Rotary drive device

Abstract

The present application relates to the technical field of mechanical transmission, and provides a rotary driving device for a robot, the robot comprising a robot body and a rotating part, wherein the rotary driving device comprises a mounting base plate, a driving wheel, a driving motor, a driven wheel, a transmission belt, a rotating shaft, a sleeve-shaped bearing seat and a bearing.The mounting base plate is used for fixed connection with the robot body, the driving motor is used for rotating the driving wheel, and the driving motor is fixed on the mounting base plate; the transmission belt is wound between the driving wheel and the driven wheel; the rotating shaft has a rotating part, a connecting part used for fixed connection with the rotating part, and a mounting part connected between the rotating part and the connecting part, and the driven wheel is sleeved on the mounting part in a manner that the driven wheel cannot rotate relative to the mounting part; and the bearing seat is sleeved on the outside of the rotating part and is fixed with the mounting base plate.Compared with the prior art, the rotary driving device provided by the present application has the advantages of stable structure, reliable transmission, low cost, small overall volume and space saving.

Description

Technical Field

[0001] This invention relates to the technical field of mechanical transmission, and in particular to a rotary drive device. Background Technology

[0002] Existing intelligent robots, such as lottery robots and customer service robots, utilize rotary drive devices, such as head horizontal rotation drive devices and arm rotation drive devices. The power component of these drive devices is primarily a geared motor, consisting of interconnected motors and reduction gears. The geared motor directly drives the head or arm, or its movement is achieved via belt drive. These geared motors are either brushless or brushed, and the reduction gears employ gear reduction mechanisms. However, such mechanisms often suffer from problems such as high noise, large backlash, and easy damage to the gears. Summary of the Invention

[0003] The purpose of this invention is to provide a rotary drive device to solve the defects of existing rotary drive devices, such as high cost, large size, and easy damage of the reduction mechanism, which is the power part of the rotary drive device.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a rotary drive device for a robot having a rotating component, wherein the rotating component is rotatably supported on the robot body, wherein the rotary drive device includes:

[0005] Mounting base plate for fixed connection with the robot body;

[0006] Drive wheel;

[0007] A drive motor is used to rotate the drive wheel, and the drive motor is fixed on the mounting base plate.

[0008] Driven wheel;

[0009] A drive belt is wrapped between the driving pulley and the driven pulley;

[0010] A rotating shaft has a rotating part, a connecting part for fixed connection with the rotating component, and a mounting part connected between the rotating part and the connecting part, wherein the driven wheel is sleeved on the mounting part in a manner that prevents it from rotating relative to the mounting part;

[0011] A sleeve-shaped bearing housing is fitted onto the outer side of the rotating part and fixed to the mounting base plate. The inner wall of the bearing housing and the side wall of the rotating part together form a bearing storage space.

[0012] At least one bearing is fitted onto the rotating part and located in the bearing housing space.

[0013] Furthermore, the rotating shaft is connected to a disc-shaped driven wheel cover that covers the driven wheel. The driven wheel cover has an inner hole through which the connecting part passes. A connecting structure is provided between the inner wall of the driven wheel cover and the side wall of the connecting part to fix the two together. The outer diameter of the driven wheel cover is larger than the outer diameter of the driven wheel.

[0014] Furthermore, the connection structure includes a threaded portion disposed on the side wall of the connection part, and a threaded mating portion disposed on the wall of the inner hole and threadedly engaged with the threaded portion.

[0015] Furthermore, the number of bearings is two, and a bearing spacer sleeve is provided between the two bearings, which is fitted onto the rotating part and located in the bearing storage space.

[0016] Furthermore, the inner walls at both ends of the bearing housing are respectively formed with stepped structures corresponding to the bearings. Both bearings include an outer ring mounted on the corresponding stepped structure and an inner ring connected to the rotating part. The end faces of the bearing spacer sleeve abut against the end faces of the inner rings of the two bearings respectively. The length of the bearing spacer sleeve in the axial direction of the rotating shaft is greater than the axial distance between the two stepped structures in the rotating shaft.

