CN209717712U - Rotation drive device and robot for robot head - Google Patents
Rotation drive device and robot for robot head Download PDFInfo
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- CN209717712U CN209717712U CN201920406987.5U CN201920406987U CN209717712U CN 209717712 U CN209717712 U CN 209717712U CN 201920406987 U CN201920406987 U CN 201920406987U CN 209717712 U CN209717712 U CN 209717712U
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Abstract
The utility model relates to the technical fields of joint of robot rotation, provide a kind of rotation drive device and robot for robot head comprising hollow shaft, driving mechanism, holding bracket, fixed bracket and the detection device of support plate and support on the supporting plate；Shaft is rotatably arranged in support plate, and driving mechanism keeps bracket to be connected and fixed with support plate, keeping bracket includes the supporting part below shaft for rotating shaft；Fixed bracket includes the fixed part being connected and fixed with shaft and the supporting arm part that the bottom end from fixed part extends to supporting part；For detection device for detecting shaft rotational angle, detection device includes the magnetic encoder being arranged on supporting part and the magnet that is arranged on supporting arm part.It is compared with the prior art, the rotation drive device provided by the utility model for robot head facilitates the hollow cabling of different number, different size harness, while effectively reducing the phenomenon that rotating kerf, kinking generation.
Description
Technical field
The utility model relates to the technical field of joint of robot rotation, more particularly, to a kind of for robot head
Rotation drive device and robot.
Background technique
Existing intellect service robot, head can generally realize multiple functions, such as countenance, and voice dialogue, face are known
Not etc., it is general inside head that respective electric element is set to realize that above-mentioned function, major part need and body interior are arranged in
The lines such as industrial personal computer, master control borad, with supply and the Communication Control etc. for realizing power, the line specification of different electrical components and ontology
Difference, quantity is more, if angular encoder is arranged in the shaft of head to feed back joint real-time angular, it will threading when leading to wiring
Difficult and head rotation is easy the problems such as kerf and kinking.
Utility model content
The purpose of this utility model is to provide a kind of rotation drive devices and robot for robot head, with solution
When harness cabling is excessive in rotation portion certainly existing in the prior art, it is easy the skill for occurring kerf, kinking in rotary course
Art problem.
Rotation drive device provided by the utility model for robot head, including support plate and be supported on described
In support plate:
Hollow shaft is rotatably arranged in the support plate by axis of the axis of the shaft；
Driving mechanism rotates the shaft；
Bracket is kept, is connected and fixed with the support plate, the holding bracket includes the carrying below the shaft
Portion；
Fixed bracket comprising the fixed part that is connected and fixed with the shaft and held from the bottom end of the fixed part to described
The supporting arm part that load portion extends；With
Detection device, for detecting the shaft rotational angle, the detection device includes magnetic encoder and is located at institute
State the magnet between magnetic encoder and the shaft；
The magnet is arranged on the supporting arm part, and the magnetic encoder is arranged on the supporting part.
Further, the fixed part has the cross section of circular ring shape, and the fixed part is set in the outside of the shaft,
And it is connected and fixed between the two by fixation fastener.
Further, the supporting arm part includes extending from the fixed part along the axial of the shaft to the supporting part
Vertical portion, and the horizontal component extended from the inner wall of the vertical portion to the axis horizontal of the shaft, the magnetic
Iron is arranged on the horizontal component.
Further, the mounting groove for fixing the magnet is offered on the horizontal component, the mounting groove has
Circular cross section, and the center line of the mounting groove is on the extended line of the axis of the shaft.
Further, the holding bracket is connected and fixed by cushion block and the support plate；The holding bracket further includes
The holding wall portion being connected between the cushion block and the supporting part.
Further, the top of the shaft is equipped with adapter flange；The outer cover of the shaft is equipped with bearing block, described
Bearing block is fixed in the support plate, and between the support plate and the adapter flange；The top of the bearing block
Finite place piece is installed on end face, is provided on the bottom end end face of the adapter flange and matches with the limit of locating part cooperation limit
Component.
