CN106945015A - Robot head structure and robot - Google Patents
Robot head structure and robot Download PDFInfo
- Publication number
- CN106945015A CN106945015A CN201710274065.9A CN201710274065A CN106945015A CN 106945015 A CN106945015 A CN 106945015A CN 201710274065 A CN201710274065 A CN 201710274065A CN 106945015 A CN106945015 A CN 106945015A
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- China
- Prior art keywords
- shell
- robot
- opening portion
- panel
- robot head
- Prior art date
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Classifications
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
To overcome robot head dismounting in the prior art difficult, influence the problem of component changes efficiency, the invention provides a kind of robot head structure, including surrounding the head shell that connection is formed by panel, fore shell and rear shell, the head shell is internally formed the installation cavity for securement head component, the fore shell is provided with the dismounting mouthful connected with the installation cavity, the panel is removably attachable on the dismounting mouth, the panel is separated after the dismounting mouth, can be changed by the dismounting mouth to installing the head component in cavity.The invention also discloses the robot for including above-mentioned robot head structure.The robot head structure that the present invention is provided can be overhauled and changed to installing the component in cavity, be easy to dismounting to safeguard.
Description
Technical field
The invention belongs to robotics, and in particular to a kind of robot head structure and robot.
Background technology
At present, the robot with general program capability and operating function, referred to as intelligent robot, it has wider
Application.Intelligent robot mainly includes in head and trunk, traditional intelligent robot, because installing wanting for external structure
Ask, such as the installation of supporting part and mechanical arm, the connectivity robustness of robot head shell need to be kept.
In the prior art, robot head shell is obtained by multiple parts by the connection of the fasteners such as fixed screw, machine
Head part's shell forms multiple mounting holes for being used to install external member in the link position of multiple parts.
The mounting means of this robot head shell, although durable after installation, but when first device of robot interior
, it is necessary to dismantle whole robot head shell when part is damaged, change very inconvenient.Especially in robot product test and debugging
In the stage, due to needing frequently dismounting debugging, this inconvenience is particularly evident.
The content of the invention
Difficult, the problem of influence internal component changes efficiency is dismounted for robot head shell in the prior art, this
Invention provides a kind of robot head structure and robot.
The technical scheme that present invention solution above-mentioned technical problem is used is as follows：
A kind of robot head structure is provided, including the head shell that connection is formed, institute are surrounded by panel, fore shell and rear shell
State head shell and be internally formed installation cavity for securement head component, the fore shell is provided with to be connected with the installation cavity
Dismounting mouthful, the panel is removably attachable on the dismounting mouth, and the panel is separated after the dismounting mouth, can be passed through
The dismounting mouth is changed to installing the head component in cavity.
Further, the head shell be spherical structure, the installation cavity be spherical cavity, the fore shell and
The rear shell is Part-spherical housing structure, and the fore shell is in outer fringe position one anchor ring of formation positioned at the dismounting mouth, institute
Panel covers are stated on the anchor ring.
Further, the panel is towards being provided with pair on multiple snap fits, the anchor ring in the one side of the dismounting mouth
Position is answered to be provided with multiple hole clippings, multiple snap fits, which are corresponded, to be caught in multiple hole clippings.
Further, the snap fit includes connecting portion and limiting section, and the width of the limiting section is more than the connecting portion
Width, the hole clipping includes interconnected the first opening portion and the second opening portion, and the width of first opening portion is more than institute
The width of the second opening portion is stated, the width of the limiting section is less than the width of first opening portion and more than the described second opening
The width in portion.
Further, it is provided with stopper slot, the side wall of second opening portion and is provided with the outer wall of the connecting portion
Positioning convex, the snap fit is inserted by first opening portion, by along the first rotation direction rotate the panel can will described in
Connecting portion is transferred to second opening portion by the first opening portion, so that the positioning convex is fastened in the stopper slot；Institute
State positioning convex to be fastened in the state of the stopper slot, rotating the panel by the opposite direction along the first rotation direction can be by
The positioning convex is deviate from from the stopper slot, and the connecting portion is transferred into the first opening portion by the second opening portion.
