Rotary drive, method for adjusting a gap and robot joint

Abstract

The application discloses a rotary driving device, a gap adjusting method and a robot joint, relates to the technical field of gap adjusting, and aims at solving the problem that the load end of a robot joint shakes when a gap is generated in a worm gear. The rotary driving device comprises a worm gear driving mechanism, a torque output part and a gap adjusting assembly. The gap adjusting assembly comprises a supporting assembly and a gap eliminating propelling part. The torque output part is arranged on a worm wheel contained in the worm gear mechanism. The supporting assembly is arranged on an end surface of the worm wheel which is away from the torque output part. A worm contained in the worm gear mechanism is located on an end surface of the worm wheel which is close to the torque output part. The gap eliminating propelling part is arranged on an end surface of the supporting assembly which is away from the worm wheel. The robot comprises the robot joint. The robot joint and the robot provided by the application are used for eliminating the gap between the worm wheel and the worm without generating high pair motion.

Description

Technical Field

[0001] This invention relates to the field of gap adjustment technology, and in particular to a rotation drive device, a gap adjustment method, and a robot joint. Background Technology

[0002] Robot joints are important components in robotic devices. Conical worm gear reducers are widely used in robot joints. However, after a period of operation, the worm gear will wear out, and a gap will be generated between the worm gear and the worm, causing the load end of the robot joint to wobble. Therefore, eliminating the gap between the worm gear and the worm is particularly important.

[0003] Currently, worm gears generally eliminate backlash by adjusting the axial movement of the tapered worm. This easily changes the low amplitude of the worm gear and worm's kinematic pair from surface-to-surface contact to a high amplitude of point-to-surface or line-to-surface contact. Although the backlash is eliminated, it becomes less wear-resistant. Summary of the Invention

[0004] The purpose of this invention is to provide a rotation drive device, a clearance adjustment method, and a robot joint, for eliminating the clearance between the worm gear and the worm without generating higher pair motion.

[0005] In a first aspect, embodiments of the present invention provide a rotation drive device, comprising: a worm gear drive mechanism, a torque output component, and a clearance adjustment assembly. The clearance adjustment assembly includes a support assembly and a clearance-eliminating propulsion component. The worm gear drive mechanism includes a worm wheel and a worm with a clearance. The torque output component is disposed on the worm wheel in the worm gear drive mechanism. The support assembly is disposed on the end face of the worm wheel opposite to the torque output component. The worm in the worm gear drive mechanism is located on the end face of the worm wheel near the torque output component. The clearance-eliminating propulsion component is disposed on the end face of the support assembly opposite to the worm wheel.

[0006] Compared with the prior art, the rotation drive device provided in this embodiment of the invention includes a worm gear drive mechanism, a torque output component, and a clearance adjustment assembly. The clearance adjustment assembly includes a support assembly and a backlash-eliminating propulsion component. The worm gear drive mechanism contains a worm wheel and a worm with a clearance between them. When the worm wheel in the worm gear drive mechanism starts to rotate, it drives the worm wheel to rotate. Since the torque output component is located on the worm wheel in the worm gear drive mechanism, the rotation of the worm wheel drives the torque output component to rotate, which in turn drives the connected robot arm to rotate. Simultaneously, the support assembly is located on the end face of the worm wheel away from the torque output component, and the worm in the worm gear drive mechanism is located on the end face of the worm wheel near the torque output component. The backlash-eliminating propulsion component is located on the end face of the support assembly away from the worm wheel. Therefore, by rotating or pushing the backlash-eliminating propulsion component, a thrust can be generated to move the support assembly upward, thereby driving the worm wheel upward and reducing the distance between the center distance of the worm wheel and the center distance of the worm, thus eliminating the clearance between the worm wheel and the worm.

[0007] As can be seen from the above, the rotation drive device provided in the embodiments of the present invention can eliminate the gap between the worm gear and the worm.

[0008] Secondly, embodiments of the present invention also provide a gap adjustment method, applied to the rotation drive device described in the first aspect.

[0009] Compared with the prior art, the beneficial effects of the gap adjustment method provided by the present invention are the same as those of the rotary drive device described in the first aspect above, and will not be repeated here.

[0010] Thirdly, embodiments of the present invention also provide a robot joint, including the rotation drive device described in the first aspect.