[0017] Furthermore, the driven wheel has a non-circular anti-rotation hole, and the mounting portion has a cross-sectional shape that matches the shape of the anti-rotation hole.

[0018] Furthermore, it also includes a detection device for detecting the rotation angle of the shaft.

[0019] Furthermore, the detection device includes:

[0020] The bracket is fixedly connected to the bearing housing and together with the bearing housing defines a detection space;

[0021] A magnetic encoder is fixed on the bracket;

[0022] The base is fixed to the rotating part and located within the detection space;

[0023] Magnets are fixedly mounted on the base;

[0024] The center of the magnetic encoder and the center of the magnet are both located on the extension line of the axis of the rotating shaft.

[0025] Furthermore, the base includes a positioning plate for connecting to the rotating shaft, a first support plate for placing a magnet, and a first connecting arm connecting the positioning plate and the first support plate. The surface of the positioning plate protrudes in a direction away from the first support plate to form a first positioning protrusion. The rotating shaft has a first positioning hole for the first positioning protrusion to slide into and cooperate with positioning.

[0026] The bracket includes a second carrier plate for placing the magnetic encoder and a second connecting arm connected to the second carrier plate and for fixing to the bearing seat. The end face of the second connecting arm protrudes in a direction away from the second carrier plate to form a second positioning protrusion. The bearing seat has a second positioning hole for the second positioning protrusion to slide into and cooperate for positioning.

[0027] Furthermore, a baffle is formed on the mounting base plate, and a limiting member is connected to the rotating shaft for abutting against the baffle to limit the rotation of the rotating shaft when the rotating shaft rotates. The limiting member protrudes outside the side wall of the rotating shaft.

[0028] Compared with the prior art, the rotary drive device provided by the present invention includes a mounting base plate, a driving wheel, a drive motor, a driven wheel, a transmission belt, a rotating shaft, a sleeve-shaped bearing seat and a bearing. The rotating shaft is rotatably supported in the bearing seat, and the driven wheel is non-rotatably mounted on the rotating shaft and connected to the driving wheel through the transmission belt. Thus, under the drive of the drive motor, the driving wheel belt rotates the driven wheel, thereby causing the rotating shaft and the external rotating parts connected to the rotating shaft to rotate. Therefore, the rotary drive device has a stable structure, reliable transmission, low cost, and small overall size, which can save space.

[0029] The beneficial effects of the rotary drive device provided by the present invention are as follows: Compared with the prior art, the rotary drive device of the present invention has the following advantages:

[0030] 1. Changing the reduction type of the rotary drive device and the installation method of the transmission wheel has the advantages of not damaging the motor, low noise, and no backlash;

[0031] 2. The synchronous pulley transmission mechanism has a simple structure, is easy to install, is simple and reliable, and has a low cost;

[0032] 3. No speed reducer is required, which helps save space and simplify the design. Attached Figure Description

[0033] Figure 1 This is a perspective view of the rotary drive device provided in an embodiment of the present invention;

[0034] Figure 2 This is a top view schematic diagram of the rotary drive device provided in an embodiment of the present invention;

[0035] Figure 3 This is an exploded view of the rotary drive device provided in an embodiment of the present invention;

[0036] Figure 4 for Figure 1 A cross-sectional view of the AA plane;

[0037] Figure 5 This is a three-dimensional schematic diagram of the connection between the rotating shaft, driven wheel, and driven wheel cover provided in an embodiment of the present invention;

[0038] Figure 6 This is an exploded view of the rotating shaft, driven wheel, and driven wheel cover provided in an embodiment of the present invention;

[0039] Figure 7 for Figure 5 A cross-sectional view of the BB plane;

[0040] Figure 8 This is a three-dimensional schematic diagram of the rotating shaft and driven wheel provided in an embodiment of the present invention.

