CN208880718U - Rotation drive device - Google Patents
Rotation drive device Download PDFInfo
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- CN208880718U CN208880718U CN201821378955.0U CN201821378955U CN208880718U CN 208880718 U CN208880718 U CN 208880718U CN 201821378955 U CN201821378955 U CN 201821378955U CN 208880718 U CN208880718 U CN 208880718U
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Abstract
The utility model relates to mechanically operated technical fields, provide a kind of rotation drive device, for robot, robot includes robot body and rotatable parts, wherein, above-mentioned rotation drive device includes the bearing block and bearing of installation base plate, driving wheel, driving motor, driven wheel, transmission belt, shaft, sleeve-shaped.Installation base plate with robot body for being fixedly connected, and driving motor rotates driving wheel, and driving motor is fixed on installation base plate；Transmission belt surrounds between driving wheel and driven wheel；Shaft has rotating part, the interconnecting piece for being fixedly connected with rotatable parts and the mounting portion being connected between rotating part and interconnecting piece, and driven wheel is socketed on mounting portion in a manner of it can not rotate relative to mounting portion；Bearing sleeve is located at the outside of rotating part and fixes with installation base plate.It is compared with the prior art, rotation drive device provided by the utility model, stable structure, reliable transmission and at low cost, overall volume is smaller, can save space.
Description
Technical field
The utility model relates to mechanically operated technical fields, more particularly, to a kind of rotation drive device.
Background technique
Existing intelligent robot, such as lottery machine people, customer service robot, rotation drive device, such as head level rotation
Rotary driving device, arm rotation drive device, as the power section in the rotation drive device, predominantly by interconnected
The decelerating motor that motor and speed reducer structure is constituted, decelerating motor directly connects head or arm realizes transmission, or by the electricity that slows down
Machine is driven the movement for realizing head or arm by belt.The decelerating motor is by brushless or brush motor, and deceleration mechanism uses
Gear reduction, however, such mechanism often has the problems such as noise is big, and return difference is big, gear is more easily damaged.
Utility model content
The purpose of this utility model is to provide a kind of rotation drive devices, existing in the prior art as rotation to solve
Power section in rotary driving device, deceleration agency cost height, volume defect that is big, and being more easily damaged.
In order to achieve the above purposes, the technical solution adopted by the utility model is: provides a kind of rotation drive device, for having
There is the robot of rotatable parts, the rotatable parts are rotatably supported on the robot body of the robot, wherein on
Stating rotation drive device includes:
Installation base plate, for being fixedly connected with the robot body；
Driving wheel；
Driving motor, rotates the driving wheel, and the driving motor is fixed on the installation base plate；
Driven wheel；
Transmission belt surrounds between the driving wheel and the driven wheel；
Shaft has rotating part, the interconnecting piece for being fixedly connected with the rotatable parts and is connected to the rotation
Mounting portion between portion and the interconnecting piece, the driven wheel are socketed in described in a manner of it can not rotate relative to the mounting portion
On mounting portion；
The bearing block of sleeve-shaped is set in the outside of the rotating part and fixes with the installation base plate, the bearing block
Bearing storage space is collectively formed between inner wall and the side wall of the rotating part；And
An at least bearing is socketed on the rotating part and is located in the bearing storage space.
Further, the shaft is connected with the discoid driven grinding wheel press cap being located on the driven wheel, it is described from
Driving wheel gland has an inner hole passed through for the interconnecting piece, the side wall of the inner wall of the driven grinding wheel press cap and the interconnecting piece it
Between be provided with and both make fixed connection structure；The outer diameter of the driven grinding wheel press cap is greater than the outer diameter ruler of the driven wheel
It is very little.
Further, the connection structure includes the threaded portion of the side wall of the interconnecting piece being arranged in, and be arranged in institute
State the thread fiting part on the hole wall of inner hole and with threaded portion cooperation.
Further, the quantity of the bearing is two, is provided with and is socketed on the rotating part simultaneously between two bearings
Bearing spacer sleeve in the bearing storage space.
