阅读说明：本技术 旋转驱动装置 (Rotary driving device ) 是由 王成武 卢健财 覃飞鹏 王可可 沈剑波 于 2018-08-24 设计创作，主要内容包括：本发明涉及机械传动的技术领域,提供了一种旋转驱动装置,用于机器人,机器人包括机器人主体和转动部件,其中,上述的旋转驱动装置包括安装基板、主动轮、驱动电机、从动轮、传动带、转轴、套筒状的轴承座和轴承。安装基板用于与机器人主体固定连接,驱动电机使主动轮转动,驱动电机固定在安装基板上；传动带包绕在主动轮与从动轮之间；转轴具有旋转部、用于与转动部件固定连接的连接部以及连接在旋转部与连接部之间的安装部,从动轮以不可相对安装部转动的方式套接在安装部上；轴承座套设在旋转部的外侧并与安装基板固定。与现有技术对比,本发明提供的旋转驱动装置,结构稳定、传动可靠且成本低,整体体积较小,能够节省空间。(The invention relates to the technical field of mechanical transmission, and provides a rotary driving device, which is used for a robot, wherein the robot comprises a robot main body and a rotating part, and 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 fixedly connected with the robot main body, the driving motor enables the driving wheel to rotate, 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 is provided with a rotating part, a connecting part and an installation part, the connecting part is used for being fixedly connected with the rotating part, the installation part is connected between the rotating part and the connecting part, and the driven wheel is sleeved on the installation part in a mode of not rotating relative to the installation part; the bearing frame cover is established in the outside of rotating part and is fixed with mounting substrate. Compared with the prior art, the rotary driving device provided by the invention has the advantages of stable structure, reliable transmission, low cost, smaller overall volume and capability of saving space.)

1. A rotary drive apparatus for a robot having a rotating member rotatably supported on a robot main body of the robot, characterized by comprising:

a mounting substrate for fixedly connecting with the robot main body;

a driving wheel;

the driving motor enables the driving wheel to rotate and is fixed on the mounting substrate;

a driven wheel;

the driving wheel is arranged on the driven wheel;

the rotating shaft is provided with a rotating part, a connecting part used for being fixedly connected with the rotating part and an installation part connected between the rotating part and the connecting part, and the driven wheel is sleeved on the installation part in a mode of not rotating relative to the installation part;

the sleeve-shaped bearing block is sleeved on the outer side of the rotating part and fixed with the mounting substrate, and a bearing accommodating space is formed between the inner wall of the bearing block and the side wall of the rotating part; and

and the bearing is sleeved on the rotating part and is positioned in the bearing accommodating space.

2. The rotary drive device according to claim 1, wherein a disk-shaped driven wheel gland covering the driven wheel is connected to the rotary shaft, the driven wheel gland has an inner hole for the connection portion to pass through, and a connection structure is provided between an inner wall of the driven wheel gland and a side wall of the connection portion to fix the driven wheel gland and the connection portion; the outer diameter of the driven wheel gland is larger than that of the driven wheel.

3. The rotary drive apparatus as claimed in claim 2, wherein the connection structure includes a threaded portion provided on a side wall of the connection portion, and a thread engagement portion provided on a hole wall of the inner hole and threadedly engaged with the threaded portion.

4. The rotary drive device according to claim 1, wherein the number of the bearings is two, and a bearing spacer is provided between the two bearings, the bearing spacer being fitted over the rotary portion and located in the bearing receiving space.

5. The rotary drive device according to claim 4, wherein step structures corresponding to the bearings are formed on inner walls of two ends of the bearing seat, each of the two bearings includes an outer ring mounted on the corresponding step structure and an inner ring connected to the rotary portion, end faces of two ends of the bearing spacer are abutted to end faces of the inner rings of the two bearings, and a length of the bearing spacer in an axial direction of the rotary shaft is greater than a distance between the two step structures in the axial direction of the rotary shaft.

6. The rotary drive of claim 1 wherein the driven wheel has a non-circular anti-rotation aperture and the mounting portion has a cross-sectional shape that matches the shape of the anti-rotation aperture.

7. The rotary drive apparatus according to any one of claims 1 to 6, further comprising a detection device for detecting a rotation angle of the rotary shaft.

