CN-115256364-B - Desktop mechanical arm driving structure, desktop mechanical arm and robot

CN115256364BCN 115256364 BCN115256364 BCN 115256364BCN-115256364-B

Abstract

The invention discloses a desktop mechanical arm driving structure, a desktop mechanical arm and a robot, wherein the desktop mechanical arm driving structure comprises a turntable, a big arm driving motor, a small arm driving motor, a big arm speed reducer and a small arm speed reducer are all arranged along the left-right direction, motor shafts are all positioned at the first side of the turntable, a big arm primary transmission mechanism and a small arm primary transmission mechanism are arranged at the first side of the turntable, the second side of revolving stage is located to big arm second grade drive mechanism, and big arm reduction gear's input shaft passes through big arm first order drive mechanism and links to each other with big arm driving motor, and big arm is connected through big arm second grade drive mechanism to big arm reduction gear's output shaft, and the input shaft of forearm reduction gear passes through forearm first order drive mechanism and links to each other with forearm driving motor, and the output shaft of forearm reduction gear is the forearm. The driving structure of the desktop mechanical arm is more compact, the power transmission effect of the desktop mechanical arm can be optimized, and a larger reduction ratio is realized.

Inventors

YE WEIZHI
JIANG YU
LANG XULIN

Assignees

深圳市越疆科技股份有限公司
深圳市越疆科技有限公司

Dates

Publication Date: 20260421
Application Date: 20220811
Priority Date: 20220811

Claims (9)

1. The utility model provides a desktop arm drive structure, its characterized in that includes the revolving stage and set up in big arm driving motor, big arm reduction gear, big arm primary drive mechanism, big arm secondary drive mechanism, forearm driving motor, forearm reduction gear, forearm primary drive mechanism on the revolving stage, the revolving stage has the first side and the second side of controlling opposite, big arm driving motor with forearm driving motor all is arranged along controlling the direction, just big arm driving motor with forearm driving motor's motor shaft all is located the first side of revolving stage, big arm primary drive mechanism, forearm primary drive mechanism are located the first side of revolving stage, big arm secondary drive mechanism is located the second side of revolving stage, The large arm speed reducer is arranged in the left-right direction, an input shaft of the large arm speed reducer is connected with the large arm driving motor through the large arm primary transmission mechanism, an output shaft of the large arm speed reducer is connected with the large arm through the large arm secondary transmission mechanism, the small arm speed reducer is arranged in the left-right direction, an input shaft of the small arm speed reducer is connected with the small arm driving motor through the small arm primary transmission mechanism, and an output shaft of the small arm speed reducer is connected with the small arm; The large arm speed reducer is arranged in the turntable, an input shaft and an output shaft of the large arm speed reducer penetrate out of the turntable, the large arm speed reducer is opposite to the large arm driving motor in front-back direction, the small arm speed reducer is opposite to the small arm driving motor in front-back direction, the large arm driving motor and the small arm driving motor are vertically stacked on the rear side of the turntable, the large arm driving motor is arranged below the small arm driving motor, the large arm primary transmission mechanism and the small arm primary transmission mechanism are arranged in the vertical direction, the large arm primary transmission mechanism is arranged below the small arm primary transmission mechanism, the large arm speed reducer and the small arm speed reducer are arranged in the vertical direction, the large arm primary transmission mechanism transmits power in the front-back direction, and the small arm primary transmission mechanism transmits power in the front-back direction.
2. The table robot drive structure according to claim 1, wherein the turntable includes: A bottom plate; The first bearing piece and the second bearing piece are arranged on the bottom plate at intervals along the left-right direction, Wherein, big arm driving motor with the forearm driving motor support in first carrier.
3. The desktop mechanical arm driving structure according to claim 1, wherein the large arm primary transmission mechanism comprises a large arm primary driving wheel, a large arm primary driven wheel and a large arm primary synchronous belt, the large arm primary driving wheel, the large arm primary driven wheel and the large arm primary synchronous belt are combined into a belt transmission mechanism, the large arm primary driving wheel is connected with a motor shaft of the large arm driving motor, and the large arm primary driven wheel is connected with an input shaft of the large arm speed reducer.
4. The desktop mechanical arm driving structure according to claim 1, wherein the big arm secondary transmission mechanism comprises a big arm secondary driving wheel, a big arm secondary driven wheel and a big arm secondary synchronous belt, the big arm secondary driving wheel, the big arm secondary driven wheel and the big arm secondary synchronous belt are combined into a belt transmission mechanism, the big arm secondary driving wheel is connected with an output shaft of the big arm reducer, and the big arm secondary driven wheel is used for connecting the big arm.
5. The desktop mechanical arm driving structure according to claim 1, wherein the arm primary transmission mechanism comprises an arm primary driving wheel, an arm primary driven wheel and an arm primary synchronous belt, the arm primary driving wheel, the arm primary driven wheel and the arm primary synchronous belt form a belt transmission mechanism, the arm primary driving wheel is connected with a motor shaft of the arm driving motor, and the arm primary driven wheel is connected with an input shaft of the arm reducer.
6. The table top mechanical arm drive of claim 1, further comprising a base, the turntable being rotatably coupled to the base about a vertical axis.
7. The tabletop mechanical arm driving structure according to claim 1, wherein at least one of the large arm driving motor and the small arm driving motor includes an absolute value encoder and an electromagnetic band-type brake, and the electromagnetic band-type brake is an electromagnetic band-type brake of a power-off band-type brake.
8. A tabletop mechanical arm, comprising: a drive structure, the drive structure being a tabletop mechanical arm drive structure according to any one of claims 1-7; The big arm is in transmission connection with the big arm driving motor through the big arm speed reducer, the big arm primary transmission mechanism and the big arm secondary transmission mechanism; The small arm is in transmission connection with the small arm driving motor through the small arm speed reducer and the small arm primary transmission mechanism.
9. A robot comprising the tabletop robot arm of claim 8.

