WO2022099898A1 - 桌面机械臂驱动结构、桌面机械臂及机器人 - Google Patents

桌面机械臂驱动结构、桌面机械臂及机器人 Download PDF

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

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

Definitions

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

Abstract

一种桌面机械臂驱动结构、桌面机械臂及机器人，该驱动机构包括：底座（1）、转台（2）；底座中设置有转台驱动电机（3）以及转台驱动轴（4），转台驱动电机（3）与转台驱动轴（4）传动连接，转台驱动轴（4）与转台（2）传动连接，转台驱动轴（4）设置于底座（1）的中心区域，转台驱动电机（3）错位设置于转台驱动轴（4）周围；转台（2）包括基座（21），基座（21）上设置有大臂驱动电机（5）以及小臂驱动电机（6），大臂驱动电机（5）与小臂驱动电机（6）设置于基座（21）的后侧。所述桌面机械臂驱动结构的转台驱动轴（4）与转台驱动电机（3）错位设置在底座（1）中，相较于现有的同轴设置，可降低桌面机械臂的整体高度，从而降低桌面机械臂的重心高度，保证桌面机械臂在抓取重物时不容易晃动或侧翻，如此可提高桌面机械臂的稳定性。

Description

桌面机械臂驱动结构、桌面机械臂及机器人 技术领域
本申请涉及桌面机械臂领域，特别涉及一种桌面机械臂驱动结构、桌面机械臂及机器人。
背景技术
桌面机械臂是机械臂的一个细分品类，其具备强适应性以及动态问题解决能力，被广泛应用于教学领域，一般由底座、转台、大臂、小臂、末端以及转台驱动电机、大臂驱动电机和小臂驱动电机构成，转台与底座可旋转的连接，大臂分别与转台和小臂连接，小臂与末端连接，末端用于设置执行器，转台驱动电机用于驱动转台相对于底座旋转，大臂驱动电机用于驱动大臂运动，小臂驱动电机用于驱动小臂运动，大臂与小臂利用平行四边形原理能够驱动末端在工作空间内运动，如申请号为CN201620105515.2的中国专利。
目前，桌面机械臂通常用于教育用途，其所抓取物品的重量较轻，抓取物品后不会对桌面机械臂的重心造成影响，导致桌面机械臂朝向小臂所在一侧晃动或侧翻。因为桌面机械臂具有体积小及成本低的优点，所以希望桌面机械臂能够适应工业级的应用需求，但若直接将桌面机械臂应用于工业级，由于其所抓取物品的重量较重，其抓取物品后会朝向小臂所在一侧晃动或侧翻。
此外，现有的桌面机械臂的转台驱动电机与转台驱动轴为上下同轴设置，例如申请号为CN201810921858.X的中国专利所公开的一种立式倒装紧凑型小型四轴机器人，其包括由上至下依次布置的第一轴电机、转盘连接板和转盘，第一轴电机相当于转台驱动电机，转盘连接板相当于转台驱动轴，转盘相当于转台，第一轴电机与转盘连接板上下同轴，会导致机器人的整体高度变高，进而导致机器人的重心变高，从而使得机器人在抓取重物时容易发生晃动或侧翻。
技术问题
本申请的主要目的在于提出一种桌面机械臂驱动结构，旨在解决上述背景技术中所提出的现有桌面机械臂在抓取重物时容易发生晃动或侧翻的技术问题。
技术解决方案
为实现上述目的，本申请提出一种桌面机械臂驱动结构，包括：底座、转台；
所述底座中设置有转台驱动电机以及转台驱动轴，所述转台驱动电机与所述转台驱动轴传动连接，所述转台驱动轴与所述转台传动连接，所述转台驱动轴设置于所述底座的中心区域，所述转台驱动电机错位设置于所述转台驱动轴周围；
所述转台包括基座，所述基座上设置有大臂驱动电机以及小臂驱动电机，所述大臂驱动电机与所述小臂驱动电机设置于所述基座的后侧。
其中，所述转台驱动电机的输出轴朝上设置。
其中，所述桌面机械臂驱动结构还包括：
转台减速组件，所述转台驱动电机通过所述转台减速组件与所述转台驱动轴传动连接；
大臂减速组件，所述大臂减速组件与所述大臂驱动电机传动连接；
小臂减速组件，所述小臂减速组件与所述小臂驱动电机传动连接。
其中，所述转台减速组件包括转台一级同步带轮和转台二级同步带轮；
所述转台一级同步带轮的一端与所述转台驱动电机传动连接，另一端与所述转台二级同步带轮的一端传动连接，所述转台二级同步带轮的另一端与所述转台驱动轴传动连接。
其中，所述底座内构造有在水平方向上延展的隔板，所述转台一级同步带轮设置在所述隔板顶面上，所述转台驱动电机设置于所述隔板底面之下，所述转台驱动电机的输出轴穿出所述隔板与所述转台一级同步带轮的一端传动连接，所述转台二级同步带轮设置在所述隔板底面上。
其中，所述底座的一侧构造有安装板缺口，所述底座还包括安装板，所述安装板设置于所述安装板缺口处，所述安装板构造有若干个接口卡口。
其中，所述隔板上临近所述安装板的一侧设有止挡板，所述止挡板位于所述转台下方，所述转台上设有用于与所述止挡板抵接的转台限位柱，所述转台限位柱位于靠近所述大臂和所述小臂的一侧。
其中，所述止挡板包括与所述隔板连接的固定部和朝向所述转台驱动轴延伸的限位部，所述限位部的两侧壁朝向所述转台驱动轴收缩。
其中，顺延两所述侧壁的两延长线相交所构成的夹角范围在5至60度之间。
其中，所述转台驱动电机为伺服电机，所述转台驱动电机上包括编码器，所述编码器为多圈绝对值编码器，所述底座内还设置有与所述转台驱动电机电连接的电池安装座。
其中，所述大臂驱动电机和所述小臂驱动电机分别为包括绝对值编码器 以及电磁抱闸器的伺服电机，所述大臂驱动电机和所述小臂驱动电机分别和所述电池安装座电连接。
其中，所述绝对值编码器为多圈绝对值编码器，所述电磁抱闸器为断电抱闸的电磁抱闸器。
其中，所述转台驱动轴通过推力轴承设置在所述隔板上。
其中，所述隔板上构造容纳腔，所述容纳腔构造有与所述推力轴承的外环下缘相适配的承接结构，所述推力轴承设置于所述容纳腔之内，且所述推力轴承的外环下缘与所述承接结构相接，所述转台驱动轴在竖直方向上自上而下的***所述推力轴承的内环设置，所述转台驱动轴构造有承载段、插装段和连接段，所述承载段与所述推力轴承的内环上缘抵接，所述插装段与所述推力轴承的内环内抵接，所述连接段与所述转台二级同步带轮传动连接。
其中，所述桌面机械臂驱动结构还包括：
轴承压板，所述轴承压板构造为中空环形，所述轴承压板设置于所述推力轴承之上并与所述推力轴承的外环抵接，所述轴承压板与所述隔板固定连接。
其中，所述推力轴承为双列角接触轴承。
其中，所述转台一级同步带轮包括转台一级主动轮、转台一级从动轮和转台一级同步带，所述转台一级主动轮和所述转台一级从动轮通过所述转台一级同步带传动连接；
所述转台二级同步带轮包括转台二级主动轮、转台二级从动轮和转台二级同步带，所述转台二级主动轮和所述转台二级从动轮通过所述转台二级同步带传动连接。
其中，所述底座还包括转台传动轴，且所述隔板构造有供所述转台传动轴穿过的轴孔，所述转台传动轴包括安装套、两个轴承以及轴体，所述两个轴承分别过盈配合地设置于所述安装套的两端，所述轴体设置于所述安装套之内并同时与所述两个轴承内环相连接，所述轴体一端通过所述轴孔与所述转台一级从动轮连接，另一端与所述转台二级主动轮连接。
其中，所述桌面机械臂驱动结构还包括：
多个第一固定螺钉以及第一张紧机构；
所述隔板构造有多个第一腰型孔，所述第一固定螺钉通过所述第一腰型孔与所述安装套固定连接；
所述第一张紧机构包括第一支架和第一转动螺栓，所述第一支架构造有第一连接端和第一螺纹端，所述第一张紧机构通过所述第一连接端与所述隔板固定连接，所述第一张紧机构位于所述隔板之下，所述第一转动螺栓与所述第一螺纹端可转动地连接，所述第一转动螺栓的螺头靠近所述安装套设置，通过转动所述第一转动螺栓可以调整所述第一转动螺栓在水平方向上的位 置，使所述第一转动螺栓的螺头与所述安装套相抵接，并通过挤压所述安装套，使所述安装套在沿所述第一腰型孔对应的轨迹移动。
其中，所述转台二级从动轮与所述连接段可拆卸连接，转台二级从动轮构造有抵接结构，所述抵接结构构造成与所述连接段相适配的环形状，所述转台二级从动轮与所述连接段固定连接时所述抵接结构与所述推力轴承的内环的下缘相抵接，且所述转台二级从动轮上设置有连接结构，所述连接结构为多个螺纹通孔，所述连接段构造有与所述螺纹通孔适配的螺纹孔。
其中，所述桌面机械臂驱动结构还包括定位销，所述连接段设置有定位孔，所述转台二级从动轮设置有定位通孔，所述定位销通过所述定位通孔***所述定位孔设置。
其中，所述桌面机械臂驱动结构还包括：
多个第二固定螺钉以及第二张紧机构；