Further, at least one bearing is provided between the bearing block and the shaft.
Further, the driving mechanism includes the driving motor being supported in the support plate, and is connected to described
V belt translation component between driving motor and the shaft.
Further, the driving motor is stepper motor or decelerating motor.
Robot provided by the utility model drives dress including head assembly and the above-mentioned rotation for robot head
It sets, the shaft is connected and fixed with the head assembly.
It is compared with the prior art, the rotation drive device provided by the utility model for robot head, including shaft,
Driving mechanism keeps bracket, fixed bracket and detection device, keeps bracket to be connected and fixed with support plate, keeping bracket includes position
Supporting part below shaft, fixed bracket are fixed with shaft, and fixed bracket includes supporting arm part, and the magnet in detection device is set
Set on supporting arm part, magnetic encoder is arranged on supporting part, and shaft uses hollow structure, inside for cable routing,
In this way, there is biggish space of lines out, to facilitate difference when support bracket fastened supporting arm part is rotated with shaft, below the shaft
The hollow cabling of quantity, different size harness, while effectively reducing the phenomenon that rotating kerf, kinking hair.
It is compared with the prior art, robot provided by the utility model, using the above-mentioned rotation for robot head
The detection of shaft angle and motion control may be implemented in driving device, simple and reliable for structure and cost is relatively low.
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 front view of rotation drive device provided by the embodiment of the utility model；
Fig. 3 is the schematic cross-sectional view in the face A-A in Fig. 2；
Fig. 4 is the schematic side view of rotation drive device provided by the embodiment of the utility model；
Fig. 5 is the schematic cross-sectional view in the face B-B in Fig. 4.
Main element symbol description
100: rotation drive device
10: support plate 11: bearing block
12: bearing 13: bearing spacer sleeve
14: cushion block 15: adapter flange
16: locating part 17: limit matching piece
20: shaft
30: driving mechanism 31: driving motor
32: electric machine support 33: driving wheel
34: driven wheel 35: transmission belt
40: keeping bracket 41: supporting part
42: keeping wall portion 43: location hole
50: fixed bracket 51: fixed part
52: supporting arm part 53: vertical portion
54: horizontal component 55: mounting groove
60: detection device 61: magnetic encoder
62: magnet
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.
For sake of convenience, hereinafter so-called "upper" "lower" is consistent with the upper and lower direction of attached drawing itself, but not to this reality
Restriction effect is played with novel structure.
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
The similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates that there are at least one.
It is a preferred embodiment provided by the utility model as shown in Fig. 1 to 5.
Rotation drive device 100 provided in this embodiment for robot head comprising support plate 10 and support
Hollow shaft 20, driving mechanism 30, holding bracket 40, fixed bracket 50 and detection device 60 in support plate 10；Shaft
20 are rotatably arranged in support plate 10 by axis of the axis of shaft 20；Driving mechanism 30 is for rotating shaft 20；It keeps
Bracket 40 is connected and fixed with support plate 10, and keeping bracket 40 includes the supporting part 41 positioned at 20 lower section of shaft；Fixed bracket 50 wraps
The supporting arm part 52 for including the fixed part 51 being connected and fixed with shaft 20 and extending from the bottom end of fixed part 51 to supporting part 41；Detection
Device 60 is used to detect the rotational angle of shaft 20, detection device 60 include magnetic encoder 61 and be located at magnetic encoder 61 with
Magnet 62 between shaft 20；Magnet 62 is arranged on supporting arm part 52, and magnetic encoder 61 is arranged on supporting part 41.
