft coupling 22 and fixed plate 20, and due to swivel plate 13 and motor
30 are fixedly connected, then swivel plate 13 is followed by the rotation of motor 30, swivel plate 13 realizes circumferential movement, then being fixedly mounted
Component on swivel plate 13 is also followed by carry out circumferential movement, to form the degree of freedom of a circumferential movement.The present invention's
The compact overall structure of integrated base 1 can so that overall structure is integrated, volume smaller without increasing installation transmission mechanism；
And it can ensure the power loss for avoiding motor 30 to export as possible and promote the precision of circumferential movement.
In addition, the top of installation cavity 12 is equipped with top plate 11, for so that installation cavity 12 forms semi-closed state.
In the present embodiment, as shown in figures 2-3, wiring board 14 is equipped in shell 10, motor 30 passes through conducting wire with wiring board 14
15 are electrically connected, and conducting wire 15 stretches into installation cavity 12 and is set around the outside of swivel plate 13 and fixed plate 20.Specifically, due to
Wiring board 14 is set below the fixed plate 20 in shell 10, then being electrically connected by conducting wire 15 and wiring board 14 and motor 30
When, conducting wire 15 can pass through the installation cavity 12 of the setting of shell 10 and be set around the outside of swivel plate 13 and fixed plate 20, in this way,
On the one hand 15 outside setting of conducting wire is avoided, achievees the purpose that hiding conducting wire 15；On the other hand motor 30 and wiring board are shortened
14 distance, that is, shorten the length of conducting wire 15, and the length of conducting wire 15 shortens and can wind asking for other component to avoid conducting wire 15
Topic occurs, also further such that total is more integrated.
In the present embodiment, as shown in Fig. 5~6, the side that fixed plate 20 is located at 15 slewing area of conducting wire is equipped with lower fan-shaped edge
Portion 23, the position corresponding with lower sector edge 23 of swivel plate 13 are equipped with upper fan-shaped edge 132, lower sector edge 23 and upper fan-shaped edge
It is formed between portion 132 and the side of installation cavity 12 slewing area that is located at conducting wire 15 and to be rotated with swivel plate 13 for conducting wire 15
Sector movable area 16；Upper sector edge 132 is adapted with the shape of lower fan-shaped edge 23.Specifically, when motor 30 works, electricity
Machine 30 drives swivel plate 13 to rotate, since the conducting wire 15 being electrically connected between motor 30 and wiring board 14 is set around in swivel plate 13
With the outside of fixed plate 20, swivel plate 13 and the influence conducting wire 15 of fixed plate 20 are followed by the movement of swivel plate 13, difference in order to prevent
It is located at the side that conducting wire 15 moves in range in fixed plate 20 and swivel plate 13 and is arranged to lower fan-shaped edge 23 and upper fan-shaped edge
132, in this way, the sector movable that conducting wire 15 is formed between lower fan-shaped edge 23 and upper fan-shaped edge 132 and installation cavity 12
Freely circumferential circular motion is carried out in area 16 can either reach hiding without being influenced by fixed plate 20 and swivel plate 13
The purpose that conducting wire 15 designs, it can also be ensured that the movement of conducting wire 15 is unfettered, and scientific structure design is reasonable, highly practical.
In the present embodiment, as shown in figure 5, the both ends of upper sector edge 132 are respectively equipped with arc angling 133.Specifically, by
It is mounted in installation cavity 12 in the adaptation of swivel plate 13, then swivel plate 13 is the peritreme movement relative to installation cavity 12
, since swivel plate 13 is equipped with upper fan-shaped edge 132, in order to avoid the chamber at the both ends and installation cavity 12 of upper fan-shaped edge 132
Wall generates friction or clamping stagnation, and arc angling 133 is respectively set at the both ends of upper fan-shaped edge 132；This kind design can also be true
It is more convenient when swivel plate 13 is installed in installation cavity 12 by guarantor.
As shown in figure 5, swivel plate 13 away from the side of the fixed plate 20 equipped with limiting motor 30 in moving along the radial
Motor mounting groove 134, motor 30 is fixedly installed in motor mounting groove 134.By offering motor peace on swivel plate 13
Tankage 134 is further added by fastener by the end of motor 30 then by the end accommodation of motor 30 in the motor mounting groove 134
It is locked on swivel plate 13, motor 30 can be fixedly mounted on swivel plate 13 in this way, limiting motor is along the swivel plate diameter
To movement, when the main shaft 31 of motor 30 rotates, since main shaft 31 is by 11 locking of shaft coupling, motor 30 rotate relative to main shaft 31 and
It drives swivel plate 13 to rotate, drives swivel plate 13 to rotate by motor 30, form the rotational structure of a circumferential direction, that is, work as swivel plate
When other component (such as manipulator 2) is installed on 13, you can drive the component to carry out circumferential movement, that is, form circumferential direction
Degree of freedom.
In addition, as shown in figures 2-3, bearing 70 is socketed on the main shaft 31 of motor 30, bearing 70 is fixed with fixed plate 20 to be connected
It connects.Specifically, bearing 70 plays the rotation of support swivel plate 13 and reduces the friction coefficient in 13 motion process of swivel plate, in this way may be used
Rotation to ensure swivel plate 13 is more smooth.