Further, it is respectively formed with step structure corresponding with the bearing on the both ends inner wall of the bearing block, two
A bearing includes the outer ring being mounted on the corresponding step structure and the inner ring connecting with the rotating part, described
The both ends end face of bearing spacer sleeve is abutted with the end face of the inner ring of two bearings respectively, and the bearing spacer sleeve is at described turn
Length dimension in the axial direction of axis is greater than spacing of two step structures in the axial direction of the shaft.
Further, the driven wheel has non-circular rotation stop hole, and the mounting portion has the shape with the rotation stop hole
The cross-sectional shape that shape matches.
Further, further include detection device for detecting the shaft rotational angle.
Further, the detection device includes:
Bracket is fixedly connected on the bearing block, and defines a detection space jointly with the bearing block；
Magnetic encoder is fixed on the bracket；
Pedestal is fixed on and is connected on the rotating part and is located in the detection space；
Magnet is fixed on pedestal；
On the extended line for the axis that the center of the magnetic encoder and the center of magnet are respectively positioned on the shaft.
Further, the pedestal includes positioning plate for connecting with the shaft, holds for placing the first of magnet
Support plate and the first linking arm for being connected to the positioning plate Yu first loading plate, the table of the positioning plate face away from described
The direction projection of first loading plate forms the first positioning protrusion, offers in the shaft and slides into simultaneously for first positioning protrusion
Cooperate the first positioning hole of positioning；
The bracket includes the second loading plate for placing the magnetic encoder and connect with second loading plate
And for second linking arm fixed with the bearing block, the end of second linking arm faces away from second loading plate
Direction projection forms the second positioning protrusion, offers on the bearing block and slides into for second positioning protrusion and cooperate positioning
Second location hole.
Further, it is formed with baffle on the installation base plate, is connected in the shaft for being rotated in the shaft
When abutted against with the baffle to limit the locating part of shaft rotation, the locating part be convexly equipped in the shaft side wall it
Outside.
It is compared with the prior art, rotation drive device provided by the utility model, including installation base plate, driving wheel, driving
Motor, driven wheel, transmission belt, shaft, sleeve-shaped bearing block and bearing, shaft is rotatably supported in bearing block, and driven wheel is not
It is installed in rotation in shaft, and is connect by transmission belt with driving wheel, in this way, under the driving of driving motor, driving wheel
Driven wheel rotation is taken to, to make shaft and be connected with the rotating shaft external rotatable parts rotation, in this way, rotation driving dress
Stable structure, reliable transmission and at low cost are set, overall volume is smaller, can save space.
The beneficial effect of rotation drive device provided by the utility model is: compared with prior art, the utility model
Rotation drive device has the advantage that
1, change rotation drive device deceleration type and and driving wheel mounting means, have do not damage motor, it is low
The advantages that noise, no return difference；
2, structure is simple, is easy the synchronization wheel drive mechanism of installation, simple and reliable and cost is relatively low；
3, it is not required to be conducive to save space, and design is simply using retarder.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of rotation drive device provided by the embodiment of the utility model；
Fig. 2 is the schematic top plan view of rotation drive device provided by the embodiment of the utility model；
Fig. 3 is the decomposition diagram of rotation drive device provided by the embodiment of the utility model；
Fig. 4 is the cross-sectional view in the face A-A in Fig. 1；
Fig. 5 is stereoscopic schematic diagram when shaft, driven wheel and driven grinding wheel press cap provided by the embodiment of the utility model connect；
Fig. 6 is shaft, driven wheel and driven grinding wheel press cap decomposition diagram provided by the embodiment of the utility model；
Fig. 7 is the cross-sectional view in the face B-B in Fig. 5；
Fig. 8 is the stereoscopic schematic diagram of shaft provided by the embodiment of the utility model, driven wheel.
