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CN110374956A 旋转驱动装置和机器人的配备有该旋转驱动装置的机器人臂 有权

旋转驱动装置和机器人的配备有该旋转驱动装置的机器人臂
摘要：
提出了一种旋转驱动装置（4），其具有流体操纵的旋转驱动器（5），该旋转驱动器具有驱动器壳体（7）和能够关于该驱动器壳体旋转的驱动单元（22）。驱动单元（22）具有摆动活塞（23）和与其连接的驱动轴（17），其中该驱动轴（17）在轴向前侧（15）上利用驱动区段（17a）从驱动器壳体（7）中突出。在后侧上，多个组件按照轴向上彼此相继的顺序安装到所述旋转驱动器（5）的驱动器壳体（7）上，所述多个组件与所述旋转驱动器（5）共同形成能够统一操作的驱动构件组（42）。这些组件包括承载控制阀组件（35）的阀承载机构（43）、气动连接单元（65）和与控制阀组件（35）电连接的电子控制单元（72）。此外，提出了一种机器人臂，其包含旋转驱动装置（4）作为臂铰接件。
摘要（英）：

A rotary drive device (4) has a fluid-actuated rotary drive (5), which has a drive housing (7) and a drive unit (22) rotatable relative thereto. The drive unit (22) has a pivot piston (23) and a driveshaft (17) connected thereto, whereby the drive shaft (17) projects from the drive housing on an axial front side (15) with a drive section (17a). On the rear side, several components are mounted inaxial succession on the drive housing (7) of the rotary drive (5), which together with the rotary drive (5) form a uniformly practicable drive assembly (42). These components include a valve carrier device (43) carrying a control valve arrangement (35), a pneumatic connection unit (65), and an electronic control unit (72) electrically connected to the control valve arrangement (35). A robot arm isalso proposed, which includes the rotary drive device as an arm joint.

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