所述隔板构造有多个第二腰型孔，所述第二固定螺钉通过所述第二腰型孔与所述转台驱动电机固定连接；
所述第二张紧机构包括第二支架和第二转动螺栓，所述第二支架构造有第二连接端和第二螺纹端，所述第二张紧机构通过所述第二连接端与所述隔板固定连接，所述第二张紧机构位于所述隔板之下，所述第二转动螺栓与所述螺纹端可转动地连接，所述第二转动螺栓的螺头靠近所述转台驱动电机设置，通过转动所述第二转动螺栓可以调整所述第二转动螺栓在水平方向上的位置，使所述第二转动螺栓的螺头与所述转台驱动电机相抵接，并通过挤压所述转台驱动电机，使所述转台驱动电机在沿所述第二腰型孔对应的轨迹移动。
其中，所述基座上设有位于大臂前后两侧的限位件，所述限位件用于与所述大臂末端上设置的止挡块形成抵持配合。
其中，所述大臂驱动电机和所述小臂驱动电机上下层叠设置，所述大臂减速组件和所述小臂减速组件分别位于所述基座的左右两外侧面。
其中，所述大臂减速组件包括大臂一级同步带轮和临近所述基座设置的大臂二级同步带轮；
所述小臂减速组件包括小臂一级同步带轮和临近所述基座设置的小臂二级同步带轮。
其中，所述大臂减速组件还包括大臂传动轴和大臂驱动轴，所述大臂驱动轴位于所述大臂传动轴上方，所述大臂一级同步带轮设于所述大臂驱动电机的输出轴和所述大臂传动轴之间，所述大臂二级同步带轮设于所述大臂传动轴和所述大臂驱动轴之间；
所述小臂减速组件还包括小臂传动轴和小臂驱动轴，所述小臂驱动轴位于所述小臂传动轴上方，所述小臂一级同步带轮设于所述小臂驱动电机的输 出轴和所述小臂传动轴之间，所述小臂二级同步带轮设于所述小臂传动轴和所述小臂驱动轴之间。
其中，所述大臂一级同步带轮包括大臂一级主动轮、大臂一级从动轮和大臂一级同步带，所述大臂二级同步带轮包括大臂二级主动轮、大臂二级从动轮和大臂二级同步带；
所述大臂一级主动轮设于所述大臂驱动电机的输出轴上，所述大臂一级从动轮设于所述大臂传动轴上，所述大臂一级同步带设于所述大臂一级主动轮和所述大臂一级从动轮上；所述大臂二级主动轮设于所述大臂传动轴上，所述大臂二级从动轮设于所述大臂驱动轴上，所述大臂二级同步带设于所述大臂二级主动轮和所述大臂二级从动轮上；
所述小臂一级同步带轮包括小臂一级主动轮、小臂一级从动轮和小臂一级同步带，所述小臂二级同步带轮包括小臂二级主动轮、小臂二级从动轮和小臂二级同步带；
所述小臂一级主动轮设于所述小臂驱动电机的输出轴上，所述小臂一级从动轮设于所述小臂传动轴上，所述小臂一级同步带设于所述小臂一级主动轮和所述小臂一级从动轮上，所述小臂二级主动轮设于所述小臂传动轴上，所述小臂二级从动轮设于所述小臂驱动轴上，所述小臂二级同步带设于所述小臂二级主动轮和所述小臂二级从动轮上。
其中，所述基座包括：底板；以及第一承载件和第二承载件，所述第一承载件和所述第二承载件相对设置于所述底板上，所述第一承载件上构造有第一安装座，所述第二承载件上构造有第二安装座。
其中，所述大臂一级主动轮布置于所述大臂驱动电机的输出轴的末端，以构成所述大臂驱动电机的输出轴上处于所述大臂一级主动轮与所述第一安装座之间的第一空余段；
所述小臂一级主动轮布置于所述小臂驱动电机的输出轴的末端，以构成所述小臂驱动电机的输出轴上处于所述小臂一级主动轮与所述第二安装座之间的第二空余段；
所述第一安装座向与所述第二承载件相反的一侧凸出，所述第二安装座向与所述第一承载件相反的一侧凸出。
其中，所述大臂传动轴包括位于其末端位置处的第一安装段，所述大臂二级主动轮位于所述第一安装段上，所述大臂一级从动轮的中间区域设有第一螺纹通孔，所述大臂传动轴的末端面设有与所述第一螺纹通孔相适配的第一螺纹孔；
所述小臂传动轴包括位于其末端位置处的第二安装段，所述小臂二级主动轮位于所述第二安装段上，所述小臂一级从动轮的中间区域设有第二螺纹通孔，所述小臂传动轴的末端面设有与所述第二螺纹通孔相适配的第二螺纹 孔。
其中，所述第一承载件上设有第一通孔、与所述第一通孔对应布置的第一固定座和位于所述第一固定座上的两第一轴承，所述第一固定座上设有第一轴承安装孔，所述两第一轴承间隔布置在所述第一轴承安装孔内，所述大臂传动轴穿过所述第一通孔设置，所述大臂传动轴还包括与所述两第一轴承的内环过盈配合的第一连接段，所述第一连接段上设有位于所述两第一轴承之间的第一轴套；
所述第二承载件上设有第二通孔、与所述第二通孔对应布置的第二固定座和位于所述第二固定座上的两第二轴承，所述第二固定座上设有第二轴承安装孔，所述两第二轴承间隔布置在所述第二轴承安装孔内，所述小臂传动轴穿过所述第二通孔设置，所述小臂传动轴还包括与所述两第二轴承的内环过盈配合的第二连接段，所述第二连接段上设有位于所述两第二轴承之间的第二轴套。
其中，所述第一承载件上设有第三轴承安装孔和位于所述第三轴承安装孔内的第三轴承，所述大臂驱动轴与所述第三轴承的内环过盈配合；
所述第二承载件上还设有第四轴承安装孔、位于所述第四轴承安装孔内的第四轴承和与所述第四轴承的内环过盈配合的大臂从动转轴，所述大臂从动转轴上设有第五轴承安装孔和位于所述第五轴承安装孔内的第五轴承，所述小臂驱动轴与所述第五轴承的内环过盈配合且其两端从所述第五轴承安装孔中穿出。
其中，所述第一承载件上还设有对应所述第三轴承安装孔布置的第一环形盖板，所述第一环形盖板与所述第三轴承的外环抵接，所述大臂二级从动轮的中间区域设有多个第三螺纹通孔，所述大臂驱动轴的末端面设有与所述第三螺纹通孔相适配的第三螺纹孔；
所述第二承载件上还设有对应所述第四轴承安装孔布置的第二环形盖板，所述第二环形盖板与所述第四轴承的外环抵接，所述大臂从动转轴上还设有对应所述第五轴承安装孔布置的第三环形盖板，所述第三环形盖板与所述第五轴承的外环抵接，所述小臂二级从动轮的中间区域设有第四螺纹通孔，所述小臂驱动轴的末端面设有与所述第四螺纹通孔相适配的第四螺纹孔。
其中，所述桌面机械臂驱动结构还包括：执行电机；
所述执行电机为伺服电机，所述执行电机包括绝对值编码器以及电磁抱闸器，所述电磁抱闸器为断电抱闸的电磁抱闸器。
其中，所述桌面机械臂驱动结构还包括：控制板；
所述控制板分别和所述转台驱动电机、所述大臂驱动电机、所述小臂驱动电机以及所述执行电机连接。
本申请还提出一种桌面机械臂，该桌面机械臂包括前述各实施例所记载 的桌面机械臂驱动结构，所述桌面机械臂驱动结构包括：底座、转台；
所述底座中设置有转台驱动电机以及转台驱动轴，所述转台驱动电机与所述转台驱动轴传动连接，所述转台驱动轴与所述转台传动连接，所述转台驱动轴设置于所述底座的中心区域，所述转台驱动电机错位设置于所述转台驱动轴周围；
所述转台包括基座，所述基座上设置有大臂驱动电机以及小臂驱动电机，所述大臂驱动电机与所述小臂驱动电机设置于所述基座的后侧。
其中，所述桌面机械臂还包括通过末端与小臂连接的末端执行器。
本申请进一步提出一种机器人，该机器人包括前述各实施例所记载的桌面机械臂，所述桌面机械臂包括前述各实施例所记载的桌面机械臂驱动结构，所述桌面机械臂驱动结构包括：底座、转台；
所述底座中设置有转台驱动电机以及转台驱动轴，所述转台驱动电机与所述转台驱动轴传动连接，所述转台驱动轴与所述转台传动连接，所述转台驱动轴设置于所述底座的中心区域，所述转台驱动电机错位设置于所述转台驱动轴周围；
所述转台包括基座，所述基座上设置有大臂驱动电机以及小臂驱动电机，所述大臂驱动电机与所述小臂驱动电机设置于所述基座的后侧。
有益效果
与现有技术相比，本申请实施例的有益技术效果在于：
本申请实施例所提出的桌面机械臂驱动结构，其转台驱动轴与转台驱动电机错位设置在底座中，相较于现有的同轴设置，可降低桌面机械臂的整体高度，从而降低桌面机械臂的重心高度，进而保证桌面机械臂在抓取重物时不容易晃动或侧翻，如此可提高桌面机械臂的稳定性。此外，大臂驱动电机和小臂驱动电机设置在基座的后侧，而在基座的前侧设置有大臂和小臂，以通过位于基座后侧的大臂驱动电机和小臂驱动电机与位于基座前侧的大臂和小臂平衡，从而保证桌面机械臂的重心位于底座的中心，进而保证桌面机械臂的稳定运行。
附图说明
图1为现有的桌面机械臂的结构示意图；
图2为现有的另一桌面机械臂的结构示意图；
图3为本申请桌面机械臂驱动结构一实施例的结构示意图；
图4为图3所示的桌面机械臂驱动结构的***示意图；
图5为本申请桌面机械臂驱动结构的底座的内部结构示意图；
图6为本申请桌面机械臂驱动结构的转台驱动电机、转台驱动轴及转台减速组件的装配结构图；
图7为本申请桌面机械臂驱动结构的转台驱动电机、转台驱动轴及转台减速组件的***示意图；
图8为本申请桌面机械臂驱动结构的底座的剖视图；
图9为本申请桌面机械臂驱动结构的底座的***图；
图10为本申请桌面机械臂驱动结构的转台的结构示意图；