In the present embodiment, integrated installation has processor (not shown) on wiring board 14.In assist side 14 at integrated installation
Manage device so that wiring board 14 forms a control panel, direct output signal to the driving sources such as the motor 30 that is electrically connected into
Row control, in this way, entire integrated base 1 is equivalent to and is integrated with control box, without the in addition setting external control box of power cord.
In the present embodiment, as shown in figures 2-3, rotated centainly equipped at least one for limiting swivel plate 13 in shell 10
The limiting device 50 of angle.Specifically, driving the circumferential circular motion of swivel plate 13 when motor 30 works, swivel plate 13 realizes
The degree of freedom of circumferential circular motion, then the other component being installed on swivel plate 13 also realizes circumferential circular motion；Due to outer
The limiting device 50 that limitation swivel plate 13 turns an angle is equipped in shell 10, it can be to avoid by the setting of the limiting device 50
The conducting wire 15 that the angle that swivel plate 13 rotates is excessive and motor 30 is caused to connect is wrapped on motor 30 or other component, in turn
It realizes the function of anti-kinking, ensures the normal work of integrated base 1.
More specifically, after limiting device 50 can turn to certain angle in swivel plate 13, the swivel plate 13 is limited
It is rotated further, then can prevent such as swivel plate 13 from rotating more than 360 ° and the conducting wire 15 that motor 30 connects is wrapped in motor
On 30, certainly, in the actual installation limiting device 50, the angle that can limit the rotation of swivel plate 13 is set as needed, example
Can such as set motor 30 drive swivel plate 13 to the left or turn right 135 ° when limit the swivel plate 13 and be rotated further.
Wherein, limiting device 50 can export control motor 30 by signal to be limited；Can also be to use machine
The angle that tool structure qualification swivel plate 13 rotates；It can also be and control motor 30 is both exported to be limited by signal, then tie
Mechanical structure is closed to be defined the rotational angle of swivel plate 13.
In the present embodiment, as shown in Fig. 2~3 and Fig. 8~9, limiting device 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
Incude connection in the periphery of the main shaft 31 of motor 30 and with read head 512.Specifically, read head 512 is fixedly mounted in fixed plate 20
As not moving part, and the periphery that code-disc 511 is fixed on the main shaft 31 of motor 30 is followed by the rotation of main shaft 31 and rotates, then code
Disk 511 is to generate induction of signal between read head 512 always to connect in rotation, after starting the rotary encoder 51, read head
512 read the zero on code-disc 511 first, and then after the main shaft 31 of motor 30 turns an angle, which also follows
The main shaft 31 for motor 30 rotates certain angle, until read head 512 detects that code-disc 511 turns to the limit angle of setting,
And the signal transmission that this is detected is given to motor 30, it is stopped to control motor 30, motor 30 is stopped, and rotates
Plate 13 is also stopped, to avoid the conducting wire being arranged outside motor 30 15 from being wrapped on motor 30 so that integrated base 1 is realized
The function of anti-kinking.
In the present embodiment, as shown in Fig. 8~9, code-disc 511 includes the annular disk body 5111 for having hollow hole 5112, annular
Disk body 5111 is equipped with annular code channel 5113, and read head 512 is connected with the annular induction of code channel 5113, and annular code channel 5113 includes at least
First area 5114 and second area 5115 are equipped at intervals with the first alternatively non-transparent district 51141 in first area 5114 and positioned at adjacent
The first alternatively non-transparent district 51141 between the first transparent area 51142, second area 5115 is equipped at intervals 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 of first alternatively non-transparent district 51141
Degree and the width and the second transparent area 51152 of different size and/or the first transparent area 51142 of the second alternatively non-transparent district 51151
It is of different size.Specifically, due to the distance between first adjacent alternatively non-transparent district 51141 for being arranged in first area 5114 and the
The distance between the second adjacent alternatively non-transparent district 51151 being arranged in two regions 5115 difference, first area 5114 and the secondth area
Domain 5115 can export different location informations, then can be by the line of demarcation 5117 of first area 5114 and second area 5115
It is defined as zero, when detecting the line of demarcation 5117, you can start to calculate using the line of demarcation 5117 as leading zero's, to
The specific angle value for facilitating judgement to detect that code-disc 511 rotates.
More specifically, at least there are three modes for the structure of code-disc 5111 provided in an embodiment of the present invention：
One, the width of the first alternatively non-transparent district 51141 and the second alternatively non-transparent district 51151 is of different size；In this way, first area
5114 and second area 5115 can export different location informations；
Two, the width of the first transparent area 51142 and the second transparent area 51152 is of different size；It can likewise ensure that first
Region 5114 and second area 5115 export different location informations；
Three, of different size and the first transparent area of the width of the first alternatively non-transparent district 51141 and the second alternatively non-transparent district 51151
51142 width is of different size with the second transparent area 51152；First area 5114 and second area is equally also ensured
The different location information of 5115 outputs.
Specifically, as shown in figure 8, the hole heart of the peritreme of hollow hole 5112 towards hollow hole 5112 extends equipped at least one
The installation convex block 5116 installed convenient for code-disc 511.