[0041] Explanation of main component symbols

[0042] 100: Rotary drive device

[0043] 1: Mounting substrate 1a: First side

[0044] 1b: Second side 103: First mounting hole

[0045] 104: Second assembly hole; 105: Baffle plate

[0046] 2: Drive wheel

[0047] 3: Drive motor 30a: Output shaft

[0048] 4: Driven wheel 401: Anti-rotation hole

[0049] 402: Limiting part

[0050] 5: Drive belt

[0051] 6: Rotating shaft 601: Rotating part

[0052] 602: Connecting part; 603: Mounting part

[0053] 604: Connecting hole; 605: Recess

[0054] 606: First positioning hole; 607: Limiting component

[0055] 7: Bearing housing 70a: Bearing storage space

[0056] 70b: Stepped structure; 701: Loop structure

[0057] 702: Annular protrusion; 703: Support surface

[0058] 8: Bearings

[0059] 9: Bearing spacer sleeve

[0060] 10: Driven wheel cover 101: Inner hole

[0061] 11: Magnet

[0062] 12: Magnetic encoder

[0063] 13: Base 131: Positioning Plate

[0064] 132: First bearing plate; 133: First connecting arm

[0065] 134: First positioning protrusion; 135: First fixing hole

[0066] 136: Binding Department

[0067] 14: Support 141: Second bearing plate

[0068] 142: Second connecting arm; 143: Second fixing hole

[0069] 144: Second positioning protrusion; 145: Edge binding

[0070] 15: Cables Detailed Implementation

[0071] To make the technical problems, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the described embodiments of this invention without creative effort are within the scope of protection of this invention.

[0072] To enable those skilled in the art to better understand the technical solution of the present invention, the implementation of the present invention will be described in detail below with reference to specific drawings.

[0073] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0074] like Figures 1 to 8The image shown is a preferred embodiment of the present invention.

[0075] The rotary drive device 100 provided in this embodiment is used to drive a robot (not shown). The robot includes a robot body (not shown) and a rotating component (not shown) rotatably supported on the robot body. The rotary drive device 100 includes a mounting base plate 1, a drive wheel 2, a drive motor 3, a driven wheel 4, a transmission belt 5, a rotating shaft 6, a sleeve-shaped bearing seat 7, and a bearing 8. Mounting base plate 1 is used for fixed connection with the robot. Drive motor 3 causes drive wheel 2 to rotate. Drive motor 3 is fixed on mounting base plate 1. Transmission belt 5 is wrapped between drive wheel 2 and driven wheel 4. Rotary shaft 6 has a rotating part 601, a connecting part 602 for fixed connection with rotating components, and a mounting part 603 connecting the rotating part 601 and the connecting part 602. Driven wheel 4 is sleeved on mounting part 603 in a manner that prevents it from rotating relative to mounting part 603. Bearing seat 7 is sleeved on the outside of rotating part 601 and fixed to mounting base plate 1. The inner wall of bearing seat 7 and the side wall of rotating part 601 together form bearing storage space 70a. Bearing 8 is sleeved on rotating part 601 and located in bearing storage space 70a.

[0076] The aforementioned rotary drive device 100 includes a mounting base plate 1, a drive wheel 2, a drive motor 3, a driven wheel 4, a transmission belt 5, a rotating shaft 6, a bearing housing 7, and a bearing 8. The rotating shaft 6 is rotatably supported within the bearing housing 7. The driven wheel 4 is non-rotatably mounted on the rotating shaft 6 and connected to the drive wheel 2 via the transmission belt 5. Thus, under the drive of the drive motor 3, the drive wheel 2 drives the driven wheel 4 to rotate, thereby causing the rotating shaft 6 and external rotating components connected to the rotating shaft 6 to rotate. In this way, the rotary drive device 100 has a stable structure, reliable transmission, low cost, and small overall size, which can save space.