图11为本申请桌面机械臂驱动结构的底座的部分剖视图；
图12为本申请桌面机械臂驱动结构的底座的部分剖视图；
图13为本申请桌面机械臂驱动结构的底座的底部结构示意图；
图14为本申请桌面机械臂驱动结构的第一张紧机构的结构示意图；
图15为本申请桌面机械臂驱动结构的转台与大臂和小臂的装配结构示意图；
图16为图15中C处的局部放大示意图；
图17为本申请桌面机械臂驱动结构的转台的一部分结构示意图；
图18为本申请桌面机械臂驱动结构的转台的又一部分结构示意图；
图19为本申请桌面机械臂驱动结构的基座的***示意图；
图20为本申请桌面机械臂驱动结构的转台的一部分***结构示意图；
图21为本申请桌面机械臂驱动结构的转台的又一部分***结构示意图；
图22为本申请桌面机械臂一实施例的结构示意图。
本申请实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制，基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
桌面机械臂是机械臂的一个细分品类，其具备强适应性以及动态问题解决能力，被广泛应用于教学领域，一般由底座、转台、大臂、小臂、末端以及转台驱动电机、大臂驱动电机和小臂驱动电机构成，转台与底座可旋转的连接，大臂分别与转台和小臂连接，小臂与末端连接，末端用于设置执行器，转台驱动电机用于驱动转台相对于底座旋转，大臂驱动电机用于驱动大臂运动，小臂驱动电机用于驱动小臂运动，大臂与小臂利用平行四边形原理能够驱动末端在工作空间内运动，如申请号为CN201620105515.2的中国专利，参见图1。
目前，桌面机械臂通常用于教育用途，其所抓取物品的重量较轻，抓取物品后不会对桌面机械臂的重心造成影响，导致桌面机械臂朝向小臂所在一 侧晃动或侧翻。因为桌面机械臂具有体积小及成本低的优点，所以希望桌面机械臂能够适应工业级的应用需求，但若直接将桌面机械臂应用于工业级，由于其所抓取物品的重量较重，其抓取物品后会朝向小臂所在一侧晃动或侧翻。
此外，现有的桌面机械臂的转台驱动电机与转台驱动轴为上下同轴设置，例如申请号为CN201810921858.X的中国专利所公开的一种立式倒装紧凑型小型四轴机器人，参见图2，其包括由上至下依次布置的第一轴电机01、转盘连接板02和转盘03，第一轴电机01相当于转台驱动电机，转盘连接板02相当于转台驱动轴，转盘03相当于转台，第一轴电机01与转盘连接板02上下同轴，会导致机器人的整体高度变高，进而导致机器人的重心变高，从而使得机器人在抓取重物时容易发生晃动或侧翻。
为解决上述技术问题，本申请提出一种桌面机械臂驱动结构，在一实施方式中，参见图3-5，该桌面机械臂驱动结构包括：底座1、转台2；
底座1中设置有转台驱动电机3以及转台驱动轴4，转台驱动电机3与转台驱动轴4传动连接，转台驱动轴4与转台2传动连接，转台驱动轴4设置于底座1的中心区域，转台驱动电机3错位设置于转台驱动轴4周围；
转台2包括基座21，转台2上设置有大臂驱动电机5以及小臂驱动电机6，大臂驱动电机5与小臂驱动电机6设置于基座21的后侧。
本实施例中，底座1被构造为矩形状，矩形状的底座1内构造有容置腔，容置腔用于安装转台驱动电机3和转台驱动轴4，转台驱动轴4为中空转轴，以通过中空转轴对底座1与大臂驱动电机5及小臂驱动电机6之间的线缆进行走线。转台驱动轴4位于容置腔的中心区域，转台驱动电机3位于转台驱动轴4的周围，以在底座1的容置腔内形成错位布置，错位布置的转台驱动轴4和转台驱动电机3可降低桌面机械臂的整体高度，从而降低桌面机械臂的重心，进而保证桌面机械臂在抓取重物时不会发生晃动或侧翻。
转台驱动电机3可以正装，也可以倒装，本领域技术人员可根据实际情况进行设计，其仅需保证转台驱动电机3与转台驱动轴4错位布置在底座1内。转台驱动电机3正装时，其输出轴朝向底座1上方，转台驱动电机3倒装时，其输出轴朝向底座1下方。作为优选，本申请实施例所提出的转台驱动电机3呈正装设置在底座1内，此仅为实例性的，而非限制性的。
转台2包括基座21，基座21的前侧设有用于抓取物品的大臂500和小臂2000，基座21的后侧设有大臂驱动电机5和小臂驱动电机6，以通过大臂驱动电机5和小臂驱动电机6与大臂500和小臂2000形成平衡，避免桌面机械臂的重心偏离底座1的中心位置，从而保证桌面机械臂在抓取重物时不会因重心偏向大臂500和小臂2000所在一侧而导致晃动或侧翻。
在一实施例中，参见图4，本申请实施例所提出的桌面机械臂驱动结构还 包括：
转台减速组件7，转台驱动电机3通过转台减速组件7与转台驱动轴4传动连接；
大臂减速组件8，大臂减速组件8与大臂驱动电机5传动连接；
小臂减速组件9，小臂减速组件9与小臂驱动电机6传动连接。
本实施例中，转台驱动轴4通过转台减速组件7减速传动，转台减速组件7起到匹配转速和传递转矩的作用。具体的，转台驱动电机3产生的转矩会先传递给转台减速组件7，再由转台减速组件7对传递的转矩的转速进行匹配，而后再将匹配转速后的转矩传递给转台驱动轴4，以使得转台驱动轴4带动转台2转动。大臂驱动电机5所产生的转矩也会先传递给大臂减速组件8，再由大臂减速组件8对传递的转矩的转速进行匹配，而后再将匹配转速后的转矩传递给大臂500，以带动大臂500转动。小臂驱动电机6所产生的转矩也会先传递给小臂减速组件9，再由小臂减速组件9对传递的转矩的转速进行匹配，而后再将匹配转速后的转矩传递给小臂2000，以带动小臂2000转动。
在另一实施例中，参见图6，本申请实施例所提出的转台减速组件7包括转台一级同步带轮71和转台二级同步带轮72；转台一级同步带轮71的一端与转台驱动电机3传动连接，另一端与转台二级同步带轮72的一端传动连接，转台二级同步带轮72的另一端与转台驱动轴4传动连接。本实施例中，转台减速组件7包括有转台一级同步带轮71和转台二级同步带轮72，通过转台一级同步带轮71与转台二级同步带轮72对转台驱动电机3所产生的转矩进行二级减速，以保证减速后的转矩能够满足转台驱动轴4的使用需求。具体的，转台驱动电机3所产生的转矩先由转台一级同步带轮71进行一级减速，一级减速后的转矩再经由转台二级同步带轮72进行二级减速，二级减速后的转矩再传递给转台驱动轴4，以通过转台驱动轴4带动转台2转动。
在又一实施例中，参见图4和图8，本申请实施例所提出的底座1内构造有在水平方向上延展的隔板11，转台一级同步带轮71设置在隔板11顶面上，转台驱动电机3设置于隔板11底面之下，转台驱动电机3的输出轴穿出隔板11与转台一级同步带轮71的一端传动连接，转台二级同步带轮72设置在隔板11底面上。本实施例中，此时根据底座1的布置状态，如图8中所示A代表隔板11顶面，B代表隔板11底面，优选底座1内水平设置有隔板11，以将底座1的内部空间分割两个空间，且优选隔板11与底座1顶部之间的距离小于隔板11与底座1底部之间的距离，而转台一级同步带轮71设置在隔板11的顶面上，转台二级同步带轮72和转台驱动电机3均位于设置在隔板11的底面上。本实施例中，通过在底座1内设置隔板11来安装转台驱动电机3、转台一级同步带轮71和转台二级同步带轮72等部件，从而有利于增加固定上述部件的稳定性。在另外的实施例中，在隔板11上安装转台驱动电机 3、转台一级同步带轮71和转台二级同步带轮72的方式可以是隔板11与底座1为可拆卸连接，首先将转台驱动电机3、转台一级同步带轮71和转台二级同步带轮72固定在隔板11上，而后将隔板11固定在底座1内即可。
在再一实施例中，参见图9，本申请实施例所提出的底座1的一侧构造有安装板缺口12，底座1还包括安装板13，安装板13设置于安装板缺口12处，安装板13构造有若干个接口卡口14。本实施例中，在底座1的一侧构造有安装板缺口12，该安装板缺口12通过安装板13盖合，安装板13上设有多个接口卡口14，以通过接口卡口14安装电路接口。由于本申请实施例所提出的接口卡口14是设置在安装板13上的，而安装板13又是与底座1可拆卸连接的，因此，在电路接口发生变化时只需更换对应的安装板13即可，或者将原有的安装板13取下后再在其上开设与新增的电路接口相对应的接口卡口14，此外，还可方便底座1的拆装维修。