Further include the mounting bracket 60 for being fixedly installed in 13 bottom surface of the swivel plate as shown in figures 2-3 in the present embodiment；Institute
It states mounting bracket 60 to be equipped with for the main shaft 31 across the third via 61 with the fixed plate 20 to coordinate, and includes described in
20 side of fixed plate protrusion extends and along the inner ring body 62 that the third via 61 is radially arranged, the top surface of the fixed plate 20 is opened
Equipped with bearing groove 24, be arranged with bearing 70 outside the main shaft 31 of the motor 30, the bearing 70 flush-mounted in the bearing groove 24 with
Between the inner ring body 62.Specifically, by this kind of structure design positioning peace can be carried out to bearing 70 by mounting bracket 60
Dress, can also play the role of preventing main shaft 31 from axially shaking.And bearing 70 plays the rotation of support swivel plate 13 and reduces rotation
Friction coefficient in 13 motion process of plate may insure that the rotation of swivel plate 13 is more smooth in this way.Code-disc 511 is fixedly connected on
On mounting bracket 60.Wherein, the fuselage three of mounting bracket 60, swivel plate 13 and motor 30 can be locked together by fastener
For an entirety, in other words, when the main shaft 31 of motor 30 rotates, since main shaft 31 is by 22 locking of shaft coupling, then motor 30
It is rotated relative to main shaft 31 and swivel plate 13 is driven to rotate, swivel plate 13 drives mounting bracket 60 and motor 30 to rotate, by code-disc 511
It is directly anchored on mounting bracket 60, existing return is connected between code-disc 511 and the main shaft 31 of motor 30 then being equivalent to and eliminating
Journey gap, that is to say, that the main shaft 31 of motor 30 rotates how many angle, while code-disc 511 being driven to rotate how many angle, such energy
The precision that read head 512 detects 511 rotational angle of code-disc is enough improved, the error of limit is reduced, it is ensured that the output of read head 512 to motor 30
Signal it is accurate, it is ensured that will not occur because of there is the case where kinking etc. leads to parts damages.
In the present embodiment, in conjunction with shown in Fig. 2,7, the mounting bracket 60 further includes prolonging towards 20 side of fixed plate protrusion
The outer ring body 63 stretched and be spaced with the inner ring body 62 along the radial setting of the third via 61；The bottom side of the swivel plate 13 is set
There are installation rack slot 45, the mounting bracket 60 to be fixedly connected in the installation rack slot 45 and with the swivel plate 13.Specifically
, pass through this kind of structure design, it is ensured that the stable connection of mounting bracket 60 and swivel plate 13 prevents mounting bracket 60 from occurring during exercise
The phenomenon that falling off.
In the present embodiment, as shown in figures 2-3, limiting device 50 includes the first stopper 52, the second stopper 53 and activity
Block 54 is abutted, activity abuts the medial surface that block 54 is fixedly installed in swivel plate 13, and the first stopper 52 and the second stopper 53 divide
Not She Yu 13 direction of motion of swivel plate both sides and for barrier activity abut block 54.Specifically, being rotated since motor 30 drives
Plate 13 carries out the rotation of both direction, that is, turns left or turn right, thus swivel plate 13 to the left and turn right two
The first stopper 52 and the second stopper 53 is set separately in the position in direction, in this way, working as swivel plate 13 to the left or turning right
After certain angle, 52 He of the first stopper can be abutted to respectively by being fixedly mounted on the activity abutting block 54 of 13 medial surface of swivel plate
Stop continuing to move on second stopper 53, prevents from the angle of the rotation of swivel plate 13 excessive and cause to be arranged to exist to realize
There is kinking in conducting wire 15 outside motor 30.
Wherein, the first stopper 52 and the second stopper 53 can be separately fixed at the inside of shell 10, can also shell
In 10 bottom upwardly extend setting support can also be fixed on to fix shell 10 its setting other fixing pieces on, position
It turns an angle after (angle is to be set according to actual conditions) as long as swivel plate 13 can be limited to by setting, the first stopper 52
Block 54 can be abutted with the second stopper 53 with activity respectively to abut, to which the angle of the rotor plate to rotation carries out blocking limit
It is fixed.
More specifically, 13 drive activity of swivel plate abuts block 54 and the first stopper 52 and the second stopper 53 in order to prevent
It realizes that hard contact occurs in the when of abutting limit, and activity is caused to abut block 54, the first stopper 52 and the damage of the second stopper 53；
In the present embodiment, the first stopper 52 abuts the end face of the abutting of block 54 with activity equipped with the first cushion pad 541, the second stopper
53 end faces that the abutting of block 54 is abutted with activity are equipped with the second cushion pad 542.In this way, when activity abuts block 54 and the first stopper 52
When with the second 53 abutting contact of stopper, flexible contact is realized, activity will not be caused to support because impact force when rotating is excessive
Connect block 54, the first stopper 52 and the damage of the second stopper 53；Silicon may be used in first cushion pad 541 and the second cushion pad 542
The materials such as glue, rubber or plastic cement are made.
