CN210256146U - Cross roller bearing-based holder head applied to service robot - Google Patents
Cross roller bearing-based holder head applied to service robot Download PDFInfo
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- CN210256146U CN210256146U CN201821212222.XU CN201821212222U CN210256146U CN 210256146 U CN210256146 U CN 210256146U CN 201821212222 U CN201821212222 U CN 201821212222U CN 210256146 U CN210256146 U CN 210256146U
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- motor
- roller bearing
- head
- crossed roller
- bearing
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Abstract
The utility model discloses a cloud platform head based on crossed roller bearing for service robot, which comprises a head shell, a head platform, a flange coupling, a crossed roller bearing, a bearing connecting frame, an upper support, a motor fixing plate, a lower support, a frame and a motor from top to bottom in sequence, wherein the head shell is fixed on the head platform; and the outer ring of the crossed roller bearing is fixed in the middle of the bearing connecting frame. The utility model discloses simple structure, it is small, required part is few, and coefficient of friction is little and have the advantage of obtaining high load capacity and high rigidity under the very little space, avoids influencing the problem of moment transmission because of the motor shaft bears pressure in the axial. The bearing load is large, the horizontal rotation of the head of the service robot is particularly suitable, and the normal stable motion of the head of the service robot is ensured.
Description
Technical Field
The utility model relates to a horizontal rotation platform through motor drive, especially one kind is applied to service robot based on cross roller bearing cloud platform head, is applicable to the great horizontal rotation head of service robot axial load.
Background
At present, the head rotating holder of the service robot on the market has various forms. The cradle head is a steering shaft connected with the bottom of equipment and a fixed support, the technology is widely applied to the fields of photography, robots and industry at present, the currently known cradle head is generally divided into a light load cradle head and a heavy load cradle head, the light load cradle head is generally small in structure, is mainly directly driven by a motor, has general load capacity and is mainly used in the field of photography. The heavy-duty cradle head can bear heavy weight, and is driven by a worm gear and a worm to avoid the direct pressure bearing of a motor, so that the heavy-duty cradle head is complex in structure, heavy in weight and large in size. However, the holders usually used in the field of service robots do not have to carry such a large weight, and the required load is not small. Therefore, the cradle head which has larger load and smaller volume and can simultaneously have the characteristics of light load and heavy load and has small volume and large load is still difficult to find in the market.
SUMMERY OF THE UTILITY MODEL
The utility model discloses it is little to utilize cross roller bearing coefficient of friction, and can obtain the advantage of high load-carrying capacity and high rigidity under very little space, designs a section can directly be applied to based on cross roller bearing cloud platform head portion of service robot through motor drive, just the utility model discloses can avoid influencing the problem of moment transmission because the motor shaft bears the pressure in the axial. The device has the advantages of simple structure, small volume, less required parts, large bearing load and suitability for the horizontal rotating part with larger axial load of the service robot.
The purpose of the utility model is realized through the following technical scheme:
a cloud platform head based on crossed roller bearings applied to a service robot sequentially comprises a head shell, a head platform, a flange coupling, crossed roller bearings, a bearing connecting frame, a plurality of upper supports, a motor fixing plate, a plurality of lower supports, a rack and a motor, wherein the upper supports, the motor fixing plate and the lower supports are uniformly distributed on the same horizontal plane; the outer ring of the crossed roller bearing is fixed in the middle of the bearing connecting frame, the upper surface of the flat cylindrical part of the flange coupling is connected with a head platform through a bolt, the fine cylindrical part of the flange coupling extends into a central hole of the inner ring of the crossed roller bearing to be connected with a motor shaft of a motor, and the lower surface of the flat cylindrical part of the flange coupling is tightly attached to the upper surface of the inner ring of the crossed roller bearing.
Furthermore, a plurality of round holes corresponding to the flange holes of the flange couplers are formed in the middle of the head platform and the inner rings of the crossed roller bearings, and bolts for connecting the head platform, the flange couplers and the inner rings of the crossed roller bearings into a whole sequentially penetrate through the round holes and the flange holes.
