Desktop mechanical arm driving structure, desktop mechanical arm and robot

Abstract

The application discloses a desktop mechanical arm driving structure, a desktop mechanical arm and a robot. The desktop mechanical arm driving structure comprises a rotating platform, a large-arm driving motor and a small-arm driving motor, a large-arm speed reducer and a small-arm speed reducer, the large-arm speed reducer and the small-arm speed reducer are arranged along a left-right direction and motor shafts are located on a first side of the rotating platform, a large-arm first transmission mechanism and a small-arm first transmission mechanism are arranged on the first side of the rotating platform, a large-arm second transmission mechanism is arranged on a second side of the rotating platform, an input shaft of the large-arm speed reducer is connected with the large-arm driving motor through the large-arm first transmission mechanism, an output shaft of the large-arm speed reducer is connected with the large arm through the large-arm second transmission mechanism, an input shaft of the small-arm speed reducer is connected with the small-arm driving motor through the small-arm first transmission mechanism, and an output shaft of the small-arm speed reducer is connected with the small arm. The desktop mechanical arm driving structure is more compact, the power transmission effect of the desktop mechanical arm can be optimized, and a greater speed reduction ratio can be realized.

Description

Technical Field

[0001] This invention relates to the field of desktop robotic arms, and particularly to a desktop robotic arm drive structure, a desktop robotic arm, and a robot. Background Technology

[0002] Desktop robotic arms are a subcategory of robotic arms, characterized by their strong adaptability and dynamic problem-solving capabilities. They are widely used in the field of education and generally consist of a base, a turntable, an upper arm, a lower arm, an end effector, and drive motors for the turntable, upper arm, and lower arm. The turntable is rotatably connected to the base. The upper arm is connected to both the turntable and the lower arm, and the lower arm is connected to the end effector. The end effector is used to house the actuator. The turntable drive motor drives the turntable to rotate relative to the base, the upper arm drive motor drives the upper arm to move, and the lower arm drive motor drives the lower arm to move. The upper arm and lower arm utilize the parallelogram principle to drive the end effector to move within the workspace, as illustrated in Chinese patent application number CN201620105515.2.

[0003] Currently, the upper arm drive assembly and lower arm drive assembly of desktop robotic arms are generally located on the left and right sides of the turntable, respectively. This results in a less compact drive structure for the desktop robotic arm. Furthermore, the upper arm drive assembly and lower arm drive assembly need to have essentially the same deceleration device; otherwise, the center of gravity of the desktop robotic arm will deviate too much from the center position in the left and right directions, resulting in a smaller deceleration ratio, which affects the stability of the desktop robotic arm's operation and limits its development and use. Summary of the Invention

[0004] The main objective of this invention is to provide a drive structure for a desktop robotic arm, aiming to solve the technical problems mentioned in the background section. The drive structure for the desktop robotic arm of this invention is more compact and can optimize the power transmission effect of the desktop robotic arm, achieving a larger reduction ratio.

[0005] To achieve the above objectives, this invention proposes a desktop robotic arm drive structure, including a turntable and a large arm drive motor, a large arm reducer, a large arm primary transmission mechanism, a large arm secondary transmission mechanism, a small arm drive motor, a small arm reducer, and a small arm primary transmission mechanism disposed on the turntable. The turntable has a first side and a second side facing each other. The large arm drive motor and the small arm drive motor are both arranged in the left-right direction, and the motor shafts of the large arm drive motor and the small arm drive motor are both located on the first side of the turntable. The large arm primary transmission mechanism and the small arm primary transmission mechanism are disposed on the first side of the turntable, and the large arm secondary transmission mechanism is disposed on the second side of the turntable. The large arm reducer is arranged in the left-right direction. The input shaft of the large arm reducer is connected to the large arm drive motor through the large arm primary transmission mechanism, and the output shaft of the large arm reducer is connected to the large arm through the large arm secondary transmission mechanism. The small arm reducer is arranged in the left-right direction. The input shaft of the small arm reducer is connected to the small arm drive motor through the small arm primary transmission mechanism, and the output shaft of the small arm reducer is connected to the small arm.

