Rotary table structure, driving assembly, lightweight industrial desktop mechanical arm and robot

Abstract

The application relates to the technical field of lightweight industrial desktop mechanical arms, and provides a rotary table structure, a driving assembly, a lightweight industrial desktop mechanical arm and a robot, the rotary table structure comprising a large-arm driving motor, a small-arm driving motor, a large-arm speed reducer and a small-arm speed reducer; the large-arm driving motor is in transmission connection with a large-arm first-stage synchronous belt pulley assembly, is in transmission connection with the large-arm speed reducer through the large-arm first-stage synchronous belt pulley assembly, and the large-arm speed reducer is in transmission connection with a large-arm second-stage synchronous belt pulley assembly; the large-arm second-stage synchronous belt pulley assembly is used for driving a large arm of the desktop mechanical arm; the small-arm driving motor is in transmission connection with a small-arm synchronous belt pulley assembly; the small-arm synchronous belt pulley assembly is in transmission connection with the small-arm speed reducer; and the small-arm speed reducer is used for driving a small arm of the desktop mechanical arm; wherein the reduction ratios of the large-arm first-stage synchronous belt pulley assembly, the large-arm second-stage synchronous belt pulley assembly and the small-arm synchronous belt pulley assembly are greater than 1. The application solves the problem of insufficient load capacity of the existing lightweight industrial desktop mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lightweight industrial desktop mechanical arm, and particularly relates to a turntable structure of a lightweight industrial desktop mechanical arm, a driving assembly, a desktop mechanical arm and a robot. BACKGROUND

[0002] In 1954, the concept of industrial mechanical arm was first proposed by Dewall in the United States. The key point of the industrial mechanical arm is to control the joints of the mechanical arm by servo technology, and to record and reproduce the actions of the mechanical arm by teaching the actions of the mechanical arm by hand. These industrial mechanical arms are mainly composed of hands and arms similar to human beings, which can replace the heavy labor of human beings to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety, and are widely used in mechanical manufacturing, metallurgy, electronics and other industrial fields.

[0003] As disclosed in CN204235546U, a kind of industrial multi-joint mechanical arm is shown in Figure 1 As a relatively traditional industrial mechanical arm, it is configured with a large arm A1 and a small arm A2 on a turntable on the base. Since the number of joint shafts is relatively large, usually 6 to 7 shafts, i.e. 6 to 7 sets of motor, reducer, brake, encoder and other components are required. Although the load capacity is high and the driving control precision is high, there are problems of large size and high manufacturing cost.

[0004] Based on the above problems of the industrial mechanical arm, a four-axis industrial mechanical arm using a parallelogram combined arm frame is developed as disclosed in JP2002021807, as shown in Figure 2 The disclosed industrial mechanical arm is mainly a fixed table B1 rotatably connected with a turntable B2, the turntable B2 is configured with a power and a large arm B3, the end of the large arm B3 is pivotally connected with a small arm B4, the end of the small arm B4 is a mechanical hand B5, and it is explicitly pointed out that it is used for industrial direction carrying. From the structure of the drawing, it is still a simple scheme of motor + reducer direct connection. This kind of industrial mechanical arm is generally used for stacking and carrying work in plane-plane, and since two shafts are saved, the manufacturing cost is reduced. This kind of mechanical arm generally adopts a power scheme of large power motor and large reduction ratio reducer direct connection, so as to obtain larger load capacity, and the cost is lower compared with the above-mentioned traditional industrial mechanical arm or US16 / 754874 or CN111360787A disclosed industrial / collaborative mechanical arm. US16 / 754874 is shown in Figure 3 The large arm C2 is rotatably connected to the turntable C1, and the small arm C3 is rotatably connected to the large arm C2. CN111360787A is shown in Figure 4As shown, including the first joint D1, the second joint D2, the third joint D3, the fourth joint D4, the fifth joint D5, the sixth joint D6 and the seventh joint D7, each joint includes a customized joint motor solution with a reducer and a motor.

[0005] In recent years, a lightweight desktop robot arm appears in the market, unlike the industrial robot arm with high price and large size, the desktop robot arm retains the characteristics of traditional robot arm while deriving many of its own advantages. Compared with the weight of dozens of kilograms or even hundreds of kilograms of industrial robot arm, the weight of most desktop robot arms is only within 10 kilograms or even 3 kilograms, and the floor area can be controlled to be less than the size of an A4 paper, and an adult can directly carry it with his hand. As a whole, it can be regarded as a simplified version of the industrial multi-joint robot arm disclosed in CN204235546U, such as the lightweight desktop robot arm disclosed in CN205394539U, CN204868855U and CN110948470A, which adopts a parallelogram combined arm frame. Generally, such robot arms are usually used in education and training scenes with low requirements, such as programming teaching, writing and drawing, and light weight grabbing and carrying, and they have made great progress in miniaturization and cost reduction. Such robot arms are Figure 5 The structure is shown in the figure, but such lightweight desktop robot arms mainly use low-precision gearboxes or reduction synchronous belts for reduction, resulting in small load (generally the load is 200 to 500 grams), low driving control precision, and can only be applied to education, teaching programming and other scenes, and the performance in the industrial direction is not satisfactory.

[0006] And because the above-mentioned lightweight desktop robot arm with a parallelogram combined arm frame has the characteristics of small size and low cost, it is found that it has good application prospects in the 3C digital manufacturing field, because the parts produced in the 3C digital field are usually light, usually only a few grams or tens of grams, and the production process is complex, and the automatic assembly line needs to be built very compactly. Although the industrial robot arm has high load capacity and high precision, it is difficult to set up due to its large size, but such a lightweight robot arm is more suitable. At the same time, the price / cost of traditional industrial / collaborative robot arm is several times that of such lightweight desktop robot arm, which can effectively reduce the cost of robot arm replacing manual labor, so there is an opportunity for such lightweight desktop robot arm to be widely used in 3C digital manufacturing and other light industrial fields.

[0007] Therefore, the development of lightweight desktop mechanical arm as disclosed in CN112318547A, CN112454329B, CN112454326A, CN112454327A, CN112454328A, CN112454417A, CN112454346B, see Figure 6 The schematic structural diagram mainly includes a base E1, a rotary table E2 rotatably mounted on the base E1, a power part composed of a motor and a synchronous belt reducer arranged on the rotary table E2, and a large arm E3 rotatably connected to the rotary table E2, and a small arm E4 pivotally connected to the end of the large arm E3. This type of mechanical arm uses a motor + two-stage synchronous pulley as the transmission and reduction structure, which further expands the load (about 750 grams) and maintains high control accuracy (repositioning accuracy about 0.02 mm) while keeping the size small. As can be seen from CN112466568A, due to the need to keep the size small, the structure has approached the limit of the production process, but this structure still has the problems of poor rigidity of the motion system and large inertia ratio.

[0008] Meanwhile, with the continuous application of the above lightweight desktop mechanical arm in the 3C digital manufacturing field, it is found that due to the need for production and the need to improve production efficiency in the 3C digital manufacturing field, it is often necessary to use complex jigs or fixtures. For example, in order to simultaneously suction and place multiple materials, a suction jig with multiple groups of suction cups is needed. At this time, the mass of such jigs or fixtures may reach 500 grams to 1000 grams or even higher, and the weight of the machined parts, etc. At this time, the load capacity of the above lightweight desktop mechanical arm as disclosed in CN112318547A will be insufficient and cannot adapt to such application scenarios with higher load capacity requirements.

[0009] If the mechanical arm power structure disclosed in CN112318547A is to be improved to increase the load capacity, the reduction ratio needs to be increased first. However, if the reduction system is further increased in reduction ratio, such as by adding one more stage of synchronous belt reduction, the more stages of synchronous belt will increase the low-rigidity transmission links in the transmission system, which will further reduce the rigidity of the transmission system. When the transmission system is not rigid enough, "gaps" or / and "elasticity" effects will occur between the driving side (i.e. the motor side) and the driven side (the load side). The driving force output by the motor will be delayed in transmission to the load, and there will be relative displacement between the two sides, affecting the transmission accuracy. In addition, if the reduction ratio of the synchronous belt is increased, the diameter of the large pulley in the synchronous belt pulley needs to be increased. Since the diameter of the large pulley in the existing structure has already approached the limit while keeping the volume compact, there is no space to significantly increase the diameter of the large pulley in the synchronous belt pulley without changing the overall structure. Moreover, increasing the reduction ratio of the synchronous belt pulley will increase the torque on the synchronous belt, reducing the service life of the synchronous belt.

[0010] And, the skilled in the art can understand that the moment of inertia of the motor is Im, the moment of inertia of the load is Ie, and the reduction ratio is i, so the inertia ratio = Ie / (Im*i 2 )。

[0011] While in the mechanical arm motion control, the larger the transmission system inertia ratio, the worse the dynamic performance of the mechanical arm, in the dynamic acceleration and deceleration process of the non-rigid elastic motion system, the "elastic collision" of the motor side and the load side due to the gap and the elastic effect will cause a larger "disturbance" to the running state of the motor with smaller inertia, which directly increases the difficulty of motion system control adjustment, which may affect the control accuracy, and even cause the vibration and collapse of the system. While the multi-joint mechanical arm introduced above is limited by the transmission scheme, and cannot realize a large reduction ratio under the constraints of cost and space, so as to only reduce the load capacity of the mechanical arm to ensure a certain dynamic performance, or use a larger load to sacrifice the dynamic performance and run in the low-precision low-speed working condition.