Further, the inwall of the fore shell is provided with connection blind hole, and the inwall of the rear shell is provided with connection through hole, leads to
Cross sequentially pass through it is described connection through hole and connection blind hole screw the fore shell and the rear shell are fixed.
Further, the panel includes face-piece and supporting plate, and the face-piece is connected to the supporting plate away from the peace
Behave affectedly the side of body, be provided with the face-piece position fitted in display screen, the supporting plate with the display screen be provided with it is scattered
The first circuit board electrically connected with the display screen is provided with heat through-hole, the supporting plate.
Further, fixed mount is provided with the installation cavity, the fixed mount includes spaced from top to bottom
First laminate, the second laminate, third layer plate and positioned at first laminate, the second laminate, third layer plate both sides the first side
Plate and the second side plate, the middle part of first laminate are formed with the first depressed part, described towards the rear shell side to depression
The middle part of two laminates is formed with the second depressed part, the third layer plate towards the rear shell side to depression and is provided with second circuit
Plate.
Further, the link position of the rear shell is provided with the first breach and the second breach on the fore shell, it is described
Shell correspondence position is provided with the 3rd breach and the 4th breach afterwards, and first breach and the 3rd breach surround to be formed for connecting machine
The first annular through hole of tool arm, second breach and the 4th breach surround the second annular to be formed for connecting another mechanical arm
Through hole.
Further, the first connection component and the second connection group are provided between the fixed mount and the head shell
Part, first connection component includes the first fixing axle and first flange disk, and the first flange disk is fixedly connected on described the
On one annular through-hole, the first flange disk is rotatably connected in first fixing axle；Second connection component includes
Second fixing axle and second flange disk, the second flange disk are fixedly connected on second annular through-hole, second method
Blue disk is rotatably connected in second fixing axle, and the fixed mount has an installation portion for being used to connect outer member, institute
State to be provided with rear shell and insert for outer member to connect the opening of the installation portion；It is connected with the installation portion for blocking
The block piece of the opening.
Further, it is additionally provided between the fixed mount and the head shell for driving the first flange to coil
The rotating driving device of the first fixing axle rotation.
Additionally provide a kind of robot, including robot head structure as described above.
Compared with prior art, the robot head structure that the present invention is provided, employs the combination of panel, fore shell and rear shell
Mode, forms the installation cavity installed for internal component, while also meeting existing robot for supporting part and machine
The installation of tool arm and the demand of robot head connectivity robustness, form stable robot head structure, while on fore shell
There is provided the dismounting mouthful connected with the installation cavity, sets panel removably to close dismounting mouth, by detachable
Panel construction, can to install cavity in component be overhauled and be changed, be easy to dismounting maintenance.
Brief description of the drawings
Fig. 1 is the assembly structure diagram for the robot head structure that one embodiment of the invention is provided；
Fig. 2 is a decomposing schematic representation of the robot head structure that one embodiment of the invention is provided；
Fig. 3 is the enlarged diagram at A in Fig. 2；
Fig. 4 is the decomposition texture schematic diagram of its panel of the robot head structure of one embodiment of the invention offer；
Fig. 5 is the enlarged diagram at B in Fig. 4；
Fig. 6 is another decomposing schematic representation for the robot head structure that one embodiment of the invention is provided；
Fig. 7 is another decomposing schematic representation for the robot head structure that one embodiment of the invention is provided；
Fig. 8 is the decomposing schematic representation of robot head structure shell, fixed mount thereafter that one embodiment of the invention is provided；
Fig. 9 is the structural representation of robot head structure shell, fixed mount thereafter that one embodiment of the invention is provided.
