CN106695764A - Horizontal rotary pan-tilt based on double-thrust bearing - Google Patents
Horizontal rotary pan-tilt based on double-thrust bearing Download PDFInfo
- Publication number
- CN106695764A CN106695764A CN201710077052.2A CN201710077052A CN106695764A CN 106695764 A CN106695764 A CN 106695764A CN 201710077052 A CN201710077052 A CN 201710077052A CN 106695764 A CN106695764 A CN 106695764A
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- Prior art keywords
- thrust bearing
- head
- shaft
- motor
- double
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- Pending
Links
- 230000008878 coupling Effects 0.000 claims abstract description 12
- 238000010168 coupling process Methods 0.000 claims abstract description 12
- 238000005859 coupling reaction Methods 0.000 claims abstract description 12
- 125000003003 spiro group Chemical group 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 240000002853 Nelumbo nucifera Species 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 2
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The invention discloses a horizontal rotary pan-tilt based on a double-thrust bearing. The horizontal rotary pan-tilt comprises a bearing plate, a second thrust bearing, a pan-tilt middle support frame, a first thrust bearing, a circular bottom plate, a coupling, a rack and a motor which are sequentially connected from top to bottom. A motor shaft of the motor penetrates the rack and is connected with a shaft support, meanwhile the shaft support is connected with the bearing plate, and the pan-tilt middle support frame is fixedly connected with the rack. The horizontal rotary pan-tilt based on the double-thrust bearing has the beneficial effects that the plane bearing friction coefficient in the thrust bearings is small, and the high load capacity and the high rigidity can be obtained in a very tiny space; and through double-layer thrust bearing transition, all the axial pressure acts on the rack, axial stress of the motor is avoided effectively, the torque drive efficiency of the motor is improved, horizontal rotation is consistent with motor shaft rotation, the size is small, the structure is compact, and transmission is stable.
Description
Technical field
The present invention relates to it is a kind of by motor drive horizontal rotatable platform, be especially adapted for use in xial feed it is larger when make
Head, and it is particularly suited for the joint connecting portion of robot.
Background technology
Head, refers to the steering spindle of device bottom and fixed support connection, and the current technology is widely used in photography, machine
People, industrial circle, currently known head is generally divided into two kinds of underloading and heavy duty, and underloading head general structure is compact, uses more
Motor direct-drive, load capacity is general, enters and is used for photography, and heavy-duty horizontal stage can carry larger weight, to avoid motor
Pressure directly is born, is driven using worm and gear more, complex structure, weight is big, volume is big, there is China in such as on January 30th, 2008
State Intellectual Property Office bulletin is declared by Jiangsu Jiecheng Vehicle Electronic Information Engineering Co., Ltd., notification number
The patent of invention of CN201014151Y《Heavy-duty horizontal stage》, worm and gear and reduction box be driven, and can effectively drive larger load,
Loading capacity reaches 1000kg.But generally in robot field, head that also general industrial circle is used need not simultaneously hold
Carry so big weight and the load of demand is not small, thus for load is larger and small volume, can be provided simultaneously with underloading and
The small volume of the class feature of heavy-duty horizontal stage two and the big head of load is still difficult to find on the market.
The content of the invention
For above-mentioned technical problem, head is horizontally rotated based on double thrust bearing the invention provides a kind of, using only
Plane bearing coefficient of friction in thrust bearing is small and high loadability and rigidity advantage high can be obtained under the space of very little,
Design it is a directly can be driven by motor, and can completely avoid motor driving shaft from bearing pressure in the axial direction, simple structure,
Small volume, but the great cradle head structure of bearing load, are very suitable for the joint part of particularly robot of robot.
The technical solution adopted for the present invention to solve the technical problems is：
It is a kind of that head is horizontally rotated based on double thrust bearing, from top to bottom loading plate, the second thrust shaft including being sequentially connected
Hold, head intermediate support beam, the first thrust bearing, circular bottom plate, shaft coupling, frame, motor, the motor shaft of the motor passes through
Frame connects the shaft stool, while shaft stool is also connected with loading plate, the head intermediate support beam is also fixedly connected with frame.
Further, described head intermediate support beam sets round-meshed circular plate shaped body, the circular plate type including center
Main body lower surface is circumferentially evenly arranged with some pillars for being fixedly connected frame.
Further, described shaft coupling includes shaft stool, and the shaft stool is clamped-in style shaft coupling, is included for pressing from both sides
It is close to the central through hole for connecing.
Further, described shaft coupling also includes long spiro nail, nut, the central through hole both sides of the shaft stool, base plate,
Loading plate is provided with the screw hole that the long spiro nail is installed for penetrating in up and down alignment respectively, and the long spiro nail sequentially passes through axle branch
Seat, base plate, the first thrust bearing, head intermediate support beam, the second thrust bearing, loading plate, and shaft stool, bottom are made by nut
Plate, the first thrust bearing, head intermediate support beam, the second thrust bearing, loading plate are compressed successively.