在再一实施例中，参见图4和图10，本申请实施例所提出的隔板11上临近安装板13的一侧设有止挡板10，止挡板10位于转台2下方，转台2上设有用于与止挡板10抵接的转台限位柱20，转台限位柱20位于靠近大臂500和小臂2000的一侧。本实施例中，转台驱动轴4为空心轴，桌面机械臂的线缆通过转台驱动轴4进行走线。可以理解的是，从转台驱动轴4穿出的线缆的一端是固定在底座1内的，而另一端是固定在转台2上的，在转台驱动轴4带动转台2转动时，固定于转台2上的线缆也会随之转动。若转台2朝同一个方向连续转动，则线缆会在此旋转方向上收卷，而由于线缆与底座1固定且线缆的长度有限，因此在转台2朝同一方向连续转动的过程中，会扯断线缆。为此，本实施例在隔板11上设有用于限定转台驱动轴4转动角度的止挡板10，止挡板10位于转台驱动轴4的周向上，而在转台驱动轴4或转台2上设有用于止挡板10抵接的转台限位柱20，以通过转台限位柱20与止挡板10的抵接配合对转台驱动轴4的转动角度进行限定。具体的，止挡板10位于转台2的后侧方向上，在转台驱动轴4旋转过程中，若转台限位柱20与止挡板10接触并抵接，则停止朝此方向继续转动，以避免继续转动而扯断线缆。
在再一实施例中，本申请实施例所提出的止挡板10包括与隔板11连接的固定部和朝向转台驱动轴4延伸的限位部，限位部的两侧壁朝向转台驱动轴4收缩。本实施例中，固定部与隔板11连接，固定部上连接有朝向转台驱动轴4延伸的限位部，以通过限位部与止挡板10的抵接配合，限制转台2的转动角度。具体的，限位部朝向转台驱动轴4的端面为圆弧面，该圆弧面与转台驱动轴4的周向弧面相适配，以避免转台驱动轴4在转动过程中发生碰撞。作为优选，本申请实施例所提出的限位部的两侧壁的延长线相交所构成的夹角范围在5至60度之间，当夹角为5度时，转台驱动轴4的转动角度为177.5度，而当夹角为60度时，转台驱动轴4的转动角度为150度。
在再一实施例中，参见图8，本申请实施例所提出的转台驱动电机3为伺服电机，转台驱动电机3上包括编码器，编码器为多圈绝对值编码器，底座1内还设置有与转台驱动电机3电连接的电池安装座900。本实施例中，优选转台驱动电机3为伺服电机，从而有利于提高转台驱动电机3驱动转台2转动的精度，同时伺服电机上设置有编码器，从而更加方便利用编码器记录伺服电机的零点位置和转动圈数，以此也有利于伺服电机的回零操作的精度，同样有利于提高转台驱动电机3驱动转台2转动的精度。
同时，优选编码器为多圈绝对值编码器，且底座1内还设置有与多圈绝对值编码器电性连接的电池安装座900，从而方便将电池安装在电池安装座900内以对多圈绝对值编码器进行供电。本实施例中，相对于单圈编码器，多圈编码器不仅可以感知一圈之内的绝对角位置，而且可以感知编码器自使用之日起已经转过了多少圈。
在再一实施例中，本申请实施例所提出的大臂驱动电机5和小臂驱动电机6分别为包括绝对值编码器以及电磁抱闸器的伺服电机，大臂驱动电机5和小臂驱动电机6分别和电池安装座900电连接。本实施例中，电磁抱闸器可使大臂驱动电机5和小臂驱动电机6在断电后迅速停转以进行机械制动，从而可避免在断电后，桌面机械臂的大臂500以及小臂2000自动掉落，提高安全性。编码器设置于电机的输出轴伸出一端的相反端并与该输出轴连接，通过编码器记录电机的零点位置，以助于电机进行回零操作。
在再一实施例中，本申请实施例所提出的绝对值编码器为多圈绝对值编码器，电磁抱闸器为断电抱闸的电磁抱闸器。本实施例中，相对于单圈编码器，多圈编码器不仅可以感知一圈之内的绝对角位置，而且可以感知编码器自使用之日起已经转过了多少圈。
在再一实施例中，参见图11，本申请实施例所提出的转台驱动轴4通过推力轴承30设置在隔板11上。本实施例中，优选转台驱动轴4通过推力轴承30设置在隔板11上，且转台减速组件7(即转台二级同步带轮72)通过转台驱动轴4与转台2传动连接，以此避免转台减速组件7直接承受转台2的重量，从而有利于增加转台减速组件7的寿命，即当转台减速组件7的输出轴直接与转台2连接时需要直接承受转台2的重量，从而使得转台减速组件7受力较大，从而相当于提升了转台减速组件7的负载重量。此时，优选转台驱动轴4位于隔板11的中心位置。
在再一实施例中，参见图11，本申请实施例所提出的隔板11上构造容纳腔40，所述容纳腔40构造有与推力轴承30的外环下缘相适配的承接结构50，推力轴承30设置于容纳腔40之内，且推力轴承30的外环下缘与承接结构50相接，转台驱动轴4在竖直方向上自上而下的***推力轴承30的内环设置，转台驱动轴4构造有承载段41、插装段42和连接段43，承载段41与 推力轴承30的内环上缘抵接，插装段42与推力轴承30的内环内抵接，连接段43与转台二级同步带轮72传动连接。本实施例中，优选隔板11的中心位置构造有安装推力轴承30的容纳腔40，且腔体的底部设置有与可承接推力轴承30的外环下缘的承载结构，此时优选承载结构为环体，而推力轴承30安装在容纳腔40内后，承接结构50既可与推力轴承30的外环下缘抵接，以实现承接推力轴承30的目的，至于转台驱动轴4则在竖直方向上自上而下的***推力轴承30的内环中即可。同时，转台驱动轴4分为自下至上分为连接段43、插装段42和承载段41(即插装段42的直径小于承载段41的直径，此时优选连接段43与插装段42的直径一致)，其中插装段42可插装在推力轴承30的内环内，而连接段43则穿过推力轴承30并与转台二级同步带轮72传动连接，承载段41靠近插装段42的一端可与推力轴承30的内环上缘抵接，以使推力轴承30承接转台2的重量。
在再一实施例中，参见图11，本申请实施例所提出的桌面机械臂驱动结构还包括轴承压板60，轴承压板60构造为中空环形，轴承压板60设置于推力轴承30之上并与推力轴承30的外环抵接，轴承压板60与隔板11固定连接。本实施例中，优选底座1还包括轴承压板60，且优选轴承压板60呈环形板体，该轴承压板60可套设在承载段41上，此时轴承压板60可封堵容纳腔40的开口端并可与推力轴承30的外环上缘抵接。此时优选轴承压板60与隔板11为可拆卸连接，如通过螺钉固定，从而有利于防止位于容纳腔40内的推力轴承30滑出。
在再一实施例中，本申请实施例所提出的推力轴承30为双列角接触轴承。本实施例中，优选推力轴承30为双列角接触轴承，由于双列角接触轴承只占用较小的轴向空间，从而有利于减小转台驱动轴4的长度，进而降低底座1的高度。同时，由于双列角接触球轴承还可以提供刚性较高的轴承配置，并能承受倾覆力矩。
在再一实施例中，参见图7，本申请实施例所提出的转台一级同步带轮71包括转台一级主动轮711、转台一级从动轮712和转台一级同步带713，转台一级主动轮711和转台一级从动轮712通过转台一级同步带713传动连接；转台二级同步带轮72包括转台二级主动轮721、转台二级从动轮722和转台二级同步带723，转台二级主动轮721和转台二级从动轮722通过转台二级同步带723传动连接。本实施例中，优选转台一级同步带轮71包括转台一级主动轮711、转台一级从动轮712和转台一级同步带713，其中转台一级主动轮711套设在转台驱动电机3的输出轴上，转台一级从动轮712通过转台2传动轴设置在隔板11上，而转台一级同步带713分别连接转台一级主动轮711和转台一级从动轮712即可，至于转台一级主动轮711和转台一级从动轮712的传动比则根据实际需要减速的情况进行布置即可。
优选转台二级同步带轮72包括转台二级主动轮721、转台二级从动轮722和转台二级同步带723，其中转台二级主动轮721套设在转台2传动轴上(此时转台2传动轴的一端由上至下穿过隔板11布置)，转台二级从动轮722套设在转台驱动轴4上(此时转台驱动轴4的一端由上至下穿过隔板11布置)，而转台二级同步带723分别连接转台二级主动轮721和转台二级从动轮722即可，至于转台二级主动轮721和转台二级从动轮722的传动比则根据实际需要减速的情况进行布置即可。
在再一实施例中，参见图12，本申请实施例所提出的底座1还包括转台传动轴70，且隔板11构造有供转台传动轴70穿过的轴孔，转台传动轴70包括安装套701、两个轴承702以及轴体703，两个轴承702分别过盈配合地设置于安装套701的两端，轴体703设置于安装套701之内并同时与两个轴承702内环相连接，轴体703一端通过轴孔与转台一级从动轮712连接，另一端与转台二级主动轮721连接。本实施例中，优选转台传动轴70包括安装套701、轴体703以及两个轴承702，且轴体703通过两个轴承702安装在安装套701内，安装套701固定在隔板11上，优选安装套701位于隔板11的下方，且隔板11上具有与安装套701对应的轴孔，以使安装在安装套701内的轴体703穿过。此时，转台一级从动轮712与轴体703位于隔板11之上的一端连接，转台二级主动轮721与轴体703位于隔板11之下的一端连接。
在再一实施例中，参见图13和图14，本申请实施例所提出的桌面机械臂驱动结构还包括：
多个第一固定螺钉以及第一张紧机构90；
隔板11构造有多个第一腰型孔111，第一固定螺钉通过第一腰型孔111与安装套701固定连接；