The above-mentioned rotation drive device 100 for robot head, including shaft 20, driving mechanism 30, holding bracket
40, fixed bracket 50 and detection device 60, keep bracket 40 to be connected and fixed with support plate 10, and keeping bracket 40 includes being located at shaft
The supporting part 41 of 20 lower sections, fixed bracket 50 and shaft 20 are fixed, and fixed bracket 50 includes supporting arm part 52, in detection device 60
Magnet 62 be arranged on supporting arm part 52, magnetic encoder 61 be arranged on supporting part 41, shaft 20 use hollow structure,
Inside is for cable routing, in this way, when the supporting arm part 52 of fixed bracket 50 is rotated with shaft 20, have below the shaft 20 compared with
Big goes out space of lines, to facilitate the hollow cabling of different number, different size harness, while effectively reducing rotation kerf, twining
The phenomenon that line, occurs.
Referring to Fig. 1 to 5, the rotation drive device 100 for robot head of the present embodiment is mounted on robot body
It in (not shown), and is connect with the head assembly (not shown) of robot, so that the head assembly be driven to rotate.This is used for machine
The rotation drive device 100 of head part includes support plate 10, shaft 20, driving mechanism 30, keeps bracket 40, fixed 50 and of bracket
Detection device 60.
Referring to Fig. 1 to 5, support plate 10, substantially rectangular plate uses all existing fixations such as screw, welding
Mode is fixedly connected on robot body.
Referring to Fig. 1 to 5, shaft 20 is hollow structure, inside can be for cable wiring, convenient for different size, different rule
The harness of lattice passes through, and shaft 20 is threaded through in support plate 10, and can relative support plate 10 using the axis of shaft 20 as axis rotate.
In the present embodiment, the outer cover of shaft 20 is equipped with bearing block 11, is coaxially disposed with shaft 20, and the bearing block 11 is solid by screw
It is scheduled on the upper surface (upper surface of diagram) of support plate 10, bearing 12, bearing 12 is provided between bearing block 11 and shaft 20
Quantity be but be not limited to two, and in the axial direction of shaft 20 side by side and interval setting, the outer ring of bearing 12 is mounted on axis
It holds on seat 11, inner ring is mounted in shaft 20, bearing spacer sleeve 13 is provided between the shaft end of two bearings 12, so that two axis
Pre-determined distance is kept between holding.
Referring to Fig. 1 to 5, driving mechanism 30, for rotating shaft 20 comprising the driving electricity being supported in support plate 10
Machine 31, and the V belt translation component being connected between driving motor 31 and shaft 20, driving motor 31 can be stepper motor,
It can be decelerating motor.In the present embodiment, driving motor 31 is fixed on the lower surface (figure of support plate 10 by electric machine support 32
The lower surface shown) on, V belt translation component includes driving wheel 33, the transmission belt 35 of driven wheel 34 and wrapping therebetween, active
Wheel 33 is fixed on the output shaft of driving motor 31, and driven wheel 34 is fixed in shaft 20, to pass through the drive of driving motor 31
It is dynamic, rotate shaft 20.It is easily understood that different motors can be selected according to practical matter；It is light for rotation load, mute,
Space limits the optional stepper motor driving of demanding occasion, as service robot head level rotates occasion；For load compared with
Greatly, and motor is required to provide the occasion of certain reversed resistance, optional decelerating motor, such as the arm moved on vertical direction, it is desirable that
Motor power still can realize that position is kept by reduction gearbox resistance after disconnecting, and will not fall because of gravity.
Referring to Fig. 1 to 5, bracket 40 is kept, is connected and fixed with support plate 10, keeping bracket 40 includes being located at 20 lower section of shaft
Supporting part 41 keep bracket 40 to be connected and fixed with support plate 10 by cushion block 14, cushion block 14 passes through screw in the present embodiment
It is fixed on the lower surface (lower surface of diagram) of support plate 10, bracket 40 is kept to be fixed by screws in the lower end of cushion block 14
On (lower end of diagram).It keeps bracket 40 to include supporting part 41 interconnected and keep wall portion 42, wall portion 42 is kept to pass through spiral shell
Nail and cushion block 14 are fixed, and keeping wall portion 42 is substantially in tabular, and it is along the axial projection shape in support plate 10 of shaft 20
Shape is but is not limited to sector, keeps wall portion 42 (lower section of diagram) and inside downwards from the lower end (lower end of diagram) of cushion block 14
Bending extends on the outer peripheral edge of supporting part 41.Location hole 43 is offered on the supporting part 41, the center of the location hole 43 is located at
On the extended line of the axis of the shaft 20.