Main element symbol description
100: rotation drive device
1: the 1a: the first face of installation base plate
103: the first pilot hole of 1b: the second face
104: the second pilot holes 105: baffle
2: driving wheel
3: driving motor 30a: output shaft
4: driven wheel 401: rotation stop hole
402: limiting section
5: transmission belt
6: shaft 601: rotating part
602: interconnecting piece 603: mounting portion
604: connecting hole 605: recess portion
606: first positioning hole 607: locating part
7: bearing block 70a: bearing storage space
70b: step structure 701: winding body
702: annular protrusion 703: supporting surface
8: bearing
9: bearing spacer sleeve
10: driven grinding wheel press cap 101: inner hole
11: magnet
12: magnetic encoder
13: pedestal 131: positioning plate
132: the first loading plate, 133: the first linking arm
134: the first positioning protrusion, 135: the first fixation hole
136: binding portion
14: 141: the second loading plate of bracket
142: the second linking arm, 143: the second fixation hole
144: the second positioning protrusions 145: bound edge
15: cable
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that described embodiment is this
A part of the embodiment of utility model, instead of all the embodiments.Based on described the embodiments of the present invention, ability
Domain those of ordinary skill every other embodiment obtained under the premise of being not necessarily to creative work, belongs to the utility model
The range of protection.
In order to make those skilled in the art more fully understand the technical solution of the utility model, below with reference to specific attached drawing
The realization of the utility model is described in detail.
Unless otherwise defined, the technical term or scientific term used herein is should be in the utility model fields
The ordinary meaning that personage with general technical ability is understood.Make in the utility model patent application specification and claims
" first ", " second " and similar word are not offered as any sequence, quantity or importance, and are used only to distinguish
Different component parts.Equally, the similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates exist at least
One.
As shown in Fig. 1 to Fig. 8 being a preferred embodiment provided by the utility model.
Rotation drive device 100 provided in this embodiment, for the driving of robot (not shown), robot includes machine
Human agent's (not shown) and the rotatable parts (not shown) being rotatably supported on robot body, wherein above-mentioned rotation
Driving device 100 includes the bearing of installation base plate 1, driving wheel 2, driving motor 3, driven wheel 4, transmission belt 5, shaft 6, sleeve-shaped
Seat 7 and bearing 8.For installation base plate 1 for being fixedly connected with robot, driving motor 3 rotates driving wheel 2, and driving motor 3 is fixed
On installation base plate 1；Transmission belt 5 surrounds between driving wheel 2 and driven wheel 4；Shaft 6 has rotating part 601, is used for and rotation
The interconnecting piece 602 that component is fixedly connected and the mounting portion 603 being connected between rotating part 601 and interconnecting piece 602, driven wheel 4
It is socketed on mounting portion 603 in a manner of it can not be rotated relative to mounting portion 603；Bearing block 7 is set in the outside of rotating part 601 simultaneously
It is fixed with installation base plate 1, bearing storage space 70a is collectively formed between 7 inner wall of bearing block and the side wall of rotating part 601；Bearing 8
It is socketed on rotating part 601 and is located in bearing storage space 70a.
Above-mentioned rotation drive device 100, including installation base plate 1, driving wheel 2, driving motor 3, driven wheel 4, transmission belt
5, shaft 6, bearing block 7 and bearing 8, shaft 6 are rotatably supported in bearing block 7, and driven wheel 4 is nonrotatably mounted tO shaft 6
On, and connect by transmission belt 5 with driving wheel 2, in this way, driving wheel 2 takes 4 turns of driven wheel under the driving of driving motor 3
It is dynamic, to make the rotatable parts of shaft 6 and the outside connecting with shaft 6 rotate, in this way, 100 structure of rotation drive device
Stablize, reliable transmission and at low cost, overall volume is smaller, can save space.
Referring to Fig. 1 to 8, rotation drive device 100, the driving for robot comprising installation base plate 1, driving wheel 2,
Driving motor 3, driven wheel 4, transmission belt 5, shaft 6, sleeve-shaped bearing block 7 and bearing 8.The robot can be lottery machine
People, customer service robot etc. comprising robot body, the control device (not shown) being arranged in the robot body, and
It is installed in rotation on such as head, shoulder or arm rotatable parts on robot body, above-mentioned rotation drive device 100
With control device electric connection and by the control device control action, control device is that can be realized rotation drive device 100
The existing control device of all of the drive control of driving motor 3.