Further, the right opposite between the base plate, head intermediate support beam, loading plate three is provided with and the first thrust
The annular stop groove that bearing and the second shaft washer coordinate.
Further, first thrust bearing and the second thrust bearing are divergence type Plane Ball thrust bearing.
Further, the head intermediate support beam is fixedly connected by screw with frame.
Compared to existing technology, the beneficial effects of the invention are as follows：
Use two-layer plane thrust bearing transition so that axial compressive force is acted in frame, motor does not receive axial compressive force, bears lotus
Carry very big, the moment of torsion for being provided can all for driving upper strata to horizontally rotate, while minimum using thrust bearing coefficient of friction
Feature so that the drive efficiency of Motor torque is greatly improved.Small volume, mechanism is compact, without taking excessive space.
Brief description of the drawings
Fig. 1 is the schematic elevation view of the embodiment of the present invention.
Fig. 2 is the schematic perspective view of the embodiment of the present invention.
Fig. 3 is the schematic perspective view of the shaft stool of the embodiment of the present invention.
Fig. 4 is the schematic perspective view of the base plate of the embodiment of the present invention.
Fig. 5 is the elevational schematic view of the head intermediate support beam of the embodiment of the present invention.
Fig. 6 is the schematic perspective view of the head intermediate support beam of the embodiment of the present invention.
Fig. 7 is the isometric views of the loading plate of the embodiment of the present invention.
Fig. 8 is the divergence type plane thrust bearing of the embodiment of the present invention.
In figure：1- motors, 2- shaft stools, 3- frames, 4- base plates, the thrust bearings of 5- first, 6- head intermediate support beams,
The thrust bearings of 7- second, 8- loading plates, 9- long spiro nails, 10- nuts.11- annular stop grooves；12- screw holes；13- pillars.
Specific embodiment
The purpose of the present invention is described in further detail below by specific embodiment, embodiment can not herein one by one
Repeat, but therefore embodiments of the present invention are not defined in following examples.
As shown in figure 1 and 2, it is a kind of that head is horizontally rotated based on double thrust bearing, from top to bottom including being sequentially connected
Loading plate 8, the second thrust bearing 7, head intermediate support beam 6, the first thrust bearing 5, circular bottom plate 4, shaft coupling, frame 3,
Motor 1, the motor 1 is fixed on the bottom face of frame 3, and its motor shaft connects the shaft stool 2 through frame 3, while shaft stool 2
Loading plate 8 is also connected with, the head intermediate support beam 6 is also fixedly connected with frame 3.
As shown in Figure 5 and Figure 6, described head intermediate support beam 6 sets round-meshed circular plate shaped body including center, described
Circular plate shaped body lower surface is circumferentially evenly arranged with some pillars 13 that frame 3 is fixedly connected by screw.
As shown in figure 3, described shaft coupling includes shaft stool 2, long spiro nail 9, nut 10, the shaft stool 2 is clamped-in style
Shaft coupling, includes the central through hole for the connection of clamping motor axle, the central through hole both sides of the shaft stool 2, base plate 4, holds
Support plate 8 is provided with the screw hole 12 that the long spiro nail 9 is installed for penetrating in up and down alignment respectively, and the long spiro nail 9 is sequentially passed through
Shaft stool 2, base plate 4, the first thrust bearing 5, head intermediate support beam 6, the second thrust bearing 7, loading plate 8, and by nut
10 make shaft stool 2, base plate 4, the first thrust bearing 5, head intermediate support beam 6, the second thrust bearing 7, loading plate 8 press successively
Tightly, so as to compress two thrust bearings, it is allowed to that tight fit can not be departed from.Simultaneously as the clamping motor axle of shaft stool 2, axle branch
Seat 2 is connected to the loading plate 8 of the top by two long spiro nails 9, and this causes that the rotation of loading plate 8 is directly related to motor 1, its
Rotate consistent with motor shaft rotation.So by the thrust bearing transition of two-layer, cloud platform rotation is just set directly to be driven by motor 1
Move, also, xial feed is applied directly in frame 3 by head intermediate support beam 6, and motor shaft does not receive axial compressive force completely,
Axial moment of torsion, the lotus that weight need to only can bear no more than thrust bearing in theory on loading plate 8 needed for cloud platform rotation are only provided
Carry, and thrust bearing can bear load greatly, also, the coefficient of friction of thrust bearing is minimum, coordinates under impaction state
Well so that the loading capacity that the moment of torsion that motor 1 is provided can drive is bigger, by such design, head has been reached volume weight
Small, simple structure is measured, by motor direct-drive, the big requirement of load is can bear, is very suitable for being used in the pass of robot
On section position.