[0077] See Figures 1 to 8 A rotary drive device 100, used for driving the robot, includes a mounting base 1, a drive wheel 2, a drive motor 3, a driven wheel 4, a transmission belt 5, a rotating shaft 6, a sleeve-shaped bearing seat 7, and a bearing 8. The robot can be a lottery robot, a customer service robot, etc., and includes a robot body, a control device (not shown) disposed within the robot body, and rotating components such as a head, shoulder, or arm rotatably mounted on the robot body. The rotary drive device 100 is electrically connected to and controlled by the control device, which can be any existing control device capable of driving the drive motor 3 of the rotary drive device 100.

[0078] See Figures 1 to 8Mounting base plate 1 is used to fix the above-mentioned rotary drive device 100 to the robot body. Mounting base plate 1 is fixed to the robot body by any existing fixing method such as screws or welding. In this embodiment, mounting base plate 1 includes a first surface 1a and a second surface 1b opposite to each other. The mounting base plate 1 is provided with a first mounting hole 103 and a second mounting hole 104. The first mounting hole 103 and the second mounting hole 104 are both provided through the first surface 1a and the second surface 1b.

[0079] The drive motor 3 can be a stepper motor or a servo motor. It is fixedly connected to the mounting base plate 1 by screws, welding or any other existing fixing method. In this embodiment, the drive motor 3 is fixedly installed on the second surface 1b of the mounting base plate 1. The drive motor 3 is, but is not limited to, a stepper motor, and its output shaft 30a passes through the first mounting hole 103.

[0080] The drive pulley 2 is rigidly connected to the output shaft 30a of the drive motor 3 in a non-rotatable manner. In this embodiment, the drive pulley 2 is, but is not limited to, a synchronous belt pulley. It is sleeved on the output shaft 30a of the drive motor 3 and can be driven to rotate by the drive motor 3.

[0081] Driven wheel 4 is rotatably mounted on one side of driving wheel 2. Transmission belt 5 is wrapped between driving wheel 2 and driven wheel 4. In this embodiment, driven wheel 4 is, but is not limited to, a synchronous belt pulley, and its axis is parallel to the axis of driving wheel 2. Transmission belt 5 is, but is not limited to, a synchronous belt, and its outer diameter is larger than the outer diameter of driving wheel 2. Driven wheel 4 is mounted on rotating shaft 6. It is easy to understand that drive motor 3 drives driving wheel 2 to rotate, and driving wheel 2 drives driven wheel 4 to rotate through transmission belt 5.

[0082] The rotating shaft 6 has a rotating part 601, a connecting part 602, and a mounting part 603 connecting the rotating part 601 and the connecting part 602. The driven wheel 4 is sleeved on the mounting part 603 in a manner that prevents it from rotating relative to the mounting part 603. In this embodiment, the rotating shaft 6 is rotatably mounted in the second mounting hole 104 of the mounting base plate 1. The axial end face of the connecting part 602 has a connecting hole 604. The number of connecting holes 604 is not limited to four, and they are arranged at equal intervals along the circumference to allow screws to be inserted and to connect and fix the connecting part 602 to the rotating component. It can be understood that when the driven wheel 4 is driven to rotate, the rotating shaft 6 rotates together, and the rotating component fixedly connected to the connecting part 602 of the rotating shaft 6 rotates.

[0083] The bearing housing 7 is sleeve-shaped and is fitted onto the outer side of the rotating part 601. The bearing housing 7 is fixed to the mounting base 1 and located on one side of the drive motor 3. In this embodiment, the bearing housing 7 is fixedly connected to the second surface 1b of the mounting base 1 by screws, welding or any other existing fixing method, and is fitted onto the outer side of the rotating shaft 6. The inner wall of the bearing housing 7 and the side wall of the rotating part 601 together form the bearing storage space 70a.