Referring to Fig. 1 to 5, fixed bracket 50 comprising the fixed part 51 that is connected and fixed with shaft 20 and from fixed part 51
The supporting arm part 52 that bottom end extends to supporting part 41.In the present embodiment, fixed part 51 has the cross section of circular ring shape, fixed part
51 are set in the outside of shaft 20, and are connected and fixed between the two by fixation fastener, and fixation fastener is but is not limited to
The outer diameter of screw, the internal diameter and shaft 20 of fixed part 51 matches, in this way, being set in shaft 20 in fixed part 51
After on lower end (lower end of diagram), it can guarantee that fixed part 51 and shaft 20 are coaxially disposed, to determine supporting arm part 52
Position.
Specifically, supporting arm part 52, it is substantially L-shaped comprising from fixed part 51 along the axial to carrying of shaft 20
The vertical portion 53 that portion 41 extends, and the horizontal component extended from the inner wall of vertical portion 53 to the axis horizontal of shaft 20
54, the inner wall of the vertical portion 53 is plane, the curved surface that outer wall matches for the outer wall shape of shape and fixed part 51.It needs
Bright, the end rotation range of motion of robot is usually no more than 360 °, using the fixation bracket 50 of this "L" shaped
Carry out fixed magnet 62, when fixed bracket 50 is rotated with shaft 20, by supporting arm part 52 take up space it is smaller, and needed for activity
Space is relatively also smaller, the problem of slewing area can effectively reduce kerf or kinking.
In other embodiments, supporting arm part 52 can also be inclined to set.
Referring to Fig. 1 to 5, detection device 60, for detecting 20 rotational angle of shaft, detection device 60 includes magnetic encoder
61 and the magnet 62 between magnetic encoder 61 and shaft 20, magnetic encoder 61 includes Magnetic Sensor, the Magnetic Sensor
It can be Hall sensor.Using magnet 62 and magnetic encoder 61 respectively as the feedback of end rotation joint angles signal and
It reads, detects displacement, and issue feedback signal compared with the command signal that control device issues, to realize to shaft 20
Angle detection and motion control.In the present embodiment, magnet 62 has circular cross section, the horizontal component 54 of supporting arm part 52
On offer mounting groove 55 for fixed magnet 62, mounting groove 55 has circular cross section, and the center line of mounting groove 55
On the extended line of the axis of shaft 20.Magnetic encoder 61 is arranged in the location hole 43 of supporting part 41, and just with magnet 62
It is right.
Referring to Fig. 1 to 5, the top of shaft 20 is equipped with adapter flange 15, and the head assembly to connect robot (is schemed not
Show)；Bearing block 11 and between support plate 10 and adapter flange 15；Finite place piece is installed on the top end face of bearing block 11
16, the limit matching piece 17 with the cooperation limit of locating part 16 is provided on the bottom end end face of adapter flange 15, in the present embodiment,
Locating part 16, matching piece 17 is but is not limited to screw for limit, and the quantity of locating part 16 is but is not limited to two, and in bearing
The circumferentially-spaced setting of seat 11, is fixed on bearing block 11 using locating part 16 and makees mechanical position limitation fulcrum, head assembly rotation
When to mechanical position limitation, limit matching piece 17 is arrived on wherein any one locating part 16, which realizes simple, cost
Occasion low, that, limit accuracy low suitable for speed be not high and load is small.
Robot provided in this embodiment, including head assembly and the above-mentioned rotation drive device for robot head
100, shaft 20 is connected and fixed with head assembly.
Above-mentioned robot may be implemented 20 jiaos of shaft using the above-mentioned rotation drive device 100 for robot head
Degree detection and motion control, it is simple and reliable for structure and cost is relatively low.