Description

Desktop mechanical arm driving structure, desktop mechanical arm and robot Technical Field The invention relates to the field of desktop mechanical arms, in particular to a desktop mechanical arm driving structure, a desktop mechanical arm and a robot. Background The desktop mechanical arm is a subdivision class of mechanical arm, it possesses strong adaptability and dynamic problem resolving capability, by wide application in the teaching field, generally by the base, the revolving stage, the big arm, the forearm, end and revolving stage driving motor, big arm driving motor and forearm driving motor constitute, revolving stage and the rotatable connection of base, big arm is connected with revolving stage and forearm respectively, forearm and end connection, the end is used for setting up the executor, revolving stage driving motor is used for driving the revolving stage rotatory for the base, big arm driving motor is used for driving big arm motion, forearm driving motor is used for driving the forearm motion, big arm and forearm utilize parallelogram principle can drive the end to move in the working space, for example, chinese patent with application number CN 201620105515.2. At present, the big arm driving component and the small arm driving component of the desktop mechanical arm are generally arranged on the left side and the right side of the turntable respectively, so that the driving structure of the desktop mechanical arm is not compact enough, the big arm driving component and the small arm driving component are required to have basically the same speed reducing device, otherwise, the gravity center of the desktop mechanical arm is excessively deviated from the center position of the desktop mechanical arm in the left-right direction, the speed reduction is smaller, the operation stability of the desktop mechanical arm is influenced, and the development and the use of the desktop mechanical arm are limited. Disclosure of Invention The invention mainly aims to provide a desktop mechanical arm driving structure which aims to solve the technical problems in the background technology. The driving structure of the desktop mechanical arm is more compact, the power transmission effect of the desktop mechanical arm can be optimized, and a larger reduction ratio is realized. In order to achieve the above purpose, the invention provides a desktop mechanical arm driving structure, which comprises a turntable, and a big arm driving motor, a big arm speed reducer, a big arm primary transmission mechanism, a big arm secondary transmission mechanism, a small arm driving motor, a small arm speed reducer and a small arm primary transmission mechanism which are arranged on the turntable, wherein the turntable is provided with a first side and a second side which are opposite left and right, the big arm driving motor and the small arm driving motor are all arranged along the left and right direction, motor shafts of the big arm driving motor and the small arm driving motor are all positioned on the first side of the turntable, the big arm primary transmission mechanism and the small arm primary transmission mechanism are arranged on the first side of the turntable, the big arm secondary transmission mechanism is arranged on the second side of the turntable, an input shaft of the big arm speed reducer is connected with the big arm driving motor through the big arm primary transmission mechanism, and an output shaft of the small arm speed reducer is connected with the small arm through the small arm primary transmission mechanism, and the output shaft of the small arm speed reducer is connected with the small arm. Wherein, big arm driving motor and forearm driving motor range upon range of setting up from top to bottom in the revolving stage rear side, and big arm driving motor locates forearm driving motor's below. Wherein, big arm one-level drive mechanism and forearm one-level drive mechanism are arranged along upper and lower direction, and big arm one-level drive mechanism locates forearm one-level drive mechanism below. The large arm speed reducer is arranged inside the rotary table, and an input shaft and an output shaft of the large arm speed reducer penetrate out of the rotary table. The large arm speed reducer is opposite to the large arm driving motor in front-back direction, and the small arm speed reducer is opposite to the small arm driving motor in front-back direction. The turntable comprises a bottom plate, a first bearing piece and a second bearing piece, wherein the first bearing piece and the second bearing piece are arranged on the bottom plate at intervals along the left and the right, and the large arm driving motor and the small arm driving motor are supported on the first bearing piece. The large arm primary driving mechanism comprises a large arm primary driving wheel, a large arm primary driven wheel and a large arm primary synchronous belt, wherein the large arm primary driving wheel, the