[0084] Bearing 8 is sleeved on the rotating part 601 and located in the bearing storage space 70a. The number of bearings 8 can be one or more. In this embodiment, the number of bearings 8 is not limited to two, and they are arranged side by side in the axial direction of the rotating shaft 6. Bearing 8 includes an outer ring, an inner ring, and rolling elements disposed between the two. The rolling elements can be balls, rollers, etc. The outer ring is mounted on the bearing housing 7, and the inner ring is mounted on the rotating shaft 6. A bearing spacer sleeve 9 is provided between the two bearings 8, sleeved on the rotating part 601 and located in the bearing storage space 70a, so as to maintain a preset distance between the two bearings 8.

[0085] In another embodiment, if there is only one bearing 8, then the bearing spacer sleeve 9 may not be required.

[0086] In another embodiment, there are multiple bearings 8, and a bearing spacer sleeve 9 is provided between adjacent bearings 8.

[0087] See Figures 1 to 8 Each bearing housing 7 has a stepped structure 70b for mounting the outer ring of the bearing housing 7. In this embodiment, the inner walls of both ends of the bearing housing 7 have stepped structures 70b corresponding to the bearings 8. The end faces of the bearing spacer sleeve 9 abut against the end faces of the inner rings of the two bearings 8. The length of the bearing spacer sleeve 9 in the axial direction of the rotating shaft 6 is greater than the distance between the two stepped structures 70b in the axial direction of the rotating shaft 6.

[0088] Specifically, the bearing housing 7 includes a ring body 701 and an annular protrusion 702 protruding from the inner wall of the ring body 701. The annular protrusion 702 extends along the entire circumference of the ring body 701. The top end of the ring body 701 is connected and fixed to the second surface 1b of the mounting base plate 1. The inner diameter of the ring body 701 is larger than the diameter of the second mounting hole 104. The inner diameter of the annular protrusion 702 is the same as or substantially the same as the diameter of the second mounting hole 104. The annular protrusion 702 has two opposing support surfaces 703 along the axial direction of the ring body 701. The end face of the inner ring of the bearing 8 facing the inner ring of the other bearing 8 abuts against the support surface 703. The end of the ring body 701 and the annular protrusion 702 form the aforementioned stepped structure 70b. That is, the axial length of the bearing spacer 9 on the shaft 6 is greater than the axial length of the annular protrusion 702 on the shaft 6. The difference between the length of the bearing spacer 9 and the length of the annular protrusion 702 is between 0.05 mm and 0.15 mm, preferably 0.1 mm. In this way, the length of the bearing spacer 9 is slightly longer than the distance between the two stepped structures 70b of the bearing housing 7 to ensure that the inner ring of the bearing 8 will not be subjected to excessive axial force or even damage to the rolling elements after the two bearings 8 are installed, thereby making the transmission structure more stable.

[0089] See Figures 1 to 8 A disc-shaped driven wheel cover 10 is connected to the rotating shaft 6 and is mounted on the driven wheel 4. The driven wheel cover 10 has an inner hole 101 through which the connecting part 602 passes. A connecting structure is provided between the inner wall of the driven wheel cover 10 and the side wall of the connecting part 602 to fix the two together. The outer diameter of the driven wheel cover 10 is larger than that of the driven wheel 4. In this way, the driven wheel 4 can be pressed tightly onto the rotating shaft 6 by the driven wheel cover 10, thereby preventing the driven wheel 4 from separating from the rotating shaft 6. The outer diameter of the driven wheel cover 10 is slightly larger than that of the driven wheel 4, which facilitates the assembly of the transmission belt 5. After the driven wheel cover 10 is connected to the rotating shaft 6, it realizes the function of a retaining edge to prevent the belt from slipping off the wheel edge during transmission, so as to make the transmission performance of the transmission belt 5 stable and reliable.

[0090] Specifically, the connection structure includes a threaded portion provided on the side wall of the connection portion 602, and a threaded mating portion provided on the wall of the inner hole 101 and threadedly engaged with the threaded portion. The driven wheel cover 10 is threadedly assembled onto the connection portion 602 of the rotating shaft 6 and presses the driven wheel 4.

