CN106113014A - A kind of for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side - Google Patents
A kind of for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side Download PDFInfo
- Publication number
- CN106113014A CN106113014A CN201610638087.4A CN201610638087A CN106113014A CN 106113014 A CN106113014 A CN 106113014A CN 201610638087 A CN201610638087 A CN 201610638087A CN 106113014 A CN106113014 A CN 106113014A
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- connecting rod
- gear
- bevel gear
- gear wheel
- longitudinal oscillation
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Gear Transmission (AREA)
Abstract
The invention belongs to intelligent robot technology field, especially relate to a kind of for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side.Little gear connecting rod on center shaft is connect including turning set, the bottom fixed cover of described little gear connecting rod is connected to little gear, the outer turning set of described little gear connecting rod is connected to gear wheel connecting rod, the bottom fixed cover of described gear wheel connecting rod is connected to gear wheel, the upper end turning set of described central shaft is 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, the second described circumferentially fixed socket of bevel gear is on the rotating shaft, gear wheel connecting rod can be driven when bull gear drive to circumferentially rotate thus drive head fixed plate longitudinal oscillation and rock from side to side.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.
Description
Technical field
The invention belongs to intelligent robot technology field, especially relate to a kind of for realizing robot head longitudinal oscillation
With the drive mechanism rocked from side to side.
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, being used for of simple in construction realizes robot
Head longitudinal oscillation and the drive mechanism rocked from side to side.
For reaching above-mentioned purpose, present invention employs following technical proposal: be originally used for realizing robot head longitudinal oscillation
Include that turning set connects little gear connecting rod on center shaft, the bottom of described little gear connecting rod with the drive mechanism rocked from side to side
Fixed cover is connected to little gear, and the outer turning set of described little gear connecting rod is connected to gear wheel connecting rod, under described gear wheel connecting rod
Portion's fixed cover is connected to gear wheel, and the upper end turning set of described central shaft is connected to the first bevel gear, the first described bevel gear with
Second bevel gear is meshed, and described gear wheel connecting rod is provided with for the fixedly sleeved rotary shaft of head fixed plate, and described the
The two circumferentially fixed sockets of bevel gear on the rotating shaft, can drive when bull gear drive gear wheel connecting rod to circumferentially rotate thus carry
Move head fixed plate longitudinal oscillation and rock from side to side.More specifically, gear wheel connecting rod circumferentially rotates a drive robot head left side
Right shake, because the second bevel gear and the first bevel gear are meshed, drives the second bevel gear along during gear wheel link rotatable
One bevel gear longitudinally rotates, thus realizes swinging up and down of robot head, is equivalent to the nod of human body, by once driving
Dynamic robot head longitudinal oscillation and two functions that rock from side to side of can realizing, realize rotating the most simultaneously, overall
Reasonable in design, simple in construction.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, described little gear
The upper end of connecting rod is fixing with the first bevel gear to be connected, and carries by driving the first bevel gear to horizontally rotate when the pinion is rotated
Dynamic second bevel gear longitudinally rotates so that head fixed plate longitudinal oscillation.Machine can be independently realized by independent rotation pinion
Head part swings up and down, and is equivalent to the nod of human body.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, described gear wheel
The top of connecting rod is respectively provided on two sides with fixed side, and described rotary shaft is arranged between fixed side, described fixed side
On have the side locating slot for location, rotary shaft end, described rotary shaft is socketed with bearing, it is fixed that described bearing is positioned at side
Between position groove and rotary shaft.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, described fixing side
Plate includes fixed plate and installing plate, described fixed plate and gear wheel connecting rod one system, and described fixed plate has mounting groove,
Described installing plate is arranged on mounting groove, and described fixed plate is provided with the mounting plane being positioned at mounting groove top, described
The groove tangent plane fitted with mounting plane is had on installing plate.Head fixed plate is fixed on the rotating shaft, then by rotary shaft
End be erected on the opening of fixed plate, the sidepiece that installing plate is arranged on fixed plate the most again realizes the location of rotary shaft,
It is beneficial to the installation and removal of head fixed plate.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, described side positions
Groove is positioned on installing plate, described fixed plate has the opening communicated with side locating slot, described mounting plane has position