[0006] The boom drive motor and the forearm drive motor are stacked one on top of the other on the rear side of the turntable, with the boom drive motor located below the forearm drive motor.

[0007] The boom primary drive mechanism and the forearm primary drive mechanism are arranged vertically, with the boom primary drive mechanism located below the forearm primary drive mechanism.

[0008] The boom reducer is located inside the turntable, with both its input and output shafts extending out of the turntable.

[0009] Among them, the boom reducer and the boom drive motor are positioned opposite each other, and the forearm reducer and the forearm drive motor are positioned opposite each other.

[0010] The turntable includes: a base plate; a first support member and a second support member, which are arranged on the base plate at left and right intervals, wherein the boom drive motor and the forearm drive motor are supported on the first support member.

[0011] The boom primary transmission mechanism includes a boom primary drive wheel, a boom primary driven wheel, and a boom primary synchronous belt. The boom primary drive wheel, boom primary driven wheel, and boom primary synchronous belt are combined to form a belt transmission mechanism. The boom primary drive wheel is connected to the motor shaft of the boom drive motor, and the boom primary driven wheel is connected to the input shaft of the boom reducer.

[0012] The boom secondary transmission mechanism includes a boom secondary drive wheel, a boom secondary driven wheel, and a boom secondary synchronous belt. The boom secondary drive wheel, the boom secondary driven wheel, and the boom secondary synchronous belt are combined to form a belt transmission mechanism. The boom secondary drive wheel is connected to the output shaft of the boom reducer, and the boom secondary driven wheel is used to connect the boom.

[0013] The forearm primary transmission mechanism includes a forearm primary drive wheel, a forearm primary driven wheel, and a forearm primary synchronous belt. The forearm primary drive wheel, the forearm primary driven wheel, and the forearm primary synchronous belt are combined to form a belt transmission mechanism. The forearm primary drive wheel is connected to the motor shaft of the forearm drive motor, and the forearm primary driven wheel is connected to the input shaft of the forearm reducer.

[0014] The desktop robotic arm drive structure also includes a base, and the turntable is rotatably connected to the base around a vertical axis.

[0015] Among them, at least one of the boom drive motor and the forearm drive motor includes an absolute encoder and an electromagnetic brake, wherein the electromagnetic brake is a power-off electromagnetic brake.

[0016] The present invention also provides a desktop robotic arm, comprising: a drive structure, wherein the drive structure is the aforementioned desktop robotic arm drive structure; a large arm, wherein the large arm is connected to a large arm drive motor via a large arm reduction assembly; and a small arm, wherein the small arm is connected to a small arm drive motor via a small arm reduction assembly.

[0017] The present invention also provides a robot, including the aforementioned desktop robotic arm.

[0018] Compared with the prior art, the beneficial technical effects of the embodiments of the present invention are as follows:

[0019] The desktop robotic arm drive structure proposed in this invention has the same orientation of the motor shafts of the upper arm drive motor and the lower arm drive motor. Power is transmitted to the left and right sides of the turntable via upper arm and lower arm reducers, respectively. The power of the upper arm drive motor can be transmitted from the first side to the second side of the turntable. This breaks the limitation in related technologies where the upper arm and lower arm reduction components must be located on the left and right sides of the turntable, allowing for a more compact drive structure, optimized power transmission, and a larger reduction ratio. Furthermore, the upper arm and lower arm reduction components no longer need to have essentially identical structures; their structures can be more rationally selected based on the different driving requirements of the upper and lower arms. This ensures the stability of the desktop robotic arm while meeting the different driving force requirements of the upper and lower arms. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a desktop robotic arm according to an embodiment of the present invention.

[0021] Figure 2 This is another schematic diagram of a desktop robotic arm according to an embodiment of the present invention.

[0022] Figure 3 This is a rear view of a desktop robotic arm according to an embodiment of the present invention.