[0091] In another embodiment, the driven wheel cover 10 is connected and fixed to the rotating shaft 6 by screws.

[0092] See Figures 1 to 8The driven wheel 4 has a non-circular anti-rotation hole 401, and the mounting part 603 has a cross-sectional shape that matches the shape of the anti-rotation hole 401. The driven wheel 4 and the rotating shaft 6 can be fixed together by screws. In this embodiment, the anti-rotation hole 401 is, but is not limited to, an oblong hole, and the mounting part 603 has a cross-sectional shape that matches the shape of the anti-rotation hole 401. This facilitates the assembly and disassembly of the driven wheel 4 and the rotating shaft 6, and makes the power transmission of the rotating shaft 6 more stable after assembly. It also avoids the phenomenon that the screws may loosen or even fall out due to excessive torque when using screw connections.

[0093] from Figures 1 to 8 As can be seen, a limiting part 402 is protruding on the inner wall of the anti-rotation hole 401 of the driven wheel 4. The limiting part 402 extends circumferentially along the driven wheel 4. An annular recess 605 is formed on the side wall of the mounting part 603 so as to cooperate with the limiting part 402 to limit the relative movement of the driven wheel 4 and the rotating shaft 6 when the driven wheel 4 is assembled with the rotating shaft 6.

[0094] See Figures 1 to 8 The rotary drive device 100 in this embodiment also includes a detection device for detecting the rotation angle of the rotating shaft 6. In this embodiment, the detection device includes a bracket 14, a magnetic encoder 12, a base 13, and a magnet 11. The bracket 14 is fixedly connected to the bearing seat 7 using any existing fixing method such as screws or welding, and together with the bearing seat 7, defines a detection space. The magnetic encoder 12 is fixed to the bracket 14 and includes a magnetic sensor, which is, but is not limited to, a Hall sensor. The base 13 is fixed to the rotating part 601 and located within the detection space using any existing fixing method such as screws or welding. The magnet 11 is fixedly disposed on the base 13. The center of the magnetic encoder 12 and the center of the magnet 11 are both located on the extension line of the axis of the rotating shaft 6. The magnetic encoder 12 is electrically connected to the control device mentioned above. The magnetic encoder 12 is fixed because it is connected to the bearing seat 7 through the bracket 14. The magnet 11 is connected to the rotating shaft 6 through the base 13 and rotates together with the driven wheel 4. Therefore, the magnetic encoder 12 and the magnet 11 will rotate relative to each other when they rotate. The control device can detect the rotation angle of the driven wheel 4 from the magnetic encoder 12 and control the movement angle of the rotating shaft 6.

[0095] In another embodiment, the detection device may also include a light blocker (also known as a transmissive photoelectric sensor), which includes a light-emitting component and a light-sensing component. A light-transmitting hole may be opened on the rotating shaft 6 to realize the detection function by utilizing the light-blocking principle.

[0096] See Figures 1 to 8The base 13 includes a positioning plate 131, a first support plate 132, and a first connecting arm 133 connecting the positioning plate 131 and the first support plate 132. The positioning plate 131 is used to connect with the rotating shaft 6, and the first support plate 132 is used to place the magnet 11. A first positioning protrusion 134 is formed on the surface of the positioning plate 131 in a direction away from the first support plate 132. A first positioning hole 606 is provided on the rotating shaft 6 for the first positioning protrusion 134 to slide into and be positioned. In this embodiment, the first positioning hole 606 of the rotating shaft 6 passes through both ends of the rotating shaft 6. The cross-sectional shape of the magnet 11 is not limited to a circle, and the cross-section of the first support plate 132 is not limited to a circle. A first fixing hole 135 is formed in the center of the surface of the first support plate 132, and the magnet 11 is fixedly disposed in the first fixing hole 135 of the first support plate 132. The positioning plate 131 is an annular plate, with a first annular positioning protrusion 134 protruding along the axial direction of its inner edge. The outer diameter of the first positioning protrusion 134 is the same as the diameter of the first positioning hole 606. The surface of the positioning plate 131 also has screw through holes for screws to pass through and fix the base 13 onto the rotating shaft 6. Thus, after the base 13 and the rotating shaft 6 are installed and fixed, the first positioning protrusion 134 is embedded into the rotating shaft 6, thereby positioning the base 13 and the rotating shaft 6 and ensuring that the magnet 11 fixed on the first support plate 132 is coaxially aligned with the rotating shaft 6.