第一张紧机构90包括第一支架901和第一转动螺栓902，第一支架901构造有第一连接端和第一螺纹端，第一张紧机构90通过第一连接端与隔板11固定连接，第一张紧机构90位于隔板11之下，第一转动螺栓902与第一螺纹端可转动地连接，第一转动螺栓902的螺头靠近安装套701设置，通过转动第一转动螺栓902可以调整第一转动螺栓902在水平方向上的位置，使第一转动螺栓902的螺头与安装套701相抵接，并通过挤压安装套701，使安装套701在沿第一腰型孔111对应的轨迹移动。
本实施例中，优选隔板11上具有多个第一腰型孔111，此时安装套701可以与穿过第一腰型孔111的第一固定螺钉连接，以此将安装套701固定在隔板11上，同时还可利用第一固定螺钉在第一腰型孔111内移动，以此带动位于轴体703上的转台二级主动轮721朝向或远离转台二级从动轮722移动，从而方便调节转台二级同步带723的张紧度。
同时，底座1内还设置有第一张紧机构90，且第一张紧机构90设置在隔 板11的底面上并位于转台二级主动轮721和转台二级从动轮722之间，第一张紧机构90包括与隔板11连接的第一支架901和第一转动螺栓902，第一支架901包括第一连接端和第一螺纹端，第一连接端与隔板11连接，而第一转动螺栓902与第一螺纹端螺纹配合，以使第一转动螺栓902的螺头可与安装套701抵接，至于抵接的位置则可根据实际情况进行布置即可。本实施例中，在安装转台传动轴70时，首先通过第一固定螺钉穿过第一腰型孔111与安装套701连接但不完全紧固第一固定螺钉，以使转台传动轴70可跟随第一固定螺钉在第一腰型孔111内移动即可，此时通过拧动第一转动螺栓902即可驱动转台传动轴70带动转台二级主动轮721远离转台二级从动轮722移动，从而改变转台二级同步带723的张紧度，在转台二级同步带723的张紧度处于适当状态时(即转台传动轴70移动至预设位置)，再利用第一固定螺钉固定安装套701即可，从而方便了转台传动轴70的安装，同时利用第一转动螺栓902与安装套701抵接也可增加转台传动轴70运行时的稳定性。
在再一实施例中，参见图11，本申请实施例所提出的转台二级从动轮722与连接段43可拆卸连接，转台二级从动轮722构造有抵接结构100，抵接结构100构造成与连接段43相适配的环形状，转台二级从动轮722与连接段43固定连接时抵接结构100与推力轴承70230的内环的下缘相抵接，且转台二级从动轮722上设置有连接结构200，连接结构200为多个螺纹通孔，连接段43构造有与螺纹通孔适配的螺纹孔。本实施例中，转台二级从动轮722套设在转台驱动轴4(即插装段42)上，且转台二级从动轮722上设置有位于转台驱动轴4正下方的连接结构200。此时，连接结构200为转台二级从动轮722上设置的多个螺纹通孔，且转台驱动轴4的底部设置有可与螺纹通孔配合的螺纹孔，此时利用螺钉依次穿过螺纹通孔和螺纹孔即可转台二级从动轮722固定在转台驱动轴4上。
优选转台二级从动轮722上设置抵接结构100，且优选抵接结构100为套筒结构，并可套设在转台驱动轴4上，且抵接结构100的顶部可与推力轴承70230的内环下缘抵接。此时，优选连接结构200的顶面与转台驱动轴4的底面之间间隔预设距离，即连接结构200与转台驱动轴4的底部之间存在一定的缝隙，由于加工存在一定的误差，所以为了避免连接结构200与转台驱动轴4的底部抵接时抵接结构100无法与推力轴承70230的内环下缘抵接，从而即可利用连接结构200与转台驱动轴4的底部之间存在一定的缝隙来避免出现上述情形，以便于利用抵接结构100与承载段41对推力轴承70230形成夹持状态，以避免推力轴承30在插装段42上滑动。
在再一实施例中，参见图11，本申请实施例所提出的桌面机械臂驱动结构还包括定位销300，连接段43设置有定位孔，转台二级从动轮722设置有定位通孔，定位销300通过定位通孔***定位孔设置。本实施例中，底座1 还包括定位销300，连接段43的底部设置有定位孔，转台二级从动轮722上设置有定位通孔，而定位销300则可依次穿过定位通孔和定位孔将转台二级从动轮722在连接段43上进行定位，以方便转台二级从动轮722的固定。
在再一实施例中，参见图13，本申请实施例所提出的桌面机械臂驱动结构还包括：
多个第二固定螺钉以及第二张紧机构400；
隔板11构造有多个第二腰型孔112，第二固定螺钉通过第二腰型孔112与转台驱动电机3固定连接；
第二张紧机构400包括第二支架和第二转动螺栓，第二支架构造有第二连接端和第二螺纹端，第二张紧机构400通过第二连接端与隔板11固定连接，第二张紧机构400位于隔板11之下，第二转动螺栓与螺纹端可转动地连接，第二转动螺栓的螺头靠近转台驱动电机3设置，通过转动第二转动螺栓可以调整第二转动螺栓在水平方向上的位置，使第二转动螺栓的螺头与转台驱动电机3相抵接，并通过挤压转台驱动电机3，使转台驱动电机3在沿第二腰型孔112对应的轨迹移动。
本实施例中，优选隔板11上具有多个第二腰型孔112，此时转台驱动电机3可以与穿过第二腰型孔112的第二固定螺钉连接，以此将转台驱动电机3固定在隔板11上，同时还可利用第二固定螺钉在第二腰型孔112内移动，以此带动位于转台驱动电机3上的转台一级主动轮711朝向或远离转台一级从动轮712移动，从而方便调节转台一级同步带713的张紧度。此时，优选转台驱动电机3上具有与第二固定螺钉配合的螺纹孔，从而无需设置螺母即可对转台驱动电机3进行固定。
同时，底座1内还设置有第二张紧机构400，且第二张紧机构400设置在隔板11的底面上并位于转台一级主动轮711和转台一级从动轮712之间，第二张紧机构400包括与隔板11连接的第二支架和第二转动螺栓，第二支架包括第二连接端和第二螺纹端，第二连接端与隔板11连接，而第二转动螺栓与第二螺纹端螺纹配合，以使第二转动螺栓的螺头可与转台驱动电机3抵接，至于抵接的位置则可根据实际情况进行布置即可。本实施例中，在安装转台驱动电机3时，首先通过第二固定螺钉穿过第二腰型孔112与转台驱动电机3连接但不完全紧固第二固定螺钉，以使转台驱动电机3可跟随第二固定螺钉在第二腰型孔112内移动即可，此时通过拧动第二转动螺栓即可驱动转台驱动电机3带动转台一级主动轮711远离转台一级从动轮712移动，从而改变转台一级同步带713的张紧度，在转台一级同步带713的张紧度处于适当状态时(即转台驱动电机3移动至预设位置)，再利用第二固定螺钉固定转台驱动电机3即可，从而方便了转台驱动电机3的安装，同时利用第二转动螺栓与转台驱动电机3抵接也可增加转台驱动电机3运行时的稳定性。其中， 第二张紧机构400的结构与第一张紧机构90的结构相似。
在再一实施例中，参见图15和图16，本申请实施例所提出的基座21上设有位于大臂500前后两侧的限位件600，限位件600用于与大臂500末端上设置的止挡块700形成抵持配合。本实施例中，大臂500在转动时，会带动位于其上的止挡块700转动，止挡块700在转动至限位件600所在位置时，会被限位件600阻挡在此位置，从而形成对于大臂500的转动限位。
在再一实施例中，本申请实施例所提出的大臂驱动电机5和小臂驱动电机6上下层叠设置，大臂减速组件8和小臂减速组件9分别位于基座21的左右两外侧面。本实施例中，大臂驱动电机5和小臂驱动电机6优选上下层叠布置，其可优化空间布局，节省空间，提高结构紧凑性，有助于桌面机械臂的小巧化以及轻便化，而大臂减速组件8和小臂减速组件9分别设于基座21的左右两外侧面，简化了结构设计，拆装简单，便于日常维护。
在再一实施例中，参见图17和图18，本申请实施例所提出的大臂减速组件8包括大臂一级同步带轮81和临近基座21设置的大臂二级同步带轮82；小臂减速组件9包括小臂一级同步带轮91和临近基座21设置的小臂二级同步带轮92。本实施例中，大臂减速组件8的大臂二级同步带轮82临近基座21布置，即大臂二级同步带轮82位于大臂一级同步带轮81与基座21之间；小臂减速组件9的小臂二级同步带轮92临近基座21布置，即小臂二级同步带轮92位于小臂一级同步带轮91与基座21之间，可实现大臂一级同步带和小臂一级同步带与转台2上结构(如电机固定螺丝等)的远离布置，不仅不会发生结构干涉，还可免去辅助组件的设置，降低制造成本，并且因没有辅助组件的结构限制，一级同步带轮的带轮的尺寸可做大，从而提高减速比和减速效果，保证控制精度。
在再一实施例中，参见图17和图18，本申请实施例所提出的大臂减速组件8还包括大臂传动轴83和大臂驱动轴84，大臂驱动轴84位于大臂传动轴83上方，大臂一级同步带轮81设于大臂驱动电机5的输出轴和大臂传动轴83之间，大臂二级同步带轮82设于大臂传动轴83和大臂驱动轴84之间；
