CN106078727A - A kind of robot with the linkage of head double freedom - Google Patents
A kind of robot with the linkage of head double freedom Download PDFInfo
- Publication number
- CN106078727A CN106078727A CN201610638186.2A CN201610638186A CN106078727A CN 106078727 A CN106078727 A CN 106078727A CN 201610638186 A CN201610638186 A CN 201610638186A CN 106078727 A CN106078727 A CN 106078727A
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- gear
- head
- robot
- connecting rod
- bevel gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention belongs to intelligent robot technology field, especially relate to a kind of robot with the linkage of head double freedom.Including upper shell and lower house, it is connected by cylindrical body between described upper shell and lower house, head fixed plate it is provided with in described upper shell, it is provided with base in described lower house, it is provided with, between described head fixed plate and base, the drive mechanism enabling to robot head longitudinal oscillation and rocking from side to side, described drive mechanism is connected with the double driving mechanism being arranged on base, and described double driving mechanism is connected with controlling organization.Advantage is: realizes several direction and moves simultaneously, can as human head oblique rotation head, have and preferably rotate the scope of application and more preferable yaw effect；Using double driving mechanism, i.e. first drives motor that little gear is operated alone realizes robot nod, and second drives motor that gear wheel is operated alone realizes robot and nod oscillating function, can select as the case may be, and motility is strong.
Description
Technical field
The invention belongs to intelligent robot technology field, especially relate to a kind of machine with the linkage of head double freedom
People.
Background technology
Robot is the installations automatically performing work.It both can accept mankind commander, can run again and compile in advance
The program of row, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as, produce the work of industry, building industry, or danger.Along with the development of science and technology, increasing robot is walked
Enter common place, such as kindergarten or some indoor amusement places, be usually used in taking pictures and simple dialog, and existing robot head
Portion's motion structure is complex, needs first to drive a direction to rotate, drives another direction to rotate the most again, thus reaches to need
Want rotational angle position, and can not disposably realize the rotation of both direction.
In order to improve prior art, people have carried out long-term exploration, it is proposed that various solutions.
Such as, Chinese patent literature discloses a kind of robot [application number: CN201610152976.X], including chassis；Support arm,
Brace can be arranged on chassis around the first pivot axis with swinging up and down；Head, is arranged on support arm；First drive mechanism,
In being arranged on chassis or be arranged in support arm, the first drive mechanism drives support arm, so that support arm has recovery position
And outer pendulum position.
Although such scheme to some extent solves the deficiencies in the prior art, but can not disposably realize two sides
To rotation, global design is the most reasonable.
Summary of the invention
It is an object of the invention to for the problems referred to above, it is provided that a kind of reasonable in design, simple in construction to have head double freely
The robot of degree linkage.
For reaching above-mentioned purpose, present invention employs following technical proposal: originally there is the machine of head double freedom linkage
People includes upper shell and lower house, is connected by cylindrical body between described upper shell and lower house, in described upper shell
It is provided with head fixed plate, in described lower house, is provided with base, be provided with between described head fixed plate and base and enable to
Robot head longitudinal oscillation and the drive mechanism rocked from side to side, described drive mechanism and the Dual Drive machine being arranged on base
Structure is connected, and described double driving mechanism is connected with controlling organization.
Gear wheel connecting rod circumferentially rotates drive robot head and rocks from side to side, because the second bevel gear and the first bevel gear phase
Engagement, drives the second bevel gear to longitudinally rotate along the first bevel gear, thus realizes robot head during gear wheel link rotatable
Swing up and down, be equivalent to the nod of human body, by once drive can realize robot head longitudinal oscillation and left and right
Shake two functions, it is possible to achieve move in several directions simultaneously, can as human head oblique rotation head, have and preferably turn
The dynamic scope of application and preferably yaw effect.Is driven by driving the first bevel gear to horizontally rotate during pinion rotation
Two bevel gears longitudinally rotate so that head fixed plate longitudinal oscillation, i.e. can independently realize robot by independent rotation pinion
Swinging up and down of head, is equivalent to the nod of human body.The present invention uses double driving mechanism, and i.e. first drives motor individually to drive
Dynamic little gear realizes robot nod, and second drives motor that gear wheel is operated alone realizes robot and nod oscillating function,
Can select as the case may be, motility is strong.
In the above-mentioned robot with the linkage of head double freedom, the lower end of described lower house is uncovered and opening end
Being provided with bottom bracket, described base is arranged on bottom bracket, and the bottom of described bottom bracket is provided with some pulleys, institute
The pulley stated stretches out opening end, and described bottom bracket is additionally provided with distance measuring sensor.Bottom bracket is firmly installed with lower house,
Stabilized structure；The number of pulley is three, beneficially robot balance in the process of walking；Distance measuring sensor can detect walking
Distance, be beneficial to the walking of robot is held and controlled.
In the above-mentioned robot with the linkage of head double freedom, described drive mechanism includes central shaft, described
Central shaft on turning set be connected to little gear connecting rod, the bottom fixed cover of described little gear connecting rod is connected to little gear, described
The outer turning set of little gear connecting rod is connected to gear wheel connecting rod, and the bottom fixed cover of described gear wheel connecting rod is connected to gear wheel, described
The upper end turning set of central shaft be connected to the first bevel gear, the first described bevel gear and the second bevel gear are meshed, described
Gear wheel connecting rod is provided with the rotary shaft fixedly sleeved for head fixed plate, and circumferentially fixed being socketed in of the second described bevel gear turns
On moving axis, gear wheel connecting rod can be driven when bull gear drive to circumferentially rotate thus drive head fixed plate longitudinal oscillation and a left side
Right shake, the upper end of described little gear connecting rod is fixing with the first bevel gear to be connected, when the pinion is rotated by driving first
Bevel gear horizontally rotates thus drives the second bevel gear to longitudinally rotate so that head fixed plate longitudinal oscillation.
In the above-mentioned robot with the linkage of head double freedom, described double driving mechanism includes the first driving electricity
Machine and second drive motor, described little gear by Timing Belt with can driving pinion rotate first driving motor be connected
Connecing, described gear wheel is connected with the second driving motor that can drive bull gear drive by Timing Belt, described center
Axle is fixed on base, and described base is provided with cavity, and the first described driving motor is arranged on one end of cavity, the
Two drive motor to be arranged on the other end of cavity, and described base is provided with and lays respectively at the first driving motor and the second driving
Synchronization wheel on motor, the drive shaft of the first described driving motor is fixing with Tong Bu wheel to be connected, the second described driving motor
Drive shaft fixing with Tong Bu wheel connect.
In the above-mentioned robot with the linkage of head double freedom, the both sides, top of described gear wheel connecting rod are respectively
Being provided with fixed side, described rotary shaft is arranged between fixed side, described fixed side has for rotary shaft end
The side locating slot of location, described rotary shaft is socketed with bearing, and described bearing is between side locating slot and rotary shaft.
In the above-mentioned robot with the linkage of head double freedom, described fixed side includes fixed plate and installation
Plate, described fixed plate and gear wheel connecting rod one system, described fixed plate has mounting groove, and described installing plate is arranged on
On mounting groove, described fixed plate is provided with the mounting plane being positioned at mounting groove top, described installing plate has and installs
The groove tangent plane that plane fits.Head fixed plate is fixed on the rotating shaft, then the end of rotary shaft is erected at fixed plate
Opening on, the sidepiece that installing plate is arranged on fixed plate the most again realizes the location of rotary shaft, the beneficially peace of head fixed plate
Assembly and disassembly.
In the above-mentioned robot with the linkage of head double freedom, described side locating slot is positioned on installing plate, institute
Have the opening communicated with side locating slot in the fixed plate stated, described mounting plane has between mounting groove and opening
Arcuate guide mouth, the end of described rotary shaft is inserted in the locating slot of side through opening.Arcuate guide mouth is to the second umbrella tooth
The rotation of wheel has guide effect.
In the above-mentioned robot with the linkage of head double freedom, the second described bevel gear is provided with solid with head
Determine the tangent plane that plate matches, be provided with in the middle part of the second described bevel gear on rotation hole and rotation hole inwall and have bevel gear location
Groove, the sidepiece outer wall of described rotary shaft has axle locating slot, is provided with locating piece between described the second bevel gear and rotary shaft,
A part for described locating piece inserts in bevel gear locating slot, and locating piece another part inserts in axle locating slot.By location
It is circumferentially positioned that block realizes between the second bevel gear and rotary shaft, and location mode is simple, is beneficial to installation and removal.
In the above-mentioned robot with the linkage of head double freedom, set between described the first bevel gear and central shaft
Have upper inner bearing, between described little gear connecting rod and central shaft, be provided with lower inner bearing, the top of described gear wheel connecting rod and
It is provided with outer bearing between first bevel gear, between bottom and the little gear connecting rod of gear wheel connecting rod, is provided with lower outer bearing.
In the above-mentioned robot with the linkage of head double freedom, described little gear is detachable by fixing screw
Being fixed on little gear connecting rod, the first described bevel gear and little gear connecting rod are detachably fixed connection by fixing screw, institute
The gear wheel stated is detachably secured on gear wheel connecting rod by fixing screw, is provided with pad between described little gear and gear wheel
Circle.It is beneficial to the installation and removal between all parts.
Compared with prior art, the advantage of the robot originally with the linkage of head double freedom is: gear wheel connecting rod
Circumferentially rotating drive robot head to rock from side to side, because the second bevel gear and the first bevel gear are meshed, gear wheel connecting rod turns
Drive the second bevel gear to longitudinally rotate along the first bevel gear time dynamic, thus realize swinging up and down of robot head, be equivalent to
The nod of human body, can realize robot head longitudinal oscillation and two functions that rock from side to side by once driving, permissible
Realize several direction to move simultaneously, can as human head oblique rotation head, have and preferably rotate the scope of application and more
Good yaw effect.The second bevel gear is driven to longitudinally rotate by driving the first bevel gear to horizontally rotate during pinion rotation
Make head fixed plate longitudinal oscillation, i.e. can independently realize swinging up and down of robot head by independent rotation pinion,
Be equivalent to the nod of human body.The present invention uses double driving mechanism, and i.e. first drives motor that little gear is operated alone realizes machine
Device people's nod, second drives motor that gear wheel is operated alone realizes robot and nods oscillating function, can be according to concrete feelings
Condition selects, and motility is strong.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used
To obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation that the present invention provides.
Fig. 2 is the Fig. 1 that provides of the present invention sectional view along line A-A.
Fig. 3 is the structural representation of the bottom bracket that the present invention provides.
Fig. 4 is the structural representation of the drive mechanism that the present invention provides.
Fig. 5 is the sectional view of the drive mechanism that the present invention provides.
Fig. 6 is the structural representation of the gear wheel connecting rod that the present invention provides.
Fig. 7 is the structural representation of the installing plate that the present invention provides.
Fig. 8 is the structural representation of the second bevel gear that the present invention provides.
Fig. 9 is the structural representation of the rotary shaft that the present invention provides.
In figure, upper shell 1, lower house 2, cylindrical body 3, head fixed plate 4, base 5, bottom bracket 6, pulley 7, range finding pass
Sensor 8, central shaft 9, little gear connecting rod 10, little gear 11, gear wheel connecting rod 12, gear wheel the 13, first bevel gear the 14, second umbrella
Gear 15, rotary shaft 16, first drive motor 17, second to drive motor 18, Timing Belt 19, cavity 20, synchronization wheel 21, fix
Side plate 22, side locating slot 23, fixed plate 24, installing plate 25, mounting groove 26, mounting plane 27, groove tangent plane 28, opening 29, arc
Targeting port 30, tangent plane 31, bevel gear locating slot 32, axle locating slot 33, locating piece 34, upper mounted plate 35, fixing bulge loop 36.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
As shown in figs 1-9, the robot originally with the linkage of head double freedom includes upper shell 1 and lower house 2, upper shell
It is connected by cylindrical body 3 between 1 and lower house 2, is provided with head fixed plate 4 in upper shell 1, in lower house 2, is provided with base 5,
The drive mechanism enabling to robot head longitudinal oscillation and rocking from side to side, transmission it is provided with between head fixed plate 4 and base 5
Mechanism is connected with the double driving mechanism being arranged on base 5, and double driving mechanism is connected with controlling organization.
Wherein, the lower end of lower house 2 is uncovered and opening end is provided with bottom bracket 6, and base 5 is arranged on bottom bracket 6,
The bottom of bottom bracket 6 is provided with some pulleys 7, and pulley 7 stretches out opening end, and bottom bracket 6 is additionally provided with distance measuring sensor 8.The end
Portion's support 6 is firmly installed with lower house 2, stabilized structure；The number of pulley 7 is three, and beneficially robot is in the process of walking
Balance；Distance measuring sensor 8 can detect the distance of walking, is beneficial to the walking of robot is held and controlled.
Wherein, drive mechanism includes central shaft 9, and on central shaft 9, turning set is connected to little gear connecting rod 10, little gear connecting rod 10
Bottom fixed cover be connected to little gear 11, the little outer turning set of gear connecting rod 10 is connected to gear wheel connecting rod 12, gear wheel connecting rod 12
Bottom fixed cover is connected to gear wheel 13, and the upper end turning set of central shaft 9 is connected to the first bevel gear 14, the first bevel gear 14 and second
Bevel gear 15 is meshed, and gear wheel connecting rod 12 is provided with the rotary shaft 16 fixedly sleeved for head fixed plate 4, the second bevel gear 15
Circumferentially fixed it is socketed in rotary shaft 16, gear wheel connecting rod 12 can be driven when gear wheel 13 rotates to circumferentially rotate thus drive
Head fixed plate 4 longitudinal oscillation and rocking from side to side, the upper end of little gear connecting rod 10 is fixing with the first bevel gear 14 to be connected, when little tooth
The second bevel gear 15 is driven to longitudinally rotate so that head is solid by driving the first bevel gear 14 to horizontally rotate during wheel 11 rotation
Determine plate 4 longitudinal oscillation.
Wherein, double driving mechanism includes that the first driving motor 17 and second drives motor 18, and little gear 11 passes through Timing Belt
19 with can be connected by the first driving motor 17 of rotating of driving pinion 11, gear wheel 13 is by Timing Belt 19 and can drive
The second driving motor 18 that gear wheel 13 rotates is connected, and central shaft 9 is fixed on base 5, and base 5 is provided with cavity 20,
First drives motor 17 to be arranged on one end of cavity 20, and second drives motor 18 to be arranged on the other end of cavity 20, base 5
Being provided with the synchronization wheel 21 laid respectively on the first driving motor 17 and the second driving motor 18, first drives the driving of motor 17
Axle is fixing with Tong Bu wheel 21 to be connected, and the drive shaft of the second driving motor 18 is fixing with Tong Bu wheel 21 to be connected.
Gear wheel connecting rod 12 circumferentially rotates drive robot head and rocks from side to side, because the second bevel gear 15 and the first umbrella tooth
Wheel 14 is meshed, and drives the second bevel gear 15 to longitudinally rotate along the first bevel gear 14, thus realize during gear wheel link rotatable
Swinging up and down of robot head, is equivalent to the nod of human body, can realize robot head longitudinally by once driving
Swing and two functions that rock from side to side, it is possible to achieve move in several directions simultaneously, can as human head oblique rotation head,
Have and preferably rotate the scope of application and more preferable yaw effect.By driving the first bevel gear 14 level when little gear 11 rotates
Rotate thus drive the second bevel gear 15 to longitudinally rotate so that head fixed plate 4 longitudinal oscillation, i.e. by independent rotation pinion
11 can independently realize swinging up and down of robot head, are equivalent to the nod of human body.The present invention uses double driving mechanism,
I.e. first drives motor 17 that little gear 11 is operated alone realizes robot nod, and second drives motor 18 that canine tooth is operated alone
Wheel 13 realizes robot and nods oscillating function, can select as the case may be, and motility is strong.
Improving as one, the top of gear wheel connecting rod 12 is respectively provided on two sides with fixed side 22, and rotary shaft 16 is arranged on
Between fixed side 22, fixed side 22 has the side locating slot 23 for location, rotary shaft 16 end, rotary shaft 16 is socketed
Having bearing, bearing is between side locating slot 23 and rotary shaft 16.More specifically, fixed side 22 includes fixed plate 24 and peace
Dress plate 25, fixed plate 24 and gear wheel connecting rod 12 1 system, fixed plate 24 has mounting groove 26, and installing plate 25 is arranged on installation
On groove 26, fixed plate 24 is provided with the mounting plane 27 being positioned at mounting groove 26 top, installing plate 25 has and mounting plane 27
The groove tangent plane 28 fitted.Head fixed plate 4 is fixed in rotary shaft 16, then the end of rotary shaft 16 is erected at fixing
On the opening 29 of plate 24, the sidepiece that installing plate 25 is arranged on fixed plate 24 the most again realizes the location of rotary shaft 16, beneficially head
The installation and removal of portion's fixed plate 4.Side locating slot 23 is positioned on installing plate 25, fixed plate 24 has and communicates with side locating slot 23
Opening 29, mounting plane 27 has the arcuate guide mouth 30 between mounting groove 26 and opening 29, the end of rotary shaft 16
Portion is inserted in side locating slot 23 through opening 29.Arcuate guide mouth 30 has guide effect to the rotation of the second bevel gear 15.
Wherein, the upper end of described central shaft 9 is provided with upper mounted plate 35, and described upper inner bearing is positioned at upper mounted plate 35 He
Between little gear connecting rod 10.Upper inner ring connected in star, described gear wheel is had in the external wall of upper portion of described little gear connecting rod 10
Having external annular groove on connecting rod 12 inwall, described upper inner ring connected in star and upper external annular groove surround storage tank jointly,
The axially extending fixing bulge loop 36 having and insert in storage tank in bottom of the first described bevel gear 14.
Wherein, the second bevel gear 15 is provided with the tangent plane 31 matched with head fixed plate 4, sets in the middle part of the second bevel gear 15
Having on rotation hole and rotation hole inwall and have bevel gear locating slot 32, the sidepiece outer wall of rotary shaft 16 has axle locating slot 33, the
Being provided with locating piece 34 between two bevel gears 15 and rotary shaft 16, a part for locating piece 34 inserts in bevel gear locating slot 32, fixed
Position block 34 another part inserts in axle locating slot 33.The week between the second bevel gear 15 and rotary shaft 16 is realized by locating piece 34
To location, location mode is simple, is beneficial to installation and removal.Inner bearing, little tooth it is provided with between first bevel gear 14 and central shaft 9
It is provided with lower inner bearing between wheel connecting rod 10 and central shaft 9, is provided with between top and first bevel gear 14 of gear wheel connecting rod 12
Outer bearing, is provided with lower outer bearing between bottom and the little gear connecting rod 10 of gear wheel connecting rod 12.Little gear 11 is by fixing screw
Being detachably secured on little gear connecting rod 10, the first bevel gear 14 and little gear connecting rod 10 are detachably fixed even by fixing screw
Connecing, gear wheel 13 is detachably secured on gear wheel connecting rod 12 by fixing screw, is provided with between little gear 11 and gear wheel 13
Packing ring.It is beneficial to the installation and removal between all parts.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (10)
1. a robot with the linkage of head double freedom, it is characterised in that include upper shell (1) and lower house (2), institute
It is connected by cylindrical body (3) between upper shell (1) and the lower house (2) stated, is provided with head in described upper shell (1) and fixes
Plate (4), is provided with base (5), is provided with and can make between described head fixed plate (4) and base (5) in described lower house (2)
Obtaining robot head longitudinal oscillation and the drive mechanism rocked from side to side, described drive mechanism is double be arranged on base (5)
Drive mechanism is connected, and described double driving mechanism is connected with controlling organization.
The robot with the linkage of head double freedom the most according to claim 1, it is characterised in that described lower house
(2) lower end is uncovered and opening end is provided with bottom bracket (6), and described base (5) is arranged on bottom bracket (6), described
The bottom of bottom bracket (6) be provided with some pulleys (7), described pulley (7) stretches out opening end, described bottom bracket (6)
On be additionally provided with distance measuring sensor (8).
The robot with the linkage of head double freedom the most according to claim 2, it is characterised in that described driver
Structure includes central shaft (9), and the upper turning set of described central shaft (9) is connected to little gear connecting rod (10), described little gear connecting rod
(10) bottom fixed cover is connected to little gear (11), and described little gear connecting rod (10) outer turning set is connected to gear wheel connecting rod
(12), the bottom fixed cover of described gear wheel connecting rod (12) is connected to gear wheel (13), and the upper end of described central shaft (9) rotates
Being socketed with the first bevel gear (14), described the first bevel gear (14) is meshed with the second bevel gear (15), described gear wheel
Connecting rod (12) is provided with the rotary shaft (16) fixedly sleeved for head fixed plate (4), and described the second bevel gear (15) circumference is solid
Surely it is socketed in rotary shaft (16), gear wheel connecting rod (12) can be driven to circumferentially rotate when gear wheel (13) rotates thus drive
Head fixed plate (4) longitudinal oscillation and rocking from side to side, the upper end of described little gear connecting rod (10) is solid with the first bevel gear (14)
Fixed connection, drives the second bevel gear (15) when little gear (11) rotates by driving the first bevel gear (14) to horizontally rotate
Longitudinally rotate so that head fixed plate (4) longitudinal oscillation.
The robot with the linkage of head double freedom the most according to claim 3, it is characterised in that described Dual Drive
Mechanism includes that the first driving motor (17) and second drives motor (18), and described little gear (11) passes through Timing Belt (19) and energy
The first driving motor (17) that enough driving pinions (11) rotate is connected, described gear wheel (13) by Timing Belt (19) with
The second driving motor (18) that gear wheel (13) can be driven to rotate is connected, and described central shaft (9) is fixed on base (5)
On, described base (5) is provided with cavity (20), and the first described driving motor (17) is arranged on the one of cavity (20)
End, second drives motor (18) to be arranged on the other end of cavity (20), and described base (5) is provided with and lays respectively at first and drive
Galvanic electricity machine (17) and second drives synchronization wheel (21) on motor (18), and the drive shaft of the first described driving motor (17) is with same
Step wheel (21) is fixing to be connected, and the drive shaft of the second described driving motor (18) is fixing with Tong Bu wheel (21) to be connected.
The robot with the linkage of head double freedom the most according to claim 4, it is characterised in that described gear wheel
The top of connecting rod (12) is respectively provided on two sides with fixed side (22), described rotary shaft (16) be arranged on fixed side (22) it
Between, described fixed side (22) has the side locating slot (23) for location, rotary shaft (16) end, described rotary shaft
(16) being socketed with bearing on, described bearing is positioned between side locating slot (23) and rotary shaft (16).
The robot with the linkage of head double freedom the most according to claim 5, it is characterised in that described fixing side
Plate (22) includes fixed plate (24) and installing plate (25), described fixed plate (24) and gear wheel connecting rod (12) system, described
Fixed plate (24) on have mounting groove (26), described installing plate (25) is arranged on mounting groove (26), described fixed plate
(24) it is provided with and is positioned at the mounting plane (27) on mounting groove (26) top, described installing plate (25) has and mounting plane
(27) the groove tangent plane (28) fitted.
The robot with the linkage of head double freedom the most according to claim 6, it is characterised in that described location, side
Groove (23) is positioned on installing plate (25), and described fixed plate (24) has the opening (29) communicated with side locating slot (23), institute
The arcuate guide mouth (30) being positioned between mounting groove (26) and opening (29), described rotation is had on the mounting plane (27) stated
The end of axle (16) is inserted in side locating slot (23) through opening (29).
The robot with the linkage of head double freedom the most according to claim 7, it is characterised in that the second described umbrella
Gear (15) is provided with the tangent plane (31) matched with head fixed plate (4), and described the second bevel gear (15) middle part is provided with and turns
Having bevel gear locating slot (32) on dynamic hole and rotation hole inwall, the sidepiece outer wall of described rotary shaft (16) has axle locating slot
(33), locating piece (34), the one of described locating piece (34) it are provided with between described the second bevel gear (15) and rotary shaft (16)
Part inserts in bevel gear locating slot (32), and locating piece (34) another part inserts in axle locating slot (33).
The robot with the linkage of head double freedom the most according to claim 8, it is characterised in that the first described umbrella
It is provided with inner bearing between gear (14) and central shaft (9), is provided with down between described little gear connecting rod (10) and central shaft (9)
Inner bearing, is provided with outer bearing, gear wheel connecting rod between top and first bevel gear (14) of described gear wheel connecting rod (12)
(12) it is provided with lower outer bearing between bottom and little gear connecting rod (10).
The robot with the linkage of head double freedom the most according to claim 9, it is characterised in that described little tooth
Wheel (11) is detachably secured on little gear connecting rod (10) by fixing screw, and described the first bevel gear (14) and little gear are even
Bar (10) is detachably fixed connection by fixing screw, and described gear wheel (13) is detachably secured to canine tooth by fixing screw
On wheel connecting rod (12), between described little gear (11) and gear wheel (13), it is provided with packing ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610638186.2A CN106078727B (en) | 2016-08-05 | 2016-08-05 | A kind of robot with the linkage of head double freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610638186.2A CN106078727B (en) | 2016-08-05 | 2016-08-05 | A kind of robot with the linkage of head double freedom |
Publications (2)
| Publication Number | Publication Date |
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| CN106078727A true CN106078727A (en) | 2016-11-09 |
| CN106078727B CN106078727B (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610638186.2A Active CN106078727B (en) | 2016-08-05 | 2016-08-05 | A kind of robot with the linkage of head double freedom |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106625710A (en) * | 2016-12-29 | 2017-05-10 | 歌尔科技有限公司 | Robot |
| CN106737584A (en) * | 2016-12-29 | 2017-05-31 | 东莞市锝铼金机器人自动化有限公司 | A kind of anthropomorphic robot based on hollow driver, mini drive |
| CN106826908A (en) * | 2017-03-20 | 2017-06-13 | 芜湖星途机器人科技有限公司 | Robot with movable head |
| CN107160360A (en) * | 2017-07-24 | 2017-09-15 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot of centre of gravity, high kinetic stability |
| CN109611657A (en) * | 2018-12-29 | 2019-04-12 | 浙江大华技术股份有限公司 | A kind of camera mount |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106625710A (en) * | 2016-12-29 | 2017-05-10 | 歌尔科技有限公司 | Robot |
| CN106737584A (en) * | 2016-12-29 | 2017-05-31 | 东莞市锝铼金机器人自动化有限公司 | A kind of anthropomorphic robot based on hollow driver, mini drive |
| CN106625710B (en) * | 2016-12-29 | 2023-10-13 | 歌尔科技有限公司 | Robot |
| CN106826908A (en) * | 2017-03-20 | 2017-06-13 | 芜湖星途机器人科技有限公司 | Robot with movable head |
| CN107160360A (en) * | 2017-07-24 | 2017-09-15 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot of centre of gravity, high kinetic stability |
| CN109611657A (en) * | 2018-12-29 | 2019-04-12 | 浙江大华技术股份有限公司 | A kind of camera mount |
| CN109611657B (en) * | 2018-12-29 | 2020-12-08 | 浙江大华技术股份有限公司 | Camera support |
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