In the present embodiment, as shown in figures 2-3, limiting device 50 includes magnetic field sensor 55, and magnetic field sensor 55 includes suddenly
That sensor 551 and magnet piece 552, Hall sensor 551 are installed in fixed plate 20 and are electrically connected with motor 30, magnet piece
552 are installed on swivel plate 13.Specifically, magnet piece 552 is followed by the rotation of swivel plate 13, when swivel plate 13 rotates certain angle
After degree, magnet piece 552 can be sensed by being fixedly mounted on Hall sensor 551 in fixed plate 20, thus by the signal of the induction
It is transferred to motor 30, control motor 30 is stopped, and motor 30 is stopped, and swivel plate 13 is also stopped, to avoid setting
The conducting wire 15 set outside motor 30 is wrapped on motor 30, realizes the function of anti-kinking.
In the present embodiment, the limit that magnetic field sensor 55 is realized can be used alone on the present embodiment integrated base 1,
The limit that block 54 is formed can be abutted in conjunction with above-mentioned rotary encoder 51 and the first stopper 52, the second stopper 53 and activity
Bit architecture, that is to say, that can be any one or the two or more integrated bases 1 that can be applicable to the present embodiment in three
On, it is used in combination if three limits, can have the function that 30 kinking of motor, integrated base 1 is absolutely avoided in triple protection, realization
Safety coefficient when work greatly improves.
In the present embodiment, it is equipped with as shown in Fig. 2~3 and Figure 10~11, in shell 10 and is located at fixed plate 20 and wiring board 14
Between cross line partition board 40, cross line partition board 40 and offer the end of a thread via 411 worn for conducting wire 15.Crossing the effect of line partition board 40 is
There is provided conducting wire 15 to pass through, and wiring board 14 is spaced apart with the other component above it, can prevent in this way other component or
Impurity touches wiring board 14, influences the work of wiring board 14；Conducting wire 15 can also be arranged well simultaneously, prevent from leading
15 work that is in disorder and influencing entire integrated base 1 of line.
In the present embodiment, as shown in Figure 10~11, it includes the first plate body 41, the second plate body 42 and rebound to cross line partition board 40
Body 43, the first plate body 41 end adjacent with the second plate body 42 connect with the top and bottom of 43 width direction of transition plate body respectively
It connects, and the first plate body 41 and the second plate body 42 are located at the opposite both sides of transition plate body 43；The end of a thread via 411 is opened in first
On plate body 41, transition plate body 43, which is equipped with, to be connected to the end of a thread via 411 and positioned at the passing channel 431 of 42 top of the second plate body.Tool
Body, the end of conducting wire 15 can be passed through lower section cloth of the end of a thread via 411 towards the first plate body 41 along passing channel 431
Line, can be with and when the quantity of guiding has more then the both ends of conducting wire 15 can be electrically connected with other electronic components respectively
Conducting wire 15 is extruded in passing channel 431 by concentration, and the end of a thread of multiple conducting wires 15 is unified across the cloth downward of the end of a thread via 411
Line, since the position of the first plate body 41 is high relative to the second plate body 42, then being arranged in the second plate in the upper segment set of conducting wire 15
The top of body 42, the lower part centralized arrangement of guiding is in the lower section of the first plate body 41, and multiple conducting wires 15 all have a position
It is accommodated in passing channel 431, forms the reasonable Arrangement to conducting wire 15 in this way, being promoted to use has this to cross the integrated of line partition board 40
Space availability ratio in pedestal 1 and ensure that the wiring board being connect with conducting wire 15 14 and motor 30 can normally play its workability
Energy.
In the present embodiment, as shown in Figure 10~11, the second plate body 42 position corresponding with passing channel 431 is outward extended with
Supporting plate 421 for support conducting wire 15.Supporting plate 421, which is the structure that the second plate body 42 extends, can play in passing channel
431 pairs of conducting wires 15 play the role of support, and the position that conducting wire 15 is located to 42 top of the second plate body is gradually transitions positioned at the
The position of one plate body, 41 lower section can be uniformly accommodated in especially when the radical of conducting wire 15 is more on the supporting plate 421, side
Just centralized arrangement multiple conducting wires 15, scientific structure design is reasonable, highly practical.
In the present embodiment, as shown in Figure 10~11, the both sides that passing channel 431 corresponds to transition plate body 43 are respectively equipped with side
Baffle 432.Specifically, two side shields 432 of 431 both sides of passing channel setting, which are used for the limitation in side, concentrates on the passing channel
Conducting wire 15 in 431, it is ensured that when 15 radical of conducting wire is more, can ensure that the concentration of multiple conducting wires 15 is not in disorder, facilitate staff
Identification and connection to conducting wire 15.
In the present embodiment, as shown in Figure 10~11, side shield 432 is toward the end of the end of a thread via 411 and supporting plate 421
End flush, side shield 432 towards be in reverse to the end of a thread via 411 end extend be equipped in open state arc-shaped guide plate 433.
Conducting wire 15 generally connects up from top to bottom, that is to say, that general conducting wire 15 is first from the top of the second plate body 42 along passing channel
431 and the lower section of the first plate body 41 is arranged by the end of a thread via 411；And passing channel 431 needs to supply second in entire plate
The conducting wire 15 of the 42 each position in top of plate body crosses line, then by the setting of the arc-shaped guide plate 433 in open state, Ke Yirang
Each conducting wire 15 enters passing channel 431 along the arc-shaped guide plate 433, and the arc-shaped guide plate 433 of arcuate structure also functions to
Prevent the end of sharp passing channel 431 from causing to damage to conducting wire 15.