Referring to Fig. 1 to 8, installation base plate 1, for above-mentioned rotation drive device 100 to be fixed on to the robot master of robot
On body, installation base plate 1 is fixedly connected on robot body using all existing fixed forms such as screw, welding, in this implementation
In example, installation base plate 1 includes opposite the first face 1a and the second face 1b, offers 103 He of the first pilot hole on the installation base plate 1
Second pilot hole 104, the first pilot hole 103, the second pilot hole 104 are arranged through the first face 1a and the second face 1b.
Driving motor 3, can be stepper motor, be also possible to servo motor, and by screw, welding etc., all are existing
Fixed form is fixedly connected on installation base plate 1, and in the present embodiment, driving motor 3 is fixedly mounted on the second of the installation base plate 1
On the 1b of face, which is but is not limited to stepper motor, and output shaft 30a is pierced by through the first pilot hole 103.
Driving wheel 2 is non-rotatably rigidly attached on the output shaft 30a of driving motor 3, in the present embodiment
In, driving wheel 2 is but is not limited to synchronous pulley, is socketed on the output shaft 30a of driving motor 3 and can be by driving motor 3
Driving rotation.
Driven wheel 4, is installed in rotation on the side of driving wheel 2, transmission belt 5 surround driving wheel 2 and driven wheel 4 it
Between, in the present embodiment, driven wheel 4 is but is not limited to synchronous pulley, and the axis of its axis and driving wheel 2 is parallel to each other,
Transmission belt 5 is but office's synchronous belt, outer diameter are not greater than the outer diameter of driving wheel 2, and driven wheel 4 is mounted in shaft 6, it is readily appreciated that
It is that driving motor 3 drives driving wheel 2 to rotate, driving wheel 2 drives driven wheel 4 to rotate by transmission belt 5.
Shaft 6 has rotating part 601, interconnecting piece 602 and the installation being connected between rotating part 601 and interconnecting piece 602
Portion 603, driven wheel 4 are socketed on mounting portion 603 in a manner of it can not rotate relative to mounting portion 603, in the present embodiment, shaft
6 are installed in rotation in the second pilot hole 104 of installation base plate 1, and the axial end face of interconnecting piece 602 offers connecting hole 604,
The quantity of connecting hole 604 is but is not limited to four, and is circumferentially equally spaced, and for screw merging, and makes interconnecting piece 602
It is connected and fixed with rotatable parts.It is understood that driven wheel 4 by driving rotate when, rotate shaft 6 together, and make with
The rotatable parts rotation that the interconnecting piece 602 of the shaft 6 is fixedly connected.
Bearing block 7 is in sleeve-shaped, is socketed in the outside of rotating part 601, bearing block 7 is fixed with installation base plate 1 and is located at
3 side of driving motor.In the present embodiment, by screw, welding etc., all existing fixed forms are fixedly connected on bearing block 7
On second face 1b of installation base plate 1, and it is set in the outside of shaft 6, between the inner wall of bearing block 7 and the side wall of rotating part 601
Collectively form bearing storage space 70a.
Bearing 8 is socketed on rotating part 601 and is located in bearing storage space 70a, and the quantity of bearing 8 can be one
Or it is multiple.In the present embodiment, the quantity of bearing 8 is but is not limited to two, and is arranged side by side in the axial direction of shaft 6, axis
Holding 8 includes outer ring, inner ring and the rolling element being disposed there between, and rolling element can be ball, roller etc., and outer ring is to be mounted on
On bearing block 7, inner ring is mounted in shaft 6, is provided between two bearings 8 and is socketed on rotating part 601 and is located at bearing receipts
The bearing spacer sleeve 9 received in the 70a of space, so as to keep pre-determined distance between two bearings 8.
In another embodiment, the quantity of bearing 8 is one, then can be not provided with bearing spacer sleeve 9.
In another embodiment, the quantity of bearing 8 is multiple, is provided with bearing spacer sleeve 9 between adjacent bearing 8.