As shown in Figures 4 to 7, the right opposite between the base plate 9, head intermediate support beam 4, the three of loading plate 11 is provided with
The annular stop groove coordinated with the first thrust bearing 5 and the outer ring of the second thrust bearing 7.The circle of the head intermediate support beam 4
There is the annular stop groove coordinated with the second thrust bearing 7 and the first thrust bearing 5 on upper and lower surface respectively in the middle of plate-shaped body,
Its effect is the axial compressive force of the second thrust bearing 7 to be applied directly in frame 3 and makes motor shaft not by axial compressive force, and is risen
To the transitional function accepted up and down.
As shown in figure 8, the thrust bearing 7 of first thrust bearing 5 and second is divergence type Plane Ball thrust bearing, by
Three layers of pedestal composition of upper strata, two thrust washers of lower floor and intermediate ball layer ball body.
When using, the motor shaft of the motor 5 drives loading plate 8 to rotate by shaft stool 2, long spiro nail 9, nut 10, can
To find out, the present embodiment motional inertia is small, can apply SERVO CONTROL, and motion controllability and precision are very high, and bearing capacity is high, transmission
Stabilization；Small volume, mechanism is compact, without taking excessive space.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Implementation method restriction.For those of ordinary skill in the field, can also make on the basis of the above description
The change or variation of other multi-forms.There is no need and unable to be exhaustive to all of implementation method.It is all of the invention
Any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (7)
1. it is a kind of that head is horizontally rotated based on double thrust bearing, from top to bottom including be sequentially connected loading plate (8), second stop
Thrust bearing (7), head intermediate support beam (6), the first thrust bearing (5), circular bottom plate (4), shaft coupling, frame (3), motor
(1), it is characterised in that：The motor shaft of the motor (1) connects the shaft stool (2) through frame (3), while shaft stool (2)
Loading plate (8) is also connected with, the head intermediate support beam (6) is also fixedly connected with frame (3).
It is 2. according to claim 1 that head is horizontally rotated based on double thrust bearing, it is characterised in that：In described head
Between support frame (6) set round-meshed circular plate shaped body including center, the circular plate shaped body lower surface is circumferentially evenly arranged with
Some pillars (13) for being fixedly connected frame (3).
It is 3. according to claim 1 that head is horizontally rotated based on double thrust bearing, it is characterised in that：Described shaft coupling
Including shaft stool (2), the shaft stool (2) is clamped-in style shaft coupling, includes the central through hole for clamping connection.
It is 4. according to claim 3 that head is horizontally rotated based on double thrust bearing, it is characterised in that：Described shaft coupling
Also include long spiro nail (9), nut (10), the central through hole both sides of the shaft stool (2), base plate (4), loading plate (8) are gone up respectively
Under be provided with the screw hole (12) that the long spiro nail (9) is installed for penetrating in alignment, the long spiro nail (9) sequentially passes through shaft stool
(2), base plate (4), the first thrust bearing (5), head intermediate support beam (6), the second thrust bearing (7), loading plate (8), and lead to
Crossing nut (10) makes shaft stool (2), base plate (4), the first thrust bearing (5), head intermediate support beam (6), the second thrust bearing
(7), loading plate (8) is compressed successively.
It is 5. according to claim 1 that head is horizontally rotated based on double thrust bearing, it is characterised in that：The base plate (9),
Right opposite between head intermediate support beam (4), loading plate (11) three is provided with and the first thrust bearing (5) and the second thrust shaft
Hold the annular stop groove of (7) outer ring cooperation.
It is 6. according to claim 1 that head is horizontally rotated based on double thrust bearing, it is characterised in that：First thrust
Bearing (5) and the second thrust bearing (7) are divergence type Plane Ball thrust bearing.