[0012] In another aspect, the power assembly of the prior art desktop mechanical arm generally includes a motor and a reduction synchronous pulley assembly, and the power assemblies of the large arm and the small arm are generally symmetrically arranged on the turntable of the desktop mechanical arm, and if a reducer is configured in the power assembly, generally one of the reducer and the reduction synchronous belt is selected, the main reason is that the installation space on the turntable is limited, and there is not much space for configuring two kinds of reduction devices at the same time. SUMMARY

[0013] The purpose of the present application is to provide a new structure of lightweight industrial desktop mechanical arm turntable structure, mechanical arm and robot, which can improve the load capacity while keeping the volume and cost from increasing significantly, and at the same time ensure the dynamic performance such as high speed, fast response and smooth operation.

[0014] Another purpose of the present application is to solve the technical problem that the reducer and the synchronous pulley assembly of the existing power assembly are not convenient to install at the same time, or in other words, occupy a large space after being installed at the same time.

[0015] In a first aspect, the embodiments of the present application provide a turntable structure of a lightweight industrial desktop mechanical arm, comprising a large-arm driving motor, a small-arm driving motor, a large-arm speed reducer and a small-arm speed reducer; the large-arm driving motor is drivingly connected to a large-arm first synchronous pulley assembly, drivingly connected to the large-arm speed reducer through the large-arm first synchronous pulley assembly, and the large-arm speed reducer is drivingly connected to a large-arm second synchronous pulley assembly, which drives a large arm of the desktop mechanical arm; the small-arm driving motor is drivingly connected to a small-arm synchronous pulley assembly, and the small-arm synchronous pulley assembly is drivingly connected to the small-arm speed reducer, which drives a small arm of the desktop mechanical arm; wherein the reduction ratios of the large-arm first synchronous pulley assembly, the large-arm second synchronous pulley assembly and the small-arm synchronous pulley assembly are greater than 1.

[0016] In another aspect, the present application provides a desktop mechanical arm comprising the driving assembly of the desktop mechanical arm as described above.

[0017] In a last aspect, the embodiments of the present application further provide a robot comprising the desktop mechanical arm as described above or the small industrial desktop mechanical arm as described above. The above technical solutions provided by the embodiments of the present application have the following advantages compared with the prior art:

[0018] In the small industrial desktop mechanical arm scheme provided by the embodiments of the present application, the power scheme of motor + speed reducer + synchronous belt is used to overcome the limit of the small industrial desktop mechanical arm, so that a balance can be achieved in terms of volume, weight, operation control performance and cost, the load is further expanded (about 1000 grams or more) and a high control precision (about 0.02 mm of repeat positioning precision) is maintained while maintaining a small and compact form. Since the speed reducer and the synchronous belt can both adjust the reduction ratio and have a large adjustable reduction ratio range, the power architecture has a larger and more flexible reduction ratio adjustment range, which can be applied to various application scenarios.

[0019] The power of the large arm and the small arm both adopts the power configuration of motor + speed reducer + synchronous belt, so that under the objective limit condition of the desktop mechanical arm, the reduction ratio can be greatly increased, the system inertia ratio can be reduced under the same load, the control system is easier to control the motor, the robot runs more smoothly, the start-stop acceleration and deceleration dynamic performance is better, the torque requirement of the motor is lower, the problem of large speed fluctuation and low efficiency of the motor running at a low speed for a long time can be effectively avoided. Meanwhile, a motor with smaller specifications and lower rotor inertia can be selected, and a small and light motor can reduce the load of the robot and meet the positioning requirements of the lightweight industrial desktop mechanical arm.

[0020] Further, in the embodiment of the present application, the forearm reducer is arranged between the two sets of synchronous pulley assemblies in the forearm power assembly, that is, the reduction of the forearm can be realized by the reducer and the two-stage synchronous belt, so that a larger reduction ratio can be obtained, and a power motor with smaller power can be selected, and the arrangement of the forearm reducer between the two-stage synchronous belts can facilitate the flexible selection of the installation position of the forearm reducer, so that the forearm reducer is not limited to being installed at the front end of the motor or the small space of the driving shaft, and more flexible selection of the overall space arrangement of the product is provided. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0023] Figure 1 is a structural schematic diagram of a first existing mechanical arm embodiment;

[0024] Figure 2 is a structural schematic diagram of a second existing mechanical arm embodiment;

[0025] Figure 3 is a structural schematic diagram of a third existing desktop mechanical arm embodiment;

[0026] Figure 4 is a structural schematic diagram of a fourth existing desktop mechanical arm embodiment;

[0027] Figure 5 is a structural schematic diagram of a fifth existing desktop mechanical arm embodiment;

[0028] Figure 6 is a structural schematic diagram of a sixth existing desktop mechanical arm embodiment;

[0029] Figure 7 is a three-dimensional structural schematic diagram of a lightweight industrial desktop mechanical arm provided by an embodiment of the present application;

[0030] Figure 8 is another perspective three-dimensional structural schematic diagram of a lightweight industrial desktop mechanical arm provided by an embodiment of the present application;

[0031] Figure 9 is a side view structural schematic diagram of a desktop mechanical arm provided by an embodiment of the present application;

[0032] Figure 10 A rear view structural schematic diagram of a desktop mechanical arm provided for an embodiment of the present application;

[0033] Figure 11 An exploded schematic diagram of a turntable structure of a desktop mechanical arm provided for an embodiment of the present application Figure 1 ;

[0034] Figure 12 An exploded schematic diagram of a turntable structure of a desktop mechanical arm provided for an embodiment of the present application Figure 2 ;

[0035] Figure 13 An exploded schematic diagram of a turntable structure of a desktop mechanical arm provided for an embodiment of the present application Figure 3 ;

[0036] Figure 14 A perspective structural schematic diagram of a lightweight industrial desktop mechanical arm provided for an embodiment of the present application;

[0037] Figure 15 Another perspective structural schematic diagram of a lightweight industrial desktop mechanical arm provided for an embodiment of the present application;

[0038] Figure 16 A side view structural schematic diagram of a desktop mechanical arm provided for an embodiment of the present application;

[0039] Figure 17 A rear view structural schematic diagram of a desktop mechanical arm provided for an embodiment of the present application;

[0040] Figure 18 A perspective structural schematic diagram of a turntable structure of a desktop mechanical arm provided for an embodiment of the present application;

[0041] Figure 19 An exploded schematic diagram of a turntable structure of a desktop mechanical arm provided for an embodiment of the present application Figure 1 ;

[0042] Figure 20 An exploded schematic diagram of a turntable structure of a desktop mechanical arm provided for an embodiment of the present application Figure 2 ;

[0043] Figure 21 A perspective structural schematic diagram of a lightweight industrial desktop mechanical arm provided for an embodiment of the present application;

[0044] Figure 22 Another perspective structural schematic diagram of a lightweight industrial desktop mechanical arm provided for an embodiment of the present application;

[0045] Figure 23A side view structural schematic diagram of a desktop mechanical arm provided by an embodiment of the present application;

[0046] Figure 24 A rear view structural schematic diagram of a desktop mechanical arm provided by an embodiment of the present application;

[0047] Figure 25 A perspective structural schematic diagram of a turntable structure of a desktop mechanical arm provided by an embodiment of the present application;

[0048] Figure 26 An exploded schematic diagram of a turntable structure of a desktop mechanical arm provided by an embodiment of the present application Figure 1 ;

[0049] Figure 27 An exploded schematic diagram of a turntable structure of a desktop mechanical arm provided by an embodiment of the present application Figure 2 . BRIEF DESCRIPTION OF DRAWINGS

[0051] Explanation of reference numerals of the first part of embodiments:

[0052] 11, base; 111, rotating shaft;

[0053] 12, turntable; 121, base;

[0054] 122, first side plate; 1221, first driving shaft hole;

[0055] 123, second side plate; 1231, second driving shaft hole; 124, bottom plate;

[0056] 13, large arm driving motor; 131, large arm first-stage synchronous belt wheel assembly; 1311, large arm first-stage synchronous belt driving wheel;

[0057] 1312, large arm first-stage synchronous belt; 1313, large arm first-stage synchronous belt driven wheel;

[0058] 132, large arm second-stage synchronous belt wheel assembly; 1321, large arm second-stage synchronous belt driving wheel;

[0059] 1322, second-stage synchronous belt; 1323, large arm second-stage synchronous belt driven wheel; 1324, large arm second-stage inner shaft connecting part;

[0060] 134, large arm driving shaft; 1314, large arm inner shaft connecting part;

[0061] 14, small arm driving motor; 141, small arm synchronous belt wheel assembly; 1411, small arm synchronous belt driving wheel;

[0062] 1412, small arm synchronous belt; 1413, small arm synchronous belt driven wheel;

[0063] 144, arm driving shaft; 1414, inner shaft connecting part of arm;

[0064] 15, main arm reducer; 16, arm reducer;

[0065] 17, main arm; 171, main rod of main arm; 172, sub rod of main arm; 178, connecting piece;

[0066] 18, arm; 181, main rod of arm; 182, sub rod of arm;

[0067] 19, end effector.

[0068] Explanation of reference numerals of second part of embodiments:

[0069] 21, base 211, rotating shaft;

[0070] 22, rotating table; 221, base;

[0071] 222, first side plate; 2221, first driving shaft hole;

[0072] 223, second side plate; 2231, second driving shaft hole; 224, bottom plate;

[0073] 23, main arm driving motor; 231, first-stage synchronous belt pulley assembly of main arm; 2311, main driving wheel of first-stage synchronous belt of main arm;

[0074] 2312, first-stage synchronous belt of main arm; 2313, driven wheel of first-stage synchronous belt of main arm;

[0075] 232, second-stage synchronous belt pulley assembly of main arm; 2321, main driving wheel of second-stage synchronous belt of main arm;

[0076] 2322, second-stage synchronous belt; 2323, driven wheel of second-stage synchronous belt of main arm;

[0077] 234, arm driving shaft; 2314, inner shaft connecting part of arm;

[0078] 24, arm driving motor; 241, synchronous belt pulley assembly of arm; 2411, main driving wheel of synchronous belt of arm;

[0079] 2412, synchronous belt of arm; 2413, driven wheel of synchronous belt of arm;

[0080] 244, arm driving shaft; 2414, inner shaft connecting part of arm;

[0081] 25, main arm reducer; 26, arm reducer;

[0082] 27, main arm; 271, main rod of main arm; 272, sub rod of main arm; 278, connecting piece;

[0083] 28, arm; 281, main arm rod; 282, sub arm rod;

[0084] 29, end effector.

[0085] Reference signs of third part of embodiments:

[0086] 31, base 311, rotating shaft;

[0087] 32, rotating table; 321, base;

[0088] 322, first side plate; 3221, first driving shaft hole;

[0089] 323, second side plate; 3231, second driving shaft hole; 324, bottom plate;

[0090] 33, large arm driving motor; 331, large arm primary synchronous belt pulley assembly; 3311, large arm primary synchronous belt driving wheel;

[0091] 3312, large arm primary synchronous belt; 3313, large arm primary synchronous belt driven wheel;

[0092] 332, large arm secondary synchronous belt pulley assembly; 3321, large arm secondary synchronous belt driving wheel;

[0093] 3322, secondary synchronous belt; 3323, large arm secondary synchronous belt driven wheel;

[0094] 334, large arm driving shaft; 3314, large arm inner shaft connecting part;

[0095] 34, small arm driving motor; 341, small arm synchronous belt pulley assembly; 3411, small arm synchronous belt driving wheel;

[0096] 3412, small arm synchronous belt; 3413, small arm synchronous belt driven wheel;

[0097] 344, small arm driving shaft; 3414, small arm inner shaft connecting part;

[0098] 35, large arm speed reducer; 36, small arm speed reducer;

[0099] 37, large arm; 371, main arm rod; 372, sub arm rod; 378, connecting piece;

[0100] 38, small arm; 381, main arm rod; 382, sub arm rod;

[0101] 39, end effector. DETAILED DESCRIPTION

[0102] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0103] To solve the technical problem that the existing desktop mechanical arm power assembly cannot realize a large deceleration ratio under the constraints of cost and space, so as to only reduce the load capacity of the mechanical arm to ensure a certain dynamic performance, or adopt a large load to sacrifice the dynamic performance, and run in a low-precision and low-speed working condition.

[0104] The main technical idea in the embodiments of the present application is to provide a turntable structure of a lightweight industrial desktop mechanical arm, which comprises a large-arm driving motor, a small-arm driving motor, a large-arm speed reducer, and a small-arm speed reducer. The large-arm driving motor is drivingly connected with a large-arm first synchronous pulley assembly, and is drivingly connected to the large-arm speed reducer through the large-arm first synchronous pulley assembly. The large-arm speed reducer is drivingly connected with a large-arm second synchronous pulley assembly, and the large-arm second synchronous pulley assembly is used to drive the large arm of the desktop mechanical arm. The small-arm driving motor is drivingly connected with a small-arm synchronous pulley assembly, and the small-arm synchronous pulley assembly is drivingly connected with the small-arm speed reducer. The small-arm speed reducer is used to drive the small arm of the desktop mechanical arm. The deceleration ratios of the large-arm first synchronous pulley assembly, the large-arm second synchronous pulley assembly, and the small-arm synchronous pulley assembly are greater than 1. The power of the large arm and the small arm is configured by a motor, a speed reducer, and a synchronous belt. Under the objective limitation condition of the desktop mechanical arm, the motor deceleration ratio can be greatly improved. Under the same load condition, the increase of the deceleration ratio can reduce the system inertia ratio, the control system is easier to control the motor, the robot runs more smoothly, the start-stop acceleration and deceleration dynamic performance is better, the torque requirement of the motor is lower, the problem of large speed fluctuation and low efficiency of the motor running at a low speed for a long time can be effectively avoided. Meanwhile, a motor with a smaller specification and lower rotor inertia can be selected, and a small and light motor can reduce the load of the robot and meet the positioning of the lightweight industrial desktop mechanical arm.

[0105] Meanwhile, since the reducer is adopted, the overall rigidity of the transmission chain is less affected, when the overall rigidity of the transmission chain is high, the "gap" or / and "elasticity" effect between the driving side (i.e. the motor side) and the driven side (the load side) is reduced, the driving force output by the motor is transmitted to the load with less delay, thereby reducing the "disturbance" of the motor from the load in the running state, the control system is easier to control the motor, and the robot runs more smoothly. Compared with the scheme of using only a synchronous pulley assembly for reduction in the same level, the idea of the present application can obviously select a smaller motor or realize a lighter weight and higher control precision power combination.

[0106] In the embodiment of the present application, in the large arm power assembly, the large arm reducer is arranged between the two sets of synchronous pulley assemblies, that is, the large arm realizes reduction through the synchronous composition of the reducer and the two-stage synchronous belt, so that a larger reduction ratio can be obtained, so that a power smaller power motor can be selected, and the large arm reducer can be flexibly selected to be installed at a position, so as not to be limited to being installed at the small space part in front of the motor, thereby providing more generous selection for the overall space arrangement of the product.

[0107] In order to more intuitively understand the technical idea of solving the technical problems of the present application, the following describes an exemplary embodiment of the present application in conjunction with the drawings:

[0108] Figure 7 A three-dimensional structure schematic diagram of a light industrial desktop mechanical arm is provided for an embodiment of the present application, the embodiment of the present application provides a desktop mechanical arm, mainly including a base 11, a rotary table 12, a large arm driving motor 13, a small arm driving motor 14, a large arm reducer 15, a small arm reducer 16, a large arm 17, a small arm 18 and an end effector 19. The large arm driving motor 13 of the power part is drivingly connected to a large arm first-stage synchronous pulley assembly 131, the large arm first-stage synchronous pulley assembly 131 is drivingly connected to the large arm reducer 15 (see Figures 10-12 ), the other end of the large arm reducer 15 is drivingly connected to a large arm second-stage synchronous pulley assembly 132, and the large arm second-stage synchronous pulley assembly 132 is drivingly connected to the large arm 17. The small arm driving shaft 144 of the small arm 18 is coaxially arranged with the small arm reducer 16, the small arm driving motor 14 is drivingly connected with a small arm synchronous pulley assembly 141, the small arm synchronous pulley assembly 141 is drivingly connected to the small arm reducer 16, and the small arm reducer 16 is drivingly connected to the small arm 18 of the desktop mechanical arm, and specifically can be connected to a pull rod of the small arm 18, so as to drive the small arm 18 to rotate.

[0109] The power of the large arm and the small arm adopts a power configuration of motor + reducer + synchronous belt, so that the motor reduction ratio can be greatly improved. Under the same load condition, the increase of the reduction ratio can reduce the system inertia ratio, the control system is easier to control the motor, the robot runs more smoothly, the start-stop acceleration and deceleration dynamic performance is better, and the torque requirement of the motor is lower, which can effectively avoid the problems of large speed fluctuation and low efficiency of the motor running at a low speed for a long time. Compared with the scheme of generally using synchronous belt wheel assembly for reduction, the idea of the application can obviously select a smaller motor or realize a power combination with lighter weight and higher precision.

[0110] It should be understood that the desktop mechanical arm shown in the drawings and described in the specification is only one example of many desktop mechanical arms that can adopt the technical idea principle of the application. It should be clearly understood that the principles of the application are by no means limited to any details of the desktop mechanical arm or any components of the desktop mechanical arm shown in the drawings or described in the specification. On the other hand, the specific structures of the large arm 17, the small arm 18 and the end effector 19 have various existing structures to choose from, and the applicant has multiple patents before the filing date which record the structures that can be chosen, so this will not be expanded here.

[0111] In the embodiment, the base 11 can be selected as a cuboid box, and the box-shaped base 11 is internally structured with a containing cavity for mounting a turntable driving motor and a matching reduction or transmission component. The top of the base 11 is provided with a rotating shaft protruding upward, and the driving motor and the matching reduction or transmission component in the base 11 drive the turntable 12 to rotate through the rotating shaft. The turntable 12 includes a base 121, the front side of the base 121 is provided with a large arm 17 and a small arm 18 for grabbing articles, the rear side of the base 121 is provided with a large arm driving motor 13 and a small arm driving motor 14, and the two motors are arranged in an up-down arrangement, and the output ends of the two motors are oriented in the same direction. It can be understood that the specific structure of the base 11 turntable driving motor and the matching reduction or transmission component has various existing structures to choose from, and the applicant has multiple patents before the filing date which record the alternative base 11 turntable driving structures, and this will not be expanded here.

[0112] According to the embodiment, the large arm speed reducer 15 is arranged between the two-stage synchronous belts, which facilitates flexible selection of the installation position of the large arm speed reducer 15. The large arm speed reducer 15 is arranged in parallel with the large arm driving motor 13 and the small arm driving motor 14, that is, the axis of the large arm speed reducer 15 is substantially parallel to the axis of the large arm driving motor 13 and the small arm driving motor 14. Meanwhile, the small arm speed reducer 16 is directly connected to the small arm driving shaft 144 of the small arm 18, and the small arm speed reducer 16 is located at the end of the small arm driving chain. The transmission between the small arm speed reducer 16 and the small arm driving shaft is stable. In this case, the synchronous belt wheel assembly 141 is arranged between the high-speed output shaft of the small arm driving motor 14 and the high-speed input shaft of the small arm speed reducer 16. In this case, the synchronous belt wheel assembly operates at high speed without the problem of excessive torsion, and the structure is compact and occupies a small space. The output end of the small arm speed reducer 16 is connected to the small arm driving shaft 144, and the input end is transmissionally connected to the small arm synchronous belt wheel assembly 141. A typical coaxial transmission arrangement can adopt a mature planetary speed reducer. According to the technical common sense in the art, the front end of the motor is the motor output shaft extension end (shaft extension end), and the rear end of the motor is the non-shaft extension end.

[0113] Figure 8 Another perspective view of a light industrial desktop mechanical arm according to an embodiment of the present application is shown in the figure. As shown in the embodiment, the base 11 can be located at the bottom of the whole machine as a mounting base, and the top surface of the base 11 is provided with a rotating shaft 111. The rotating shaft 111 can be a bearing assembly, which is rotatably connected to the bottom plate 124 of the turntable 12, and the bearing assembly can also be a hollow rotating shaft assembly to pass the signal line, control line or power line through the rotating shaft 111 to the turntable 12.

[0114] Figure 9 A side view of a desktop mechanical arm according to an embodiment of the present application is shown in the figure. The upper side of the turntable 12 is provided for rotatable connection of the large arm 17. The rotating shaft of the turntable 12 is slightly offset to the rear side compared with the overall center of gravity of the large arm 17, the small arm 18 and the end effector 19. The large arm driving motor 13 and the small arm driving motor 14 can also be arranged on the rear side of the turntable 12, and the large arm driving motor 13 and the small arm driving motor 14 can be arranged one above the other to form the balance of the center of gravity.

[0115] Figure 10This is a rear view structural diagram of a desktop robotic arm according to an embodiment of this application. As can be seen from the foregoing embodiments, the arm body, consisting of a large arm 17, a small arm 18, and an end effector 19, extends forward from the center of the front side of the turntable 12. The root of the large arm 17 is rotatably mounted between the two side plates of the turntable 12. The large arm primary synchronous pulley assembly 131 and the small arm synchronous pulley assembly 141 are located outside the second side plate 123, and are arranged parallel to the direction of the second side plate 123. The large arm secondary synchronous pulley assembly 132 is located outside the first side plate 122, and is arranged parallel to the direction of the first side plate 122. The large arm drive motor 13 and the small arm drive motor 14 can both be mounted on the rear side of the turntable 12, while the small arm reducer 16 is mounted on the outside of the second side plate 123. The boom reducer 15 can be installed between the first side plate 122 and the second side plate 123. The boom reducer 15 is installed parallel to the boom drive motor 13 and the forearm drive motor 14, meaning that the axis of the boom reducer 15 is substantially parallel to the axes of the boom drive motor 13 and the forearm drive motor 14. Both the boom drive motor and the reducer are located between the two side plates, while the two-stage synchronous pulley assembly of the boom is located on both sides, forming a stable H-shaped configuration. This allows the boom power section to achieve a balanced configuration on the turntable 12. The forearm power assembly and the forearm synchronous pulley assembly 141 can be arranged in an L-shape. In this embodiment, the boom power section uses a reducer configured between two-stage synchronous pulley assemblies, while the forearm section uses a reducer plus a single-stage synchronous pulley assembly. This provides a larger reduction ratio configuration space for the boom, making it suitable for booms with heavier loads.

[0116] As shown in this embodiment, the boom drive motor 13 is installed on the inner side of the second side plate 123 on the right side and is located at the lower part; the forearm drive motor 14 is installed on the inner side of the second side plate 123 on the right side and is located at the upper part. The two motors are staggered vertically. At the same time, corresponding to the tail end of the motor, the first side plate 122 on the right side has a clearance notch or as shown in the figure. Figure 7 , Figure 8 The notches on the two side plates are designed to shorten the distance to allow space for the two motors, so that the motor tails can protrude outwards. These notches can also be seen as providing installation or maintenance access for the two power units, thus facilitating their installation, replacement, and maintenance.

[0117] Figure 11 An exploded view of the turntable structure of a desktop robotic arm provided in one embodiment of this application. Figure 1 ; Figure 12 An exploded view of the turntable structure of a desktop robotic arm provided in one embodiment of this application. Figure 2According to the embodiment, the first-stage large-arm synchronous belt wheel assembly 131 further comprises a first-stage large-arm synchronous belt driving wheel 1311, a first-stage large-arm synchronous belt 1312, and a first-stage large-arm synchronous belt driven wheel 1313. The first-stage large-arm synchronous belt driving wheel 1311 is installed outside the output shaft of the large-arm driving motor 13. One end of the first-stage large-arm synchronous belt 1312 is sleeved outside the first-stage large-arm synchronous belt driving wheel 1311, and the other end of the first-stage large-arm synchronous belt 1312 is sleeved outside the first-stage large-arm synchronous belt driven wheel 1313. The first-stage large-arm synchronous belt 1312 establishes a speed reduction transmission between the first-stage large-arm synchronous belt driving wheel 1311 and the first-stage large-arm synchronous belt driven wheel 1313. The first-stage large-arm synchronous belt driven wheel 1313 is sleeved on the input shaft of the large-arm speed reducer 15 through a central large-arm inner shaft connecting portion 1314. Since the motor output shaft is connected to the first-stage large-arm synchronous belt driving wheel 1311 with a small outer diameter, and the first-stage large-arm synchronous belt driven wheel 1313 with a larger outer diameter is connected through the synchronous belt, the first-stage large-arm synchronous belt driven wheel 1313 is arranged at a position away from the motor and close to the large arm, that is, the synchronous belt wheel with a larger outer diameter can be arranged in the area close to the large-arm root portion with a larger space, and thus the structure is compact.

[0118] The second-stage large-arm synchronous belt wheel assembly 132 comprises a second-stage large-arm synchronous belt driving wheel 1321, a second-stage synchronous belt 1322, and a second-stage large-arm synchronous belt driven wheel 1323. The second-stage large-arm synchronous belt driving wheel 1321 is installed on the output shaft of the large-arm speed reducer 15. One end of the second-stage synchronous belt 1322 is sleeved outside the second-stage large-arm synchronous belt driving wheel 1321, and the other end of the second-stage synchronous belt 1322 is sleeved outside the second-stage large-arm synchronous belt driven wheel 1323. The second-stage large-arm synchronous belt driven wheel 1323 is drivingly connected to the large-arm driving shaft 134. In the embodiment, the second-stage large-arm synchronous belt wheel assembly 132 is located outside the first side plate 122, that is, the first-stage large-arm synchronous belt wheel assembly 131 and the second-stage large-arm synchronous belt wheel assembly 132 are respectively located on the two sides of the first side plate 122, so that the configuration and installation are facilitated, and the occupied space is small.

[0119] The small arm synchronous belt wheel assembly 141 further comprises a small arm synchronous belt driving wheel 1411, a small arm synchronous belt 1412 and a small arm synchronous belt driven wheel 1413. The small arm synchronous belt driving wheel 1411 is installed on the output shaft of the small arm driving motor 14. One end of the small arm synchronous belt 1412 is sleeved outside the small arm synchronous belt driving wheel 1411, and the other end of the small arm synchronous belt 1412 is sleeved outside the small arm synchronous belt driven wheel 1413, so as to establish a speed reduction transmission between the small arm synchronous belt driving wheel 1411 and the small arm synchronous belt driven wheel 1413 through the small arm synchronous belt 1412. It can be understood that, since the motor output shaft is connected with the small arm synchronous belt driving wheel 1411 with a small outer diameter, and the small arm synchronous belt driven wheel 1413 with a larger outer diameter is connected through the synchronous belt, the small arm synchronous belt driven wheel 1413 is arranged at a position away from the motor and close to the large arm, that is, the synchronous belt wheel with a larger outer diameter can be arranged in the area close to the large arm root space, so that the structure is compact.

[0120] Figure 13 An exploded view of a turntable structure of a desktop mechanical arm provided by an embodiment of the present application Figure 3 According to the embodiment, the large arm secondary synchronous belt driven wheel 1323 further has a large arm secondary inner shaft connecting portion 1324, which is sleeved and connected to the large arm driving shaft 134. The large arm driving shaft 134 is drivingly connected to the large arm 17 of the desktop mechanical arm. The small arm synchronous belt driven wheel 1413 further has a small arm inner shaft connecting portion 1414, which is drivingly connected to the small arm driving shaft 144. The small arm driving shaft 144 is drivingly connected to the small arm of the desktop mechanical arm. According to the embodiment, the large arm reducer 15 and the small arm reducer 16 are both selected as planetary reducers. Compared with other reducers, the planetary reducer has the characteristics of high rigidity, high precision (single stage can reach 1 minute or less), high transmission efficiency (single stage is 97%-98%), high torque, volume ratio, lifelong maintenance-free, etc. It can be understood that the single-stage reduction of the planetary reducer is generally not less than 3, and generally does not exceed 10. The common reduction ratio is: 3 / 4 / 5 / 6 / 8 / 10. The number of reducer stages is generally not more than 3.

[0121] The desktop mechanical arm comprises a large arm 17, a small arm 18 and a connecting piece 178 arranged between the large arm 17 and the small arm 18. The large arm 17 comprises a large arm main rod 171 and a large arm auxiliary rod 172 arranged oppositely. The small arm 18 comprises a small arm main rod 181 and a small arm auxiliary rod 182 arranged oppositely. It can be understood that the large arm 17 and the small arm 18 in the embodiment are configured as a parallelogram combined arm frame. The first end of the large arm main rod 171 is provided with two first hinge parts arranged oppositely. The connecting piece 178 is arranged in parallel and located between the two first hinge parts. The first end of the small arm main rod 181 is provided with a second hinge part located between the two connecting pieces 178. The two first hinge parts, the two connecting pieces 178 and the second hinge part are connected through a first hinge shaft. The first end of the large arm auxiliary rod 172 and the first end of the small arm auxiliary rod 182 are hingedly connected to opposite sides of the two connecting pieces 178. The large arm is the basis of the arm body joint structure. The double-rod structure design of the large arm main rod 171 and the large arm auxiliary rod 172 is adopted to realize double-rod combined support. Compared with the single-rod structure design of the current large arm, the support strength is improved, and the safety is improved. In addition, the large arm auxiliary rod 172 of the large arm 17 and the small arm auxiliary rod 182 of the small arm 18 are connected through the structure design of double connecting pieces. Compared with the single triangular connecting piece, the connection strength between the arm body structures is improved, and the cooperation stability and driving effect are improved. In addition, the coaxial multi-point hinge arrangement of the large arm main rod 171, the small arm main rod 181 and the double connecting pieces is arranged to further improve the connection strength between the arm body structures.

[0122] In the embodiment, the reduction ratio of the large arm reducer 15 is selected to be between 3 and 25. The reduction ratio of the large arm first-stage synchronous pulley assembly 131 is selected to be between 1.5 and 6. The reduction ratio of the large arm second-stage synchronous pulley assembly 232 is selected to be between 1.5 and 6. The reduction ratio of the small arm reducer 16 is selected to be between 3 and 25. The reduction ratio of the small arm synchronous pulley assembly 141 is selected to be between 1.5 and 6. In this way, the reduction ratio of the power of the two arms can be selected to be between 6.75 and 500. Under this power architecture, the selection and improvement space of the reduction ratio is huge, and the overall weight and volume are not obviously increased.

[0123]

[0124] Table 1: Reduction ratio adjustment range of the whole machine in the embodiment

[0125] According to a more specific embodiment of the present application, the reduction ratio of the two reducers is selected to be between 5 and 15 while the synchronous pulley assembly is still maintained to have a reduction ratio between 3 and 5. In this way, the reduction ratio of the power of the upper arm can be selected to be between 45 and 375, and the reduction ratio of the power of the lower arm can be selected to be between 15 and 75. In this power architecture, a higher reduction ratio can be achieved with a simpler reduction assembly, and the selection of the reduction ratio is greatly improved without increasing the overall weight and volume.

[0126]

[0127]

[0128] Table 2: Reduction ratio adjustment range of the whole machine of the present embodiment

[0129] According to a more specific embodiment of the present application, the reduction ratio of the upper arm reducer 15 is selected to be between 5 and 10, and the reduction ratio of the upper arm primary synchronous pulley assembly 131 is selected to be between 3 and 5. The reduction ratio of the lower arm reducer 16 is selected to be between 5 and 10, and the reduction ratio of the lower arm synchronous pulley assembly 141 is selected to be between 3 and 5. In this way, the overall reduction ratio of the power of the upper arm can be selected to be between 45 and 250, and the overall reduction ratio of the power of the lower arm can be selected to be between 15 and 75. In this power architecture, a higher reduction ratio can be achieved with a simpler reduction assembly, and the selection of the reduction ratio is greatly improved without increasing the overall weight and volume.

[0130]

[0131] Table 3: Reduction ratio adjustment range of the whole machine of the present embodiment

[0132] According to an embodiment of the present application, the upper arm driving motor 13 and the lower arm driving motor 14 are both installed on the rear side of the rotary table, and the output ends thereof are oriented in the same direction. The upper arm driving motor 13 and the lower arm driving motor 14 can be arranged side by side in an up-down manner, or the upper arm driving motor 13 and the lower arm driving motor 14 can be arranged side by side in a front-rear manner.

[0133] Reference Figure 7 and Figure 8Wherein the turntable 12 is rotatably assembled to the base 11 through the bottom shaft assembly or the driving shaft assembly, and the turntable 12 mainly comprises a base 121, which mainly comprises a first side plate 122, a second side plate 123 and a bottom plate 124. The base 121 is provided with a large arm driving motor 13 and a small arm driving motor 14, and the large arm driving motor 13 and the small arm driving motor 14 can be arranged on the rear side of the base 121. The large arm primary synchronous pulley assembly 131 and the small arm synchronous pulley assembly 141 are located on the outer side of the side plate on the right side of the base 121, and the large arm secondary synchronous pulley assembly 132 is located on the outer side of the side plate on the left side of the base 121. It can be understood that the large arm driving motor 13 and the small arm driving motor 14 can also be arranged on the front side of the base 121.

[0134] According to the embodiment, the first side plate 122 is provided with a first driving shaft hole 1221 for mounting a transmission shaft, and the second side plate 123 is provided with two mounting seats for mounting the motors, and the mounting seats of the second side plate 123 are staggered upward and downward or staggered forward and backward. The first driving shaft hole 1221 is located at a position corresponding to the large arm root driving shaft, and the relative distance and relative position between the motor and the driven shaft are configured accordingly, so as to facilitate flexible configuration of each power component according to the space and transmission distance. The second side plate 123 comprises a second driving shaft hole 1231 located on the side of the second side plate 123 away from the mounting seat, and the relative distance and relative position between the motor and the driven shaft are configured accordingly, so as to facilitate flexible configuration of each power component according to the space and transmission distance, and the main components between the two sets of power systems of the large arm and the small arm can also be staggered to make room for each other, such as the two motors can be staggered upward and downward.

[0135] Figure 14 A schematic diagram of the three-dimensional structure of a lightweight industrial desktop mechanical arm is provided for an embodiment of the present application. The embodiment of the present application provides a desktop mechanical arm, mainly comprising a base 21, a turntable 22, a large arm driving motor 23, a small arm driving motor 24, a large arm reducer 25, a small arm reducer 26, a large arm 27, a small arm 28 and an end effector 29. The large arm driving motor 23 of the power part is drivingly connected to the large arm primary synchronous pulley assembly 231, the large arm primary synchronous pulley assembly 231 is drivingly connected to the large arm reducer 25 (see Figures 17-18 ), the other end of the large arm reducer 25 is drivingly connected to the large arm secondary synchronous pulley assembly 232, and the large arm secondary synchronous pulley assembly 232 is drivingly connected to the large arm 27. The small arm driving motor 24 is drivingly connected to the small arm synchronous pulley assembly 241, the small arm synchronous pulley assembly 241 is drivingly connected to the small arm reducer 26, and the small arm driving shaft 244 of the small arm 28 is coaxially drivingly arranged with the small arm reducer 26; the small arm of the desktop mechanical arm can be specifically connected to the pull rod of the small arm, thereby driving the small arm to rotate.

[0136] Figure 15 Another perspective view of the structure of the light industrial desktop robot arm is provided in an embodiment of the present application. As shown in the embodiment, the base 21 can be located at the bottom of the whole machine as a mounting base, and the top surface of the base 21 is provided with a rotating shaft 211. The rotating shaft 211 can be a bearing assembly, which is rotatably connected to the bottom plate 224 of the turntable 22, and the bearing assembly can also be a hollow rotating shaft assembly to allow the signal line, control line or power line to pass through the rotating shaft 211 to the turntable 22. The upper side of the turntable 22 is rotatably connected to the large arm 27. The rotating shaft of the turntable 22 is located at the center of the overall center of gravity of the large arm 27, the small arm 28 and the end effector 29, and the large arm driving motor 23 and the small arm driving motor 24 can be selectively arranged on the front side and the rear side of the turntable 22, respectively, to form the balance of the center of gravity.

[0137] Figure 16 A side view of the structure of the desktop robot arm is provided in an embodiment of the present application. As shown in the embodiment, the large arm reducer 25 is fixedly installed at the middle position of the turntable 22, and the two ends of the large arm reducer 25 are respectively connected by synchronous belts. The small arm reducer 26 is directly connected with the small arm driving shaft 244 of the small arm 28. The small arm reducer 26 is located at the end of the small arm transmission chain, and the transmission between the small arm reducer 26 and the small arm driving shaft is stable. Here, the small arm synchronous belt wheel assembly is arranged between the high-speed output shaft of the small arm driving motor 24 and the high-speed input shaft of the small arm reducer 26. In this case, the small arm synchronous belt wheel assembly runs at high speed without the problem of excessive torsion force, and the structure is compact and occupies small space. In the embodiment, the large arm driving motor 23, the large arm reducer 25 and the small arm driving motor 24 are arranged in parallel, and are all installed at the bottom position of the turntable. They are arranged in order from the rear side to the front side of the turntable, with the large arm reducer 25 located in the middle, the small arm driving motor 24 located at the front side, and the large arm driving motor 23 located at the rear side. Therefore, these heavy components can be fixed on the turntable with low center of gravity and small space occupation.

[0138] Figure 17A rear view structure schematic diagram of a desktop mechanical arm provided by an embodiment of the present application; in combination with the foregoing embodiment, it can be known that the arm body composed of the large arm 27, the small arm 28 and the end effector 29 is extended forward from the middle part of the front side of the turntable 22, the root of the large arm 27 is rotatably installed between the two side plates of the turntable 22, the large arm first-stage synchronous belt wheel assembly 231 and the small arm synchronous belt wheel assembly 241 are located outside the second side plate 223, and the large arm first-stage synchronous belt wheel assembly 231 and the small arm synchronous belt wheel assembly 241 are arranged in parallel to the direction of the second side plate 223, the large arm second-stage synchronous belt wheel assembly 232 is located outside the first side plate 222, and the large arm second-stage synchronous belt wheel assembly 232 is arranged in parallel to the direction of the first side plate 222. The large arm driving motor 23 and the small arm driving motor 24 can be respectively installed on the rear side and the front side of the turntable 22, it can be considered that the large arm driving motor 23 and the small arm driving motor 24 are opposite to each other relative to the turntable 22, the large arm reducer 25 can be installed between the first side plate 222 and the second side plate 223, the large arm reducer 25 is installed in parallel to the large arm driving motor 23 and the small arm driving motor 24, that is, the axis of the large arm reducer 25 is substantially parallel to the axis of the large arm driving motor 23 and the small arm driving motor 24. The large arm driving motor and the reducer are located between the two side plates, and the two-stage synchronous belt wheel assemblies of the large arm are located on the two sides, and the whole forms a stable configuration in the shape of H, and at the same time, the power part of the large arm can form a balanced configuration on the turntable 22. The small arm power combination and the small arm synchronous belt wheel assembly 241 can be arranged in an L-shaped configuration. In the embodiment, the reducer is arranged between the two-stage synchronous belt wheel assemblies of the power part of the large arm, and the reducer and the first-stage synchronous belt wheel assembly are arranged in the power part of the small arm, which can provide a larger reduction ratio configuration space for the large arm and can be suitable for a large arm with a larger load.

[0139] Figure 18 A perspective structure schematic diagram of a turntable structure of a desktop mechanical arm provided by an embodiment of the present application, Figure 19 A perspective structure schematic diagram of a turntable structure of a desktop mechanical arm provided by an embodiment of the present application, Figure 1 , Figure 20 A perspective structure schematic diagram of a turntable structure of a desktop mechanical arm provided by an embodiment of the present application, Figure 2According to the embodiment, the first-stage large-arm synchronous belt wheel assembly 231 further comprises a first-stage large-arm synchronous belt driving wheel 2311, a first-stage large-arm synchronous belt 2312, and a first-stage large-arm synchronous belt driven wheel 2313. The first-stage large-arm synchronous belt driving wheel 2311 is installed outside the output shaft of the large-arm driving motor 23. One end of the first-stage large-arm synchronous belt 2312 is sleeved outside the first-stage large-arm synchronous belt driving wheel 2311, and the other end of the first-stage large-arm synchronous belt 2312 is sleeved outside the first-stage large-arm synchronous belt driven wheel 2313, so as to establish a speed reduction transmission between the first-stage large-arm synchronous belt driving wheel 2311 and the first-stage large-arm synchronous belt driven wheel 2313 through the first-stage large-arm synchronous belt 2312. The first-stage large-arm synchronous belt driven wheel 2313 is sleeved on the input shaft of the large-arm speed reducer 25 through a central large-arm inner shaft connecting portion 2314. Since the motor output shaft is connected with the first-stage large-arm synchronous belt driving wheel 2311 with a small outer diameter, and the first-stage large-arm synchronous belt driven wheel 2313 with a larger outer diameter is connected through the synchronous belt, the first-stage large-arm synchronous belt driven wheel 2313 is arranged at a position away from the motor and close to the large arm, that is, the synchronous belt wheel with a larger outer diameter can be arranged in a region close to the large-arm root portion with a large space, so that a compact structure is achieved.

[0140] The second-stage large-arm synchronous belt wheel assembly 232 comprises a second-stage large-arm synchronous belt driving wheel 2321, a second-stage synchronous belt 2322, and a second-stage large-arm synchronous belt driven wheel 2323. The second-stage large-arm synchronous belt driving wheel 2321 is installed on the output shaft of the large-arm speed reducer 25. One end of the second-stage synchronous belt 2322 is sleeved outside the second-stage large-arm synchronous belt driving wheel 2321, and the other end of the second-stage synchronous belt 2322 is sleeved outside the second-stage large-arm synchronous belt driven wheel 2323, so as to be drivingly connected to the large-arm driving shaft 234 through the second-stage large-arm synchronous belt driven wheel 2323. In the embodiment, the second-stage large-arm synchronous belt wheel assembly 232 is located outside the first side plate 222, that is, the first-stage large-arm synchronous belt wheel assembly 231 and the second-stage large-arm synchronous belt wheel assembly 232 are respectively located outside the first side plate 222 and the second side plate 223, that is, the components on the large-arm transmission chain are distributed on the rotary table, so that the configuration and installation are facilitated, and the occupied space is small.

[0141] The forearm synchronous belt wheel assembly 241 further comprises a forearm synchronous belt driving wheel 2411, a forearm synchronous belt 2412 and a forearm synchronous belt driven wheel 2413. The forearm synchronous belt driving wheel 2411 is installed on the output shaft of the forearm driving motor 24. One end of the forearm synchronous belt 2412 is sleeved outside the forearm synchronous belt driving wheel 2411, and the other end of the forearm synchronous belt 2412 is sleeved outside the forearm synchronous belt driven wheel 2413, so as to establish a speed reduction transmission between the forearm synchronous belt driving wheel 2411 and the forearm synchronous belt driven wheel 2413 through the forearm synchronous belt 2412. It can be understood that, since the motor output shaft is connected with the small-diameter forearm synchronous belt driving wheel 2411, and the large-diameter forearm synchronous belt driven wheel 2413 is connected through the synchronous belt, the forearm synchronous belt driven wheel 2413 is arranged at a position away from the motor and close to the forearm, that is, the large-diameter synchronous belt wheel can be arranged in the area close to the large-forearm-root space, so that the structure is compact.

[0142] The desktop mechanical arm comprises a forearm 28 and a connecting piece 278 arranged between the forearm and the forearm. The forearm 28 comprises a forearm main rod 271 and a forearm auxiliary rod 272 arranged oppositely. The forearm main rod 271 is provided with two first hinge parts arranged oppositely. The connecting piece 278 is arranged between the two first hinge parts. The forearm main rod 271 is provided with a second hinge part arranged between the two connecting pieces 278. The two first hinge parts, the two connecting pieces 278 and the second hinge part are connected through a first hinge shaft. The first end of the forearm auxiliary rod 272 and the first end of the forearm auxiliary rod 282 are hingedly connected to the opposite sides of the two connecting pieces 278. The forearm is the basis of the arm joint structure. The double-rod structure design of the forearm main rod and the forearm auxiliary rod is adopted to realize the combined support of the double rods. Compared with the single-rod structure design of the current forearm, the support strength is improved, and the safety is improved. The forearm auxiliary rod of the forearm and the forearm auxiliary rod of the forearm are connected through the double connecting piece hinge structure design. Compared with the single triangular connecting piece, the connection strength between the arm structures is improved, and the cooperation stability and driving effect are improved. In addition, the coaxial multi-point hinge of the forearm main rod, the forearm main rod and the double connecting piece is arranged to further improve the connection strength between the arm structures.

[0143] And, it can be understood that the reduction ratio of the secondary large arm synchronous pulley assembly 232 is between 1.5-6. That is, the secondary large arm synchronous pulley assembly can also be configured in this embodiment to further improve the reduction ratio of the large arm, such as in combination with the three reduction ratios in the previous embodiment, the overall reduction ratio of the large arm drive motor can be between 6.75-900, or the overall reduction ratio of the large arm drive motor can be between 45-500, or the overall reduction ratio of the large arm drive motor can be between 56.25-300, so that the required motor power can be further reduced.

[0144]

[0145] Table 4 First embodiment of the whole machine reduction ratio adjustment range

[0146]

[0147]

[0148] Table 5 Second embodiment of the whole machine reduction ratio adjustment range

[0149]

[0150] Table 6 Third embodiment of the whole machine reduction ratio adjustment range

[0151] Figure 21 A schematic diagram of a three-dimensional structure of a light industrial desktop robot arm provided in an embodiment of the present application, the embodiment of the present application provides a desktop robot arm, mainly including a base 31, a turntable 32, a large arm drive motor 33, a small arm drive motor 34, a large arm reducer 35, a small arm reducer 36, a large arm 37, a small arm 38 and an end effector 39. The power part of the large arm drive motor 33 is drivingly connected to the large arm primary synchronous pulley assembly 331, the large arm primary synchronous pulley assembly 331 is drivingly connected to the large arm reducer 35 (see Figures 24-25 ), the other end of the large arm reducer 35 is drivingly connected to the large arm secondary synchronous pulley assembly 332, and the large arm secondary synchronous pulley assembly 332 is drivingly connected to the large arm 37. The small arm drive shaft 344 of the small arm 38 is coaxially arranged with the small arm reducer 36; the large arm reducer 35 is drivingly connected with the large arm primary synchronous pulley assembly 331, and the large arm primary synchronous pulley assembly 331 is drivingly connected to the large arm of the desktop robot arm; the small arm drive motor 34 is drivingly connected with the small arm synchronous pulley assembly 341, and the small arm synchronous pulley assembly 341 is drivingly connected to the small arm reducer 36, and the small arm of the desktop robot arm can be specifically connected to the pull rod of the small arm, thereby driving the small arm to rotate.

[0152] Figure 22Another perspective view of the lightweight industrial desktop mechanical arm is provided in an embodiment of the present application. As shown in the embodiment, the base 31 can be located at the bottom of the whole machine as a mounting base, and the top surface of the base 31 is provided with a rotating shaft 311. The rotating shaft 311 can be a bearing assembly, which is not only rotatably connected to the bottom plate 324 of the lower part of the turntable 32, but also can be a hollow rotating shaft assembly for signal lines, control lines or power lines to pass through the rotating shaft 311 to connect the turntable 32. The upper side of the turntable 32 is rotatably connected to the large arm 37. The rotating shaft of the turntable 32 is slightly forwardly offset from the overall center of gravity of the large arm 37, the small arm 38 and the end effector 39. The large arm driving motor 33 and the small arm driving motor 34 can also be selected to be arranged on the front side of the turntable 32 at the same time to form the center of gravity balance with the turntable.