Further, the flange coupling is provided with a D-shaped hole connected with a motor shaft of the motor.
Further, a small cylindrical barrel part of the flange coupling is provided with a locking screw hole.
Furthermore, a plurality of round holes are uniformly formed in the outer ring of the crossed roller bearing, a plurality of round holes are correspondingly formed in the middle of the bearing connecting frame, and bolts for connecting the outer ring of the crossed roller bearing and the bearing connecting frame into a whole penetrate through the round holes.
Furthermore, a lightening hole is formed in the middle of the bearing connecting frame.
Furthermore, a plurality of bolt holes are uniformly formed in the edge of the motor fixing plate, a central hole for a motor shaft of the motor to penetrate through and a plurality of bolt holes are uniformly distributed in the middle of the motor fixing plate, and the motor is fixedly connected with the motor fixing plate through bolts.
Furthermore, a plurality of lightening holes are formed in the motor fixing plate.
Furthermore, each upper support is a cube which is consistent in shape and size and provided with a bolt hole in a penetrating mode.
Furthermore, each lower support is a cube which is consistent in shape and size and provided with a bolt hole in a penetrating mode.
Compared with the prior art, the utility model has the advantages of as follows and technological effect:
1. through the transition of using the crossed roller bearing, the axial pressure is acted on the frame, the motor is not subjected to the axial pressure, the bearing load is extremely large, and the provided torque can be completely used for driving the head of the service robot to horizontally rotate.
2. Meanwhile, the driving efficiency of the motor torque is greatly improved by utilizing the characteristic of extremely low friction coefficient of the crossed roller bearing.
3. The device has small volume and compact structure, and does not need to occupy too much space.
4. The device has few parts, and the parts are very common, so that the parts are easy to purchase and assemble.
5. The device is particularly suitable for horizontal rotation of the head of the service robot, and can avoid the problem that torque transmission is influenced because the motor shaft bears pressure in the axial direction.
Drawings
Fig. 1 is a schematic view of the overall structure of the service robot.
Fig. 2 is an assembly diagram of the present invention.
Fig. 3(a) is a schematic diagram of a partial explosion (without a head shell) of the present invention.
Fig. 3(b) is a top view of the motor fixing plate of the present invention.
Fig. 4 is a top view of the bearing connecting frame of the present invention.
Fig. 5 is a schematic view of the cross roller bearing of the present invention.
Fig. 6 is a schematic view of the head shell of the present invention.
Fig. 7 is a schematic view of the head platform of the present invention.
Fig. 8 is a schematic view of the flange coupling of the present invention.
The robot comprises a robot head, a motor, a lower support, an upper support, a cross roller bearing, a cross.
Detailed Description
For a better understanding of the present invention, the following description will be made with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3(a), a cross roller bearing based head of a cloud platform applied to a service robot comprises a head shell 6, a head platform 8, a flange coupler 7, a cross roller bearing 5, a bearing connecting frame 9, three upper supports 4 uniformly distributed on the same horizontal plane, a motor fixing plate 10, three lower supports 3 uniformly distributed on the same horizontal plane, a frame 11 and a motor 2 from top to bottom, wherein the head shell 6 is fixed on the head platform 8 through bolts, the bearing connecting frame 9, the upper supports 4, the motor fixing plate 10 and the lower supports 3 are sequentially fixed on the frame 11 through bolts, and the motor 2 passes through a center hole of the frame 11 and is fixed on the bottom surface of the motor fixing plate 10; the outer ring of the crossed roller bearing 5 is fixed in the middle of a bearing connecting frame 9, the upper surface of the flat cylindrical part of the flange coupling 7 is connected with a head platform 8 through a bolt, the fine cylindrical part of the flange coupling 7 extends into a central hole of the inner ring of the crossed roller bearing 5 to be connected with a motor shaft of the motor 2, and the lower surface of the flat cylindrical part of the flange coupling 7 is tightly attached to the upper surface of the inner ring of the crossed roller bearing 5.