Reference in Figure of description is as follows：
1st, the second connection component；11st, the second fixing axle；12nd, second flange disk；2nd, head shell；2a, installation cavity；21、
Fore shell；211st, mouth is dismantled；212nd, hole clipping；2121st, the first opening portion；2122nd, the second opening portion；2123rd, positioning convex；213rd,
One breach；214th, anchor ring；22nd, rear shell；221st, the 3rd breach；222nd, the 4th breach；223rd, through hole is connected；23rd, panel；231st, face
Shell；2311st, display screen；232nd, supporting plate；2321st, first circuit board；2322nd, thermal vias；233rd, snap fit；2331st, connecting portion；
2332nd, limiting section；2333rd, stopper slot；24th, the first round platform；25th, the second round platform；26th, first annular through hole；3rd, fixed mount；31、
First laminate；32nd, the second laminate；33rd, third layer plate；34th, the first side plate；35th, the second side plate；36th, second circuit board；37th, pacify
Dress portion；4th, block piece；5th, rotating driving device；51st, power source；52nd, driving wheel；53rd, follower；54th, transmission belt；6th, first connects
Connected components；61st, the first fixing axle；62nd, clutch shaft bearing；63rd, first flange disk.
Embodiment
In order that technical problem solved by the invention, technical scheme and beneficial effect are more clearly understood, below in conjunction with
Drawings and Examples, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
In the description of the invention, it is to be understood that term " radial direction ", " on ", " under ", "front", "rear", " interior ",
The orientation or position relationship of instructions such as " outer " are, based on orientation shown in the drawings or position relationship, to be for only for ease of and describe this hair
Bright and simplified description, rather than instruction or the signified device of hint or element must be with specific orientation, with specific orientation
Construction and operation, therefore be not considered as limiting the invention.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " company
Connect " it should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or it is integrally connected；It can be machine
Tool is connected or electrically connected；Can be joined directly together, can also be indirectly connected to by intermediary, can be two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
Referring to shown in Fig. 1, Fig. 2 and Fig. 6, present embodiment discloses a kind of robot head structure, including by panel 23, preceding
Shell 21 and rear shell 22 surround the head shell 2 that connection is formed, and the head shell 2 is internally formed for securement head component
Cavity 2a is installed, the fore shell 21 is provided with the dismounting mouthful 211 connected with the installation cavity 2a, and the panel 23 removably connects
It is connected on the dismounting mouth 211, the panel 23 is separated after the dismounting mouth 211, described 211 pairs of installations of dismounting mouth can be passed through
Head component in cavity 2a is changed.
Robot head construction employs the combination of panel 23, fore shell 21 and rear shell 22, forms for inside
The installation cavity 2a that component is installed, is installed and robot while also meeting existing robot for supporting part and mechanical arm
The demand of head connectivity robustness, forms stable robot head structure, is installed while being provided with fore shell 21 with described
The dismounting mouthful 211 of cavity 2a connections, sets 23 pairs of dismounting mouths 211 of panel removably to be closed, passes through dismountable panel
23 structures, can be overhauled and be changed to installing the component in cavity 2a, be easy to dismounting to safeguard.
The head shell 2 is spherical structure, and the installation cavity 2a is spherical cavity, the fore shell 21 and described
Shell 22 is Part-spherical housing structure afterwards, and the dismounting mouthful 211 is located on the cutting plane with the installation cavity 2a, institute
State fore shell 21 positioned at it is described dismounting mouth 211 outer fringe position formation one anchor ring 214, the panel 23 in tabular and cover in
On the anchor ring 214, to form a plane breach on the head shell 2.
It should be noted that the spherical structure is only a kind of specific implementation shape of the present embodiment formation robot head
The head shell 2 can also be designed as other by formula, in other embodiments, those skilled in the art according to design needs
Shape, such as cube, bullet regular shape or other non-regular shapes etc..