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 equipped with conducting wire packet
Band via 434.When concentrate on 15 quantity of conducting wire in passing channel 431 it is more when, it is also necessary to increase be arranged to each conducting wire 15
15 binder of conducting wire wrapped up, by offering wires for bundling band via 434 on side shield 432, then providing for
Supply 15 binder of conducting wire is worn to wrap up the space of each conducting wire 15, and 15 binder of conducting wire wears wires for bundling band via 434
When, side shield 432 and supporting plate 421 are also wrapped up, that is, each conducting wire 15 can be fixed to wrapping on crossing line partition board 40,
Ensure that after each conducting wire 15 is installed be not in disorder situation.
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
Conducting wire 15 is accommodated in passing channel 431, then when 41 top of the first plate body is equipped with other component, for its of top setting
His component is pressed into each conducting wire 15 in passing channel 431, by the way that the upper surface of side shield 432 is designed higher than first
The upper surface of plate body 41, in this way, the position that side shield 432 is higher by the first plate body 41 is used to abut with other component, so as to
Prevent other component direct pressing to the conducting wire 15 in passing channel 431.
More specifically, as shown in Figure 10~11, since 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 equipped with other component, other component can be connected to the side block for the upper surface for being higher by the first plate body 41
The position of plate 432 forms a larger gap, there is foreign matter dust in order to prevent between such other component and the first plate body 41
Equal impurity enter the lower section of the first plate body 41 by the gap from the end of a thread via 411；In the present embodiment, in the end of a thread via
411 periphery is upwardly extended equipped with dust-break flange 412, and the upper surface of dust-break flange 412 is flushed with the upper surface of side shield 432.
The gap can be closed by dust-break flange 412, the impurity such as foreign matter dust is avoided to be entered from the end of a thread via 411 by the gap
The lower section of first plate body 41 ensures the normal work of the electronic component of 41 lower section of the first plate body.
In the present embodiment, as shown in Figure 10~11, dust-break flange 412 offered line groove 413, crossed line groove 413
The upper surface flush of slot bottom and the first plate body 41.Line groove 413 was offered in dust-break flange 412, on as the first plate body 41
The conducting wire 15 just arranged provides the space that can wear the end of a thread via 411, and will cross the slot bottom and the first plate body of line groove 413
41 upper surface flush design may insure that the conducting wire 15 being arranged on the first plate body 41 reclines the upper table of the first plate body 41 as possible
Face enters the end of a thread via 411, and the conducting wire for being arranged in 41 top of the first plate body will not be caused because of the setting of dust-break flange 412
15 tilt, so as to ensure the most reasonable Arrangement of conducting 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.Conducting wire
15 end is generally connected with male plug, and either mother socket and the structure of male plug or mother socket are more than conducting wire 15, then will
The width design of the end of a thread via 411 must be than the width bigger of passing channel 431, male plug that the end of conducting wire 15 can be facilitated to connect
Head or mother socket pass through the end of a thread via 411 to enter the lower section wiring of the first plate body 41, and when conducting wire 15 has more, Ke Yitong
It crosses 15 binder of conducting wire and wraps up compacter, the space occupied smaller, therefore, the width of passing channel 431 can be designed
The width smaller of the end of a thread via 411；That is, most reasonably designing the width of the width and the end of a thread via 411 of passing channel 431
Degree can as possible prevent the impurity for being located at 40 top of line partition board from entering line to avoid the presence of extra communicating structure
The lower section of partition board 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 and sets
In the manipulator 2 on swivel plate 13.
The robot 9 of the embodiment of the present invention, due to the use of above-mentioned integrated base 1, so that entire machine
The structure of people 9 is also compacter, volume smaller；It also can ensure that the power loss for avoiding the motor 30 of robot 9 to export as possible
With the precision of 9 circumferential movement of hoisting machine people.
In the present embodiment, as shown in figure 18, manipulator 2 includes supporting rack 3, mechanical arm 4 and executing agency 5, and supporting rack 3 is solid
Due on swivel plate 13, mechanical arm 4 is installed on supporting rack 3, and executing agency 5 connect with the end of mechanical arm 4.Specifically, rotation
The rotation of swivel plate 13 for turning pedestal drives supporting rack 3 to rotate, and supporting rack 3 drives mechanical arm 4 to rotate, and mechanical arm 4 drives execution again
Mechanism 5 rotates, to realize circumferential movement.
In the present embodiment, as shown in Figure 12~17, mechanical arm 4 includes the first side plate 6,7 and of the second side plate being oppositely arranged
The both sides of top mounting plate 8, top mounting plate 8 are connect with the upper end of the upper end of the first side plate 6 and the second side plate 7 respectively；And it pushes up
Portion's mounting plate 8 and the first side plate 6 and the second side plate 7 are integrally formed.Specifically, mechanical arm 4 is by top mounting plate 8, the first side plate 6
It is constituted with the second side plate 7, and top mounting plate 8, the first side plate 6 and the second side plate 7 are integrally formed and make, so as to add
The structural strength of strong entire mechanical arm 4, in use, the top mounting plate 8 of mechanical arm 4, the first side plate 6 and the second side plate 7 are not
It is also easy to produce deformation；And top mounting plate 8 is also used as the installation base plate use of other electronic components, top mounting plate 8, first
Enclosed between 7 three of side plate 6 and the second side plate and set to form a module with open space, then can inside and outside the space into
Row connects up and installs other transmission mechanisms, this makes the application of mechanical arm 4 more flexible, and the scope of application is wider, and adaptability is more
It is good.