Referring to Fig. 1 to 8, step structure 70b is respectively formed on bearing block 7, to install the outer ring of bearing block 7, at this
In embodiment, step structure 70b corresponding with bearing 8 is respectively formed on the both ends inner wall of bearing block 7, bearing spacer sleeve 9
Both ends end face is abutted with the end face of the inner ring of two bearings 8 respectively, length dimension of the bearing spacer sleeve 9 in the axial direction of shaft 6
Spacing of greater than the two step structure 70b in the axial direction of shaft 6.
Specifically, bearing block 7 includes the annular protrusion 702 of winding body 701 and projection on 701 inner wall of winding body, ring
Along the entire circumferentially extending of winding body 701, the top of the winding body 701 is connect with the second face 1b of installation base plate 1 for shape protrusion 702
Fixed, the internal diameter of the winding body 701 is greater than the aperture of the second pilot hole 104, the internal diameter of annular protrusion 702 and the second pilot hole
104 aperture is identical or essentially identical.The annular protrusion 702 has relative to each other on the axis direction of winding body 701
The side end face towards another 8 inner ring of bearing of two supporting surfaces 703, the inner ring of bearing 8 is connected on supporting surface 703, winding
Above-mentioned step structure 70b is constituted between body 701 and the end of annular protrusion 702, that is to say, that bearing spacer sleeve 9 is in shaft 6
Axial direction on length dimension be greater than length dimension of the annular protrusion 702 in the axial direction of shaft 6, the length of the bearing spacer sleeve 9
The difference of the length dimension of size and annular protrusion 702 is spent in 0.05mm between 0.15mm, preferably 0.1mm.In this way, using bearing
The length of spacer sleeve 9 is slightly long than the distance of two step structure 70b of bearing block 7, to guarantee two bearings 8 after mounting not
It can make that the inner ring of bearing 8 is excessive by axial force or even rolling element is destroyed, to keep drive mechanism more stable.
Referring to Fig. 1 to 8, shaft 6 is connected with the discoid driven grinding wheel press cap 10 being located on driven wheel 4, driven wheel load
Lid 10 has the inner hole 101 passed through for interconnecting piece 602, sets between the inner wall of driven grinding wheel press cap 10 and the side wall of interconnecting piece 602
It is equipped with the connection structure for keeping the two fixed；The outer diameter of driven grinding wheel press cap 10 is greater than the outer diameter of driven wheel 4.In this way, logical
Driven grinding wheel press cap 10 is crossed, driven wheel 4 can be pressed in shaft 6, is separated to limit driven wheel 4 with shaft 6, driven wheel load
The outside diameter wall driven wheel 4 of lid 10 is slightly larger, in this way, can facilitate the assembly of transmission belt 5, and connect in driven grinding wheel press cap 10 with shaft 6
Afterwards, it realizes rib function, prevents belt from skidding off in transmission process from wheel side, so that the transmission performance of transmission belt 5 is solid and reliable.
Specifically, connection structure includes the threaded portion of the side wall of interconnecting piece 602 being arranged in, and inner hole 101 is arranged in
Thread fiting part on hole wall and with threaded portion cooperation, driven grinding wheel press cap 10 use Screw assembly to the interconnecting piece of shaft 6
On 602, and compress driven wheel 4.
In another embodiment, driven grinding wheel press cap 10 is connected and fixed by screw with shaft 6.
Referring to Fig. 1 to 8, driven wheel 4 has non-circular rotation stop hole 401, and mounting portion 603 has the shape with rotation stop hole 401
The cross-sectional shape that shape matches can be used screw between driven wheel 4 and shaft 6 and be connected and fixed.In the present embodiment, rotation stop hole
401 are but are not limited to waist-shaped hole, and mounting portion 603 has the cross-sectional shape to match with the shape in rotation stop hole 401, in this way,
It can be convenient for the dismounting of driven wheel 4 and shaft 6,6 power transmission of shaft after assembly is more stable, avoids connecting using screw
When, cause screw easily to loosen the phenomenon that even dropping out because screw bears excessive torsion.