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 robot head, which is characterized in that including support plate and be supported on the branch
On fagging:
Hollow shaft is rotatably arranged in the support plate by axis of the axis of the shaft；
Driving mechanism rotates the shaft；
Bracket is kept, is connected and fixed with the support plate, the holding bracket includes the supporting part below the shaft；
Fixed bracket comprising the fixed part that is connected and fixed with the shaft and from the bottom end of the fixed part to the supporting part
The supporting arm part of extension；With
Detection device, for detecting the rotational angle of the shaft, the detection device includes magnetic encoder and is located at described
Magnet between magnetic encoder and the shaft；
The magnet is arranged on the supporting arm part, and the magnetic encoder is arranged on the supporting part.
2. the rotation drive device according to claim 1 for robot head, which is characterized in that the fixed part tool
There is the cross section of circular ring shape, the fixed part is set in the outside of the shaft, and connects between the two by fixation fastener
It is fixed.
3. the rotation drive device according to claim 1 for robot head, which is characterized in that the supporting arm part
Including the axial vertical portion extended to the supporting part from the fixed part along the shaft, and from the vertical portion
The horizontal component that extends to the axis horizontal of the shaft of inner wall, the magnet is arranged on the horizontal component.
4. the rotation drive device according to claim 3 for robot head, which is characterized in that the horizontal component
On offer mounting groove for fixing the magnet, the mounting groove has circular cross section, and in the mounting groove
Heart line is on the extended line of the axis of the shaft.
5. the rotation drive device according to claim 1 for robot head, which is characterized in that the holding bracket
It is connected and fixed by cushion block and the support plate；The holding bracket further includes being connected between the cushion block and the supporting part
Holding wall portion.
6. the rotation drive device according to claim 1 for robot head, which is characterized in that the top of the shaft
End is equipped with adapter flange；The outer cover of the shaft is equipped with bearing block, and the bearing block is fixed in the support plate, and position
Between the support plate and the adapter flange；Finite place piece, the switching method are installed on the top end face of the bearing block
The limit matching piece with locating part cooperation limit is provided on blue bottom end end face.
7. the rotation drive device according to claim 6 for robot head, which is characterized in that the bearing block with
At least one bearing is provided between the shaft.
8. the rotation drive device according to claim 1 for robot head, which is characterized in that the driving mechanism
Including the driving motor being supported in the support plate, and the V belt translation being connected between the driving motor and the shaft
Component.
9. the rotation drive device according to claim 8 for robot head, which is characterized in that the driving motor
For stepper motor or decelerating motor.
10. a kind of robot, including head assembly, which is characterized in that further include as claimed in any one of claims 1-9 wherein
For the rotation drive device of robot head, the shaft is connected and fixed with the head assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920406987.5U CN209717712U (en) | 2019-03-28 | 2019-03-28 | Rotation drive device and robot for robot head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920406987.5U CN209717712U (en) | 2019-03-28 | 2019-03-28 | Rotation drive device and robot for robot head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209717712U true CN209717712U (en) | 2019-12-03 |
Family
ID=68689112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920406987.5U Active CN209717712U (en) | 2019-03-28 | 2019-03-28 | Rotation drive device and robot for robot head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209717712U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220111537A1 (en) * | 2020-10-14 | 2022-04-14 | Techman Robot Inc. | Encoder module adapted for a robotic arm |
| CN115140549A (en) * | 2022-03-14 | 2022-10-04 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Transfer mechanism and equipment |
-
2019
- 2019-03-28 CN CN201920406987.5U patent/CN209717712U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220111537A1 (en) * | 2020-10-14 | 2022-04-14 | Techman Robot Inc. | Encoder module adapted for a robotic arm |
| US11897119B2 (en) * | 2020-10-14 | 2024-02-13 | Techman Robot Inc. | Encoder module adapted for a robotic arm |
| CN115140549A (en) * | 2022-03-14 | 2022-10-04 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Transfer mechanism and equipment |
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