[0153] Figure 23 A side view of the desktop mechanical arm is provided in an embodiment of the present application. Figure 24 A rear view of the desktop mechanical arm is provided in an embodiment of the present application. As shown in the embodiment, the large arm reducer 35 is fixedly installed at the middle position of the turntable 32, and the large arm reducer 35 is connected by synchronous belts at both ends. The small arm reducer 36 is directly connected with the small arm driving shaft 344 of the small arm 38, and the small arm reducer 26 is located at the end of the small arm transmission chain. The transmission between the reducer and the small arm driving shaft is stable. In this embodiment, the small arm synchronous belt wheel assembly is arranged between the high-speed output shaft of the small arm driving motor 34 and the high-speed input shaft of the small arm reducer 36. In this case, the synchronous belt wheel assembly runs at high speed without the problem of excessive torsion force, and the structure is compact and occupies small space. In the embodiment, the large arm driving motor 33 and the small arm driving motor 34 are arranged one above the other, and are both installed at the front position of the turntable. In this way, the space at the front side of the root of the large arm 37 can be effectively utilized. The space at the front side of the root of the large arm 37 is basically not utilized in the mechanical arm structure, and the motor is mainly arranged at this position, so that the overall structure of the mechanical arm is more compact.

[0154] As can be known from the foregoing embodiments, the arm body composed of the upper arm 37, the lower arm 38 and the end effector 39 extends forward from the middle of the front side of the turntable 32, the root of the upper arm 37 is rotatably installed between the two side plates of the turntable 32, the upper arm primary synchronous belt wheel assembly 331 and the lower arm synchronous belt wheel assembly 341 are located outside the second side plate 323, and the upper arm primary synchronous belt wheel assembly 331 and the lower arm synchronous belt wheel assembly 341 are arranged in parallel to the direction of the second side plate 323, the upper arm secondary synchronous belt wheel assembly 332 is located outside the first side plate 322, and the upper arm secondary synchronous belt wheel assembly 332 is arranged in parallel to the direction of the first side plate 322. The upper arm driving motor 33 and the lower arm driving motor 34 can be installed on the front side of the turntable 32, and the upper arm speed reducer 35 is installed at the middle position of the turntable 32. The upper arm speed reducer 35 can be installed between the first side plate 322 and the second side plate 323, and the upper arm speed reducer 35 is installed in parallel with the upper arm driving motor 33 and the lower arm driving motor 34, that is, the axial direction of the upper arm speed reducer 35 is substantially parallel to the axial direction of the upper arm driving motor 33 and the lower arm driving motor 34. That is, the upper arm driving motor and the speed reducer are located between the two side plates, and the two-stage synchronous belt wheel assemblies of the upper arm are located on the two sides, forming a stable H-shaped configuration, and the power part of the upper arm can be balanced on the turntable 32. The power combination of the lower arm and the lower arm synchronous belt wheel assembly 341 can be arranged in an L-shaped configuration. In this embodiment, the speed reducer is arranged between the two-stage synchronous belt wheel assemblies of the power part of the upper arm, and the speed reducer and the primary synchronous belt wheel assembly are arranged in the power part of the lower arm, which can provide more space for the upper arm to configure a larger reduction ratio and can be applied to an upper arm with a larger load.

[0155] Figure 25 A perspective structural schematic view of a turntable structure of a desktop mechanical arm according to an embodiment of the present application is provided, Figure 26 A perspective structural schematic view of a turntable structure of a desktop mechanical arm according to an embodiment of the present application is provided, Figure 1 , Figure 27 A perspective structural schematic view of a turntable structure of a desktop mechanical arm according to an embodiment of the present application is provided, Figure 2According to the embodiment, the first-stage large-arm synchronous belt wheel assembly 331 further comprises a first-stage large-arm synchronous belt driving wheel 3311, a first-stage large-arm synchronous belt 3312, and a first-stage large-arm synchronous belt driven wheel 3313. The first-stage large-arm synchronous belt driving wheel 3311 is installed outside the output shaft of the large-arm driving motor 33. One end of the first-stage large-arm synchronous belt 3312 is sleeved outside the first-stage large-arm synchronous belt driving wheel 3311, and the other end of the first-stage large-arm synchronous belt 3312 is sleeved outside the first-stage large-arm synchronous belt driven wheel 3313, so as to establish a speed reduction transmission between the first-stage large-arm synchronous belt driving wheel 3311 and the first-stage large-arm synchronous belt driven wheel 3313 through the first-stage large-arm synchronous belt 3312. The first-stage large-arm synchronous belt driven wheel 3313 is sleeved on the input shaft of the large-arm speed reducer 35 through a central large-arm inner shaft connecting portion 3314. Since the motor output shaft is connected with the first-stage large-arm synchronous belt driving wheel 3311 with a small outer diameter, and the first-stage large-arm synchronous belt driven wheel 3313 with a larger outer diameter is connected through the synchronous belt, the first-stage large-arm synchronous belt driven wheel 3313 is arranged at a position away from the motor and close to the large arm, that is, the synchronous belt wheel with a larger outer diameter can be arranged in a region close to the large-arm root portion with a larger space, so that the structure is compact. At the same time, since the root portion of the large arm 37 is arranged at the upper middle position of the rotary table in the embodiment, the large wheels of the two first-stage synchronous belt wheel assemblies are also arranged outside the upper middle position of the rotary table, and the space is relatively sufficient, so that the installation and use are facilitated.

[0156] The second-stage large-arm synchronous belt wheel assembly 332 comprises a second-stage large-arm synchronous belt driving wheel 3321, a second-stage synchronous belt 3322, and a second-stage large-arm synchronous belt driven wheel 3323. The second-stage large-arm synchronous belt driving wheel 3321 is installed on the output shaft of the large-arm speed reducer 35. One end of the second-stage synchronous belt 3322 is sleeved outside the second-stage large-arm synchronous belt driving wheel 3321, and the other end of the second-stage synchronous belt 3322 is sleeved outside the second-stage large-arm synchronous belt driven wheel 3323, so as to be drivingly connected to the large-arm driving shaft 334 through the second-stage large-arm synchronous belt driven wheel 3323. In the embodiment, the second-stage large-arm synchronous belt wheel assembly 332 is located outside the first side plate 322, that is, the first-stage large-arm synchronous belt wheel assembly 331 and the second-stage large-arm synchronous belt wheel assembly 332 are respectively located on the two sides of the first side plate 322, so that the arrangement and installation are facilitated, and the occupied space is small.

[0157] The forearm synchronous belt wheel assembly 341 further comprises a forearm synchronous belt driving wheel 3411, a forearm synchronous belt 3412 and a forearm synchronous belt driven wheel 3413. The forearm synchronous belt driving wheel 3411 is installed on the output shaft of the forearm driving motor 34. One end of the forearm synchronous belt 3412 is sleeved outside the forearm synchronous belt driving wheel 3411, and the other end of the forearm synchronous belt 3412 is sleeved outside the forearm synchronous belt driven wheel 3413, so as to establish a speed reduction transmission between the forearm synchronous belt driving wheel 3411 and the forearm synchronous belt driven wheel 3413 through the forearm synchronous belt 3412. It can be understood that, since the motor output shaft is connected with the small-diameter forearm synchronous belt driving wheel 3411, and the large-diameter forearm synchronous belt driven wheel 3413 is connected through the synchronous belt, the forearm synchronous belt driven wheel 3413 is arranged at a position away from the motor and close to the forearm, that is, the large-diameter synchronous belt wheel can be arranged in the area close to the large-forearm root space, so that the structure is compact.

[0158] The desktop mechanical arm comprises a forearm 38 and a connecting piece 378 arranged between the forearm and the forearm. The forearm 38 comprises a forearm main rod 381 and a forearm auxiliary rod 382 arranged oppositely. The first end of the forearm main rod 381 is provided with a second hinge part. The second hinge part is located between the two connecting pieces 378. The two first hinge parts, the two connecting pieces 378 and the second hinge part are connected through a first hinge shaft. The first end of the forearm auxiliary rod 382 is hingedly connected with the opposite sides of the two connecting pieces 378. The forearm is the basis of the arm joint structure. By adopting the double-rod structure design of the forearm main rod and the forearm auxiliary rod, the double-rod combined support is realized. Compared with the single-rod structure design of the current forearm, the support strength is strengthened, and the safety is improved. Moreover, the forearm auxiliary rod of the forearm and the forearm auxiliary rod of the forearm are connected through the double connecting piece hinge connection structure design. Compared with the single triangular connecting piece, the connection strength between the arm structures is strengthened, the cooperation stability and the driving effect are improved. In addition, the coaxial multi-point hinge connection of the forearm main rod, the forearm main rod and the double connecting piece is arranged, so as to further strengthen the connection strength between the arm structures.

[0159] And, it can be understood that the reduction ratio of the secondary synchronous pulley assembly 332 of the large arm is between 1.5-6. That is, the large arm can also be configured with a secondary synchronous pulley assembly in the present embodiment, so as to further improve the reduction ratio of the large arm, such as in combination with the three reduction combinations in the previous embodiment, the overall reduction ratio of the large arm driving motor can be between 6.75-900, or the overall reduction ratio of the large arm driving motor can be between 45-500, or the overall reduction ratio of the large arm driving motor can be between 56.25-300, so that the required motor power can be further reduced.