The middle of the head platform 8 and the inner ring of the crossed roller bearing 5 are provided with a plurality of round holes corresponding to the flange holes of the flange coupling 7, and bolts for connecting the head platform 8, the flange coupling 7 and the inner ring of the crossed roller bearing 5 into a whole are sequentially arranged in the round holes and the flange holes in a penetrating mode.
As shown in fig. 3(b), a plurality of lightening holes are formed in the motor fixing plate 10, a plurality of bolt holes are uniformly formed in the edge of the motor fixing plate 10, a central hole through which a motor shaft of the motor 2 passes and a plurality of bolt holes uniformly distributed are formed in the middle of the motor fixing plate, an outer circular hole of the motor fixing plate 10 is used for penetrating through a long bolt, an inner circular hole of the motor fixing plate 10 is used for rigidly connecting the motor 2 to the motor fixing plate 10, and the motor 2 is fixedly connected to the motor fixing plate 10 through a bolt.
As shown in fig. 4, the bearing connecting frame 9 has an outer circular hole for the long bolt to pass through, an inner circular hole for rigidly connecting the crossed roller bearing 5 to the bearing connecting frame 9, and a lightening hole is provided in the middle of the bearing connecting frame 9.
As shown in fig. 5, a plurality of round holes are uniformly formed in the outer ring of the crossed roller bearing 5, a plurality of round holes are correspondingly formed in the middle of the bearing connecting frame 9, and bolts for connecting the outer ring of the crossed roller bearing 5 and the bearing connecting frame 9 into a whole are arranged in the round holes in a penetrating manner. The crossed roller bearing 5 is divided into an inner ring and an outer ring, wherein the outer ring round hole is used for corresponding to the inner ring round hole of the bearing connecting frame 9, and the rigid connection of the crossed roller bearing 5 and the bearing connecting frame 9 is realized. The inner ring round hole of the crossed roller bearing 5 is used for the penetration of a short bolt. The service robot head shell 6 can freely and horizontally rotate relative to the machine frame.
As shown in fig. 5, 7 and 8, six circular holes of the inner ring of the crossed roller bearing 5 correspond to six circular holes of the flange coupler 7 respectively and correspond to six circular holes in the middle of the head platform 8, the short bolts sequentially penetrate through the head platform 8, the flange coupler 7 and the crossed roller bearing 5 through the six circular holes, and the parts are clamped through matching with nuts. The flange coupler 7 is provided with a D-shaped hole connected with a motor shaft of the motor 2. And a locking screw hole is formed in the small cylindrical barrel part of the flange coupling 7, and the small cylindrical barrel of the flange coupling 7 is placed into the middle cylindrical vacant position of the crossed roller bearing 5 and is matched with a motor shaft of the motor 2. The upper surface of the flat cylindrical portion of the flange coupling 7 is in close contact with the lower surface of the head platform 8. Therefore, the head shell 6, the head platform 8, the flange coupler 7, the inner ring of the crossed roller bearing 5 and the motor shaft of the motor 2 realize synchronous horizontal rotation.
Each upper support 4 is a cube with the same shape and size and a bolt hole penetrating through the cube. Each lower support 3 is a cube with the same shape and size and a bolt hole penetrating through the cube.
When a motor shaft of the motor 2 rotates, the flange coupler 7 drives the head platform 8, the head shell 6 and the inner ring of the crossed roller bearing 5 to synchronously rotate, and at the moment, the outer ring of the crossed roller bearing 5 and the bearing connecting frame 9, the upper support and the lower support, and the motor fixing plate 10 and the rack 11 are relatively static. And the gravity applied to the head platform 8 passes through the flange coupler 7, then passes through the crossed roller bearing 5, the bearing connecting frame 9, the upper support, the motor fixing plate 10 and the lower support in sequence, and is finally applied to the rack 11, so that the motor shaft of the motor 2 is prevented from bearing too large pressure to influence the transmission of torque, and the normal and stable operation of the head 1 of the service robot is realized.