As shown in Figure 12~17, it is external that the first side plate 6 close to the position of 6 upper end of the first side plate offers at least one first
Shell block button hole 601, the second side plate 7 offer at least one and the first outer body contact block button hole close to the position of 7 upper end of the second side plate
601 corresponding second outer body contact block button holes 701.By the setting of top mounting plate 8, it is equivalent to and is provided for entire mechanical arm 4
The installation base plate of other electronic components, such as control panel, processor, button etc. can be installed on the mounting plate 8 of top, so
Above-mentioned electronic component can also be carried out to be provide with protection by the way that outer body contact is arranged afterwards, in this way in the first side plate 6 and the second side plate 7
Upper setting corresponding first outer body contact block button hole, 601 and second outer body contact block button hole 701 supplies outer body contact snapping, so as to
When enough holdings are equipped with outer body contact, outer body contact is enabled to be stably connected with entire 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 depending on the size of entire mechanical arm 4, it is generally preferable to be two, if
It sets in the position close to 4 front-end and back-end of mechanical arm.And the setting of top mounting plate 8 allows to be spaced the first side plate 6 and the
The interior space and the external space that two side plates 7 are formed, transmission mechanism, which can be arranged, to be formed between the first side plate 6 and the second side plate 7
In interior space, and the wiring of power cord can be then arranged outside top mounting plate 8, can prevent power cord wrap driver in this way
Structure influences the action of transmission mechanism, or prevents transmission mechanism from causing twisted wire to power cord, ensures the normal work of mechanical arm 4.
Further, as shown in Figure 12~17, the side of top mounting plate 8 is close to 8 front-end and back-end of top mounting plate
Position is respectively equipped with outer body contact card slot 801.Top mounting plate 8 can make the external of setting by the way that outer body contact card slot 801 is arranged
Shell can be realized with top mounting plate 8 and be connected, and can be realized in this way when being provided with outer body contact, outer body contact can be with top mounting plate
8 and first side plate 6 and the second side plate 7 realize the connection of contact, can further be promoted in this way 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 is not in occur the phenomenon that falling.
Wherein, as shown in Figure 12~17, the front end of the first side plate 6 and the junction of top mounting plate 8 is equipped with the first positioning
Protrusion 602, forms the first locating slot 603 between the first positioning protrusion 602 and top mounting plate 8；Second side plate 7 is installed with top
The front end of the junction of plate 8 is equipped with second positioning protrusion corresponding with the first positioning protrusion 602 702, the second positioning protrusion 702
Second locating slot corresponding with the first locating slot 603 703 is formed between top mounting plate 8.The outer body contact being arranged needs
When installation, the front end of outer body contact is resisted against in the first locating slot 603 and the second locating slot 703, you can complete external body contact peace
The positioning of dress, then push the rear end of outer body contact and by the corresponding position of outer body contact snap onto at the top of mounting plate 8 open up it is external
Second outer body contact card of 601 and second side plate 7 of the first outer body contact block button hole setting of shell card slot 801 and the setting of the first side plate 6
On button hole 701, that is, complete the installation of external body contact.So, real by the setting of the first locating slot 603 and the second locating slot 703
The quick positioning of the installation of external body contact and the work of auxiliary installation are showed.
In addition, the first locating slot 603 and the second locating slot 703 the first positioning protrusion 602 and the second positioning protrusion 702 with
It is formed between top mounting 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
When, the front end of top mounting plate 8 is sealed by the front end of outer body contact, is promoted after outer body contact is installed between top mounting plate 8
Leakproofness.
As shown in Figure 12~17, the front end of the first side plate 6, which extends, is equipped with the first executive item interconnecting piece 604, the second side plate 7
Front end, which extends, is equipped with second executive item interconnecting piece corresponding with the first executive item interconnecting piece 604 704.Specifically, passing through first
Executive item interconnecting piece 604 and the second executive item interconnecting piece 704 are arranged in the front end of mechanical arm 4 to connect executing agency 5, for example,
Executing agency 5 can be fixture, sucker etc.；Various executive items and the connection of the front end of mechanical arm 4 are thus facilitated to install.
First executive item interconnecting piece 604 and/or the second executive item interconnecting piece 704 offer executive item connecting hole 6704；It holds
The setting of row part connecting hole 6704 facilitates connection executing agency 5.
As shown in Figure 12~17, the rear end of the first side plate 6, which extends, is equipped with the first actuator interconnecting piece 605, the second side plate 7
Rear end, which extends, is equipped with second actuator interconnecting piece corresponding with the first actuator interconnecting piece 605 705.First actuator interconnecting piece
605 and second actuator interconnecting piece 705 setting, facilitate connection actuator, for example, actuator can be motor 30 etc..In addition,
First actuator interconnecting piece 605 and/or the second actuator interconnecting piece 705 offer actuator connecting hole 6705.Actuator connects
The setting in hole 6705 facilitates connection actuator.