[0011] Compared with the prior art, the beneficial effects of the robot joint provided by the present invention are the same as those of the rotation drive device described in the first aspect above, and will not be repeated here. Attached Figure Description

[0012] Figure 1 This is a cross-sectional view of the rotation drive device according to an embodiment of the present invention;

[0013] Figure 2 This is a rear view of the rotation drive device according to an embodiment of the present invention.

[0014] Figure label:

[0015] 100-Worn gear drive mechanism, 110-Worn, 120-Worn gear, 200-Torque output component, 300-Clearance adjustment component, 310-Support component, 311-First bearing, 312-Support component, 3121-Abutting section, 3122-Sleeve section, 320-Clear elimination propulsion component, 330-Elastic adjustment component, 331-Second bearing, 332-Elastic adjustment component, 400-Robot joint housing, 500-Connector, 600-Rigid clamping component, 700-Waterproof seal. Detailed Implementation

[0016] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0017] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0018] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0019] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] Robot joints are important components in robotic equipment. Conical worm gear reducers are widely used in robot joints. After a period of operation, conical worm gear reducers will wear out, resulting in gaps between the conical worm gears and worms. This causes the output end of the conical worm gear reducer to wobble, affecting product accuracy.

[0022] Currently, worm gears are generally manufactured by adjusting the axial movement of the tapered worm or by adding set screws or springs to the tapered worm to reduce the center distance between the tapered worm and the worm gear, or by placing the worm gear and worm in different structural housings and adjusting the relative positions of the two housings to adjust the clearance. This easily changes the low amplitude of the worm gear and worm gear kinematic pair from surface-to-surface contact to point-to-surface or line-to-surface contact with a high amplitude. Although the clearance is eliminated, it becomes less wear-resistant.

[0023] To address the aforementioned problems, embodiments of the present invention provide a rotation drive device, a clearance adjustment method, and a robot joint to solve the problem of robot joint load-bearing end wobbling caused by clearance in existing worm gear systems. This eliminates the clearance between the worm gear and worm without generating higher-pair motion. It should be understood that this robot joint can be a waterproof robot joint, and it can be used to connect the articulated arm of a robot.

[0024] Figure 1 A cross-sectional view of a rotation drive device according to an exemplary embodiment of the present invention is shown. Figure 2 A rear view of a robot joint according to an exemplary embodiment of the present invention is shown. (As...) Figure 1 and Figure 2 As shown, the robot joint provided in the exemplary embodiment of the present invention includes a worm gear drive mechanism 100, a torque output component 200, a backlash adjustment component 300, and a robot joint housing 400. The worm gear drive mechanism 100, torque output component 200, and backlash adjustment component 300 are all disposed within the internal space of the robot joint housing 400. The backlash adjustment component 300 includes a support component 310 and a backlash-eliminating propulsion component 320. The torque output component 200 is disposed on one end face of the worm gear 120 included in the worm gear drive mechanism 100. The support component 310 is disposed on the end face of the worm gear 120 opposite to the torque output component 200. The worm 110 included in the worm gear drive mechanism 100 is located on the end face of the worm gear 120 near the torque output component 200. The backlash-eliminating propulsion component 320 is disposed on the end face of the support component 310 opposite to the worm gear 120. The worm gear drive mechanism 100 can be a conical worm gear drive mechanism, with the conical worm gear meshing with the worm.

[0025] For ease of implementation, the aforementioned backlash-eliminating propulsion component 320 can be a threaded adjustment component or an electric propulsion component located on the end face of the support assembly 310 opposite to the worm gear 120. No limitation is made here; whether it is a threaded adjustment component or an electric propulsion component, its purpose is to provide an upward thrust to the worm gear. It should be understood that, in the initial setup, the worm 110 included in the aforementioned worm gear drive mechanism 100 is externally equipped with a housing. The housing is used to fix the worm 110, ensuring a reasonable center distance between the worm 110 and the worm gear 120, and that there is no backlash between the teeth of the worm 110 and the teeth of the worm gear 120. The torque output component 200 is located on the upper end face of the worm gear 120 and is fixedly connected to the worm gear 120. The fixed connection method can be bolted, screwed, welded, or other fixed connection methods, which are not limited here.

[0026] In specific implementation, such as Figure 1 and Figure 2 As shown, when the worm 110 in the worm gear drive mechanism 100 starts to rotate, it can drive the worm wheel 120 to rotate. Since the torque output component 200 is located on the worm wheel 120 in the worm gear drive mechanism 100 and is fixedly connected to the worm wheel 120, when the worm wheel 120 rotates, the torque output component 200 will rotate with the worm wheel 120, thereby enabling the torque output component 200 to drive the robot articulated arm connected to it to rotate, realizing the function of the robot joint. At the same time, since there is a gap between the worm wheel 120 and the worm 110 in the worm gear drive mechanism 100, the backlash elimination propulsion component 320 can be pushed or rotated to generate thrust, causing the support component 310 to move upward, thereby driving the worm wheel 120 to move upward, thus reducing the distance between the center distance of the worm wheel 120 and the center distance of the worm 110, achieving the purpose of eliminating the gap between the worm wheel 120 and the worm 110.

[0027] When the aforementioned backlash elimination propulsion component 320 is a threaded adjustment component, the threaded adjustment component can be a nut. When the conical worm does not rotate but the conical worm wheel wobbles, it indicates that a backlash has occurred and needs to be eliminated. At this time, the support assembly 310 can be subjected to upward pressure by tightening the nut, thereby driving the worm wheel 120 to move upward, which can reduce the distance between the center distance of the worm wheel 120 and the center distance of the worm 110, thus eliminating the backlash between the worm wheel 120 and the worm 110.

[0028] In one alternative approach, such as Figure 1 and Figure 2As shown, the support assembly 310 of this embodiment includes a first bearing 311 and a support member 312. The first bearing 311 is connected to the worm gear 120, and the end face of the support member 312 facing away from the worm gear 120 is connected to the backlash-eliminating propulsion member 320. The first bearing 311 can be a cylindrical bearing or other types of bearings, which are not limited here. When the worm gear 120 is a conical worm gear, the inner ring of the first bearing 311 is interference-fitted with the lower end of the conical worm gear, and the outer ring of the first bearing 311 can be fixed to the robot joint housing 400.

[0029] In specific implementation, when the worm 110 of the aforementioned worm gear drive mechanism 100 drives the worm wheel 120 to rotate, the worm wheel 120 can drive the inner ring of the first bearing 311 to rotate. That is, the first bearing 311 can provide support for the conical worm wheel 120 while ensuring its rotation, thereby outputting power and transmitting torque to the torque output component 200. This allows the torque output component 200 to drive the connected robot articulated arm to rotate, realizing the function of the robot joint. Simultaneously, since the end face of the support component 312 facing away from the worm wheel 120 is connected to the backlash-eliminating propulsion component 320, and the support component 312 is located below the first bearing 311, the first bearing 311 and the support component 312 can provide support to the worm wheel, enabling the conical worm wheel to rotate around its axial direction. When a gap occurs between the worm wheel 120 and the worm 110 in the worm gear drive mechanism 100, the backlash elimination propulsion component 320 can be pushed to generate thrust, causing the support component 310 and the first bearing 311 to move upward, thereby driving the worm wheel 120 to move upward. This reduces the distance between the center distance of the worm wheel 120 and the center distance of the worm 110, thus eliminating the gap between the worm wheel 120 and the worm 110.

[0030] For example, such as Figure 1 As shown, the torque output component 200 of this embodiment is a hollow torque output component. The support component 312 includes an abutment section 3121 and a sleeve section 3122 connected to the abutment section 3121. The sleeve section 3122 extends into the hollow part of the hollow torque output component. The abutment section 3121 is located on the end face of the worm gear 120 opposite to the torque output component 200. It should be understood that the torque output component 200, worm gear 120, first bearing 311, and backlash-free propulsion component 320 of this embodiment can all be hollow structures, and the sleeve section 3122 of the support component 312 can be a sleeve structure. The abutment section 3121 and the sleeve section 3122 of the support component 312 can be integrally formed structures or fixedly connected separate structures, which are not limited here. The robot joint of this embodiment also has a connector 500 disposed inside the robot joint housing 400. It should be understood that the connector can be an electrical component, and electrical components have wires.

[0031] In practice, the aforementioned abutment section 3121 is located on the end face of the worm gear 120 facing away from the torque output component 200, and the sleeve section 3122 passes through the first bearing 311 and the worm gear 120, extending into the hollow part of the torque output component 200. At this time, the wires of the connector 500 can be temporarily placed inside the sleeve section 3122, thereby protecting the wires from wear and tear, extending their service life, and consequently extending the service life of the robot joints.

[0032] In one alternative approach, such as Figure 1 As shown, the clearance adjustment assembly of this embodiment further includes an elastic adjustment assembly 330, which is circumferentially disposed on the torque output member 200. The torque output member 200 has an annular mounting portion 210, and the elastic adjustment assembly 330 is circumferentially disposed on the annular mounting portion 210. The worm gear 110 is located between the worm wheel 120 and the annular mounting portion 210. It should be understood that the torque output member 200 also has a columnar portion 220, and the annular mounting portion 210 is circumferentially disposed on the columnar portion 220. The elastic adjustment assembly 330 is circumferentially disposed on the columnar portion 220 of the torque output member 200 and contacts the annular mounting portion 210. It should be understood that the annular mounting portion 210 and the columnar portion 220 of the torque output member can be an integral structure or a separate structure fixedly connected together; this is not limited here.

[0033] In practice, when the conical worm gear does not rotate but the conical worm wheel wobbles, it indicates a gap needs to be eliminated. The connector can be removed by unscrewing the screws on the connector. A special tool can be used to tighten the gap-eliminating pusher 320. Tightening the pusher 320 generates thrust, causing the support assembly 310 to move upwards, which in turn drives the worm wheel 120 upwards. When the worm wheel 120 moves upwards, since the torque output component 200 is fixedly connected to the worm wheel 120 and is located on the upper end face of the worm wheel 120, the worm wheel 120 can drive the torque output component 200 upwards. At this time, since the gap adjustment assembly 300 also includes an elastic adjustment component 330, which is circumferentially arranged on the columnar portion 220 of the torque output component 200 and contacts the annular mounting portion 210, when the torque output component 200 moves upwards, the annular mounting portion 210 of the torque output component 200 has an upward thrust. At this time, due to the presence of the elastic adjustment component 330, the upward thrust of the annular mounting part 210 can be buffered by the elastic adjustment component 330. The elastic adjustment component 330 can generate downward pressure on the torque output component 200, and then generate downward pressure on the worm gear 120 and the support component 310, so that the torque output component 200 will not wobble significantly, causing the worm gear 120 to wobble. It can also prevent the backlash elimination propulsion component 320 from becoming loose, and further slow down the speed at which a gap is generated between the worm gear 120 and the worm 110.

[0034] For example, such as Figure 1 As shown, the elastic adjustment component 330 of this embodiment includes a second bearing 331 and an elastic adjustment member 332. The elastic adjustment member 332 and the second bearing 331 are sleeved on the torque output member 200 along the direction close to the output end of the torque output member 200. The elastic adjustment member 332 contacts the annular mounting portion of the torque output member 200, and the second bearing 331 is disposed above the elastic adjustment member 332. The second bearing 331 can be a tapered roller bearing or other types of bearings, which are not limited here. The second bearing 331 provides support to the torque output member 200. The elastic adjustment member 332 can be a corrugated spring or other elastic elements, which will not be elaborated here.

[0035] In specific implementation, when the aforementioned elastic adjustment assembly 330 includes a second bearing 331 and an elastic adjustment member 332, and the second bearing 331 is a tapered roller bearing, the tapered roller bearing can withstand the axial and radial forces output by the worm gear drive mechanism 100, thereby ensuring that the torque output member 200 remains stable and does not wobble. Simultaneously, since the elastic adjustment member 332 and the second bearing 331 are positioned on the torque output member 200 along the direction close to its output end, and the elastic adjustment member 332 contacts the annular mounting portion of the torque output member 200, when the torque output member 200 moves upward, the annular mounting portion 210 of the torque output member 200 has an upward thrust. At this time, the thrust can push the elastic adjustment member 332 to slowly contract, thereby providing downward pressure to the torque output member 200, so that the torque output member 200 is buffered, and thus the worm wheel 120 and the support assembly 310 will not wobble significantly, causing the worm wheel 120 to wobble. It can also prevent the backlash elimination propulsion member 320 from loosening, further slowing down the speed at which a gap is generated between the worm wheel 120 and the worm 110.

[0036] In one alternative approach, such as Figure 1 As shown, the rotation drive device of this embodiment further includes a rigid clamping member 600, which is arranged around the torque output member 200. A second bearing 331 is located between the rigid clamping member 600 and the elastic adjusting member 332. It should be understood that the rigid clamping member can be a clamping nut. The rigid clamping member 600 and the second bearing 331 together provide support to the torque output member 200, thereby ensuring the stability of the torque output member 200.

[0037] For example, such as Figure 1As shown, the rotation drive device of this embodiment of the invention also includes a waterproof seal 700 disposed on the torque output component 200. The waterproof seal 700 is located on the side of the elastic adjustment component 330 near the output end of the torque output component 200. It should be understood that the waterproof seal 700 can be a waterproof oil seal or other seals that serve a waterproof function. The waterproof seal 700 is disposed above the rigid clamping component 600 and sleeved on the torque output component 200. The waterproof seal 700 can completely seal the worm gear drive mechanism 100, torque output component 200, clearance adjustment component 300, and other structures inside the robot joint housing, preventing water from entering the various components inside the robot joint. This ensures that the components remain dry even in humid environments, further extending the service life of the robot joint.

[0038] In one alternative approach, such as Figure 1 As shown, the rotation drive device in this embodiment of the invention further includes a drive mechanism. The drive mechanism is connected to the worm in the worm gear drive mechanism. The drive mechanism provides power to the worm, causing the worm to rotate. It should be understood that the drive mechanism can be a drive motor reducer, and the drive motor can be a DC motor, an AC motor, or other motors, which will not be elaborated here. Torque is input through the drive mechanism, driving the conical worm to rotate. The conical worm drives the conical worm wheel to rotate, and the conical worm wheel drives the robot's articulated arm to rotate through the torque output component.

[0039] For example, the worm 110 of the worm gear drive mechanism in this embodiment of the invention is further provided with multiple bearings. For instance, a first thrust bearing, a first ball bearing, a second ball bearing, and a second thrust bearing are sequentially provided on the outer periphery of the worm 110, and the multiple bearings can be used to fix the worm.

[0040] In one example, the aforementioned backlash-eliminating propulsion component 320 can also be integrated with the support assembly. This integrated structure is located below the worm gear and can be defined as a backlash-eliminating nut. When adjusting the backlash, the backlash-eliminating nut can be tightened to move the backlash-eliminating nut upward, thereby driving the worm gear 120 to move upward and shortening the distance between the center distance of the worm gear 120 and the center distance of the worm 110.

[0041] For example, the upper end of the torque output component 200 in this embodiment of the invention also has a plurality of holes for connecting the robot articulated arm.

[0042] In an alternative embodiment of the present invention, a gap adjustment method is also provided, comprising: when the torque output component of the rotary drive device wobbles, controlling the backlash elimination propulsion component to advance the worm wheel of the worm gear drive mechanism along a direction close to the support assembly, so as to reduce the gap between the worm wheel and the worm in the worm gear drive mechanism, until the torque output component stops wobbling.

[0043] For example, when the torque output component vibrates, it indicates that a gap has formed between the worm wheel and worm in the worm gear drive mechanism. At this time, the backlash-eliminating propeller can be controlled to advance the support assembly or rotate along the direction of the support assembly. This causes the backlash-eliminating propeller to provide an upward force on the support assembly, and the support assembly to provide an upward force on the worm wheel, thereby reducing the gap between the worm wheel and worm in the worm gear drive mechanism. The upward advancement or rotation of the backlash-eliminating propeller is stopped when the torque output component stops vibrating. At this point, it indicates that the gap between the worm wheel and worm in the worm gear drive mechanism has been eliminated.

[0044] In one possible implementation, embodiments of the present invention also provide a robot joint that includes the aforementioned rotation drive device.