[0023] Figure 4 This is a right view of a desktop robotic arm according to an embodiment of the present invention.

[0024] Figure 5 This is a left view of a desktop robotic arm according to an embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram of the combination of the turntable, the arm drive motor, the arm reducer, the primary transmission mechanism, and the secondary transmission mechanism of the arm in a desktop robotic arm according to an embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram of the combination of the turntable, the arm drive motor, the arm reducer, the primary transmission mechanism, and the secondary transmission mechanism of the arm in a desktop robotic arm according to an embodiment of the present invention.

[0027] Reference numerals: Desktop robotic arm drive structure 100, base 10, turntable 20, base plate 21, first support member 22, second support member 23, mounting base 24, upper arm drive motor 30, upper arm reducer 31, upper arm first-stage drive wheel 321, upper arm first-stage driven wheel 322, upper arm first-stage synchronous belt 323, upper arm second-stage drive wheel 331, upper arm second-stage driven wheel 332, upper arm second-stage synchronous belt 333, lower arm drive motor 40, lower arm reducer 41, lower arm first-stage drive wheel 421, lower arm first-stage driven wheel 422, lower arm first-stage synchronous belt 423. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0029] Desktop robotic arms are a subcategory of robotic arms, characterized by their strong adaptability and dynamic problem-solving capabilities. They are widely used in the field of education and generally consist of a base, a turntable, an upper arm, a lower arm, an end effector, and drive motors for the turntable, upper arm, and lower arm. The turntable is rotatably connected to the base. The upper arm is connected to both the turntable and the lower arm, and the lower arm is connected to the end effector. The end effector is used to house the actuator. The turntable drive motor drives the turntable to rotate relative to the base, the upper arm drive motor drives the upper arm to move, and the lower arm drive motor drives the lower arm to move. The upper arm and lower arm utilize the parallelogram principle to drive the end effector to move within the workspace, as illustrated in Chinese patent application number CN201620105515.2.

[0030] Currently, desktop robotic arms are typically used for educational purposes and have high requirements for size. Using conventional transmission methods, it is impossible to ensure good transmission performance within a small size, resulting in less stable operation of the robotic arm.

[0031] To solve the above-mentioned technical problems, this invention proposes a desktop robotic arm drive structure 100, see [link to relevant documentation]. Figure 1-7 In one embodiment, the desktop robotic arm drive structure 100 includes: a turntable 20, a large arm drive motor 30, a large arm reducer 31, a large arm primary transmission mechanism, a large arm secondary transmission mechanism, a small arm drive motor 40, a small arm reducer 41, and a small arm primary transmission mechanism. The large arm drive motor 30, the large arm reducer 31, the large arm primary transmission mechanism, the large arm secondary transmission mechanism, the small arm drive motor 40, the small arm reducer 41, and the small arm primary transmission mechanism are all mounted on the turntable 20. The large arm drive motor 30 is configured to drive the large arm, and the small arm drive motor 40 is configured to drive the small arm.

[0032] The turntable 20 has a first side and a second side facing each other. The boom drive motor 30 and the forearm drive motor 40 are both arranged in the left-right direction. The motor shafts of the boom drive motor 30 and the forearm drive motor 40 face the same direction, and both motor shafts are located on the first side of the turntable 20. The primary drive mechanism for the boom and the primary drive mechanism for the forearm are located on the first side of the turntable, and the secondary drive mechanism for the boom is located on the second side of the turntable.

[0033] The boom reducer 31 is arranged in the left-right direction. The input shaft of the boom reducer is connected to the boom drive motor through the boom primary transmission mechanism. The output shaft of the boom reducer is connected to the boom through the boom secondary transmission mechanism. The motor shaft of the boom drive motor transmits power to the input shaft of the boom reducer through the boom primary transmission mechanism. After reduction, the power is transmitted to the output shaft of the boom reducer. Then, the power is transmitted from the output shaft of the boom reducer to the boom through the boom secondary transmission mechanism.