小臂减速组件9还包括小臂传动轴93和小臂驱动轴94，小臂驱动轴94位于小臂传动轴93上方，小臂一级同步带轮91设于小臂驱动电机6的输出轴和小臂传动轴93之间，小臂二级同步带轮92设于小臂传动轴93和小臂驱动轴94之间。
具体地，大臂驱动轴84用于与大臂500连接，大臂驱动电机5的输出轴通过大臂一级同步带轮81带动大臂传动轴83转动，实现一级减速传动；大臂传动轴83通过大臂二级同步带轮82带动大臂驱动轴84转动，实现二级减速传动，并最终通过大臂驱动轴84驱动大臂500转动。小臂驱动轴94用于驱动小臂2000转动，并与小臂2000之间可设置多根传动连杆以进行传动， 其具体形式可参照现有设置，在此不作阐述。小臂驱动电机6的输出轴通过小臂一级同步带轮91带动小臂传动轴93转动，实现一级减速传动；小臂传动轴93通过小臂二级同步带轮92带动小臂驱动轴94转动，实现二级减速传动，并最终通过小臂驱动轴94驱动小臂2000转动。
在再一实施例中，参见图17和图18，本申请实施例所提出的大臂一级同步带轮81包括大臂一级主动轮811、大臂一级从动轮812和大臂一级同步带813，大臂二级同步带轮82包括大臂二级主动轮821、大臂二级从动轮822和大臂二级同步带823；
大臂一级主动轮811设于大臂驱动电机5的输出轴上，大臂一级从动轮812设于大臂传动轴83上，大臂一级同步带813设于大臂一级主动轮811和大臂一级从动轮812上；大臂二级主动轮821设于大臂传动轴83上，大臂二级从动轮822设于大臂驱动轴84上，大臂二级同步带823设于大臂二级主动轮821和大臂二级从动轮822上；
小臂一级同步带轮91包括小臂一级主动轮911、小臂一级从动轮912和小臂一级同步带913，小臂二级同步带轮92包括小臂二级主动轮921、小臂二级从动轮922和小臂二级同步带923；
小臂一级主动轮911设于小臂驱动电机6的输出轴上，小臂一级从动轮912设于小臂传动轴93上，小臂一级同步带913设于小臂一级主动轮911和小臂一级从动轮912上，小臂二级主动轮921设于小臂传动轴93上，小臂二级从动轮922设于小臂驱动轴94上，小臂二级同步带923设于小臂二级主动轮921和小臂二级从动轮922上。
本实施例中，大臂一级从动轮812的直径大于大臂一级主动轮811的直径，大臂二级从动轮822的直径大于大臂二级主动轮821的直径，大臂驱动电机5的输出轴带动大臂一级主动轮811转动，并经大臂一级同步带813传动大臂一级从动轮812以使得大臂传动轴83转动，进一步地，大臂传动轴83带动大臂二级主动轮821转动，并经大臂二级同步带823传动大臂二级从动轮822以使得大臂驱动轴84转动。
小臂一级从动轮912的直径大于小臂一级主动轮911的直径，小臂二级从动轮922的直径大于小臂二级主动轮921的直径，小臂驱动电机6的输出轴带动小臂一级主动轮911转动，并经小臂一级同步带913传动小臂一级从动轮912以使得小臂传动轴93转动，进一步地，小臂传动轴93带动小臂二级主动轮921转动，并经小臂二级同步带923传动小臂二级从动轮922以使得小臂驱动轴94转动。
在再一实施例中，参见图19，本申请实施例所提出的基座21包括：底板211；以及第一承载件212和第二承载件213，第一承载件212和第二承载件213相对设置于底板211上，第一承载件212上构造有第一安装座212A，第 二承载件213上构造有第二安装座213A。本实施例中，底板211为板体，第一承载件212和第二承载件213可为架体、板体等结构形式，并相对设置于底板211上。第一承载件212上的第一安装座212A用于安装大臂驱动电机5，且大臂减速组件8设置于第一承载件212上，第二承载件213上的第二安装座213A用于安装小臂驱动电机6，且小臂减速组件9设置于第二承载件213上。需要说明的是，第一安装座212A可与第一承载件212一体成型或与第一承载件212上可拆卸连接，可拆卸连接方式比如螺丝连接等。此外，第二安装座213A在第二承载件213上的设置亦可如此。
在再一实施例中，参见图17和图18，本申请实施例所提出的大臂一级主动轮811布置于大臂驱动电机5的输出轴的末端，以构成大臂驱动电机5的输出轴上处于大臂一级主动轮811与第一安装座212A之间的第一空余段51；
小臂一级主动轮911布置于小臂驱动电机6的输出轴的末端，以构成小臂驱动电机6的输出轴上处于小臂一级主动轮911与第二安装座213A之间的第二空余段52；
第一安装座212A向与第二承载件213相反的一侧凸出，第二安装座213A向与第一承载件212相反的一侧凸出。
本实施例中，为避免结构干涉，所预留出的第一空余段51的长度别大于第一安装座212A上所设置凸出结构(例如大臂驱动电机5的固定螺丝)的长度，如此，即可保证大臂一级同步带813在运行过程中不接触到第一安装座212A上的凸出结构，实现正常减速传动。相应地，第二空余段52的预留也采用上述相同原理，且可获得相同的作用效果，在此不作过多阐述。此外，还可通过将第一空余段51进一步加长设置，以为大臂二级同步带823轮82提供安装位置，以及将第二空余段52进一步加长设置，以为小臂二级同步带923轮92提供安装位置。此外，第一安装座212A向与第二承载件213相反的一侧凸出，其可与上述的第一空余段51共同形成在大臂一级同步带813轮81内侧的安装空间，即扩大避位间隙，可更好地为大臂二级同步带823轮82提供安装位置，提高结构的紧凑性；相应地，第二安装座213A向与第一承载件212相反的一侧凸出，其可与上述的第二空余段52共同形成在小臂一级同步带913轮91内侧的安装空间，即扩大避位间隙，可更好地为小臂二级同步带923轮92提供安装位置，进一步提高结构的紧凑性。
在再一实施例中，参见图20和图21，本申请实施例所提出的大臂传动轴83包括位于其末端位置处的第一安装段831，大臂二级主动轮821位于第一安装段831上，大臂一级从动轮812的中间区域设有第一螺纹通孔，大臂传动轴83的末端面设有与第一螺纹通孔相适配的第一螺纹孔；
小臂传动轴93包括位于其末端位置处的第二安装段931，小臂二级主动轮921位于第二安装段931上，小臂一级从动轮912的中间区域设有第二螺 纹通孔，小臂传动轴93的末端面设有与第二螺纹通孔相适配的第二螺纹孔。
本实施例中，大臂二级主动轮821固定套设于大臂传动轴83的第一安装段831上，该第一安装段831位于大臂传动轴83的末端位置处，而大臂一级从动轮812通过螺栓锁定在大臂传动轴83的末端面，即大臂二级主动轮821位于大臂一级从动轮812的内侧；小臂二级主动轮921固定套设于小臂传动轴93的第二安装段931上，该第二安装段931位于大臂传动轴83的末端位置处，而小臂一级从动轮912通过螺栓锁定在小臂传动轴93的末端面，也即小臂二级主动轮921位于小臂一级从动轮912的内侧，结构简单，设置稳固且拆装方便。
在再一实施例中，参见图20和图21，本申请实施例所提出的第一承载件212上设有第一通孔、与第一通孔对应布置的第一固定座214和位于第一固定座214上的两第一轴承215，第一固定座214上设有第一轴承安装孔，两第一轴承215间隔布置在第一轴承安装孔内，大臂传动轴83穿过第一通孔设置，大臂传动轴83还包括与两第一轴承215的内环过盈配合的第一连接段43，第一连接段43上设有位于两第一轴承215之间的第一轴套216；
第二承载件213上设有第二通孔、与第二通孔对应布置的第二固定座217和位于第二固定座217上的两第二轴承218，第二固定座217上设有第二轴承安装孔，两第二轴承218间隔布置在第二轴承安装孔内，小臂传动轴93穿过第二通孔设置，小臂传动轴93还包括与两第二轴承218的内环过盈配合的第二连接段43，第二连接段43上设有位于两第二轴承218之间的第二轴套219。
本实施例中，第一承载件212上的第一通孔孔径大于大臂传动轴83的轴径，大臂传动轴83穿过第一通孔，其两端分别位于第一承载件212的两侧，并且，大臂传动轴83通过两第一轴承215与第一固定座214转动配合，并通过第一固定座214固定在第一承载件212上。第二承载件213上的第二通孔孔径大于小臂传动轴93的轴径，小臂传动轴93穿过第二通孔，其两端分别位于第二承载件213的两侧，并且，小臂传动轴93通过两第二轴承218与第二固定座217转动配合，并通过第二固定座217固定在第二承载件213上。此外，两第一轴承215通过第一轴套216间隔限位，两第二轴承218通过第二轴套219间隔限位。通过上述结构设置，大臂传动轴83和小臂传动轴93转动稳定，拆装简单，方便维护。