8. The rotary drive apparatus according to claim 7, wherein the detection means comprises:

the bracket is fixedly connected to the bearing seat and defines a detection space together with the bearing seat;

the magnetic encoder is fixed on the bracket;

the base is fixedly connected to the rotating part and positioned in the detection space;

the magnet is fixedly arranged on the base;

the center of the magnetic encoder and the center of the magnet are both positioned on the extension line of the axis of the rotating shaft.

9. The rotary driving device as claimed in claim 8, wherein the base includes a positioning plate for connecting with the rotary shaft, a first bearing plate for placing a magnet, and a first connecting arm connected to the positioning plate and the first bearing plate, a surface of the positioning plate is convexly provided with a first positioning protrusion facing away from the first bearing plate, and the rotary shaft is provided with a first positioning hole for sliding in and matching with the first positioning protrusion;

the support including be used for placing magnetic encoder's second loading board and with the second loading board is connected and be used for with the fixed second linking arm of bearing frame, the terminal surface of second linking arm is to the dorsad the protruding formation second location of establishing of direction of second loading board is protruding, set up on the bearing frame and supply the second location is protruding to be gone into and the cooperation second locating hole of location.

10. The rotary driving device according to any one of claims 1 to 6, wherein a blocking piece is formed on the mounting substrate, a limiting piece for limiting the rotation of the rotating shaft when the rotating shaft rotates is connected to the rotating shaft, and the limiting piece is protruded out of a side wall of the rotating shaft.

Technical Field

The invention relates to the technical field of mechanical transmission, in particular to a rotary driving device.

Background

The rotation driving device of the existing intelligent robot, such as a lottery robot and a customer service robot, such as a head horizontal rotation driving device and an arm rotation driving device, is mainly a speed reducing motor composed of a motor and a speed reducing mechanism which are connected with each other as a power part in the rotation driving device, and the speed reducing motor is directly connected with the head or the arm to realize transmission, or the speed reducing motor realizes the motion of the head or the arm through belt transmission. The speed reducing motor is a brushless motor or a brush motor, and the speed reducing mechanism adopts a gear speed reducing mechanism, however, the mechanism has the problems of large noise, large return difference, easy damage of gears and the like.

Disclosure of Invention

The invention aims to provide a rotary driving device, which solves the defects that a speed reducing mechanism serving as a power part in the rotary driving device in the prior art is high in cost, large in size and easy to damage.

In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a rotation driving device for a robot having a turning member rotatably supported on a robot main body of the robot, wherein the rotation driving device includes:

a mounting substrate for fixedly connecting with the robot main body;

a driving wheel;

the driving motor enables the driving wheel to rotate and is fixed on the mounting substrate;

a driven wheel;

the driving wheel is arranged on the driven wheel;

the rotating shaft is provided with a rotating part, a connecting part used for being fixedly connected with the rotating part and an installation part connected between the rotating part and the connecting part, and the driven wheel is sleeved on the installation part in a mode of not rotating relative to the installation part;

the sleeve-shaped bearing block is sleeved on the outer side of the rotating part and fixed with the mounting substrate, and a bearing accommodating space is formed between the inner wall of the bearing block and the side wall of the rotating part; and

and the bearing is sleeved on the rotating part and is positioned in the bearing accommodating space.

Further, the rotating shaft is connected with a disk-shaped driven wheel gland which is covered on the driven wheel, the driven wheel gland is provided with an inner hole for the connection part to pass through, and a connection structure for fixing the driven wheel gland and the connection part is arranged between the inner wall of the driven wheel gland and the side wall of the connection part; the outer diameter of the driven wheel gland is larger than that of the driven wheel.

Further, the connection structure comprises a threaded portion arranged on the side wall of the connection portion, and a thread matching portion arranged on the hole wall of the inner hole and matched with the threaded portion in a threaded mode.

Furthermore, the number of the bearings is two, and a bearing spacer sleeve which is sleeved on the rotating part and is positioned in the bearing accommodating space is arranged between the two bearings.

Further, be formed with respectively on the both ends inner wall of bearing frame with the stair structure that the bearing corresponds, two the bearing all including install corresponding last outer lane of stair structure and with the inner circle that the rotating part is connected, the both ends terminal surface of bearing spacer sleeve respectively with two the terminal surface butt of the inner circle of bearing, the bearing spacer sleeve is in the ascending length dimension of axial of pivot is greater than two stair structure is in the ascending interval of axial of pivot.

Further, the driven wheel is provided with a non-circular rotation stopping hole, and the mounting portion is provided with a cross section shape matched with the shape of the rotation stopping hole.