Referring to shown in Fig. 2~Fig. 5, in the present embodiment, the panel 23 is towards setting in the one side of the dismounting mouth 211
There is the snap fit 233 of multiple circular array arrangements, the correspondence position of the dismounting outer rim of mouth 211 is provided with multiple circular arrays
The hole clipping 212 of arrangement, multiple snap fits 233, which are corresponded, to be caught in multiple hole clippings 212, and the panel 23 is torn open with described
Mouth 211 is unloaded to be snapped connection by rotation mode.
The snap fit 233 includes connecting portion 2331 and limiting section 2332, and the width of the limiting section 2332 is more than the company
Socket part 2331, the limiting section 2332 forms barb-like on the connecting portion 2331, and the hole clipping 212 includes what is be interconnected
First opening portion 2121 and the second opening portion 2122, the width of first opening portion 2121 are more than second opening portion 2122
Width, the width of the limiting section 2332 is less than the width of first opening portion 2121 and more than second opening portion
2122 width.
It is provided with stopper slot 2333, the side wall of second opening portion 2122 and sets on the outer wall of the connecting portion 2331
There is positioning convex 2123；The snap fit 233 is inserted by first opening portion 2121, described by being rotated along the first rotation direction
The connecting portion 1231 can be transferred to second opening portion 2122 by panel 23 by the first opening portion 2121, so that the convex
2123 are played to be fastened in the stopper slot 2333；In the state of the positioning convex 2123 is fastened on the stopper slot 2333,
Rotating the panel 23 by the opposite direction along the first rotation direction can be by the positioning convex 2123 from the stopper slot 2333
Middle abjection, and the connecting portion 2331 is transferred to the first opening portion 2121 by the second opening portion 2122.
In the present embodiment, inner connecting structure is provided between the fore shell 21 and rear shell 22, specifically, the fore shell
21 inwall is provided with connection blind hole, and the inwall of the rear shell 22 is provided with connection through hole 223, is provided with fastener and sequentially passes through
The fore shell 21 and the rear shell 22 are fixed for the connection through hole 223 and connection blind hole.The fastener can be spiral shell
The fastening structures such as nail, bolt, by the attachment structure being arranged in the installation cavity 2a, can avoid non-technical personnel from outer
Portion splits the fore shell 21 and rear shell 22.
Formed by the connection blind hole and the connection through hole 223 between the fore shell 21 and the rear shell 22 mutually
The inner connecting structure being connected so that fore shell 21 and the formation of rear shell 22 one are difficult to the entirety of outside dismounting, while panel
It is the connected mode of rotary buckle between 23 and the dismounting mouth 211, because the panel 23 is circular flat board, i.e., described panel
23 do not have a point of application after dismounting mouth 211 is installed to, and technical staff needs to hold the panel 23 by sucker can be by
It, which rotates, takes out so that the robot head structure has the function of preventing inessential dismounting, and disassembly and assembly structure is difficult to see that from outside,
Non-technical personnel can be avoided to dismount the robot head, preferable protecting effect is formed to internal component, meanwhile,
For the technician, it can need to only be overhauled by sucker come rotating panel 23 to installing the component in cavity 2a,
Easy disassembly, and remove and install the component generation interference that process will not be to inside.
Buckle structure is additionally provided between the fore shell 21 and the rear shell 22 to be connected with each other, it is necessary to illustrate,
In other embodiments, the fore shell 21 and the rear shell 22 can also be connected by other means, such as glue envelope, bolt connection
Deng.
Shown in Figure 4, in the present embodiment, the panel 23 includes face-piece 231 and supporting plate 232, the face-piece 231
It is connected to the supporting plate 232 and is provided with display screen 2311, institute on the side of the installation cavity 2a, the face-piece 231
State the position fitted in supporting plate 232 with the display screen 2311 and be provided with thermal vias 2322, pass through the thermal vias 2322
The display screen 2311 is radiated, the first electricity for controlling the display screen 2311 is provided with the supporting plate 232
Road plate 2321.