[0097] See Figures 1 to 8 The bracket 14 includes a second support plate 141 and a second connecting arm 142 connected to the second support plate 141 and used for fixing to the bearing seat 7. The second support plate 141 is used to place the magnetic encoder 12. In this embodiment, a second fixing hole 143 is formed in the center of the surface of the second support plate 141, and the magnetic encoder 12 is fixedly disposed in the second fixing hole 143 of the second support plate 141. The number of the second connecting arms 142 is not limited to two. The end face of the second connecting arm 142 protrudes in a direction away from the second support plate 141 to form a second positioning protrusion 144. The bearing seat 7 is provided with a second positioning hole (not shown) for the second positioning protrusion 144 to slide into and be positioned. The number of the second positioning protrusions 144 on each second connecting arm 142 is not limited to two. A screw through hole is also formed between the two second positioning protrusions 144 on the end face of the second connecting arm 142 for the screw to pass through and fix the bracket 14 on the bearing seat 7. It is easy to understand that the coaxiality of the magnet 11 and the magnetic encoder 12 is ensured by the positioning connection between the first positioning protrusion 134 of the base 13 and the rotating shaft 6, and the positioning connection between the second positioning protrusion 144 of the bracket 14 and the bearing seat 7, so as to have high detection accuracy.

[0098] In particular, each second connecting arm 142 has a rim 145 protruding from the outer edge of its end face in a direction away from the second bearing plate 141. The inner wall of the rim 145 has an arc shape that matches the curvature of the outer wall of the bearing seat 7. This can further improve the connection stability between the bracket 14 and the bearing seat 7.

[0099] It should be noted that the upper bearing 8 is held between the bearing housing 7 and the mounting base 1, and the lower bearing 8 is held between the bearing housing 7 and the bracket 14. The top surface of the inner ring of the upper bearing 8 abuts against the bottom surface of the mounting part 603, and the bottom surface of the inner ring of the lower bearing 8 abuts against the top surface of the base 13, thereby positioning the rotating shaft 6 within the bearing housing 7 at its axial upper limit.

[0100] As a further optimization, a baffle 105 is formed on the mounting base plate 1, and a limiting member 607 is connected to the rotating shaft 6 to abut against the baffle 105 to limit the rotation of the rotating shaft 6 when it rotates. The limiting member 607 protrudes from the side wall of the rotating shaft 6. In this way, when the rotary drive device 100 rotates, the collision between the baffle 105 and the limiting member 607 on the rotating shaft 6 generates a limiting function. Depending on the angle requirement, one or two baffles 105 can be provided. If the rotary drive device 100 needs to rotate continuously for 360 degrees, this limiting function is not required.