Furthermore, the device also comprises a detection device for detecting the rotation angle of the rotating shaft.

Further, the detection device includes:

the bracket is fixedly connected to the bearing seat and defines a detection space together with the bearing seat;

the magnetic encoder is fixed on the bracket;

the base is fixedly connected to the rotating part and positioned in the detection space;

the magnet is fixedly arranged on the base;

the center of the magnetic encoder and the center of the magnet are both positioned on the extension line of the axis of the rotating shaft.

Furthermore, the base comprises a positioning plate connected with the rotating shaft, a first bearing plate used for placing a magnet and a first connecting arm connected with the positioning plate and the first bearing plate, the surface of the positioning plate is convexly arranged in the direction back to the first bearing plate to form a first positioning protrusion, and the rotating shaft is provided with a first positioning hole for the first positioning protrusion to slide in and be matched with for positioning;

the support including be used for placing magnetic encoder's second loading board and with the second loading board is connected and be used for with the fixed second linking arm of bearing frame, the terminal surface of second linking arm is to the dorsad the protruding formation second location of establishing of direction of second loading board is protruding, set up on the bearing frame and supply the second location is protruding to be gone into and the cooperation second locating hole of location.

Furthermore, a blocking piece is formed on the mounting substrate, a limiting piece used for limiting the rotation of the rotating shaft when the rotating shaft rotates is connected to the rotating shaft, and the limiting piece is convexly arranged outside the side wall of the rotating shaft.

Compared with the prior art, the rotary driving device provided by the invention comprises the mounting base plate, the driving wheel, the driving motor, the driven wheel, the transmission belt, the rotating shaft, the sleeve-shaped bearing seat and the bearing, wherein the rotating shaft is rotatably supported in the bearing seat, the driven wheel is non-rotatably mounted on the rotating shaft and is connected with the driving wheel through the transmission belt, so that the driving wheel is driven by the driving motor to rotate to drive the rotating shaft and an external rotating part connected with the rotating shaft to rotate.

The rotary driving device provided by the invention has the beneficial effects that: compared with the prior art, the rotary driving device has the following advantages:

1. the speed reduction type of the rotary driving device and the installation mode of the driving wheel are changed, and the rotary driving device has the advantages of no damage to a motor, low noise, no return difference and the like;

2. the synchronous wheel transmission mechanism has simple structure, easy installation, simplicity, reliability and lower cost;

3. no speed reducer is needed, which is beneficial to saving space and has simple design.

Drawings

Fig. 1 is a perspective view of a rotary drive apparatus provided in an embodiment of the present invention;

FIG. 2 is a schematic top view of a rotary drive apparatus provided in accordance with an embodiment of the present invention;

FIG. 3 is an exploded view of a rotary drive apparatus provided in accordance with an embodiment of the present invention;

FIG. 4 is a cross-sectional view taken along the line A-A in FIG. 1;

FIG. 5 is a schematic perspective view of the connection of the rotating shaft, the driven wheel and the driven wheel gland provided by the embodiment of the present invention;

FIG. 6 is an exploded view of the shaft, driven wheel and driven wheel gland provided by the embodiment of the present invention;

FIG. 7 is a cross-sectional view taken along line B-B of FIG. 5;

fig. 8 is a perspective view of the rotating shaft and the driven wheel provided by the embodiment of the invention.

Description of the main elements

100: rotary driving device

1: mounting substrate 1 a: first side

1 b: second surface 103: first assembly hole

104: second fitting hole 105: baffle plate

2: driving wheel

3: drive motor 30 a: output shaft

4: driven wheel 401: rotation stopping hole

402: limiting part

5: transmission belt

6: a rotating shaft 601: rotating part

602: connecting part 603: mounting part

604: connection hole 605: concave part

606: first positioning hole 607: position limiting piece

7: bearing seat 70 a: bearing housing space

70 b: step structure 701: loop body

702: annular convex portion 703: support surface

8: bearing assembly

9: bearing spacer sleeve

10: driven wheel gland 101: inner bore

11: magnet

12: magnetic encoder

13: base 131: positioning plate

132: the first carrier plate 133: first connecting arm

134: first positioning projection 135: first fixing hole

136: binding part

14: the support 141: second bearing plate

142: second connecting arm 143: second fixing hole

144: second positioning protrusion 145: wrapping edge

15: cable with a flexible connection

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

In order to make the technical solutions of the present invention better understood by those skilled in the art, the following detailed description of the implementations of the present invention is provided with reference to the accompanying drawings.