在再一实施例中，参见图20和图21，本申请实施例所提出的第一承载件212上设有第三轴承安装孔和位于第三轴承安装孔内的第三轴承21A，大臂驱动轴84与第三轴承21A的内环过盈配合；
第二承载件213上还设有第四轴承安装孔、位于第四轴承安装孔内的第四轴承21B和与第四轴承21B的内环过盈配合的大臂从动转轴85，大臂从动转轴85上设有第五轴承安装孔和位于第五轴承安装孔内的第五轴承21C，小 臂驱动轴94与第五轴承21C的内环过盈配合且其两端从第五轴承安装孔中穿出。
在再一实施例中，参见图20和图21，本申请实施例所提出的第一承载件212上还设有对应第三轴承安装孔布置的第一环形盖板21D，第一环形盖板21D与第三轴承21A的外环抵接，大臂二级从动轮822的中间区域设有多个第三螺纹通孔，大臂驱动轴84的末端面设有与第三螺纹通孔相适配的第三螺纹孔；
第二承载件213上还设有对应第四轴承安装孔布置的第二环形盖板21E，第二环形盖板21E与第四轴承21B的外环抵接，大臂从动转轴85上还设有对应第五轴承安装孔布置的第三环形盖板21F，第三环形盖板21F与第五轴承21C的外环抵接，小臂二级从动轮922的中间区域设有第四螺纹通孔，小臂驱动轴94的末端面设有与第四螺纹通孔相适配的第四螺纹孔。
在再一实施例中，参见图15，本申请实施例所提出的桌面机械臂驱动结构还包括：执行电机1000；执行电机1000为伺服电机，执行电机1000包括绝对值编码器以及电磁抱闸器，电磁抱闸器为断电抱闸的电磁抱闸器。
在再一实施例中，本申请实施例所提出的桌面机械臂驱动结构还包括：控制板；控制板分别和转台驱动电机3、大臂驱动电机5、小臂驱动电机6以及执行电机1000电连接。
参见图22，本申请进一步提出的一种桌面机械臂包括驱动结构，该驱动结构的具体结构参照上述各实施例，由于桌面机械臂采用了上述所有实施例的所有技术方案，因此至少具有上述实施例的技术方案所带来的全部技术效果，在此不再一一赘述。
本申请还提出一种机器人，该机器人包括桌面机械臂，桌面机械臂包括前述各实施例所记载的桌面机械臂驱动结构，由于桌面机械臂驱动结构采用了上述所有实施例的所有技术方案，因此至少具有上述实施例的技术方案所带来的全部技术效果，在此不再一一赘述。
以上的仅为本申请的部分或优选实施例，无论是文字还是附图都不能因此限制本申请保护的范围，凡是在与本申请一个整体的构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请保护的范围内。

Claims (38)

  1. 一种桌面机械臂驱动结构，其特征在于，包括：底座、转台；
    底座中设置有转台驱动电机以及转台驱动轴，所述转台驱动电机与所述转台驱动轴传动连接，所述转台驱动轴与所述转台传动连接，所述转台驱动轴设置于所述底座的中心区域，所述转台驱动电机错位设置于所述转台驱动轴周围；
    所述转台包括基座，所述基座上设置有大臂驱动电机以及小臂驱动电机，所述大臂驱动电机与所述小臂驱动电机设置于所述基座的后侧。
  2. 根据权利要求1所述的桌面机械臂驱动结构，其特征在于，
    所述转台驱动电机的输出轴朝上设置。
  3. 根据权利要求1所述的桌面机械臂驱动结构，其特征在于，还包括：
    转台减速组件，所述转台驱动电机通过所述转台减速组件与所述转台驱动轴传动连接；
    大臂减速组件，所述大臂减速组件与所述大臂驱动电机传动连接；
    小臂减速组件，所述小臂减速组件与所述小臂驱动电机传动连接。
  4. 根据权利要求3所述的桌面机械臂驱动结构，其特征在于，
    所述转台减速组件包括转台一级同步带轮和转台二级同步带轮；
    所述转台一级同步带轮的一端与所述转台驱动电机传动连接，另一端与所述转台二级同步带轮的一端传动连接，所述转台二级同步带轮的另一端与所述转台驱动轴传动连接。
  5. 根据权利要求4所述的桌面机械臂驱动结构，其特征在于，
    所述底座内构造有在水平方向上延展的隔板，所述转台一级同步带轮设置在所述隔板顶面上，所述转台驱动电机设置于所述隔板底面之下，所述转台驱动电机的输出轴穿出所述隔板与所述转台一级同步带轮的一端传动连接，所述转台二级同步带轮设置在所述隔板底面上。
  6. 根据权利要求5所述的桌面机械臂驱动结构，其特征在于，
    所述底座的一侧构造有安装板缺口，所述底座还包括安装板，所述安装板设置于所述安装板缺口处，所述安装板构造有若干个接口卡口。
  7. 根据权利要求6所述的桌面机械臂驱动结构，其特征在于，所述隔板上临近所述安装板的一侧设有止挡板，所述止挡板位于所述转台下方，所述转台上设有用于与所述止挡板抵接的转台限位柱，所述转台限位柱位于靠近所述大臂和所述小臂的一侧。
  8. 根据权利要求7所述的桌面机械臂驱动结构，其特征在于，所述止挡板包括与所述隔板连接的固定部和朝向所述转台驱动轴延伸的限位部，所述限位部的两侧壁朝向所述转台驱动轴收缩。
  9. 根据权利要求8所述的桌面机械臂驱动结构，其特征在于，顺延两所 述侧壁的两延长线相交所构成的夹角范围在5至60度之间。
  10. 根据权利要求5所述的桌面机械臂驱动结构，其特征在于，
    所述转台驱动电机为伺服电机，所述转台驱动电机上包括编码器，所述编码器为多圈绝对值编码器，所述底座内还设置有与所述转台驱动电机电连接的电池安装座。
  11. 根据权利要求10所述的桌面机械臂驱动结构，其特征在于，
    所述大臂驱动电机和所述小臂驱动电机分别为包括绝对值编码器以及电磁抱闸器的伺服电机，所述大臂驱动电机和所述小臂驱动电机分别和所述电池安装座电连接。
  12. 根据权利要求11所述的桌面机械臂驱动结构，其特征在于，所述绝对值编码器为多圈绝对值编码器，所述电磁抱闸器为断电抱闸的电磁抱闸器。
  13. 根据权利要求5所述的桌面机械臂驱动结构，其特征在于，所述转台驱动轴通过推力轴承设置在所述隔板上。
  14. 根据权利要求13所述的桌面机械臂驱动结构，其特征在于，所述隔板上构造容纳腔，所述容纳腔构造有与所述推力轴承的外环下缘相适配的承接结构，所述推力轴承设置于所述容纳腔之内，且所述推力轴承的外环下缘与所述承接结构相接，所述转台驱动轴在竖直方向上自上而下的***所述推力轴承的内环设置，所述转台驱动轴构造有承载段、插装段和连接段，所述承载段与所述推力轴承的内环上缘抵接，所述插装段与所述推力轴承的内环内抵接，所述连接段与所述转台二级同步带轮传动连接。
  15. 根据权利要求13所述的桌面机械臂驱动结构，其特征在于，还包括：
    轴承压板，所述轴承压板构造为中空环形，所述轴承压板设置于所述推力轴承之上并与所述推力轴承的外环抵接，所述轴承压板与所述隔板固定连接。
  16. 根据权利要求13所述的桌面机械臂驱动结构，其特征在于，所述推力轴承为双列角接触轴承。
  17. 根据权利要求14所述的桌面机械臂驱动结构，其特征在于，
    所述转台一级同步带轮包括转台一级主动轮、转台一级从动轮和转台一级同步带，所述转台一级主动轮和所述转台一级从动轮通过所述转台一级同步带传动连接；
    所述转台二级同步带轮包括转台二级主动轮、转台二级从动轮和转台二级同步带，所述转台二级主动轮和所述转台二级从动轮通过所述转台二级同步带传动连接。
  18. 根据权利要求17所述的桌面机械臂驱动结构，其特征在于，
    所述底座还包括转台传动轴，且所述隔板构造有供所述转台传动轴穿过的轴孔，所述转台传动轴包括安装套、两个轴承以及轴体，所述两个轴承分别过盈配合地设置于所述安装套的两端，所述轴体设置于所述安装套之内并 同时与所述两个轴承内环相连接，所述轴体一端通过所述轴孔与所述转台一级从动轮连接，另一端与所述转台二级主动轮连接。
  19. 根据权利要求18所述的桌面机械臂驱动结构，其特征在于，还包括：
    多个第一固定螺钉以及第一张紧机构；
    所述隔板构造有多个第一腰型孔，所述第一固定螺钉通过所述第一腰型孔与所述安装套固定连接；
    所述第一张紧机构包括第一支架和第一转动螺栓，所述第一支架构造有第一连接端和第一螺纹端，所述第一张紧机构通过所述第一连接端与所述隔板固定连接，所述第一张紧机构位于所述隔板之下，所述第一转动螺栓与所述第一螺纹端可转动地连接，所述第一转动螺栓的螺头靠近所述安装套设置，通过转动所述第一转动螺栓可以调整所述第一转动螺栓在水平方向上的位置，使所述第一转动螺栓的螺头与所述安装套相抵接，并通过挤压所述安装套，使所述安装套在沿所述第一腰型孔对应的轨迹移动。
  20. 根据权利要求17所述的桌面机械臂驱动结构，其特征在于，所述转台二级从动轮与所述连接段可拆卸连接，转台二级从动轮构造有抵接结构，所述抵接结构构造成与所述连接段相适配的环形状，所述转台二级从动轮与所述连接段固定连接时所述抵接结构与所述推力轴承的内环的下缘相抵接，且所述转台二级从动轮上设置有连接结构，所述连接结构为多个螺纹通孔，所述连接段构造有与所述螺纹通孔适配的螺纹孔。
  21. 根据权利要求20所述的桌面机械臂驱动结构，其特征在于，还包括定位销，所述连接段设置有定位孔，所述转台二级从动轮设置有定位通孔，所述定位销通过所述定位通孔***所述定位孔设置。
  22. 根据权利要求5所述的桌面机械臂驱动结构，其特征在于，还包括：
    多个第二固定螺钉以及第二张紧机构；
    所述隔板构造有多个第二腰型孔，所述第二固定螺钉通过所述第二腰型孔与所述转台驱动电机固定连接；
    所述第二张紧机构包括第二支架和第二转动螺栓，所述第二支架构造有第二连接端和第二螺纹端，所述第二张紧机构通过所述第二连接端与所述隔板固定连接，所述第二张紧机构位于所述隔板之下，所述第二转动螺栓与所述螺纹端可转动地连接，所述第二转动螺栓的螺头靠近所述转台驱动电机设置，通过转动所述第二转动螺栓可以调整所述第二转动螺栓在水平方向上的位置，使所述第二转动螺栓的螺头与所述转台驱动电机相抵接，并通过挤压所述转台驱动电机，使所述转台驱动电机在沿所述第二腰型孔对应的轨迹移动。
  23. 根据权利要求1所述的桌面机械臂驱动结构，其特征在于，所述基座上设有位于大臂前后两侧的限位件，所述限位件用于与所述大臂末端上设置的止挡块形成抵持配合。
  24. 根据权利要求3所述的桌面机械臂驱动结构，其特征在于，
    所述大臂驱动电机和所述小臂驱动电机上下层叠设置，所述大臂减速组件和所述小臂减速组件分别位于所述基座的左右两外侧面。
  25. 根据权利要求24所述的桌面机械臂驱动结构，其特征在于，
    所述大臂减速组件包括大臂一级同步带轮和临近所述基座设置的大臂二级同步带轮；
    所述小臂减速组件包括小臂一级同步带轮和临近所述基座设置的小臂二级同步带轮。
  26. 根据权利要求25所述的桌面机械臂驱动结构，其特征在于，
    所述大臂减速组件还包括大臂传动轴和大臂驱动轴，所述大臂驱动轴位于所述大臂传动轴上方，所述大臂一级同步带轮设于所述大臂驱动电机的输出轴和所述大臂传动轴之间，所述大臂二级同步带轮设于所述大臂传动轴和所述大臂驱动轴之间；
    所述小臂减速组件还包括小臂传动轴和小臂驱动轴，所述小臂驱动轴位于所述小臂传动轴上方，所述小臂一级同步带轮设于所述小臂驱动电机的输出轴和所述小臂传动轴之间，所述小臂二级同步带轮设于所述小臂传动轴和所述小臂驱动轴之间。
  27. 根据权利要求26所述的桌面机械臂驱动结构，其特征在于，
    所述大臂一级同步带轮包括大臂一级主动轮、大臂一级从动轮和大臂一级同步带，所述大臂二级同步带轮包括大臂二级主动轮、大臂二级从动轮和大臂二级同步带；
    所述大臂一级主动轮设于所述大臂驱动电机的输出轴上，所述大臂一级从动轮设于所述大臂传动轴上，所述大臂一级同步带设于所述大臂一级主动轮和所述大臂一级从动轮上；所述大臂二级主动轮设于所述大臂传动轴上，所述大臂二级从动轮设于所述大臂驱动轴上，所述大臂二级同步带设于所述大臂二级主动轮和所述大臂二级从动轮上；
    所述小臂一级同步带轮包括小臂一级主动轮、小臂一级从动轮和小臂一级同步带，所述小臂二级同步带轮包括小臂二级主动轮、小臂二级从动轮和小臂二级同步带；
    所述小臂一级主动轮设于所述小臂驱动电机的输出轴上，所述小臂一级从动轮设于所述小臂传动轴上，所述小臂一级同步带设于所述小臂一级主动轮和所述小臂一级从动轮上，所述小臂二级主动轮设于所述小臂传动轴上，所述小臂二级从动轮设于所述小臂驱动轴上，所述小臂二级同步带设于所述小臂二级主动轮和所述小臂二级从动轮上。
  28. 根据权利要求27所述的桌面机械臂驱动结构，其特征在于，所述基座包括：底板；以及第一承载件和第二承载件，所述第一承载件和所述第二承载件相对设置于所述底板上，所述第一承载件上构造有第一安装座，所述 第二承载件上构造有第二安装座。
  29. 根据权利要求28所述的桌面机械臂驱动结构，其特征在于，
    所述大臂一级主动轮布置于所述大臂驱动电机的输出轴的末端，以构成所述大臂驱动电机的输出轴上处于所述大臂一级主动轮与所述第一安装座之间的第一空余段；
    所述小臂一级主动轮布置于所述小臂驱动电机的输出轴的末端，以构成所述小臂驱动电机的输出轴上处于所述小臂一级主动轮与所述第二安装座之间的第二空余段；
    所述第一安装座向与所述第二承载件相反的一侧凸出，所述第二安装座向与所述第一承载件相反的一侧凸出。
  30. 根据权利要求29所述的桌面机械臂驱动结构，其特征在于，
    所述大臂传动轴包括位于其末端位置处的第一安装段，所述大臂二级主动轮位于所述第一安装段上，所述大臂一级从动轮的中间区域设有第一螺纹通孔，所述大臂传动轴的末端面设有与所述第一螺纹通孔相适配的第一螺纹孔；
    所述小臂传动轴包括位于其末端位置处的第二安装段，所述小臂二级主动轮位于所述第二安装段上，所述小臂一级从动轮的中间区域设有第二螺纹通孔，所述小臂传动轴的末端面设有与所述第二螺纹通孔相适配的第二螺纹孔。
  31. 根据权利要求30所述的桌面机械臂驱动结构，其特征在于，
    所述第一承载件上设有第一通孔、与所述第一通孔对应布置的第一固定座和位于所述第一固定座上的两第一轴承，所述第一固定座上设有第一轴承安装孔，所述两第一轴承间隔布置在所述第一轴承安装孔内，所述大臂传动轴穿过所述第一通孔设置，所述大臂传动轴还包括与所述两第一轴承的内环过盈配合的第一连接段，所述第一连接段上设有位于所述两第一轴承之间的第一轴套；
    所述第二承载件上设有第二通孔、与所述第二通孔对应布置的第二固定座和位于所述第二固定座上的两第二轴承，所述第二固定座上设有第二轴承安装孔，所述两第二轴承间隔布置在所述第二轴承安装孔内，所述小臂传动轴穿过所述第二通孔设置，所述小臂传动轴还包括与所述两第二轴承的内环过盈配合的第二连接段，所述第二连接段上设有位于所述两第二轴承之间的第二轴套。
  32. 根据权利要求31所述的桌面机械臂驱动结构，其特征在于，
    所述第一承载件上设有第三轴承安装孔和位于所述第三轴承安装孔内的第三轴承，所述大臂驱动轴与所述第三轴承的内环过盈配合；
    所述第二承载件上还设有第四轴承安装孔、位于所述第四轴承安装孔内的第四轴承和与所述第四轴承的内环过盈配合的大臂从动转轴，所述大臂从 动转轴上设有第五轴承安装孔和位于所述第五轴承安装孔内的第五轴承，所述小臂驱动轴与所述第五轴承的内环过盈配合且其两端从所述第五轴承安装孔中穿出。
  33. 根据权利要求32所述的桌面机械臂驱动结构，其特征在于，
    所述第一承载件上还设有对应所述第三轴承安装孔布置的第一环形盖板，所述第一环形盖板与所述第三轴承的外环抵接，所述大臂二级从动轮的中间区域设有多个第三螺纹通孔，所述大臂驱动轴的末端面设有与所述第三螺纹通孔相适配的第三螺纹孔；
    所述第二承载件上还设有对应所述第四轴承安装孔布置的第二环形盖板，所述第二环形盖板与所述第四轴承的外环抵接，所述大臂从动转轴上还设有对应所述第五轴承安装孔布置的第三环形盖板，所述第三环形盖板与所述第五轴承的外环抵接，所述小臂二级从动轮的中间区域设有第四螺纹通孔，所述小臂驱动轴的末端面设有与所述第四螺纹通孔相适配的第四螺纹孔。
  34. 根据权利要求1所述的桌面机械臂驱动结构，其特征在于，还包括：执行电机；
    所述执行电机为伺服电机，所述执行电机包括绝对值编码器以及电磁抱闸器，所述电磁抱闸器为断电抱闸的电磁抱闸器。
  35. 根据权利要求34所述的桌面机械臂驱动结构，其特征在于，还包括：控制板；
    所述控制板分别和所述转台驱动电机、所述大臂驱动电机、所述小臂驱动电机以及所述执行电机连接。
  36. 一种桌面机械臂，其特征在于，包括权利要求1-35任一项所述的桌面机械臂驱动结构。
  37. 根据权利要求36所述的桌面机械臂，其特征在于，还包括通过末端与小臂连接的末端执行器。
  38. 一种机器人，其特征在于，包括权利要求36或37所述的桌面机械臂。
PCT/CN2020/141015 2020-11-11 2020-12-29 桌面机械臂驱动结构、桌面机械臂及机器人 WO2022099898A1 (zh)

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