[0045] As can be seen from the above, the rotation drive device, clearance adjustment method, and robot joint provided in this embodiment of the invention can eliminate clearance by manually adjusting the clearance-eliminating propulsion component inside the robot joint, causing the torque output component, conical worm gear, bearing, support component, and other parts to move upward as a whole. Simultaneously, the clearance elimination process compresses the wave spring, which exerts downward pressure on the above components. This pressure prevents the conical worm gear from wobbling and also transmits force to the clearance-eliminating propulsion component to prevent it from loosening. After adjustment in this way, the clearance between the conical worm gear and the conical worm will be eliminated. This method does not cause high-pair movement in the conical worm gear and worm, the conical worm is relatively stable, the reaction force of the conical worm gear on the conical worm will not cause the conical worm to wobble, and it will not damage the waterproofness and integrity of the joint.

[0046] Although the invention has been described herein in conjunction with various embodiments, those skilled in the art will understand and implement other variations of the disclosed embodiments by reviewing the accompanying drawings, the disclosure, and the appended claims in carrying out the claimed invention. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0047] Although the invention has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made therein without departing from the spirit and scope of the invention. Accordingly, this specification and drawings are merely exemplary descriptions of the invention as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if such modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include such modifications and modifications.

[0048] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A rotation drive device, characterized in that, The application relates to a rotating driving device, which comprises a worm and gear driving mechanism, a torque output and a gap adjusting assembly, the worm and gear driving mechanism has a gap between a worm wheel and a worm, the torque output is arranged on the worm wheel, a supporting assembly is arranged on an end surface of the worm wheel away from the torque output, the worm of the worm and gear driving mechanism is arranged on an end surface of the worm wheel close to the torque output, and a gap eliminating propelling element is arranged on an end surface of the supporting assembly away from the worm wheel, the gap eliminating propelling element is used for propelling the supporting assembly to move in an axial direction, and then propelling the worm wheel to move towards the worm, so as to eliminate the gap between the worm wheel and the worm. The gap adjusting assembly further comprises an elastic adjusting assembly, the elastic adjusting assembly is annularly arranged on the torque output, the torque output has an annular mounting portion, the elastic adjusting assembly is annularly arranged on the annular mounting portion, the worm is arranged between the worm wheel and the annular mounting portion, the torque output further has a columnar portion, the annular mounting portion is annularly arranged on the periphery of the columnar portion, and the elastic adjusting assembly is annularly arranged on the columnar portion of the torque output and in contact with the annular mounting portion. The supporting assembly comprises a first bearing and a supporting element, the first bearing is connected with the worm wheel, and the end surface of the supporting element away from the worm wheel is connected with the gap eliminating propelling element.

2. The rotational drive device according to claim 1, characterized by The torque output is a hollow torque output, the supporting element comprises an abutting section and a sleeving section connected with the abutting section, the sleeving section extends into a hollow portion of the hollow torque output, and the abutting section is arranged on the end surface of the worm wheel away from the torque output.

3. The rotational drive device according to claim 2, characterized in that The elastic adjusting assembly comprises a second bearing and an elastic adjusting element, the elastic adjusting element and the second bearing are arranged on the torque output along the direction close to the output end of the torque output.

4. The rotational drive device according to claim 1, characterized by The rotating driving device further comprises a rigid pressing element, the rigid pressing element is annularly arranged on the torque output, and the second bearing is arranged between the rigid pressing element and the elastic adjusting element.

5. The rotational drive device according to claim 4, characterized in that The gap eliminating propelling element is a threaded adjusting element arranged on the end surface of the supporting assembly away from the worm wheel.

6. The rotary drive device according to any one of claims 1 to 5, characterized in that The method is applied to the rotating driving device in any one of claims 1 to 6, and the method comprises the following steps:

7. A method of gap adjustment, characterized by, When the torque output of the rotating driving device shakes, the gap eliminating propelling element is controlled to propel the worm wheel of the worm and gear driving mechanism in the direction close to the supporting assembly, so as to reduce the gap between the worm wheel and the worm of the worm and gear driving mechanism until the torque output stops shaking. The application further relates to a rotating driving device comprising any one of the rotating driving devices in claims 1 to 5.

8. A robot joint, characterized in that The robot joint further comprises a waterproof sealing element arranged on the torque output, and the waterproof sealing element is arranged on the side of the elastic adjusting assembly close to the output end of the torque output.

9. The robotic joint of claim 8, wherein, The robot joint further comprises a driving mechanism, and the driving mechanism is connected with the worm of the worm and gear driving mechanism.

10. The robotic joint of claim 8, wherein, The application further relates to a robot joint comprising any one of the robot joints in claims 1 to 7.

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