As shown in Figure 12~15, mechanical arm 4 further includes at least one being 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 close to the position of lower end, may insure in this way
The lower end of first side plate 6 and the second side plate 7 will not inwardly and outwardly bend deformation easily, that is, can further prevent machine
Tool arm 4 easy tos produce deformation in use.
Further, as Figure 12~15 be mechanical arm 4 the first example structure, as Figure 16~17 be mechanical arm 4
Second of example structure, difference are mainly the first actuator interconnecting piece 605 and the second actuator interconnecting piece 705 and first
Executive item interconnecting piece 604 is different with the structure of the first actuator interconnecting piece 605；For example, the first actuator interconnecting piece 605 and second
Actuator interconnecting piece 705 and the structure of the first executive item interconnecting piece 604 and the first actuator interconnecting piece 605 can be irregular
Rectangular plate-like, circular plate or the oval platy structure of platy structure rule, drive according to the demand pair first when using
Part interconnecting piece 605 and the second actuator interconnecting piece 705 and the first executive item interconnecting piece 604 and the first actuator interconnecting piece 605
The shape of structure be defined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all think ofs in the present invention
Want within principle made by any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention.
Claims (15)
1. integrated base, for installing motor and exporting the power that the motor generates, there is the motor main shaft, feature to exist
In：The integrated base includes the shell for being equipped with installation cavity, the fixed plate being fixedly installed in the installation cavity body, is set to
It is described that the shaft coupling being fixedly connected between cavity bottom and the fixed plate and with the main shaft is installed and is set to the peace
It behave affectedly in vivo and is fixedly connected with the motor to be rotated with the motor to export the swivel plate of the power, the fixed plate
Between the shaft coupling and the swivel plate, the fixed plate is equipped with the first via corresponding with the shaft coupling, institute
It states swivel plate and is equipped with the second via corresponding with first via, the main shaft sequentially passes through second via and described
First via is simultaneously connected to the shaft coupling；
The integrated base further includes code-disc and read head, and the read head is installed in the fixed plate and electrically connects with the motor
It connects, the code-disc, which is fixed on the main shaft of the motor and incudes with the read head, to be connected, and the read head detects the code-disc
It turns to the limit angle of setting and the signal transmission that this is detected is given to the motor.
2. integrated base according to claim 1, it is characterised in that：The code-disc includes the annular disk for having hollow hole
Body, the annular disk body are equipped with annular code channel, and the read head is connected with the annular code channel induction, and the annular code channel is at least
Including first area and second area, the first alternatively non-transparent district is equipped at intervals in the first area and positioned at adjacent described first
The first transparent area between alternatively non-transparent district, the second area are equipped at intervals with the second alternatively non-transparent district and positioned at adjacent described second
The second transparent area between alternatively non-transparent district；The width of first alternatively non-transparent district is of different size with second alternatively non-transparent district
And/or the width of first transparent area and second transparent area is of different size.
3. integrated base according to claim 2, it is characterised in that：The medial surface of the swivel plate is fixedly connected with installation
Frame, the mounting bracket offer the third via worn for the main shaft of the motor, the mounting bracket and the swivel plate and institute
It states motor to be fixedly connected, the code-disc is fixedly connected on the mounting bracket.
4. integrated base according to claim 3, it is characterised in that：The mounting bracket includes towards the fixed plate side
Protrusion extends and along the inner ring body that the third via is radially arranged, and the top surface of the fixed plate offers bearing groove, the electricity
The spindle jacket of machine is equipped with bearing, and the bearing is flush-mounted between the bearing groove and the inner ring body.
5. integrated base according to claim 4, it is characterised in that：The mounting bracket further includes towards the fixed plate one
Side protrusion extends and the outer ring body with the inner ring body interval is radially arranged along the third via；The bottom side of the swivel plate is set
There are installation rack slot, the mounting bracket to be fixedly connected in the installation rack slot and with the swivel plate.
6. integrated base according to claim 3, it is characterised in that：The swivel plate is in away from the side of the fixed plate
Equipped with the motor mounting groove that the limitation motor moves along the radial, the motor is fixedly installed in the motor mounting groove.
7. integrated base according to claim 1, it is characterised in that：First stopper abuts block with the activity and supports
The end face connect is equipped with the first cushion pad, and the end face that second stopper abuts block abutting with the activity is equipped with the second buffering
Pad.
8. integrated base according to claim 1, it is characterised in that：The limiting device includes magnetic field sensor, described
Magnetic field sensor includes Hall sensor and magnet piece, the Hall sensor be installed in the fixed plate and with the motor
It is electrically connected, the magnet piece is installed on the swivel plate.
9. according to the integrated base described in claim 1 to 8 any one, it is characterised in that：The integrated base further includes peace
Loaded on the wiring board in the installation cavity body, the motor is electrically connected with the wiring board by conducting wire, and the conducting wire is stretched
Enter the installation cavity and is set around the outside of the swivel plate and the fixed plate.
10. integrated base according to claim 9, it is characterised in that：Be equipped in the shell be located at the fixed plate with
Line partition board is crossed between the wiring board, the line partition board of crossing offers the end of a thread via worn for the conducting wire.