[0101] In particular, the rotary drive device 100 of this embodiment also includes a cable 15. The cable 15 passes through the first positioning hole 606 and is inserted into the rotating shaft 6 to prevent the cable 15 from swinging around during movement and to avoid scratching or even damage. The base 13 is provided with a binding part 136, which can be used to bind the cable 15 to the binding part 136. If the rotary drive device 100 needs to rotate 360 ​​degrees continuously, a slip ring can be used to install the cable 15 to prevent the cable 15 from getting tangled.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rotary drive device for a robot having a turning member that is turnably supported on a robot body of the robot, characterized by, The application relates to a robot body driving device, which comprises the following parts: a mounting base plate for fixed connection with the robot body; a driving wheel; a driving motor for driving the driving wheel, which is fixed on the mounting base plate; a driven wheel; a transmission belt wrapped around the driving wheel and the driven wheel; a rotating shaft with a rotating part, a connecting part for fixed connection with the rotating part and a mounting part connected between the rotating part and the connecting part, the driven wheel being sleeved on the mounting part in a manner that the mounting part cannot rotate relative to the driven wheel; a sleeve-shaped bearing seat sleeved on the outer side of the rotating part and fixed with the mounting base plate, the inner wall of the bearing seat and the side wall of the rotating part jointly forming a bearing receiving space; and at least one bearing sleeved on the rotating part and located in the bearing receiving space; wherein the number of bearings is two, and a bearing spacing sleeve sleeved on the rotating part and located in the bearing receiving space is arranged between the two bearings; stepped structures corresponding to the bearings are respectively formed on the inner walls of the two ends of the bearing seat, the two bearings each comprise an outer ring mounted on the corresponding stepped structure and an inner ring connected with the rotating part, the end faces of the bearing spacing sleeve are respectively in abutment with the end faces of the inner rings of the two bearings, and the length dimension of the bearing spacing sleeve in the axial direction of the rotating shaft is greater than the interval of the two stepped structures in the axial direction of the rotating shaft; the driven wheel has a non-circular rotation-stopping hole, and the mounting part has a cross-sectional shape matching the shape of the rotation-stopping hole.

2. The rotary drive device according to claim 1, characterized in that The rotating shaft is connected with a disc-shaped driven wheel pressing cover covering the driven wheel, the driven wheel pressing cover has an inner hole through which the connecting part passes, a connecting structure for fixing the inner wall of the driven wheel pressing cover and the side wall of the connecting part is arranged between the inner wall of the driven wheel pressing cover and the side wall of the connecting part, and the outer diameter dimension of the driven wheel pressing cover is greater than the outer diameter dimension of the driven wheel.

3. The rotary drive device according to claim 2, characterized in that The connecting structure comprises a threaded part arranged on the side wall of the connecting part and a threaded matching part arranged on the hole wall of the inner hole and threadedly matched with the threaded part.

4. The rotary drive device according to any one of claims 1 to 3, characterized in that The application further comprises a detection device for detecting the rotating angle of the rotating shaft.

5. The rotary drive device according to claim 4, characterized in that The detection device comprises: a support fixedly connected with the bearing seat and jointly defining a detection space with the bearing seat; a magnetic encoder fixed on the support; a base fixed on the rotating part and located in the detection space; a magnet fixedly arranged on the base; the center of the magnetic encoder and the center of the magnet are located on the extension line of the axis of the rotating shaft.

6. The rotary drive device according to claim 5, characterized in that The base comprises a positioning plate for connection with the rotating shaft, a first bearing plate for placing the magnet and a first connecting arm connected between the positioning plate and the first bearing plate, the surface of the positioning plate is convexly formed into a first positioning protrusion in a direction away from the first bearing plate, and a first positioning hole is arranged on the rotating shaft for sliding and positioning the first positioning protrusion. The support comprises a second bearing plate for placing the magnetic encoder and a second connecting arm connected with the second bearing plate and used for fixing with the bearing seat, an end surface of the second connecting arm is convexly formed into a second positioning protrusion facing away from the second bearing plate, and the bearing seat is provided with a second positioning hole for sliding and matching positioning of the second positioning protrusion.

7. The rotary drive device according to any one of claims 1 to 3, characterized in that The mounting base plate is provided with a baffle, and the rotating shaft is connected with a limiting piece for abutting against the baffle when the rotating shaft rotates to limit the rotation of the rotating shaft, and the limiting piece is convexly arranged outside the side wall of the rotating shaft.

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