It can be seen that projection on 401 inner wall of rotation stop hole of driven wheel 4 from Fig. 1 to 8 and form limiting section 402, limiting section 402
Along the circumferentially extending of driven wheel 4, the recess portion 605 of annular is formed on the side wall of mounting portion 603, to fill in driven wheel 4 and shaft 6
Timing cooperates with limiting section 402 and limits, to limit the relative movement of driven wheel 4 Yu shaft 6.
Referring to Fig. 1 to 8, the rotation drive device 100 of the present embodiment further includes detection device, to detect turning for shaft 6
Dynamic angle.In the present embodiment, detection device includes bracket 14, magnetic encoder 12, pedestal 13 and magnet 11, and bracket 14 uses
All existing fixed forms such as screw, welding are fixedly connected on bearing block 7, and define a detection jointly with bearing block 7
Space；Magnetic encoder 12 is fixed on the support 14, and magnetic encoder 12 includes Magnetic Sensor, which is but does not limit to
In Hall sensor；Pedestal 13 using all existing fixed forms such as screw, welding be fixed on be connected on rotating part 601 and
In detection space, magnet 11 is fixed on pedestal 13；The equal position in center at the center and magnet 11 of magnetic encoder 12
In on the extended line of the axis of shaft 6.Magnetic encoder 12 and above-mentioned control device are electrically connected, magnetic encoder 12 because
Be connected by bracket 14 with bearing block 7, be it is fixed, magnet 11 is connected by pedestal 13 with shaft 6, is and driven wheel 4
It rotates together, therefore, relative rotation, control device can has occurred when rotating rotation in magnetic encoder 12 and magnet 11
The rotational angle of driven wheel 4 is detected from magnetic encoder 12, and the movement angle of shaft 6 is controlled.
In another embodiment, detection device also may include Photo Interrupter (also referred to as penetrating type photoelectric sensor), the light
Breaker includes luminescence component and photosensory assembly, loophole can be opened up in shaft 6, using shading principle to realize detection function.
Referring to Fig. 1 to 8, pedestal 13 includes positioning plate 131, the first loading plate 132 and is connected to positioning plate 131 and holds with first
First linking arm 133 of support plate 132, for connecting with shaft 6, the first loading plate 132 is used to place magnet 11 positioning plate 131,
The direction projection that the table of positioning plate 131 faces away from the first loading plate 132 forms the first positioning protrusion 134, offers in shaft 6
The first positioning hole 606 of positioning is slid into and cooperated for the first positioning protrusion 134.In the present embodiment, the first positioning hole of shaft 6
606 run through the both ends of the surface of the shaft 6, and the cross-sectional shape of magnet 11 is but is not limited to circle, the first loading plate 132 it is transversal
Face is but is not limited to circle, and the first fixation hole 135 is formed on the face center of the first loading plate 132, and the fixation of magnet 11 is set
It sets in the first fixation hole 135 of the first loading plate 132.Positioning plate 131 is circular ring shape plate, along the positioning plate 131 in inner rim
Axial projection form cricoid first positioning protrusion 134, the outer diameter of first positioning protrusion 134 and first positioning hole 606
Aperture is identical.131 surface of positioning plate is also formed with screwing through hole, passes through for screw and pedestal 13 is fixedly mounted on shaft 6
On.In this way, being embedded in the shaft 6 by the first positioning protrusion 134, after pedestal 13 and the installation of shaft 6 are fixed thus to pedestal
13 position with the installation of shaft 6, and are coaxially disposed the magnet 11 being fixed on the first loading plate 132 and shaft 6.