Unless defined otherwise, 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 belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.

Fig. 1 to 8 show a preferred embodiment of the present invention.

The present embodiment provides a rotary driving apparatus 100 for driving a robot (not shown), the robot including a robot main body (not shown) and a rotating member (not shown) rotatably supported on the robot main body, wherein the rotary driving apparatus 100 includes a mounting base plate 1, a driving wheel 2, a driving 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 mounting substrate 1 is used for being fixedly connected with a robot, the driving motor 3 enables the driving wheel 2 to rotate, and the driving motor 3 is fixed on the mounting substrate 1; the transmission belt 5 is wound between the driving wheel 2 and the driven wheel 4; the rotating shaft 6 has a rotating part 601, a connecting part 602 for fixedly connecting with the rotating part, and a mounting part 603 connected between the rotating part 601 and the connecting part 602, and the driven wheel 4 is sleeved on the mounting part 603 in a manner of not rotating relative to the mounting part 603; the bearing seat 7 is sleeved on the outer side of the rotating part 601 and fixed with the mounting substrate 1, and a bearing accommodating space 70a is formed between the inner wall of the bearing seat 7 and the side wall of the rotating part 601; the bearing 8 is fitted to the rotating portion 601 and is located in the bearing housing space 70 a.

Foretell rotary driving device 100, including mounting substrate 1, action wheel 2, driving motor 3, from driving wheel 4, drive belt 5, pivot 6, bearing frame 7 and bearing 8, pivot 6 rotates and supports in bearing frame 7, from driving wheel 4 nonrotatably install in pivot 6, and be connected with action wheel 2 through drive belt 5, thus, under driving motor 3's drive, action wheel 2 takes to from driving wheel 4 to rotate, thereby make pivot 6 and the rotating member of the outside of being connected with pivot 6 rotate, and thus, this rotary driving device 100 stable in structure, the transmission is reliable and with low costs, whole volume is less, can save space.

Referring to fig. 1 to 8, a rotary drive apparatus 100 for driving a robot includes a mounting base plate 1, a driving pulley 2, a driving motor 3, a driven pulley 4, a transmission belt 5, a rotary shaft 6, a sleeve-shaped bearing housing 7, and a bearing 8. The robot may be a lottery robot, a customer service robot, etc., and includes a robot main body, a control device (not shown) disposed in the robot main body, and a rotating member such as a head, a shoulder, or an arm rotatably mounted on the robot main body, wherein the rotary driving device 100 is electrically connected to the control device and is controlled by the control device, and the control device is any conventional control device capable of driving and controlling the driving motor 3 of the rotary driving device 100.

Referring to fig. 1 to 8, a mounting substrate 1 is used for fixing the above-mentioned rotation driving device 100 on a robot body of a robot, the mounting substrate 1 is fixedly connected to the robot body by any existing fixing method such as screws and welding, in this embodiment, the mounting substrate 1 includes a first surface 1a and a second surface 1b which are opposite, a first assembling hole 103 and a second assembling hole 104 are opened on the mounting substrate 1, and the first assembling hole 103 and the second assembling hole 104 are both disposed through the first surface 1a and the second surface 1 b.

The driving motor 3 may be a stepping motor or a servo motor, and is fixedly connected to the mounting substrate 1 by any conventional fixing means such as screws and welding, in this embodiment, the driving motor 3 is fixedly mounted on the second surface 1b of the mounting substrate 1, the driving motor 3 is but not limited to a stepping motor, and the output shaft 30a thereof penetrates through the first mounting hole 103.

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

The driven wheel 4, install on one side of the driving wheel 2 rotatably, the driving belt 5 is wrapped around between driving wheel 2 and driven wheel 4, in this embodiment, the driven wheel 4 is but not limited to the synchronous pulley, and its axis is parallel to axis of the driving wheel 2, the driving belt 5 is but not limited to the synchronous belt, its external diameter is larger than the external diameter of the driving wheel 2, the driven wheel 4 is installed on the spindle 6, it is easy to understand that, the driving motor 3 drives the driving wheel 2 to rotate, the driving wheel 2 drives the driven wheel 4 to rotate through the driving belt 5.