Arcuate guide mouth between mounting groove and opening, the end of described rotary shaft is inserted in the locating slot of side through opening.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, the second described umbrella
Gear is provided with the tangent plane matched with head fixed plate, is provided with rotation hole and rotation hole inwall in the middle part of the second described bevel gear
On have bevel gear locating slot, the sidepiece outer wall of described rotary shaft has axle locating slot, the second described bevel gear and rotation
Being provided with locating piece between axle, a part for described locating piece inserts in bevel gear locating slot, and locating piece another part inserts in axle
In locating slot.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, the first described umbrella
It is provided with inner bearing between gear and central shaft, between described little gear connecting rod and central shaft, is provided with lower inner bearing, described
It is provided with outer bearing, between bottom and the little gear connecting rod of gear wheel connecting rod between top and first bevel gear of gear wheel connecting rod
It is provided with lower outer bearing.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, described central shaft
Upper end be provided with upper mounted plate, described upper inner bearing is between upper mounted plate and little gear connecting rod.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, described little gear
Have upper inner ring connected in star in the external wall of upper portion of connecting rod, described gear wheel connecting rod inwall has external annular groove, described
Upper inner ring connected in star and upper external annular groove jointly surround storage tank, the bottom of the first described bevel gear is axially extending have with
Insert in the fixing bulge loop of storage tank.
Above-mentioned for realizing in robot head longitudinal oscillation and the drive mechanism that rocks from side to side, described little gear
Being detachably secured on little gear connecting rod by fixing screw, the first described bevel gear and little gear connecting rod are by fixing screw
Being detachably fixed connection, described gear wheel is detachably secured on gear wheel connecting rod by fixing screw, described little gear
And between gear wheel, it is provided with packing ring.It is beneficial to the installation and removal between all parts.
Compared with prior art, this is for realizing the excellent of robot head longitudinal oscillation and the drive mechanism that rocks from side to side
Point is: 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.
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 sectional view that the present invention provides.
Fig. 3 is the structural representation of the gear wheel connecting rod that the present invention provides.
Fig. 4 is the structural representation of the installing plate that the present invention provides.
Fig. 5 is the structural representation of the second bevel gear that the present invention provides.
Fig. 6 is the structural representation of the rotary shaft that the present invention provides.
In figure, central shaft 1, little gear connecting rod 2, little gear 3, Timing Belt 4, first drive motor 5, gear wheel connecting rod 6, big
Gear 7, second drive motor the 8, first bevel gear the 9, second bevel gear 10, rotary shaft 11, fixed side 12, side locating slot 13,
Fixed plate 14, installing plate 15, mounting groove 16, mounting plane 17, groove tangent plane 18, opening 19, arcuate guide mouth 20, tangent plane 21, umbrella
Gear locating slot 22, axle locating slot 23, locating piece 24, upper inner bearing 25, lower inner bearing 26, upper outer bearing 27, lower outer bearing 28,
Upper mounted plate 29, fixing bulge loop 30, head fixed plate 31.
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 figures 1 to 6, this includes rotating for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side
The little gear connecting rod 2 being socketed on central shaft 1, the bottom fixed cover of little gear connecting rod 2 is connected to little gear 3, outside little gear connecting rod 2
Turning set is connected to gear wheel connecting rod 6, and the bottom fixed cover of gear wheel connecting rod 6 is connected to gear wheel 7, the upper end turning set of central shaft 1
Being connected to the first bevel gear 9, the first bevel gear 9 is meshed with the second bevel gear 10, and gear wheel connecting rod 6 is provided with for head fixed plate
31 fixedly sleeved rotary shafts 11, the second bevel gear 10 is circumferentially fixed to be socketed in rotary shaft 11, can when gear wheel 7 rotates
Drive gear wheel connecting rod 6 to circumferentially rotate thus drive head fixed plate 31 longitudinal oscillation and rock from side to side.More specifically, canine tooth
Wheel connecting rod 6 circumferentially rotates drive robot head and rocks from side to side, because the second bevel gear 10 and the first bevel gear 9 are meshed, greatly
Gear connecting rod 6 drives the second bevel gear 10 to longitudinally rotate along the first bevel gear 9 when rotating, thus realizes the upper of robot head
Lower swing, is equivalent to the nod of human body, can realize robot head longitudinal oscillation by once driving and rock from side to side
Two functions, realize rotating the most simultaneously, and global design is reasonable, simple in construction.
Wherein, little gear 3 by Timing Belt 4 with can be connected, greatly by the first driving motor 5 of rotating of driving pinion 3
Gear 7 is connected with the second driving motor 8 that gear wheel 7 can be driven to rotate by Timing Belt 4, the upper end of little gear connecting rod 2
Fix with the first bevel gear 9 and be connected, drive second when little gear 3 rotates by driving the first bevel gear 9 to horizontally rotate
Bevel gear 10 longitudinally rotates so that head fixed plate 31 longitudinal oscillation.Machine can be independently realized by independent rotation pinion 3
Head part swings up and down, and is equivalent to the nod of human body.
Wherein, the top of gear wheel connecting rod 6 is respectively provided on two sides with fixed side 12, and rotary shaft 11 is arranged on fixed side 12
Between, fixed side 12 has the side locating slot 13 for location, rotary shaft 11 end, rotary shaft 11 is socketed with bearing, bearing
Between side locating slot 13 and rotary shaft 11.More specifically, fixed side 12 includes fixed plate 14 and installing plate 15, fixing
Plate 14 and gear wheel connecting rod 6 one system, fixed plate 14 has mounting groove 16, and installing plate 15 is arranged on mounting groove 16, fixing
Plate 14 is provided with the mounting plane 17 being positioned at mounting groove 16 top, installing plate 15 has the groove fitted with mounting plane 17 and cuts
Face 18.Head fixed plate 31 is fixed in rotary shaft 11, then the end of rotary shaft 11 is erected at the opening of fixed plate 14
On 19, the sidepiece that installing plate 15 is arranged on fixed plate 14 the most again realizes the location of rotary shaft 11, beneficially head fixed plate 31
Installation and removal.Side locating slot 13 is positioned on installing plate 15, and fixed plate 14 has the opening 19 communicated with side locating slot 13,
Having the arcuate guide mouth 20 between mounting groove 16 and opening 19 on mounting plane 17, the end of rotary shaft 11 passes opening
19 are inserted in side locating slot 13.
Wherein, the second bevel gear 10 is provided with the tangent plane 21 matched with head fixed plate 31, in the middle part of the second bevel gear 10
Being provided with on rotation hole and rotation hole inwall and have bevel gear locating slot 22, the sidepiece outer wall of rotary shaft 11 has axle locating slot 23,
Being provided with locating piece 24 between second bevel gear 10 and rotary shaft 11, a part for locating piece 24 inserts in bevel gear locating slot 22,
Locating piece 24 another part inserts in axle locating slot 23.Inner bearing 25, little tooth it is provided with between first bevel gear 9 and central shaft 1
It is provided with lower inner bearing 26, outside being provided with between top and first bevel gear 9 of gear wheel connecting rod 6 between wheel connecting rod 2 and central shaft 1
Bearing 27, is provided with lower outer bearing 28 between bottom and the little gear connecting rod 2 of gear wheel connecting rod 6.The upper end of central shaft 1 is provided with solid
Determining plate 29, upper inner bearing 25 is between upper mounted plate 29 and little gear connecting rod 2.Have in the external wall of upper portion of little gear connecting rod 2
Upper inner ring connected in star, gear wheel connecting rod 6 inwall has external annular groove, upper inner ring connected in star and upper external annular groove common
Surround storage tank, the axially extending fixing bulge loop 30 having and insert in storage tank in the bottom of the first bevel gear 9.
Wherein, described little gear 3 is detachably secured on little gear connecting rod 2 by fixing screw, the first described umbrella
Gear 9 and little gear connecting rod 2 are detachably fixed connection by fixing screw, and described gear wheel 7 is detachable by fixing screw
It is fixed on gear wheel connecting rod 6, between described little gear 3 and gear wheel 7, is provided with packing ring.It is beneficial to the installation between all parts
And dismounting.
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. one kind is used for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is characterised in that include rotating
The little gear connecting rod (2) being socketed on central shaft (1), the bottom fixed cover of described little gear connecting rod (2) is connected to little gear
(3), described little gear connecting rod (2) outer turning set is connected to gear wheel connecting rod (6), and the bottom of described gear wheel connecting rod (6) is solid
Surely being socketed with gear wheel (7), the upper end turning set of described central shaft (1) is connected to the first bevel gear (9), the first described umbrella tooth
Wheel (9) is meshed with the second bevel gear (10), and described gear wheel connecting rod (6) is provided with for head fixed plate (31) fixedly sleeved
Rotary shaft (11), described the second bevel gear (10) is circumferentially fixed to be socketed in rotary shaft (11), when gear wheel (7) rotates
Gear wheel connecting rod (6) can be driven to circumferentially rotate thus drive (31) longitudinal oscillation of head fixed plate and rock from side to side.
The most according to claim 1 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levying and be, the upper end of described little gear connecting rod (2) is fixing with the first bevel gear (9) to be connected, and passes through when little gear (3) rotates
Drive the first bevel gear (9) to horizontally rotate thus drive the second bevel gear (10) to longitudinally rotate so that head fixed plate (31) longitudinally
Swing.
The most according to claim 2 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levying and be, the top of described gear wheel connecting rod (6) is respectively provided on two sides with fixed side (12), and described rotary shaft (11) is arranged
Between fixed side (12), described fixed side (12) has the side locating slot for location, rotary shaft (11) end
(13), described rotary shaft (11) being socketed with bearing, described bearing is positioned between side locating slot (13) and rotary shaft (11).
The most according to claim 3 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levying and be, described fixed side (12) includes fixed plate (14) and installing plate (15), described fixed plate (14) and gear wheel
Connecting rod (6) one system, described fixed plate (14) has mounting groove (16), and described installing plate (15) is arranged on mounting groove
(16), on, described fixed plate (14) is provided with the mounting plane (17) being positioned at mounting groove (16) top, described installing plate
(15) the groove tangent plane (18) fitted with mounting plane (17) is had on.
The most according to claim 4 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levying and be, described side locating slot (13) is positioned on installing plate (15), and described fixed plate (14) has and side locating slot
(13) opening (19) communicated, described mounting plane (17) has the arc being positioned between mounting groove (16) and opening (19)
Targeting port (20), the end of described rotary shaft (11) is inserted in side locating slot (13) through opening (19).
The most according to claim 5 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levying and be, described the second bevel gear (10) is provided with the tangent plane (21) matched with head fixed plate (31), described second
Bevel gear (10) middle part is provided with on rotation hole and rotation hole inwall and has bevel gear locating slot (22), described rotary shaft (11)
Sidepiece outer wall has axle locating slot (23), is provided with locating piece (24) between described the second bevel gear (10) and rotary shaft (11),
A part for described locating piece (24) inserts in bevel gear locating slot (22), and locating piece (24) another part inserts in axle locating slot
(23) in.
The most according to claim 6 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levy and be, between described the first bevel gear (9) and central shaft (1), be provided with inner bearing (25), described little gear connecting rod (2)
And it is provided with lower inner bearing (26) between central shaft (1), between top and first bevel gear (9) of described gear wheel connecting rod (6)
It is provided with outer bearing (27), between bottom and the little gear connecting rod (2) of gear wheel connecting rod (6), is provided with lower outer bearing (28).
The most according to claim 7 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levying and be, the upper end of described central shaft (1) is provided with upper mounted plate (29), and described upper inner bearing (25) is positioned at upper mounted plate
(29) and between little gear connecting rod (2).
The most according to claim 8 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levy and be, the external wall of upper portion of described little gear connecting rod (2) has upper inner ring connected in star, in described gear wheel connecting rod (6)
Having external annular groove on wall, described upper inner ring connected in star and upper external annular groove surround storage tank, described jointly
The axially extending fixing bulge loop (30) having and insert in storage tank in the bottom of one bevel gear (9).
The most according to claim 9 for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side, it is special
Levying and be, described little gear (3) is detachably secured on little gear connecting rod (2) by fixing screw, the first described umbrella tooth
Wheel (9) and little gear connecting rod (2) are detachably fixed connection by fixing screw, and described gear wheel (7) can by fixing screw
Dismounting is fixed on gear wheel connecting rod (6), is provided with packing ring between described little gear (3) and gear wheel (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610638087.4A CN106113014B (en) | 2016-08-05 | 2016-08-05 | It is a kind of for realizing robot head longitudinal oscillation and the transmission mechanism to rock from side to side |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610638087.4A CN106113014B (en) | 2016-08-05 | 2016-08-05 | It is a kind of for realizing robot head longitudinal oscillation and the transmission mechanism to rock from side to side |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106113014A true CN106113014A (en) | 2016-11-16 |
| CN106113014B CN106113014B (en) | 2019-03-26 |
Family
ID=57254582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610638087.4A Active CN106113014B (en) | 2016-08-05 | 2016-08-05 | It is a kind of for realizing robot head longitudinal oscillation and the transmission mechanism to rock from side to side |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106113014B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
| CN106671110A (en) * | 2017-02-10 | 2017-05-17 | 苏州库浩斯信息科技有限公司 | Robot head travel control method and system |
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| KR20090041705A (en) * | 2007-10-24 | 2009-04-29 | 재단법인 포항지능로봇연구소 | Robot hand |
| CN102896639A (en) * | 2012-03-08 | 2013-01-30 | 中南大学 | Thumb mechanism of artificial hand |
| CN105215801A (en) * | 2015-10-15 | 2016-01-06 | 鹤山市精工制版有限公司 | A kind of universal sander |
| CN205201537U (en) * | 2015-11-04 | 2016-05-04 | 上海拓趣信息技术有限公司 | Robot of accompanying and attending to |
| CN205928640U (en) * | 2016-08-05 | 2017-02-08 | 苏州库浩斯信息科技有限公司 | A drive mechanism for realizing robot head longitudinal swing and left and right rocking move |
-
2016
- 2016-08-05 CN CN201610638087.4A patent/CN106113014B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090041705A (en) * | 2007-10-24 | 2009-04-29 | 재단법인 포항지능로봇연구소 | Robot hand |
| CN102896639A (en) * | 2012-03-08 | 2013-01-30 | 中南大学 | Thumb mechanism of artificial hand |
| CN105215801A (en) * | 2015-10-15 | 2016-01-06 | 鹤山市精工制版有限公司 | A kind of universal sander |
| CN205201537U (en) * | 2015-11-04 | 2016-05-04 | 上海拓趣信息技术有限公司 | Robot of accompanying and attending to |
| CN205928640U (en) * | 2016-08-05 | 2017-02-08 | 苏州库浩斯信息科技有限公司 | A drive mechanism for realizing robot head longitudinal swing and left and right rocking move |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
| CN106671110A (en) * | 2017-02-10 | 2017-05-17 | 苏州库浩斯信息科技有限公司 | Robot head travel control method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106113014B (en) | 2019-03-26 |
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Effective date of registration: 20201125 Address after: 277000 Xuecheng Economic Development Zone, Shandong, Zaozhuang Patentee after: SHANDONG BEIDOU REFRIGERATION EQUIPMENT Co.,Ltd. Address before: 215000 room A401, Lake Shu library, No. 258 benevolence Road, Suzhou Industrial Park, Jiangsu, China Patentee before: KOLHAUS INFORMATION TECHNOLOGY Co.,Ltd. |
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