[0034] The forearm reducer is arranged in the left-right direction. The input shaft of the forearm reducer is connected to the forearm drive motor through the forearm primary transmission mechanism. The output shaft of the forearm reducer is connected to the forearm. The motor shaft of the forearm drive motor transmits power to the input shaft of the forearm reducer through the forearm primary transmission mechanism, and then transmits the power to the forearm through the output shaft of the forearm reducer.

[0035] In this invention, the upper arm is driven by the cooperation of the upper arm drive motor 30, the upper arm reducer 31, the upper arm primary transmission mechanism, and the upper arm secondary transmission mechanism, and the lower arm is driven by the cooperation of the lower arm drive motor 40, the lower arm reducer 41, and the lower arm primary transmission mechanism. This enables the driving of both the upper and lower arms. Furthermore, the motor shafts of the upper arm drive motor and the lower arm drive motor face the same direction, and the power is transmitted to the left and right sides of the turntable via the upper and lower arm reducers. The power of the upper arm drive motor can be transmitted from the first side of the turntable to the second side, breaking the limitation in related technologies where the upper arm reduction assembly and the lower arm reduction assembly must be located on the left and right sides of the turntable respectively. This allows for a more compact drive structure for the desktop robotic arm, optimizing the power transmission effect. Moreover, the upper arm reduction assembly and the lower arm reduction assembly no longer need to have essentially identical structures; their structures can be more rationally selected based on the different driving requirements of the upper and lower arms, ensuring the stability of the desktop robotic arm while meeting the different driving force requirements of the upper and lower arms.

[0036] Optionally, the desktop robotic arm drive structure may further include a base 10, and the turntable 20 may be rotatably mounted on the base 10 about an axis extending vertically. Additionally, the base 10 may be rectangular, with a cavity within it to accommodate the turntable 20 drive assembly. The turntable 20 drive assembly may include a turntable 20 drive motor and a turntable 20 drive shaft. The turntable 20 drive shaft is a hollow shaft used for routing cables between the base 10 and the large arm drive motor 30 and the small arm drive motor 40. The turntable 20 drive shaft is located in the central area of ​​the cavity, and the turntable 20 drive motor is located around it, forming a staggered arrangement within the cavity of the base 10. This staggered arrangement of the turntable 20 drive shaft and motor reduces the overall height of the desktop robotic arm, thereby lowering its center of gravity and ensuring that the desktop robotic arm does not sway or tip over when grasping heavy objects.

[0037] Optionally, the boom drive motor 30 and the forearm drive motor 40 are stacked vertically on the rear side of the turntable, with the boom drive motor 30 located below the forearm drive motor 40. In this invention, the front and rear sides of the turntable 20 are based on the extension directions of the boom and forearm, with the boom and forearm configured to extend towards the front of the turntable 20. This front-rear arrangement of the boom, forearm, and drive motors effectively improves the stability of the drive structure 100.

[0038] Optionally, the upper arm primary drive mechanism and the lower arm primary drive mechanism are arranged vertically, with the upper arm primary drive mechanism located below the lower arm primary drive mechanism. This arrangement of the upper arm drive motor, lower arm drive motor, upper arm primary drive mechanism, and lower arm primary drive mechanism facilitates stable power transmission between the drive motor and the transmission mechanism, and results in a compact structure for the desktop robotic arm drive system.

[0039] The boom reducer 31 is located inside the turntable 20. This allows the center of gravity of the desktop robotic arm drive structure to be closer to the physical center of the drive structure, improving the stability of the drive structure 100.

[0040] Optionally, the boom reducer 31 and the boom drive motor 30 are positioned front-to-back to facilitate power transmission between the boom drive motor 30 and the boom reducer 31. Similarly, the forearm reducer 41 can be positioned front-to-back with the forearm drive motor 40 to facilitate power transmission between the boom drive motor 30 and the boom reducer 31.