Referring to Fig. 1 to 8, bracket 14 includes the second loading plate 141 and connect and be used for and bearing block with the second loading plate 141
7 the second fixed linking arms 142, the second loading plate 141 is for placing magnetic encoder 12, in the present embodiment, the second carrying
The second fixation hole 143 is formed on the face center of plate 141, magnetic encoder 12 is fixed at the of the second loading plate 141
In two fixation holes 143.The quantity of second linking arm 142 is but is not limited to two, and 142 end of the second linking arm faces away from second
The direction projection of loading plate 141 forms the second positioning protrusion 144, offers on bearing block 7 and slides into simultaneously for the second positioning protrusion 144
Cooperate the second location hole (not shown) of positioning.144 quantity of the second positioning protrusion on each second linking arm 142 is but not office
It is limited to two, 142 end face of the second linking arm is also formed with screwing through hole between two the second positioning protrusions 144, for screw
It passes through and bracket 14 is fixedly mounted on bearing block 7.It is easily understood that by the first positioning protrusion 134 of pedestal 13 with
Shaft 6 is located by connecting, and by the second positioning protrusion 144 of bracket 14 and being located by connecting for bearing block 7, to guarantee magnetic
The concentricity of iron 11 and magnetic encoder 12, with detection accuracy with higher.
Specifically, to the direction projection shape for deviating from the second loading plate 141 in the end face outer rim of each second linking arm 142
At bound edge 145, the inner wall of the bound edge 145 has the arc shape to match with the outer wall radian of bearing block 7, in such manner, it is possible into
The connective stability of one step raising bracket 14 and bearing block 7.
It should be noted that the bearing 8 being located above is maintained between bearing block 7 and installation base plate 1, it is underlying
Bearing 8 is maintained between bearing block 7 and bracket 14, the top surface for 8 inner ring of bearing being located above and the bottom surface phase of mounting portion 603
It supports, the bottom surface of underlying 8 inner ring of bearing and the top surface of pedestal 13 offset, so that shaft 6 is limited in axis in its axial direction
It holds in seat 7.
As further optimizing, it is formed with baffle 105 on installation base plate 1, is connected in shaft 6 at 6 turns of shaft
It abuts against when dynamic with baffle 105 to limit the locating part 607 of the rotation of shaft 6, locating part 607 is convexly equipped in except the side wall of shaft 6.
In this way, rotation drive device 100 produces limit in rotation, through the collision of the locating part 607 on baffle 105 and shaft 6
Function.According to angle needs, baffle 105 can be set to one or two.If rotation drive device 100 needs 360 degree of continuous rotations
Turn, does not then need this limit function.
Specifically, the rotation drive device 100 of the present embodiment further includes cable 15, and cable 15 is through first positioning hole 606
It is arranged in shaft 6, prevents cable 15 from disorderly putting during exercise, avoids scratching and even destroy, be provided with binding portion 136 on pedestal 13,
The bundle of cable 15 can be attached in binding portion 136 by binding, if rotation drive device 100 needs 360 degree of continuous rotations, can be made
Cable 15 is installed with slip ring, cable 15 is avoided to wind.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modification, equivalent replacement or improvement etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of rotation drive device, for the robot with rotatable parts, the rotatable parts are rotatably supported in institute
It states on the robot body of robot characterized by comprising
Installation base plate, for being fixedly connected with the robot body；
Driving wheel；
Driving motor, rotates the driving wheel, and the driving motor is fixed on the installation base plate；
Driven wheel；
Transmission belt surrounds between the driving wheel and the driven wheel；
Shaft, have rotating part, the interconnecting piece for being fixedly connected with the rotatable parts and be connected to the rotating part with
Mounting portion between the interconnecting piece, the driven wheel are socketed in the installation in a manner of it can not rotate relative to the mounting portion
In portion；
The bearing block of sleeve-shaped is set in the outside of the rotating part and fixes with the installation base plate, the bearing block inner wall
Bearing storage space is collectively formed between the side wall of the rotating part；And
An at least bearing is socketed on the rotating part and is located in the bearing storage space.
2. rotation drive device according to claim 1, which is characterized in that the shaft be connected be located at it is described driven
Discoid driven grinding wheel press cap on wheel, the driven grinding wheel press cap has the inner hole passed through for the interconnecting piece, described driven
The connection structure for keeping the two fixed is provided between the inner wall of grinding wheel press cap and the side wall of the interconnecting piece；The driven grinding wheel press cap
Outer diameter is greater than the outer diameter of the driven wheel.