Fixed mount 3 is provided with the installation cavity 2a.
Fixed rack structure shown in Figure 9, being provided for another embodiment of the present invention,.The fixed mount 3 is included from up to
Under spaced first laminate 31, the second laminate 32, third layer plate 33 and positioned at first laminate 31, the second laminate
32nd, the first side plate 34 and the second side plate 35 of the both sides of third layer plate 33, passes through described first side plate, 34 and second side plate, 35 pairs of institutes
State the first laminate 31, the second laminate 32, third layer plate 33 to be supported, the middle part of first laminate 31 is towards the rear shell
Direction depression is formed with the first depressed part 311, and the middle part of second laminate 32 is formed with second towards the rear shell side to depression
Depressed part 321, specifically, first laminate 31 is I-shaped structure, second laminate 32 is concave structure, institute
State and second circuit board 36 is provided with third layer plate 33.
When being changed from the head component in described 211 couples of installation cavity 2a of dismounting mouth, the He of the first laminate 31
The first depressed part 311 and the second depressed part 321 set on second laminate 32, can reduce human hand and the second circuit board 36
Interference between the fixed mount 3.
Referring to shown in Fig. 7 and Fig. 8, the link position on the fore shell 21 with the rear shell 22 is respectively arranged with the first breach
213 and second breach, first breach 213 and second breach are semicircular indentations；The correspondence position of rear shell 22 point
The 3rd breach 221 and the 4th breach 222 are not provided with, and the 3rd breach 221 and the 4th breach 222 lack to be semicircle
Mouthful；The breach 221 of first breach 213 and the 3rd surrounds the first annular through hole 26 to be formed for connecting mechanical arm, described
Two breach and the 4th breach 222 surround the second annular through-hole to be formed for connecting another mechanical arm.
The head shell 2 is provided with the first round platform 24, the head shell 2 in the periphery of the first annular through hole 26
The periphery of second annular through-hole is provided with the second round platform 25.
The first connection component 6 and the second connection component 1 are provided between the fixed mount 3 and the head shell 2, it is described
First connection component 6 includes the first fixing axle 61 and first flange disk 63, and the first flange disk 63 is fixedly connected on described the
On one annular through-hole 26, it is rotatably connected between first fixing axle 61 and first flange disk 63；Second connection component 1
Including the second fixing axle 11 and second flange disk 12, the second flange disk 12 is fixedly connected on second annular through-hole,
The second flange disk 12 is rotatably connected in second fixing axle 11, the fixing axle 11 of the first fixing axle 61 and second
It is coaxially disposed, the work that the first flange disk 63 is fixedly connected to the fore shell 21 with rear 22, shell simultaneously with second flange disk 12
With the fixed mount 3 has to be provided with an installation portion 37 for being used to connect outer member, the rear shell 22 to be inserted for outer member
Enter to connect the opening of the installation portion 37；It is connected with the installation portion 37 for blocking described in the block piece 4 of the opening
Block piece 4 is snapped connection with the installation portion 37.
Pass through the connection component 1 of the first connection component 6 and second so that the head shell 2 can be relatively described solid
Determine frame 3 to be rotated as rotary shaft using the place axis of 61 and second fixing axle of the first fixing axle 11, realize robot head
The up and down action of housing 2, that is, the action for coming back and bowing；Meanwhile, the fixed mount 3 is securable to outer by the installation portion 37
On portion's element, being connected for head is realized, there is certain rotational travel, therefore the head due to the head shell 2
The opening passed through on housing 2 for outer member is arc strip opening, the block piece 4 be with arc block surface, it is and described
Arc block surface can block stroke area of the arc strip opening in the rotation process of head shell 2.
It is additionally provided between the fixed mount 3 and the head shell 2 for making the first flange disk 63 with described the
The rotating driving device 5 rotated centered on one fixing axle 61, the rotating driving device 5 includes power source 51 and transmission mechanism,
The power source 51 is arranged on the fixed mount 3, and the transmission mechanism includes what is be fixedly connected with the first flange disk 63
Driven pulley 53, the driving wheel 52 of rotation is driven by the power source 51 and is sheathed on the driven pulley 53 and driving wheel 52
Transmission belt 54, specifically, the power source 51 is steering wheel, the driving wheel 52 is connected in the drive shaft of the steering wheel, institute
State driving wheel 52 drives the follower 53 to rotate by the transmission belt 54, is fixed by the follower 53 and described first
Clutch shaft bearing 62 is provided between axle 61 so that the follower 53 can rotate relative to first fixing axle 61, described first
Ring flange 63 is fixed on the side that the follower 53 deviates from first fixing axle 61 by screw, and the follower 53 can
Drive the first flange disk 63 to rotate, and then drive the head shell 2 to rotate.
Second bearing is provided between the second flange disk 12 and second fixing axle 11, due in first flange disk
Rotating driving device 5 is had been provided between 63 and the fixed mount 3, therefore between the second flange disk 12 and the fixed mount 3
Another rotating driving device 5 can be set, or is not provided with rotating driving device 5.
Another embodiment of the present invention additionally provides a kind of robot, and the robot includes robot head as described above
Portion's structure, and role is identical, will not be repeated here, can be quickly to installing cavity using above-mentioned robot head structure
In component overhauled and changed, be easy to the dismounting of robot to safeguard.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent and improvement made within refreshing and principle etc., should be included within the scope of the present invention.
Claims (12)
1. a kind of robot head structure, it is characterised in that including surrounding connection by panel (23), fore shell (21) and rear shell (22)
The head shell (2) of formation, the head shell (2) is internally formed the installation cavity (2a) for securement head component, institute
State fore shell (21) and be provided with the dismounting mouthful (211) connected with the installation cavity (2a), the panel (23) is removably attachable to
On the dismounting mouth (211), the panel (23) is separated after the dismounting mouth (211), can be right by the dismounting mouth (211)
The head component installed in cavity (2a) is changed.
2. robot head structure according to claim 1, it is characterised in that the head shell (2) is spherical knot
Structure, the installation cavity (2a) is spherical cavity, and the fore shell (21) and the rear shell (22) are Part-spherical housing knot
Structure, the fore shell (21) hides in outer fringe position one anchor ring of formation (214) positioned at the dismounting mouth (211), the panel (23)
It is placed on the anchor ring (214).
3. robot head structure according to claim 2, it is characterised in that the panel (23) is towards the dismounting mouth
(211) correspondence position being provided with one side on multiple snap fits (233), the anchor ring (214) is provided with multiple hole clippings
(212), multiple snap fits (233) correspond and are caught in multiple hole clippings (212).
4. robot head structure according to claim 3, it is characterised in that the snap fit (233) includes connecting portion
(2331) and limiting section (2332), the width of the limiting section (2332) is more than the width of the connecting portion (2331), the card
Hole (212) includes interconnected the first opening portion (2121) and the second opening portion (2122), first opening portion (2121)
Width be more than the width of second opening portion (2122), the width of the limiting section (2332) is less than first opening portion
(2121) width and more than the width of second opening portion (2122).
5. robot head structure according to claim 4, it is characterised in that set on the outer wall of the connecting portion (2331)
It is equipped with stopper slot (2333), the side wall of second opening portion (2122) and is provided with positioning convex (2123), the snap fit
(233) inserted by first opening portion (2121), can be by the connecting portion by rotating the panel along the first rotation direction
(1231) second opening portion (2122) is transferred to by the first opening portion (2121), so that the positioning convex (2123) is fastened on
In the stopper slot (2333)；In the state of the positioning convex (2123) is fastened on the stopper slot (2333), pass through edge
The opposite direction of first rotation direction rotates the panel (23) can be by the positioning convex (2123) from the stopper slot (2333)
Middle abjection, and the connecting portion (2331) is transferred to the first opening portion (2121) by the second opening portion (2122).