[0041] In conjunction with the aforementioned embodiments, the boom reducer 31 and the boom drive motor 30 are positioned front-to-back, while the forearm reducer 41 and the forearm drive motor 40 are positioned front-to-back. The boom reducer 31 and the forearm reducer 41 are arranged vertically, and the boom drive motor 30 and the forearm drive motor 40 are positioned vertically. The boom primary transmission mechanism transmits power in the front-to-back direction, and the forearm primary transmission mechanism also transmits power in the front-to-back direction. The boom primary transmission mechanism and the forearm primary transmission mechanism are positioned vertically, and the power transmission between them will not interfere with each other. This simplifies the drive structure 100, improves its stability, and facilitates maintenance. In addition, the boom secondary transmission mechanism, located on the second side of the turntable 20, is positioned on opposite sides of the turntable 20 along with the boom primary transmission mechanism and the forearm primary transmission mechanism, which further facilitates the power transmission of the drive structure 100.

[0042] Optionally, see Figures 1 to 7 The turntable 20 proposed in this embodiment of the invention includes: a base plate 21; and a first support member 22 and a second support member 23. The first support member 22 and the second support member 23 are spaced apart on the base plate 21 in the left and right direction. The boom drive motor 30 and the forearm drive motor 40 are both supported on the first support member 22.

[0043] The first support member 22 has a first clearance opening, and the second support member 23 has a second clearance opening. In this embodiment, the base plate 21 is a plate, and the first support member 22 and the second support member 23 can be in the form of a frame, a plate, or other structures, and are arranged opposite to each other on the base plate 21. The first support member 22 is provided with a mounting base 24 for mounting the forearm drive motor 40, and the boom drive motor passes through the first clearance opening and the second clearance opening. The boom deceleration assembly is disposed on the first support member 22 and the second support member 23. The first support member 22 and the second support member 23 have notches. The forearm drive motor 40 is supported on the first support member 22 and is located at the notches on the first support member 22 and the second support member 23. The forearm deceleration assembly is disposed on the second support member 23. It should be noted that the mounting base 24 can be integrally formed with the first support member 22 or detachably connected to the first support member 22. The detachable connection method is, for example, screw connection.

[0044] In one embodiment, see Figure 1 as well as Figure 6 , Figure 7 The input shaft of the boom reducer 31 is located on the first side of the turntable 20 and close to the motor shaft of the boom drive motor 30, while the output shaft of the boom reducer 31 is located on the second side of the turntable 20. The boom reducer 31 can provide speed reduction and torque increase for the boom drive motor 30, thereby improving the gripping effect of the robotic arm. Both ends of the boom reducer 31 extend to opposite sides of the turntable 20, facilitating connection to the boom drive motor 30.

[0045] Optionally, since the motor shafts of the boom drive motor 30 and the forearm drive motor 40 are located on the same side of the turntable 20, and the boom reducer 31 can transmit the power of the boom drive motor 30 to the other side of the turntable 20, it is possible to transmit power from the opposite sides of the turntable 20 to the boom and forearm respectively, thereby improving the stability of power transmission in the robotic arm drive structure 100 and avoiding interference between the boom reduction assembly and the forearm reduction assembly.

[0046] Optionally, the upper arm reducer 31 can be positioned below the upper arm and lower arm, that is, close to the base 10. This lowers the center of gravity of the drive structure 100, improving its overall stability. Specifically, by balancing the upper arm drive motor 30 and the lower arm drive motor 40 with the upper and lower arms, the center of gravity of the desktop robotic arm is prevented from deviating too much from the center of the base 10, thus ensuring that the desktop robotic arm will not sway or tip over when grasping heavy objects due to the center of gravity shifting to the side of the upper and lower arms.

[0047] Alternatively, the driving capability of the boom drive motor 30 can be set to be greater than that of the forearm drive motor 40. Furthermore, the boom drive motor 30 can be positioned adjacent to the turntable 20, and the forearm drive motor 40 can be stacked on the side of the boom drive motor 30 away from the turntable 20, in order to further improve the stability of the drive structure 100.