11. integrated base according to claim 10, it is characterised in that：The line partition board of crossing includes the first plate body, second
Plate body and transition plate body, first plate body end adjacent with second plate body respectively with the transition plate body width direction
Top and bottom connection, and first plate body and second plate body are located at the opposite both sides of the transition plate body；
The end of a thread via is opened on first plate body, and the transition plate body is described equipped with being connected to and being located at the end of a thread via
Passing channel above second plate body.
12. integrated base according to claim 9, it is characterised in that：The fixed plate is located at the conducting wire slewing area
Side be equipped with lower fan-shaped edge, swivel plate position corresponding with the lower fan-shaped edge is equipped with upper sector edge, described
It is formed between the side for the slewing area that lower sector edge and the upper fan-shaped edge and the installation cavity body are located at the conducting wire
There is the sector movable area rotated with the swivel plate for the conducting wire.
13. robot, it is characterised in that：Including described in claim 1 to 12 any one integrated base and set on described
Manipulator on swivel plate.
14. robot according to claim 13, it is characterised in that：The manipulator includes supporting rack, mechanical arm and holds
Row mechanism, support frame as described above are fixed on the swivel plate, and the mechanical arm is installed on support frame as described above, the executing agency
It is connect with the end of the mechanical arm.
15. robot according to claim 14, it is characterised in that：The mechanical arm includes the first side being oppositely arranged
Plate, the second side plate and top mounting plate, the both sides of the top mounting plate respectively with the upper end of first side plate and described
The upper end of two side plates connects；And the top mounting plate is integrally formed with first side plate and second side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810254509.7A CN108274454B (en) | 2016-05-19 | 2016-05-19 | Integrated base and robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610338761.7A CN105835039B (en) | 2016-05-19 | 2016-05-19 | Integrated base and robot |
| CN201810254509.7A CN108274454B (en) | 2016-05-19 | 2016-05-19 | Integrated base and robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610338761.7A Division CN105835039B (en) | 2016-05-19 | 2016-05-19 | Integrated base and robot |
Publications (2)
| Publication Number | Publication Date |
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| CN108274454A true CN108274454A (en) | 2018-07-13 |
| CN108274454B CN108274454B (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810254509.7A Active CN108274454B (en) | 2016-05-19 | 2016-05-19 | Integrated base and robot |
| CN201810252864.0A Active CN108274453B (en) | 2016-05-19 | 2016-05-19 | Integrated base |
| CN201610338761.7A Active CN105835039B (en) | 2016-05-19 | 2016-05-19 | Integrated base and robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810252864.0A Active CN108274453B (en) | 2016-05-19 | 2016-05-19 | Integrated base |
| CN201610338761.7A Active CN105835039B (en) | 2016-05-19 | 2016-05-19 | Integrated base and robot |
Country Status (2)
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| CN (3) | CN108274454B (en) |
| WO (1) | WO2017198219A1 (en) |
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| CN113910201A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact base of cooperative mechanical arm without external control cabinet |
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| CN108274454B (en) * | 2016-05-19 | 2020-08-25 | 深圳市越疆科技有限公司 | Integrated base and robot |
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| CN107877544A (en) * | 2016-09-30 | 2018-04-06 | 深圳市越疆科技有限公司 | Cabling dividing plate and integrally formed control box Wiring structure |
| CN106493753B (en) * | 2016-12-27 | 2019-07-02 | 上海归墟电子科技有限公司 | Grating speed-measuring structure, code-disc motor and robot |
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| JP7027774B2 (en) * | 2017-09-29 | 2022-03-02 | セイコーエプソン株式会社 | robot |
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| CN112454346B (en) * | 2020-11-11 | 2021-10-29 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
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| CN205734895U (en) * | 2016-05-19 | 2016-11-30 | 深圳市越疆科技有限公司 | Robot and anti-kinking rotating base thereof |
| CN205734896U (en) * | 2016-05-19 | 2016-11-30 | 深圳市越疆科技有限公司 | Robot and rotating base thereof |
| CN108274454B (en) * | 2016-05-19 | 2020-08-25 | 深圳市越疆科技有限公司 | Integrated base and robot |
-
2016
- 2016-05-19 CN CN201810254509.7A patent/CN108274454B/en active Active
- 2016-05-19 CN CN201810252864.0A patent/CN108274453B/en active Active
- 2016-05-19 CN CN201610338761.7A patent/CN105835039B/en active Active
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2017
- 2017-05-19 WO PCT/CN2017/085119 patent/WO2017198219A1/en active Application Filing
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| CN1069120A (en) * | 1991-07-29 | 1993-02-17 | 中国科学院南京天文仪器厂 | " palindrome " code system photoelectric coded disk and method for designing thereof |
| CN202053249U (en) * | 2011-04-15 | 2011-11-30 | 成都佳士科技有限公司 | Line distribution structure for first shaft of robot |
| CN204821026U (en) * | 2015-07-20 | 2015-12-02 | 孝感华工高理电子有限公司 | Air door servo drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113910201A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact base of cooperative mechanical arm without external control cabinet |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108274453B (en) | 2020-08-25 |
| CN108274453A (en) | 2018-07-13 |
| CN108274454B (en) | 2020-08-25 |
| CN105835039B (en) | 2018-03-27 |
| WO2017198219A1 (en) | 2017-11-23 |
| CN105835039A (en) | 2016-08-10 |
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