The rotating shaft 6 includes a rotating portion 601, a connecting portion 602, and a mounting portion 603 connected between the rotating portion 601 and the connecting portion 602, the driven wheel 4 is sleeved on the mounting portion 603 in a non-rotatable manner with respect to the mounting portion 603, in this embodiment, the rotating shaft 6 is rotatably mounted in the second mounting hole 104 of the mounting substrate 1, a connecting hole 604 is formed in an axial end surface of the connecting portion 602, the number of the connecting holes 604 is, but not limited to four, and the connecting holes are arranged at equal intervals along the circumferential direction so as to allow a screw to be inserted into the connecting portion 602 and fix the connecting portion 602 to the rotating member. It will be appreciated that when the driven wheel 4 is driven to rotate, the shaft 6 is caused to rotate together and the rotating member fixedly connected to the connecting portion 602 of the shaft 6 is caused to rotate.

The bearing seat 7 is in a sleeve shape and is sleeved on the outer side of the rotating portion 601, and the bearing seat 7 is fixed with the mounting substrate 1 and located on one side of the driving motor 3. In the present embodiment, the bearing seat 7 is fixedly connected to the second surface 1b of the mounting substrate 1 by any conventional fixing means such as screws and welding, and is sleeved on the outer side of the rotating shaft 6, and a bearing receiving space 70a is formed between the inner wall of the bearing seat 7 and the side wall of the rotating portion 601.

And a bearing 8 sleeved on the rotating portion 601 and located in the bearing receiving space 70a, wherein the number of the bearings 8 may be one or more. In the present embodiment, the number of the bearings 8 is, but not limited to, two, and the bearings 8 are arranged side by side in the axial direction of the rotating shaft 6, each of the bearings 8 includes an outer ring, an inner ring and rolling elements arranged therebetween, the rolling elements may be balls, rollers, etc., the outer ring is mounted on the bearing seat 7, the inner ring is mounted on the rotating shaft 6, and a bearing spacer 9 that is sleeved on the rotating portion 601 and is located in the bearing receiving space 70a is arranged between the two bearings 8, so as to maintain a preset distance between the two bearings 8.

In yet another embodiment, the number of bearings 8 is one, and the bearing spacer 9 may not be provided.

In yet another embodiment, the number of the bearings 8 is plural, and a bearing spacer 9 is provided between each adjacent bearings 8.

Referring to fig. 1 to 8, step structures 70b are respectively formed on the bearing seats 7 for mounting outer rings of the bearing seats 7, in this embodiment, step structures 70b corresponding to the bearings 8 are respectively formed on inner walls of two ends of the bearing seats 7, end faces of two ends of the bearing spacer 9 are respectively abutted against end faces of inner rings of the two bearings 8, and a length dimension of the bearing spacer 9 in an axial direction of the rotating shaft 6 is greater than an interval between the two step structures 70b in the axial direction of the rotating shaft 6.

Specifically, the bearing seat 7 includes a loop body 701 and an annular protrusion 702 protruding on the inner wall of the loop body 701, the annular protrusion 702 extends along the entire circumference of the loop body 701, the top end of the loop body 701 is fixedly connected to the second surface 1b of the mounting substrate 1, the inner diameter of the loop body 701 is larger than the diameter of the second fitting hole 104, and the inner diameter of the annular protrusion 702 is the same as or substantially the same as the diameter of the second fitting hole 104. The annular protrusion 702 has two support surfaces 703 facing each other in the axial direction of the ring body 701, one end surface of the inner ring of the bearing 8 facing the inner ring of the other bearing 8 abuts on the support surface 703, and the above-described stepped structure 70b is formed between the ring body 701 and the end of the annular protrusion 702, that is, the length dimension of the bearing spacer 9 in the axial direction of the rotating shaft 6 is larger than the length dimension of the annular protrusion 702 in the axial direction of the rotating shaft 6, and the difference between the length dimension of the bearing spacer 9 and the length dimension of the annular protrusion 702 is 0.05mm to 0.15mm, preferably 0.1 mm. In this way, the length of the bearing spacer 9 is slightly longer than the distance between the two step structures 70b of the bearing seat 7, so as to ensure that the two bearings 8 do not cause the inner ring of the bearing 8 to be subjected to too large axial force or even cause the rolling body to be damaged after being mounted, and further ensure that the transmission structure is more stable.