[0048] like Figure 6 As shown, the primary transmission mechanism of the boom includes a primary drive pulley 321, a primary driven pulley 322, and a primary synchronous belt 323. These components form a belt drive mechanism. The primary drive pulley 321 is connected to the motor shaft of the boom drive motor 30, and the primary driven pulley 322 is connected to the input shaft of the boom reducer 31. The number of teeth on the primary drive pulley 321 can be set to be less than the number of teeth on the primary driven pulley 322, thus achieving speed reduction transmission through the primary transmission mechanism. Alternatively, the primary transmission mechanism can be configured to transmit power without speed reduction. Through the power transmission of the primary transmission mechanism, the power transmission between the boom drive motor 30 and the boom reducer 31 can be achieved.

[0049] like Figure 7 The boom secondary transmission mechanism includes a boom secondary drive pulley 331, a boom secondary driven pulley 332, and a boom secondary synchronous belt 333. These components form a belt drive mechanism. The boom secondary drive pulley 331 is connected to the output shaft of the boom reducer 31, and the boom secondary driven pulley 332 is rotatably connected to the turntable 20. The boom secondary driven pulley 332 is used to connect the boom. The number of teeth on the boom secondary drive pulley 331 can be set to be less than the number of teeth on the boom secondary driven pulley 332, thus achieving speed reduction transmission through the boom secondary transmission mechanism. Alternatively, the boom secondary transmission mechanism can be configured to transmit power without speed reduction. Through the power transmission of the boom secondary transmission mechanism, the power transmission between the boom drive motor 30 and the boom reducer 31 can be achieved.

[0050] The boom's primary drive pulley 321 is mounted on the output shaft of the boom drive motor 30, and the primary driven pulley is mounted on the input shaft of the boom reducer 31. The primary synchronous belt 323 is mounted on both the primary drive pulley 321 and the primary driven pulley. The secondary drive pulley 331 is mounted on the output shaft of the boom reducer 31, and the secondary driven pulley is rotatably mounted on the turntable 20. The secondary synchronous belt 333 is mounted on both the secondary drive pulley 331 and the secondary driven pulley. The diameter of the primary driven pulley is larger than that of the primary drive pulley 321, and the diameter of the secondary driven pulley is larger than that of the secondary drive pulley 331. The output shaft of the boom drive motor 30 drives the boom primary drive wheel 321 to rotate, and then drives the boom primary driven wheel via the boom primary synchronous belt 323, thereby driving the input shaft of the boom reducer 31. The output shaft of the boom reducer 31 drives the boom secondary drive wheel 331 to rotate, and then drives the boom secondary driven wheel via the boom secondary synchronous belt 333, thereby driving the boom.

[0051] Optionally, the forearm reducer 41 is located on the first side outside the turntable 20. The input shaft of the forearm reducer 41 is connected to the motor shaft of the forearm drive motor 40, and the output shaft of the forearm reducer 41 is used to connect the forearm. Power transmission between the forearm drive motor 40 and the forearm can be achieved through the forearm reducer 41.

[0052] Optionally, such as Figure 1 and Figure 2 The forearm primary drive mechanism includes a primary drive pulley 421, a primary driven pulley 422, and a primary synchronous belt 423. These components form a belt drive mechanism. The primary drive pulley 421 is connected to the motor shaft of the forearm drive motor 40, and the primary driven pulley 422 is connected to the input shaft of the forearm reducer 41. The radial dimension of the primary drive pulley 421 can be set smaller than that of the primary driven pulley 422, thus enabling speed reduction transmission through the primary drive mechanism. Alternatively, the primary drive mechanism can be configured to transmit power without speed reduction. Through the power transmission of the primary drive mechanism, power transmission between the forearm drive motor 40 and the forearm reducer 41 can be achieved.

[0053] The forearm's primary drive wheel 421 is mounted on the output shaft of the forearm drive motor 40, and the primary driven wheel is mounted on the input shaft of the forearm reducer 41. The primary timing belt 423 is mounted on both the primary drive wheel 421 and the primary driven wheel. The forearm reducer 41 is mounted on the turntable 20, and its output shaft is adapted to connect to the forearm. The diameter of the primary driven wheel is larger than that of the primary drive wheel 421. The output shaft of the forearm drive motor 40 drives the primary drive wheel 421 to rotate, which in turn drives the primary driven wheel via the primary timing belt 423, thereby driving the input shaft of the forearm reducer 41. The output shaft of the forearm reducer 41 then drives the forearm to rotate.

[0054] In another embodiment, at least one of the upper arm drive motor 30 and the lower arm drive motor 40 proposed in this embodiment may include an absolute encoder and an electromagnetic brake. The upper arm drive motor 30 and the lower arm drive motor 40 may be servo motors, and are electrically connected to the battery mounting base. In this embodiment, the electromagnetic brake enables the upper arm drive motor 30 and the lower arm drive motor 40 to stop rapidly after power failure for mechanical braking, thereby preventing the upper and lower arms of the desktop robotic arm from falling freely after power failure and improving safety. The encoder is located at the opposite end of the motor's output shaft and connected to the output shaft. The encoder records the motor's zero-point position to aid in the motor's homing operation.

[0055] In another embodiment, the absolute encoder proposed in this invention is a multi-turn absolute encoder, and the electromagnetic brake is a power-off electromagnetic brake. In this embodiment, compared to a single-turn encoder, the multi-turn encoder can not only sense the absolute angular position within a single turn, but also sense the number of turns after encoder self-zeroing.

[0056] The present invention further proposes a desktop robotic arm, including a drive structure 100. The specific structure of the drive structure 100 is as described in the above embodiments. In addition, the desktop robotic arm also includes a large arm and a small arm. The large arm is connected to the large arm drive motor 30 through a large arm reduction assembly, and the small arm is connected to the small arm drive motor 40 through a small arm reduction assembly. Since the desktop robotic arm adopts all the technical solutions of all the above embodiments, it has at least all the technical effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0057] The present invention also proposes a robot, which includes a desktop robotic arm. The desktop robotic arm includes the desktop robotic arm drive structure 100 described in the foregoing embodiments. Since the desktop robotic arm drive structure 100 adopts all the technical solutions of all the above embodiments, it has at least all the technical effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0058] In yet another embodiment, combined with Figures 1 to 7 The turntable 20 proposed in this embodiment of the invention is provided with limiting members located on the front and rear sides of the boom. The limiting members are used to form a resisting engagement with the stop block provided at the end of the boom. In this embodiment, when the boom rotates, it will drive the stop block located on it to rotate. When the stop block rotates to the position of the limiting member, it will be blocked by the limiting member at this position, thereby forming a rotation limit for the boom.

[0059] In another embodiment, the upper arm drive motor 30 and the lower arm drive motor 40 proposed in this embodiment of the invention are stacked vertically. In this embodiment, the upper arm drive motor 30 and the lower arm drive motor 40 are preferably stacked vertically, which optimizes the spatial layout, saves space, improves structural compactness, and contributes to the miniaturization and lightness of the desktop robotic arm. The upper arm deceleration assembly and the lower arm deceleration assembly are respectively located on the left and right outer sides of the turntable 20, which simplifies the structural design, makes disassembly and assembly simple, and facilitates daily maintenance.

[0060] Furthermore, the vertical, horizontal, and front-back directions in this invention are merely for clearly describing the embodiments of this invention and are based on the accompanying drawings in this application; they are not intended to limit the scope of protection of this invention.

