CN106272558A - A kind of robot head balance and stability mechanism - Google Patents
A kind of robot head balance and stability mechanism Download PDFInfo
- Publication number
- CN106272558A CN106272558A CN201610848236.XA CN201610848236A CN106272558A CN 106272558 A CN106272558 A CN 106272558A CN 201610848236 A CN201610848236 A CN 201610848236A CN 106272558 A CN106272558 A CN 106272558A
- Authority
- CN
- China
- Prior art keywords
- robot head
- steering wheel
- rotary shaft
- balance
- antivibrator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
-
- 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
Abstract
The present invention relates to a kind of robot head balance and stability mechanism, including frame and robot head connecting rod, it is characterized in that, also include the rotary shaft being connected with robot head connecting rod, described rotary shaft one end is connected by steering wheel transfer panel steering wheel, the other end is connected by damping Coupling Shaft antivibrator, is additionally provided with bearing at the rotary shaft between described robot head connecting rod and damping connecting shaft, and described steering wheel, bearing, antivibrator are located in frame.While the present invention utilizes a driving means can realize robot head rotation, effectively prevent and robot head rotation process occurs eccentric and cause rocking, improve the stability of equilibrium that robot head rotates.
Description
Technical field
The present invention relates to robot building technical field, particularly relate to a kind of robot head balance and stability mechanism.
Background technology
Intelligent machine head part needs to realize various action, and can be accurately positioned various angle, as concrete in nod, come back
Position.Existing intelligent robot is mainly provided with driving means, and the output shaft of driving means is directly connected with head, by driving
Dynamic device drive head rotates.Photographic head is positioned at the eyes of robot head, it is desirable to during robot ambulation, head can not
Rock.And head mechanism is typically difficult to ensure that center of gravity is positioned on head absolute rotation axis, often can cause bias, thus affect head
Portion stablizes.Existing many solutions are the most loaded down with trivial details, or change drives as used band self-locking motor as driving dress
Put, it is necessary to increase many sensors and realize multi-angle location, or increase new drive mechanism, realize by controlling head rotation
Braking.In consideration of it, need the robot head balance and stability mechanism that a kind of simple in construction, stability of rotation degree are high.Application No.
The patent of 201220166630.2 discloses the cervical region bearing arrangement of a kind of intelligent robot, on the one hand makes driving means position put
Put flexibly, on the other hand ensured the balance rotated by bearing.This technical scheme horizontally rotates for robot (turns one's head or shakes
Head status) balance also there is certain effect, but rotation can not be effectively ensured on vertical direction and (i.e. come back or put head
State) balance.
Summary of the invention
The invention provides a kind of robot head balance and stability mechanism, simple in construction, it is possible to achieve robot head turns
Balance and stability time dynamic.
A kind of robot head balance and stability mechanism, including frame and robot head connecting rod, also includes and robot
The rotary shaft that head connecting rod connects, described rotary shaft one end is connected by steering wheel transfer panel steering wheel, and the other end is by damping
Coupling Shaft connects antivibrator, is additionally provided with bearing at the rotary shaft between described robot head connecting rod and damping connecting shaft,
Described steering wheel, bearing, antivibrator are located in frame.
As preferably, described bearing is deep groove ball bearing.
As preferably, described robot head connecting rod and rotary shaft clamping.
As preferably, described damping connecting shaft and rotary shaft are fastenedly connected.
As preferably, described frame is U-shaped frame, and described steering wheel is connected with a sidewall of U-shaped frame, and described antivibrator leads to
Cross fixed plate to be connected with another sidewall of U-shaped frame.
The invention has the beneficial effects as follows:
1) steering wheel is as driving means, and antivibrator is as brake unit, and both form lever self-balancing knot with rotary shaft
Structure, is positioned by the deflection machine of steering wheel itself, realizes locking by the hindrance function of antivibrator, it is not necessary to increase mechanism, sensor,
While utilizing a driving means can realize robot head rotation, effectively prevent in robot head rotation process
Show eccentric and cause rocking, improve the stability of equilibrium that robot head rotates；
2) this mechanism structure is simple, installation, convenient disassembly；
3) use deep groove ball bearing, preferably protect steering wheel, extend the service life of mechanism；
4) using U-shaped frame, whole mechanism lighter in weight, materials are less, and manufacturing cost is relatively low.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Wherein 1 is steering wheel, and 2 is steering wheel transfer panel, and 3 is frame, and 4 is rotary shaft, and 5 is robot head connecting rod, and 6 is axle
Holding, 7 is fixed plate, and 8 is damping adapter, and 9 is antivibrator.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail:
Embodiment 1
Robot head balance and stability mechanism as shown in Figure 1, including frame 3, the side of frame 3 is installed with steering wheel 1, machine
The opposite side of frame 3 is installed with antivibrator 9.Steering wheel 1 is connected with one end of rotary shaft 4 by steering wheel transfer panel 2, rotary shaft 4 another
One end is connected with antivibrator 9 by damping Coupling Shaft 8.The middle part of rotary shaft 4 connects has robot head to rotate bar 5.Robot
Being additionally provided with bearing 6 at rotary shaft 4 between head rotation bar 5 and damping Coupling Shaft 8, bearing 6 is located in frame 3.
Steering wheel 1, as driving means, drives rotary shaft 4 to rotate, and rotary shaft 4 drives robot head connecting rod 5 to rotate, from
And drive robot head to rotate.Antivibrator 9, as brake unit, increases head rotation resistance, and head construction can be prevented because of partially
The heart causes free state head portion phenomenons such as nodding, rock occur.Steering wheel and antivibrator form lever self-balancing with rotary shaft
Mechanism, improves the stability of equilibrium that robot head rotates, and simple in construction.
Deep groove ball bearing selected by bearing 6, according to torque arm length ratio, reduces steering wheel output shaft force in radial, extends steering wheel
In service life, it would however also be possible to employ other types bearing, protect further such as two-row ball bearing, roller bearing, needle bearing etc.
Steering wheel.
Robot head connecting rod 5 and rotary shaft 4 clamping, it is simple to installation and removal.
Damping connecting shaft 8 and rotary shaft 4 are fastenedly connected, and preferably realize the hindrance function of damping.
3 frames use U-shaped frame, and steering wheel 1 is connected with a sidewall of U-shaped frame 3, and antivibrator 9 is by fixed plate 7 and U-shaped
Another sidewall of frame 3 connects, and alleviates the weight of frame, and materials are less, and manufacturing cost is relatively low.
In a word, the foregoing is only presently preferred embodiments of the present invention, all equalizations made according to scope of the present invention patent
Change and modification, all should belong to the covering scope of patent of the present invention.
Claims (5)
1. a robot head balance and stability mechanism, including frame and robot head connecting rod, it is characterised in that also include
The rotary shaft being connected with robot head connecting rod, described rotary shaft one end is connected by steering wheel transfer panel steering wheel, the other end
Connected by damping Coupling Shaft and have antivibrator, also set at the rotary shaft between described robot head connecting rod and damping connecting shaft
Bearing, described steering wheel, bearing, antivibrator is had to be located in frame.
Robot head the most according to claim 1 balance and stability mechanism, it is characterised in that described bearing is deep-groove ball axle
Hold.
Robot head the most according to claim 1 balance and stability mechanism, it is characterised in that described robot head connects
Bar and rotary shaft clamping.
Robot head the most according to claim 1 balance and stability mechanism, it is characterised in that described damping connecting shaft and turning
Moving axis is fastenedly connected.
Robot head the most according to claim 1 balance and stability mechanism, it is characterised in that described frame is U-shaped frame,
Described steering wheel is connected with a sidewall of U-shaped frame, and described antivibrator is connected with another sidewall of U-shaped frame by fixed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848236.XA CN106272558A (en) | 2016-09-26 | 2016-09-26 | A kind of robot head balance and stability mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848236.XA CN106272558A (en) | 2016-09-26 | 2016-09-26 | A kind of robot head balance and stability mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272558A true CN106272558A (en) | 2017-01-04 |
Family
ID=57714905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610848236.XA Pending CN106272558A (en) | 2016-09-26 | 2016-09-26 | A kind of robot head balance and stability mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272558A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107914275A (en) * | 2017-11-29 | 2018-04-17 | 子歌教育机器人（深圳）有限公司 | The head of robot and intelligent robot |
| CN108858135A (en) * | 2017-05-08 | 2018-11-23 | 精工爱普生株式会社 | robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002295623A (en) * | 2001-04-02 | 2002-10-09 | Yaskawa Electric Corp | Parallel link robot |
| CN200951833Y (en) * | 2006-07-11 | 2007-09-26 | 青岛天骄无人机遥感技术有限公司 | Photographic rotating platform |
| CN201836290U (en) * | 2010-10-22 | 2011-05-18 | 湖北航天技术研究院总体设计所 | Friction damping device |
| KR101106610B1 (en) * | 2009-09-03 | 2012-01-20 | 한국해양대학교 산학협력단 | Gravity compensator for multi axes joint and multi joint robot |
| CN204537077U (en) * | 2015-04-28 | 2015-08-05 | 青岛海璟科普文化有限公司 | Steering wheel audio/video player system |
| CN206048258U (en) * | 2016-09-26 | 2017-03-29 | 浙江梧斯源通信科技股份有限公司 | A kind of robot head balance and stability mechanism |
-
2016
- 2016-09-26 CN CN201610848236.XA patent/CN106272558A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002295623A (en) * | 2001-04-02 | 2002-10-09 | Yaskawa Electric Corp | Parallel link robot |
| CN200951833Y (en) * | 2006-07-11 | 2007-09-26 | 青岛天骄无人机遥感技术有限公司 | Photographic rotating platform |
| KR101106610B1 (en) * | 2009-09-03 | 2012-01-20 | 한국해양대학교 산학협력단 | Gravity compensator for multi axes joint and multi joint robot |
| CN201836290U (en) * | 2010-10-22 | 2011-05-18 | 湖北航天技术研究院总体设计所 | Friction damping device |
| CN204537077U (en) * | 2015-04-28 | 2015-08-05 | 青岛海璟科普文化有限公司 | Steering wheel audio/video player system |
| CN206048258U (en) * | 2016-09-26 | 2017-03-29 | 浙江梧斯源通信科技股份有限公司 | A kind of robot head balance and stability mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858135A (en) * | 2017-05-08 | 2018-11-23 | 精工爱普生株式会社 | robot |
| CN108858135B (en) * | 2017-05-08 | 2023-07-04 | 精工爱普生株式会社 | Robot |
| CN107914275A (en) * | 2017-11-29 | 2018-04-17 | 子歌教育机器人（深圳）有限公司 | The head of robot and intelligent robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2006076377A (en) | Stabilizer device | |
| JP6616010B2 (en) | Electric balance type swing car | |
| US7296663B2 (en) | Automotive wheel anti-gyro | |
| CN106272558A (en) | A kind of robot head balance and stability mechanism | |
| CN106536239B (en) | The wheel supporting device of motor vehicle for two-wheel rut | |
| CN206029852U (en) | Family service robot chassis | |
| CN106275125A (en) | A kind of AGV dolly with obstacle crossing function | |
| CN206048258U (en) | A kind of robot head balance and stability mechanism | |
| GB2597194A (en) | Suspension system and steering capabilities | |
| CN208021650U (en) | A kind of handle stem for electrodynamic balance vehicle | |
| JP2007112186A (en) | Toe-in angle and camber angle variable mechanism | |
| CN104527878B (en) | Self-balancing electric double-wheel vehicle | |
| CN104608871B (en) | A kind of balance car pedal control mechanism and its balance car | |
| CN204955916U (en) | Adopt in -wheel motor's AGV elastic support drive arrangement | |
| CN104108421B (en) | Suspension steering device for hub direct-driving electric vehicle | |
| US20150175224A1 (en) | Device and method for exerting a torque on an object | |
| CN107215388B (en) | Industrial and mineral detection braking in a turn integral type robot | |
| CN207644521U (en) | A kind of chassis structure | |
| JP5092778B2 (en) | vehicle | |
| CN210364206U (en) | Double-shaft steering rod structure for balance car | |
| CN108791634B (en) | Rotary connecting device of electric balance car | |
| JP2003237665A (en) | Self-standing two-wheeled traveling device including double inversion wheel | |
| KR101884539B1 (en) | Motor-assisted joint system for articulated bus | |
| CN207045540U (en) | A kind of balance car rotational structure | |
| CN106003144B (en) | robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170104 |
|
| WD01 | Invention patent application deemed withdrawn after publication |