Referring to fig. 1 to 8, the rotating shaft 6 is connected to a disk-shaped driven wheel gland 10 covering the driven wheel 4, the driven wheel gland 10 has an inner hole 101 for the connection portion 602 to pass through, and a connection structure for fixing the driven wheel gland 10 and the connection portion 602 is arranged between the inner wall of the driven wheel gland 10 and the side wall of the connection portion 602; the driven wheel gland 10 has an outer diameter dimension greater than that of the driven wheel 4. Like this, through following driving wheel gland 10, can compress tightly in pivot 6 from driving wheel 4 to the restriction is from driving wheel 4 and pivot 6 separation, and the external diameter wall of following driving wheel gland 10 is slightly big from driving wheel 4, like this, can make things convenient for the assembly of drive belt 5, and after being connected from driving wheel gland 10 and pivot 6, realize the flange function, prevent that the belt from following the rim roll-off at the transmission in-process, so that the transmission performance of drive belt 5 is firm reliable.

Specifically, the connection structure includes a threaded portion provided on a side wall of the connection portion 602, and a thread engagement portion provided on a hole wall of the inner hole 101 and engaged with the threaded portion, and the driven wheel cover 10 is fitted to the connection portion 602 of the rotating shaft 6 with threads and presses the driven wheel 4.

In another embodiment, the driven wheel gland 10 is fixed to the rotating shaft 6 by screws.

Referring to fig. 1 to 8, the driven wheel 4 has a non-circular rotation stop hole 401, the mounting portion 603 has a cross-sectional shape matching the shape of the rotation stop hole 401, and the driven wheel 4 and the rotating shaft 6 can be fixed by a screw connection. In this embodiment, the rotation stopping hole 401 is, but not limited to, a kidney-shaped hole, and the mounting portion 603 has a cross-sectional shape matched with the shape of the rotation stopping hole 401, so that the driven wheel 4 and the rotating shaft 6 can be conveniently detached, the power transmission of the assembled rotating shaft 6 is more stable, and the phenomenon that the screw is easily loosened or even falls out due to the fact that the screw bears excessive torque when the screw is connected is avoided.

As can be seen from fig. 1 to 8, a limiting portion 402 is convexly formed on the inner wall of the rotation stop hole 401 of the driven wheel 4, the limiting portion 402 extends along the circumferential direction of the driven wheel 4, and an annular concave portion 605 is formed on the side wall of the mounting portion 603, so that when the driven wheel 4 is assembled with the rotating shaft 6, the limiting portion is matched with the limiting portion 402 for limiting, so as to limit the relative movement between the driven wheel 4 and the rotating shaft 6.

Referring to fig. 1 to 8, the rotation driving device 100 of the present embodiment further includes a detecting device for detecting a rotation angle of the rotating shaft 6. In this embodiment, the detecting 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 by any existing fixing method such as screws and welding, and defines a detecting space together with the bearing seat 7; a magnetic encoder 12 is fixed to the support 14, the magnetic encoder 12 including a magnetic sensor, such as but not limited to a hall sensor; the base 13 is fixedly connected to the rotating part 601 and located in the detection space by adopting all existing fixing modes such as screws, welding and the like, and the magnet 11 is fixedly arranged on the base 13; the center of the magnetic encoder 12 and the center of the magnet 11 are both located on the extension of the axis of the rotating shaft 6. Magnetic encoder 12 and foretell controlling means electric connection, magnetic encoder 12 is stationary because it links to each other with bearing frame 7 through support 14, and magnet 11 links to each other with pivot 6 through base 13, is rotatory together with from driving wheel 4, and consequently, magnetic encoder 12 and magnet 11 can take place relative rotation when rotating the rotation, and controlling means alright follow magnetic encoder 12 and detect the turned angle from driving wheel 4 to the moving angle of countershaft 6 is controlled.

In another embodiment, the detecting device may also include a photo interrupter (also called a transmission-type photo sensor) including a light emitting component and a light sensing component, and the rotating shaft 6 may be opened with a light hole to implement the detecting function by using the light shielding principle.