[0061] The above are only some or preferred embodiments of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention's specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A desktop robotic arm drive structure, characterized in that, The device includes a turntable and, mounted on the turntable, a boom drive motor, a boom reducer, a boom primary transmission mechanism, a boom secondary transmission mechanism, a forearm drive motor, a forearm reducer, and a forearm primary transmission mechanism. The turntable has a first side and a second side facing each other. The boom drive motor and the forearm drive motor are both arranged in a left-right direction, and their motor shafts are located on the first side of the turntable. The boom primary transmission mechanism and the forearm primary transmission mechanism are located on the first side of the turntable, and the boom secondary transmission mechanism is located on the second side of the turntable. The boom reducer is arranged in the left-right direction. The input shaft of the boom reducer is connected to the boom drive motor through the boom primary transmission mechanism, and the output shaft of the boom reducer is connected to the boom through the boom secondary transmission mechanism. The forearm reducer is arranged in the left-right direction. The input shaft of the forearm reducer is connected to the forearm drive motor through the forearm primary transmission mechanism, and the output shaft of the forearm reducer is connected to the forearm. The boom reducer is located inside the turntable, with both its input and output shafts extending out of the turntable. The boom reducer and boom drive motor are positioned front-to-back, as are the forearm reducer and forearm drive motor. The boom drive motor and forearm drive motor are stacked vertically on the rear side of the turntable, with the boom drive motor positioned below the forearm drive motor. The boom primary transmission mechanism and forearm primary transmission mechanism are arranged vertically, with the boom primary transmission mechanism positioned below the forearm primary transmission mechanism. The boom reducer and forearm reducer are arranged vertically, while the boom primary transmission mechanism transmits power in the front-to-back direction, and the forearm primary transmission mechanism also transmits power in the front-to-back direction.

2. The desktop robot arm driving structure according to claim 1, wherein, The turntable includes: Base plate; A first support member and a second support member are disposed on the base plate at intervals along the left-right direction. The boom drive motor and the forearm drive motor are supported on the first support member.

3. The desktop robot arm driving structure according to claim 1, wherein, The boom primary transmission mechanism includes a boom primary drive pulley, a boom primary driven pulley, and a boom primary synchronous belt. The boom primary drive pulley, the boom primary driven pulley, and the boom primary synchronous belt are combined to form a belt transmission mechanism. The boom primary drive pulley is connected to the motor shaft of the boom drive motor, and the boom primary driven pulley is connected to the input shaft of the boom reducer.

4. The desktop robot arm driving structure according to claim 1, wherein, The boom secondary transmission mechanism includes a boom secondary drive pulley, a boom secondary driven pulley, and a boom secondary synchronous belt. The boom secondary drive pulley, the boom secondary driven pulley, and the boom secondary synchronous belt are combined to form a belt transmission mechanism. The boom secondary drive pulley is connected to the output shaft of the boom reducer, and the boom secondary driven pulley is used to connect the boom.

5. The desktop robot arm drive structure according to claim 1, wherein, The forearm primary transmission mechanism includes a forearm primary drive wheel, a forearm primary driven wheel, and a forearm primary synchronous belt. The forearm primary drive wheel, the forearm primary driven wheel, and the forearm primary synchronous belt are combined to form a belt transmission mechanism. The forearm primary drive wheel is connected to the motor shaft of the forearm drive motor, and the forearm primary driven wheel is connected to the input shaft of the forearm reducer.

6. The desktop robot arm drive structure according to claim 1, wherein, The desktop robotic arm drive structure also includes a base, and the turntable is rotatably connected to the base about a vertical axis.

7. The desktop robotic arm drive structure according to claim 1, wherein, At least one of the boom drive motor and the forearm drive motor includes an absolute encoder and an electromagnetic brake, wherein the electromagnetic brake is a power-off electromagnetic brake.

8. A desktop robotic arm, characterized by, include: A drive structure, wherein the drive structure is a desktop robotic arm drive structure according to any one of claims 1-7; The boom is connected to the boom drive motor via the boom reducer, the boom primary transmission mechanism, and the boom secondary transmission mechanism. The forearm is connected to the forearm drive motor via the forearm reducer and the forearm primary transmission mechanism.

9. A robot, characterized in that Including the desktop robotic arm as described in claim 8.

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