6. robot head structure according to claim 1, it is characterised in that the inwall of the fore shell (21) is provided with company
Connect blind hole, the inwall of the rear shell (22) is provided with connection through hole (223), by sequentially pass through the connection through hole (223) and
The fore shell (21) and the rear shell (22) are fixed the fastener of connection blind hole.
7. robot head structure according to claim 1, it is characterised in that the panel (23) includes face-piece (231)
With supporting plate (232), the face-piece (231) is connected to the supporting plate (232) away from the side of the installation cavity (2a), institute
State and display screen (2311) is provided with face-piece (231), the position fitted on the supporting plate (232) with the display screen (2311)
It is provided with thermal vias (2322), the supporting plate (232) and is provided with the first circuit electrically connected with the display screen (2311)
Plate (2321).
8. robot head structure according to claim 7, it is characterised in that be provided with the installation cavity (2a) solid
Determine frame (3), the fixed mount (3) includes spaced first laminate, the second laminate, third layer plate from top to bottom and is located at
First laminate, the second laminate, the first side plate and the second side plate of third layer plate both sides, the middle part of first laminate
The first depressed part is formed with towards the rear shell side to depression, the middle part of second laminate is formed with towards the rear shell side to depression
Second circuit board is provided with second depressed part, the third layer plate.
9. robot head structure according to claim 1, it is characterised in that with the rear shell on the fore shell (21)
(22) link position is provided with the first breach (213) and the second breach, and rear shell (22) correspondence position is provided with the 3rd and lacked
Mouth (221) and the 4th breach (222), first breach (213) and the 3rd breach (221) surround to be formed for connecting mechanical arm
First annular through hole (26), second breach and the 4th breach (222) surround to be formed for connect another mechanical arm
Second ring through hole.
10. robot head structure according to claim 9, it is characterised in that the fixed mount (3) and the head shell
The first connection component (6) and the second connection component (1) are provided between body (2), first connection component (6) includes first and consolidated
Dead axle (61) and first flange disk (63), the first flange disk (63) are fixedly connected on the first annular through hole (23),
The first flange disk (63) is rotatably connected on first fixing axle (61)；Second connection component (1) includes the
Two fixing axles (11) and second flange disk (12), the second flange disk (12) are fixedly connected on second annular through-hole,
The second flange disk (12) is rotatably connected on second fixing axle (11), and the fixed mount (3) has one to be used to connect
Connect and be provided with the installation portion (37) of outer member, the rear shell (22) for outer member insertion to connect the installation portion (37)
Opening；The block piece (4) for blocking the opening is connected with the installation portion (37).
11. robot head structure according to claim 10, it is characterised in that the fixed mount (3) and the head
It is additionally provided between housing (2) for driving the first flange disk (63) to be driven around the rotation that first fixing axle (61) rotates
Dynamic device (5).
12. a kind of robot, it is characterised in that including the robot head knot as described in any one in claim 1~11
Structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710274065.9A CN106945015B (en) | 2017-04-25 | 2017-04-25 | Robot head structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710274065.9A CN106945015B (en) | 2017-04-25 | 2017-04-25 | Robot head structure and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106945015A true CN106945015A (en) | 2017-07-14 |
| CN106945015B CN106945015B (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710274065.9A Active CN106945015B (en) | 2017-04-25 | 2017-04-25 | Robot head structure and robot |
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| Country | Link |
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| CN (1) | CN106945015B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145742A (en) * | 2018-03-02 | 2018-06-12 | 深圳慧昱教育科技有限公司 | A kind of bindiny mechanism and robot |
| CN108161906A (en) * | 2018-01-22 | 2018-06-15 | 深圳市赛洛诗健康科技有限公司 | Emulated robot |
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|---|---|
| CN106945015B (en) | 2023-08-04 |
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