Referring to fig. 1 to 8, the base 13 includes a positioning plate 131, a first bearing plate 132 and a first connecting arm 133 connected between the positioning plate 131 and the first bearing plate 132, the positioning plate 131 is used for connecting with the rotating shaft 6, the first bearing plate 132 is used for placing the magnet 11, a first positioning protrusion 134 is formed by protruding the surface of the positioning plate 131 in a direction away from the first bearing plate 132, and a first positioning hole 606 for the first positioning protrusion 134 to slide into and be matched with for positioning is formed on the rotating shaft 6. In this embodiment, the first positioning hole 606 of the rotating shaft 6 penetrates through both end surfaces of the rotating shaft 6, the cross-sectional shape of the magnet 11 is, but not limited to, circular, the cross-sectional shape of the first supporting plate 132 is, but not limited to, circular, the first fixing hole 135 is formed at the center of the surface of the first supporting plate 132, and the magnet 11 is fixedly disposed in the first fixing hole 135 of the first supporting plate 132. The positioning plate 131 is a circular ring-shaped plate, and a first positioning protrusion 134 is formed on an inner edge of the positioning plate 131 in a protruding manner along an axial direction of the positioning plate 131, wherein an outer diameter of the first positioning protrusion 134 is the same as an aperture of the first positioning hole 606. The positioning plate 131 is further formed with screw through holes for screws to pass through and fixedly mount the base 13 on the rotating shaft 6. In this way, after the base 13 is fixed to the rotating shaft 6, the first positioning protrusion 134 is inserted into the rotating shaft 6, so that the base 13 and the rotating shaft 6 are fixed and positioned, and the magnet 11 fixed to the first carrier plate 132 is disposed coaxially with the rotating shaft 6.

Referring to fig. 1 to 8, the bracket 14 includes a second bearing plate 141 and a second connecting arm 142 connected to the second bearing plate 141 and used for fixing with the bearing seat 7, the second bearing plate 141 is used for placing the magnetic encoder 12, in this embodiment, a second fixing hole 143 is formed on the center of the surface of the second bearing plate 141, and the magnetic encoder 12 is fixedly disposed in the second fixing hole 143 of the second bearing plate 141. The number of the second connecting arms 142 is, but not limited to, two, the end surface of the second connecting arm 142 is protruded to form a second positioning protrusion 144 in a direction away from the second bearing plate 141, and the bearing seat 7 is provided with a second positioning hole (not shown) for the second positioning protrusion 144 to slide into and be matched with for positioning. The number of the second positioning protrusions 144 on each second connecting arm 142 is, but not limited to, two, and a screw through hole is further formed on the end surface of the second connecting arm 142 between the two second positioning protrusions 144 for passing a screw therethrough and fixedly mounting 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 of the first positioning protrusion 134 of the base 13 and the rotating shaft 6 and the positioning connection of the second positioning protrusion 144 of the bracket 14 and the bearing seat 7, so as to have higher detection accuracy.

Specifically, the outer edge of the end face of each second connecting arm 142 is protruded away from the second bearing plate 141 to form a rim 145, and the inner wall of the rim 145 has an arc shape matching the arc shape of the outer wall of the bearing seat 7, so that the stability of connection between the bracket 14 and the bearing seat 7 can be further improved.

The upper bearing 8 is held between the bearing holder 7 and the mounting board 1, the lower bearing 8 is held between the bearing holder 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 portion 603, and the bottom surface of the inner ring of the lower bearing 8 abuts against the top surface of the base 13, whereby the rotating shaft 6 is positioned in the bearing holder 7 at the upper limit in the axial direction thereof.

Preferably, the mounting substrate 1 is formed with a stop piece 105, the rotating shaft 6 is connected with a limiting piece 607 for abutting against the stop piece 105 when the rotating shaft 6 rotates to limit the rotation of the rotating shaft 6, and the limiting piece 607 is protruded out of the side wall of the rotating shaft 6. Thus, when the rotation driving device 100 is rotated, the stopper piece 105 collides with the stopper 607 on the rotation shaft 6 to generate a stopper function. The number of the baffle plates 105 can be one or two according to the angle requirement. If the rotational driving apparatus 100 requires 360 degrees of continuous rotation, the limit function is not required.

Particularly, the rotation driving device 100 of the present embodiment further includes a cable 15, the cable 15 is inserted into the rotating shaft 6 through the first positioning hole 606, the cable 15 is prevented from being randomly swung during the movement, and is prevented from being scratched or even damaged, the base 13 is provided with the binding portion 136, the cable 15 can be bound on the binding portion 136 through a binding wire, and if the rotation driving device 100 needs to rotate continuously by 360 degrees, the cable 15 can be installed by using a slip ring, so that the cable 15 is prevented from being wound.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.