3. rotation drive device according to claim 2, which is characterized in that the connection structure includes being arranged in the company
The threaded portion of the side wall of socket part, and be arranged on the hole wall of the inner hole and be threadedly engaged with what the threaded portion cooperated
Portion.
4. rotation drive device according to claim 1, which is characterized in that the quantity of the bearing is two, two axis
The bearing spacer sleeve for being socketed on the rotating part and being located in the bearing storage space is provided between holding.
5. rotation drive device according to claim 4, which is characterized in that distinguish shape on the both ends inner wall of the bearing block
The corresponding step structure of bearing described in Cheng Youyu, two bearings include be mounted on it is outer on the corresponding step structure
Circle and the inner ring that is connect with the rotating part, the both ends end face of the bearing spacer sleeve respectively with the inner ring of two bearings
End face abuts, and length dimension of the bearing spacer sleeve in the axial direction of the shaft is greater than two step structures described
Spacing in the axial direction of shaft.
6. rotation drive device according to claim 1, which is characterized in that the driven wheel has non-circular rotation stop
Hole, the mounting portion have the cross-sectional shape to match with the shape in the rotation stop hole.
7. rotation drive device according to any one of claims 1 to 6, which is characterized in that further include described for detecting
The detection device of shaft rotational angle.
8. rotation drive device according to claim 7, which is characterized in that the detection device includes:
Bracket is fixedly connected on the bearing block, and defines a detection space jointly with the bearing block；
Magnetic encoder is fixed on the bracket；
Pedestal is fixed on and is connected on the rotating part and is located in the detection space；
Magnet is fixed on pedestal；
On the extended line for the axis that the center of the magnetic encoder and the center of magnet are respectively positioned on the shaft.
9. rotation drive device according to claim 8, which is characterized in that the pedestal includes for connecting with the shaft
The positioning plate connect, the first loading plate for placing magnet and the first company for being connected to the positioning plate and first loading plate
Arm is connect, the direction projection that the table of the positioning plate faces away from first loading plate forms the first positioning protrusion, the shaft
On offer and slide into and cooperate the first positioning hole of positioning for first positioning protrusion；
The bracket includes the second loading plate for placing the magnetic encoder and connect and use with second loading plate
In second linking arm fixed with the bearing block, the end of second linking arm faces away from the direction of second loading plate
Projection forms the second positioning protrusion, offers on the bearing block and slides into and cooperate the second of positioning for second positioning protrusion
Location hole.
10. rotation drive device according to any one of claims 1 to 6, which is characterized in that formed on the installation base plate
There is baffle, is connected in the shaft for abutting against in shaft rotation with the baffle to limit the shaft and rotate
Locating part, the locating part is convexly equipped in except the side wall of the shaft.
Priority Applications (1)
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| CN201821378955.0U CN208880718U (en) | 2018-08-24 | 2018-08-24 | Rotation drive device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549362A (en) * | 2019-07-27 | 2019-12-10 | 华南理工大学 | But continuous rotation platform based on belt drive |
| CN110609265A (en) * | 2019-09-25 | 2019-12-24 | 深圳市速腾聚创科技有限公司 | Bearing mounting structure for laser radar and laser radar |
| CN112888956A (en) * | 2019-09-25 | 2021-06-01 | 深圳市速腾聚创科技有限公司 | Laser radar |
-
2018
- 2018-08-24 CN CN201821378955.0U patent/CN208880718U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549362A (en) * | 2019-07-27 | 2019-12-10 | 华南理工大学 | But continuous rotation platform based on belt drive |
| CN110609265A (en) * | 2019-09-25 | 2019-12-24 | 深圳市速腾聚创科技有限公司 | Bearing mounting structure for laser radar and laser radar |
| CN112888956A (en) * | 2019-09-25 | 2021-06-01 | 深圳市速腾聚创科技有限公司 | Laser radar |
| CN112888956B (en) * | 2019-09-25 | 2024-02-23 | 深圳市速腾聚创科技有限公司 | Laser radar |
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