The embodiment of the present invention is not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which are not departed from the spirit and principle of the present invention should be equivalent replacement modes, and are all included in the protection scope of the present invention.
Claims (3)
1. The cross roller bearing-based holder head applied to the service robot is characterized by sequentially comprising a head shell (6), a head platform (8), a flange coupler (7), a cross roller bearing (5), a bearing connecting frame (9), a plurality of upper supports (4) which are uniformly distributed on the same horizontal plane, a motor fixing plate (10), a plurality of lower supports (3) which are uniformly distributed on the same horizontal plane, a rack (11) and a motor (2) from top to bottom, wherein the head shell (6) is fixed on the head platform (8) through bolts, the bearing connecting frame (9), the upper supports (4), the motor fixing plate (10) and the lower supports (3) are sequentially fixed on the rack (11) through bolts, and the motor (2) penetrates through a center hole of the rack (11) and is fixed on the bottom surface of the motor fixing plate (10); the outer ring of the crossed roller bearing (5) is fixed in the middle of a bearing connecting frame (9), the upper surface of a flat cylindrical part of the flange coupling (7) is connected with a head platform (8) through a bolt, a fine cylindrical barrel part of the flange coupling extends into a central hole of the inner ring of the crossed roller bearing (5) to be connected with a motor shaft of a motor (2), and the lower surface of the flat cylindrical part of the flange coupling (7) is tightly attached to the upper surface of the inner ring of the crossed roller bearing (5); a plurality of round holes corresponding to the flange holes of the flange couplers (7) are formed in the middle of the head platform (8) and the inner rings of the crossed roller bearings (5), and bolts for connecting the head platform (8), the flange couplers (7) and the inner rings of the crossed roller bearings (5) into a whole are sequentially arranged in the round holes and the flange holes in a penetrating manner; the flange coupler (7) is provided with a D-shaped hole connected with a motor shaft of the motor (2); a locking screw hole is formed in the small cylindrical part of the flange coupler (7); a plurality of round holes are uniformly formed in the outer ring of the crossed roller bearing (5), a plurality of round holes are correspondingly formed in the middle of the bearing connecting frame (9), and bolts for connecting the outer ring of the crossed roller bearing (5) and the bearing connecting frame (9) into a whole are arranged in the round holes in a penetrating mode; a lightening hole is formed in the middle of the bearing connecting frame (9); the motor fixing plate is characterized in that a plurality of bolt holes are uniformly formed in the edge of the motor fixing plate (10), a central hole for a motor shaft of the motor (2) to penetrate through and a plurality of bolt holes are uniformly distributed in the middle of the motor fixing plate, and the motor (2) is fixedly connected with the motor fixing plate (10) through bolts; the motor fixing plate (10) is provided with a plurality of lightening holes.
2. The cradle head based on crossed roller bearing for service robot according to claim 1, characterized in that each said upper support (4) is a cube with a consistent shape and size and through bolt holes.
3. The cradle head based on crossed roller bearing for service robot according to claim 1, characterized in that each of said lower seats (3) is a cube with a consistent shape and size and through which bolt holes are arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821212222.XU CN210256146U (en) | 2018-07-27 | 2018-07-27 | Cross roller bearing-based holder head applied to service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821212222.XU CN210256146U (en) | 2018-07-27 | 2018-07-27 | Cross roller bearing-based holder head applied to service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210256146U true CN210256146U (en) | 2020-04-07 |
Family
ID=70010316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821212222.XU Active CN210256146U (en) | 2018-07-27 | 2018-07-27 | Cross roller bearing-based holder head applied to service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210256146U (en) |
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2018
- 2018-07-27 CN CN201821212222.XU patent/CN210256146U/en active Active
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