[0160]

[0161]

[0162] Table 7 Adjustment range of overall reduction ratio of the first embodiment

[0163]

[0164] Table 8 Adjustment range of overall reduction ratio of the second embodiment

[0165]

[0166] Table 9 Adjustment range of overall reduction ratio of the third embodiment

[0167] It can be understood that the single-stage reduction ratio of the reducer in the foregoing embodiments of the present application is generally at least 3 and generally at most 10, and the common reduction ratios are: 3 / 4 / 5 / 6 / 7 / 8 / 9 / 10, and the number of stages of the reducer is generally not more than 3.

[0168] The synchronous pulley assembly in the foregoing embodiments of the present application is composed of a closed ring-shaped rubber belt with equidistant teeth on the inner circumferential surface and corresponding pulleys. In motion, the teeth engage with the tooth grooves of the pulleys to transmit motion and power, which is a kind of meshing transmission, and thus has various advantages of gear transmission, chain transmission and flat belt transmission. The synchronous belt transmission has accurate transmission ratio, no slip, can obtain constant speed ratio, can precisely transmit, has stable transmission, can absorb shock, has low noise, has a large transmission reduction ratio range, which can generally reach 1:10, such as the single-stage synchronous pulley assembly speed ratio in the embodiments of the present application can be: 1.5 / 2 / 3.75 / 4 / 5 / 6, the allowable linear velocity can reach 50 m / s, the transmission efficiency is high, which can generally reach 98%-99%.

[0169] In another aspect, the present application provides a desktop mechanical arm, which comprises the driving assembly of the desktop mechanical arm.

[0170] According to the embodiments of the present application, the large arm is pivoted to the base of the driving assembly, the small arm is pivoted to the other end of the large arm, and the end effector is connected to the small arm.

[0171] In yet another aspect, the present application can also be considered to provide a small industrial desktop robot, comprising the drive assembly of the desktop robot as previously described.

[0172] In a final aspect, the present application can also be considered to provide a robot, comprising the desktop robot as previously described, or comprising the small industrial desktop robot as previously described.

[0173] It has to be noted that, in the present text, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprising", "comprises" or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. An element proceeded by "comprises a... " does not, without further constraints, exclude the presence of additional identical elements in the process, method, article or apparatus that comprises the element.

[0174] The above description is merely that of the embodiments of the application and a person skilled in the art can understand or implement the application without departing from the general principles of the application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the overall inventive concept. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A turntable structure of a lightweight industrial desktop robot arm, characterized by, The large arm driving motor, the small arm driving motor, the large arm reducer and the small arm reducer are provided. The large arm driving motor is in transmission connection with a large arm first-stage synchronous belt wheel assembly, and is in transmission connection with the large arm reducer through the large arm first-stage synchronous belt wheel assembly. The large arm reducer is arranged between the large arm first-stage synchronous belt wheel assembly and the large arm second-stage synchronous belt wheel. The small arm driving motor is in transmission connection with a small arm synchronous belt wheel assembly, and the small arm synchronous belt wheel assembly is in transmission connection with the small arm reducer. The rotary table structure of the lightweight industrial desktop mechanical arm is arranged in a driving assembly of the lightweight industrial desktop mechanical arm. The large arm driving motor, the small arm driving motor and the large arm reducer are all mounted between the first side plate and the second side plate. The small arm reducer is mounted outside the second side plate. The reduction ratios of the large arm first-stage synchronous belt wheel assembly, the large arm second-stage synchronous belt wheel assembly and the small arm synchronous belt wheel assembly are greater than 1. The large arm driving motor and the reducer are both located between the two side plates, and the two-stage synchronous belt wheel assemblies of the large arm are located on the two sides to form a stable H-shaped structure.

2. The rotary table structure of the lightweight industrial desktop mechanical arm according to claim 1, wherein The small arm reducer is coaxially arranged with the driving shaft of the small arm.

3. The rotary table structure of the lightweight industrial desktop mechanical arm according to claim 1, wherein The large arm first-stage synchronous belt wheel assembly and the large arm second-stage synchronous belt wheel assembly are respectively located at the two ends of the large arm reducer, the large arm reducer is arranged in parallel with the large arm driving motor, and the output shafts of the large arm driving motor and the small arm driving motor are both directed to the same side.

4. The rotary table structure of the lightweight industrial desktop mechanical arm according to claim 3, wherein The large arm first-stage synchronous belt wheel assembly comprises a large arm first-stage synchronous belt driving wheel, a large arm first-stage synchronous belt and a large arm first-stage synchronous belt driven wheel, the outer diameter of the large arm first-stage synchronous belt driving wheel is smaller than that of the large arm first-stage synchronous belt driven wheel, the large arm first-stage synchronous belt driving wheel is mounted on the output shaft of the large arm driving motor, one end of the large arm first-stage synchronous belt is sleeved on the large arm first-stage synchronous belt driving wheel, the other end of the large arm first-stage synchronous belt is sleeved on the large arm first-stage synchronous belt driven wheel, and the large arm first-stage synchronous belt establishes a reduction transmission between the large arm first-stage synchronous belt driving wheel and the large arm first-stage synchronous belt driven wheel; and / or The large arm secondary synchronous belt wheel assembly comprises a large arm secondary synchronous belt driving wheel, a large arm secondary synchronous belt, and a large arm secondary synchronous belt driven wheel, the outer diameter of the large arm secondary synchronous belt driving wheel is smaller than that of the large arm secondary synchronous belt driven wheel, the large arm secondary synchronous belt driving wheel is installed on the output shaft of the large arm reducer, one end of the large arm secondary synchronous belt is sleeved on the large arm secondary synchronous belt driving wheel, the other end of the large arm secondary synchronous belt is sleeved on the large arm secondary synchronous belt driven wheel, and the large arm secondary synchronous belt establishes a speed reduction transmission between the large arm secondary synchronous belt driving wheel and the large arm secondary synchronous belt driven wheel; and / or, The small arm synchronous belt wheel assembly comprises a small arm synchronous belt driving wheel, a small arm synchronous belt, and a small arm synchronous belt driven wheel, the outer diameter of the small arm synchronous belt driving wheel is smaller than that of the small arm synchronous belt driven wheel, the small arm synchronous belt driving wheel is installed on the output shaft of the small arm driving motor, one end of the small arm synchronous belt is sleeved on the small arm synchronous belt driving wheel, the other end of the small arm synchronous belt is sleeved on the small arm synchronous belt driven wheel, and the small arm synchronous belt establishes a speed reduction transmission between the small arm synchronous belt driving wheel and the small arm synchronous belt driven wheel.

5. The turntable structure of the lightweight industrial desktop mechanical arm according to claim 1, wherein, the speed reduction ratio of the large arm reducer is between 3-25, the speed reduction ratio of the large arm primary synchronous belt wheel assembly is between 1.5-6, and the speed reduction ratio of the large arm secondary synchronous belt wheel assembly is between 1.5-6; and / or, the speed reduction ratio of the small arm reducer is between 3-25, and the speed reduction ratio of the small arm synchronous belt wheel assembly is between 1.5-6.

6. The turntable structure of the lightweight industrial desktop mechanical arm according to claim 1, wherein, the speed reduction ratio of the large arm reducer is between 5-20, the speed reduction ratio of the large arm primary synchronous belt wheel assembly is between 3-5, and the speed reduction ratio of the large arm secondary synchronous belt wheel assembly is between 3-5; and / or, the speed reduction ratio of the small arm reducer is between 5-20, and the speed reduction ratio of the small arm synchronous belt wheel assembly is between 3-5.

7. The turntable structure of the lightweight industrial desktop mechanical arm according to claim 1, wherein, the speed reduction ratio of the large arm reducer is between 5-15, the speed reduction ratio of the large arm primary synchronous belt wheel assembly is between 3-5, and the speed reduction ratio of the large arm secondary synchronous belt wheel assembly is between 3-5; and / or, the speed reduction ratio of the small arm reducer is between 5-15, and the speed reduction ratio of the small arm synchronous belt wheel assembly is between 3-5.

8. A drive assembly for a lightweight industrial desktop robotic arm, comprising: The turntable structure of the lightweight industrial desktop mechanical arm according to any one of claims 1 to 7; the driving assembly further comprises: a base, and a turntable rotatably assembled on the base; the turntable comprises a base for mounting the turntable structure of the lightweight industrial desktop mechanical arm.

9. The drive assembly of the lightweight industrial table-top robotic arm as claimed in claim 8, wherein, The rotary table comprises a first side plate, a second side plate and a bottom plate, the first side plate and the second side plate are arranged at intervals on the bottom plate; the large arm driving motor, the small arm driving motor and the large arm reducer are all mounted between the first side plate and the second side plate.

10. The drive assembly of the lightweight industrial table-top robotic arm as claimed in claim 9, wherein, The large arm secondary synchronous belt wheel assembly is located outside the first side plate, the large arm primary synchronous belt wheel assembly and the small arm synchronous belt wheel assembly are both located outside the second side plate.

11. The driving assembly of the lightweight industrial desktop robot arm according to claim 10, wherein the large arm driving motor and the small arm driving motor are arranged on the front side or the rear side of the base. The large arm driving motor and the small arm driving motor are arranged on the front side or the rear side of the base. The driving assembly of the lightweight industrial desktop robot arm according to any one of claims 8-11.

12. A lightweight industrial desktop robotic arm characterized by, Further comprising a large arm pivoted to the base of the driving assembly, a small arm pivoted to the other end of the large arm, and an end effector connected to the small arm, the large arm and the small arm are configured as a parallelogram combined arm frame.

13. The lightweight industrial tabletop robotic arm of claim 12, wherein, The desktop robot arm according to claim 12 or 13.

14. A robot, characterized in that The desktop robot arm according to claim 12 or 13.

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