It is 7. according to claim 1 that head is horizontally rotated based on double thrust bearing, it is characterised in that：In the middle of the head
Support frame (6) is fixedly connected by screw with frame (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710077052.2A CN106695764A (en) | 2017-02-14 | 2017-02-14 | Horizontal rotary pan-tilt based on double-thrust bearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710077052.2A CN106695764A (en) | 2017-02-14 | 2017-02-14 | Horizontal rotary pan-tilt based on double-thrust bearing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695764A true CN106695764A (en) | 2017-05-24 |
Family
ID=58911034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710077052.2A Pending CN106695764A (en) | 2017-02-14 | 2017-02-14 | Horizontal rotary pan-tilt based on double-thrust bearing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695764A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984468A (en) * | 2017-12-14 | 2018-05-04 | 华南理工大学 | It is a kind of that holder is horizontally rotated based on crossed roller bearing |
| CN108533912A (en) * | 2018-06-21 | 2018-09-14 | 桂林飞宇科技股份有限公司 | A kind of electric machine structure of holder |
| CN108612744A (en) * | 2018-07-02 | 2018-10-02 | 燕山大学 | A kind of Three Degree Of Freedom bearing ball bearing |
| CN108972525A (en) * | 2018-08-02 | 2018-12-11 | 彭守晔 | A kind of multi-functional 360 deg is without dead angle mechanical arm |
| CN109333541A (en) * | 2018-07-27 | 2019-02-15 | 华南理工大学 | It is a kind of to horizontally rotate holder head mechanism applied to service robot |
| CN109772544A (en) * | 2019-03-06 | 2019-05-21 | 李金林 | A kind of pin-connected panel low speed crusher cavity |
| CN110219954A (en) * | 2019-04-24 | 2019-09-10 | 上海复志信息技术有限公司 | The fine motion device swung when adjustment screw rod operation |
| CN112154398A (en) * | 2019-08-01 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Pan-tilt control method, controller, pan-tilt, unmanned mobile platform and storage medium |
| CN112833296A (en) * | 2021-01-22 | 2021-05-25 | 河海大学 | Full-automatic 720-degree panoramic shooting tripod |
| CN113878598A (en) * | 2021-12-03 | 2022-01-04 | 科大讯飞(苏州)科技有限公司 | Cloud platform |
| CN117681989A (en) * | 2023-12-29 | 2024-03-12 | 北京理工大学珠海学院 | Automatic inspection robot based on multi-mode technology |
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| US20090057520A1 (en) * | 2007-09-05 | 2009-03-05 | Makoto Tada | Displacement Platform with a Precision Plane |
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| CN206690075U (en) * | 2017-02-14 | 2017-12-01 | 华南理工大学 | It is a kind of that head is horizontally rotated based on double thrust bearing |
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2017
- 2017-02-14 CN CN201710077052.2A patent/CN106695764A/en active Pending
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| US20090057520A1 (en) * | 2007-09-05 | 2009-03-05 | Makoto Tada | Displacement Platform with a Precision Plane |
| CN201875394U (en) * | 2010-11-26 | 2011-06-22 | 济南飞越机电科技有限公司 | Holder central shaft reinforcing mechanism |
| CN201907469U (en) * | 2010-12-16 | 2011-07-27 | 天津市嘉杰电子有限公司 | Bearing structure of vehicle-mounted integral camera holder base |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984468B (en) * | 2017-12-14 | 2024-04-05 | 华南理工大学 | Based on crossed roller horizontal rotation cradle head of bearing |
| CN107984468A (en) * | 2017-12-14 | 2018-05-04 | 华南理工大学 | It is a kind of that holder is horizontally rotated based on crossed roller bearing |
| CN108533912A (en) * | 2018-06-21 | 2018-09-14 | 桂林飞宇科技股份有限公司 | A kind of electric machine structure of holder |
| CN108533912B (en) * | 2018-06-21 | 2024-06-04 | 桂林飞宇科技股份有限公司 | Motor structure of tripod head |
| CN108612744A (en) * | 2018-07-02 | 2018-10-02 | 燕山大学 | A kind of Three Degree Of Freedom bearing ball bearing |
| CN108612744B (en) * | 2018-07-02 | 2021-03-19 | 燕山大学 | Three-freedom-degree supporting ball bearing |
| CN109333541A (en) * | 2018-07-27 | 2019-02-15 | 华南理工大学 | It is a kind of to horizontally rotate holder head mechanism applied to service robot |
| CN108972525A (en) * | 2018-08-02 | 2018-12-11 | 彭守晔 | A kind of multi-functional 360 deg is without dead angle mechanical arm |
| CN109772544A (en) * | 2019-03-06 | 2019-05-21 | 李金林 | A kind of pin-connected panel low speed crusher cavity |
| CN109772544B (en) * | 2019-03-06 | 2024-04-09 | 李金林 | Assembled low-speed pulverizer cavity |
| CN110219954A (en) * | 2019-04-24 | 2019-09-10 | 上海复志信息技术有限公司 | The fine motion device swung when adjustment screw rod operation |
| CN112154398A (en) * | 2019-08-01 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Pan-tilt control method, controller, pan-tilt, unmanned mobile platform and storage medium |
| CN112833296A (en) * | 2021-01-22 | 2021-05-25 | 河海大学 | Full-automatic 720-degree panoramic shooting tripod |
| CN113878598A (en) * | 2021-12-03 | 2022-01-04 | 科大讯飞(苏州)科技有限公司 | Cloud platform |
| CN117681989A (en) * | 2023-12-29 | 2024-03-12 | 北京理工大学珠海学院 | Automatic inspection robot based on multi-mode technology |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |