CN106965205A - A kind of end rotation device and the robot head of seamless connection can be realized - Google Patents
A kind of end rotation device and the robot head of seamless connection can be realized Download PDFInfo
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- CN106965205A CN106965205A CN201710363527.4A CN201710363527A CN106965205A CN 106965205 A CN106965205 A CN 106965205A CN 201710363527 A CN201710363527 A CN 201710363527A CN 106965205 A CN106965205 A CN 106965205A
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- head shell
- head
- end rotation
- rotation device
- motor
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- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- 230000000694 effects Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 8
- 230000007547 defect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of end rotation device and the robot head of seamless connection can be realized, end rotation device therein is installed in inside head shell, and the end rotation device includes：Bracket institution, the first motor, the second motor and rotating mechanism up and down；Bracket institution includes cross-bar unit and montant unit；The top of the montant unit is fixedly attached to the output shaft that the middle part of cross-bar unit, bottom are fixedly attached to the first motor；The two ends of cross-bar unit are connected to the head shell by rotating mechanism up and down；The output shaft of second motor is fixedly connected with the rotating mechanism up and down.In the present invention, the head shell of robot head employs the hemisphere structure design of uniqueness, and by end rotation device the pivot of head shell and the centre of sphere are coincided, it can not only ensure that head is seamlessly connected with body, and the flexible rotating in head shell both direction is ensure that, it is non-interference with machine human body.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly to a kind of end rotation device and seamless connection can be realized
Robot head.
Background technology
It is born till now from robot, robot technology experienced one long-term slow evolution.With computer
Technology, microelectric technique, network technology etc. quickly develop, and robot technology is also developed rapidly.Except industrial machine
Outside people's level is improved constantly, the various advanced robotic systems for service industry there has also been considerable progress.Control system
The further raising of performance, the successful application of laser sensor, vision sensor and force snesor in robot system, makes machine
The reliability of device people's system has large increase.The intellectuality for developing into robot of basic technology and device, apery and bionical
Development creates good condition.Currently, robot is not only applicable to industrial circle, also is progressively being applied to join with people's life
It is close field.Service robot, disabled aiding robot of helping the elderly, educational robot, the invention of amusement robot, production and application
It will be offered convenience to the life of the mankind and enjoyment.
At present, in service robot, robot generally includes body and the head being rotatably arranged on body, head
Portion includes housing, axis and head connector, and head connector is set on axis, and head connector is connected with head shell 6,
And then the rotation on head is realized by the rotation of axis.
However, in existing service robot, there is following defect：During end rotation, head is easily and body
Neck subshell on body mutually produces interference, influences the scope of rotation, and kinematic dexterity is poor.
The content of the invention
It is an object of the invention to provide a kind of end rotation device and the robot head of seamless connection can be realized, overcome
The defect for the kinematic dexterity difference that prior art is present.
For up to this purpose, the present invention uses following technical scheme：
A kind of end rotation device, is installed in inside head shell, and the end rotation device includes：Bracket institution,
One motor, the second motor and rotating mechanism up and down；
The bracket institution includes cross-bar unit and montant unit；The top of the montant unit is fixedly attached to cross bar list
Middle part, the bottom of member are fixedly attached to the output shaft of the first motor；The two ends of the cross-bar unit pass through whirler up and down
Structure is connected to the head shell；The output shaft of second motor is fixedly connected with the rotating mechanism up and down.
Optionally, the rotating mechanism up and down includes coupling wheel and active connection, is divided into the cross-bar unit
Two ends；
The cross-bar unit is rotatably connected by the side of coupling wheel and head shell, passes through active connection and head
The opposite side of portion's housing is flexibly connected.
Optionally, the second motor fixing assembling is in the cross-bar unit.
It is also associated with inside a kind of robot head of achievable seamless connection, including head shell, the head shell
End rotation device, the end rotation device is as above any described.
Optionally, the head shell is sphere structure, and opening is offered thereon.
Optionally, the head shell is hemisphere structure.
Optionally, the joint of the rotary shaft of rotating mechanism and the rotary shaft of first motor up and down, with
The ball centre point of the head shell is overlapped.
Optionally, fixing assembling has display screen at the opening of the head shell.
Optionally, in addition to one is fixedly connected to offer on mechanism, the head shell and is fixedly connected with mechanism phase with described
The mounting hole of adaptation；
The end rotation device is connected by the mechanism that is fixedly connected with outside machine human body.
Optionally, the display screen is specially touch display screen.
Compared with prior art, the embodiment of the present invention has the advantages that：
In the embodiment of the present invention, the head shell of robot head employs the hemisphere structure design of uniqueness, and passes through
The structure design of end rotation device causes the pivot of head shell and the centre of sphere to coincide, and can not only ensure head and body
Body is seamlessly connected, and ensure that flexible rotating of the head shell above and below, in the both direction of left and right, mutual not with machine human body
Interference.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the stereochemical structure view for the end rotation device that the embodiment of the present invention one is provided；
Fig. 2 is the first stereochemical structure view of the robot head that the embodiment of the present invention two is provided；
Fig. 3 is the second stereochemical structure view of the robot head that the embodiment of the present invention two is provided；
Illustrate：Bracket institution 1, the first motor 2, the second motor 3, coupling wheel 4, active connection 5,
Head shell 6, cross-bar unit 11, montant unit 12, mounting hole 61.
Embodiment
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
The present invention core concept be：Pivot progress to head rotating device is spacing, while head shell 6 is used
Sphere structure is designed, and the rotary middle point of head shell 6 is overlapped with its ball centre point, can so ensure head shell
Body 6 rotates anyway, and it produces interference all without with the neck subshell of robot, so as to improve the flexibility of end rotation.
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
Embodiment one
Fig. 1 is refer to, the present embodiment one provides a kind of end rotation device, and left and right and two up and down can be realized simultaneously
The flexible rotating in direction, it includes bracket institution 1, the first motor 2, the second motor 3 and rotating mechanism up and down.
Wherein, bracket institution 1 includes cross-bar unit 11 and montant unit 12, and the top of montant unit 12 is fixedly attached to horizontal stroke
Middle part, the bottom of bar unit 11 are fixedly attached to the output shaft of the first motor 2.
First motor 2, its output shaft is axially vertical with cross-bar unit 11, for driving supporting structure 1 with first
The output shaft of motor 2 is that rotating shaft is rotated.
The two ends of cross-bar unit 11 are connected to head shell 6 by rotating mechanism up and down, meanwhile, rotating mechanism and the up and down
Two motors 3 are connected；Under the driving effect of the second motor 3, rotating mechanism drives backspin on head shell 6 up and down
Turn.
Specifically, rotating mechanism includes two parts up and down：Coupling wheel 4 and active connection 5；Coupling wheel 4
The two ends of cross-bar unit 11, the side that cross-bar unit 11 passes through coupling wheel 4 and head shell 6 are divided into active connection 5
Connection, is flexibly connected by active connection 5 with the opposite side of head shell 6.
Second motor 3 is fixedly installed in cross-bar unit 11, preferably with coupling wheel 4 be located at same one end, its is defeated
Shaft is connected with coupling wheel 4, and driving effect is produced to coupling wheel 4.
Under the driving effect of the second motor 3, coupling wheel 4 is rotated, and drives coupled head shell 6
Side rotated；At the same time, because the opposite side of head shell 6 passes through active connection 5 and the activity of cross-bar unit 11
Connection, thus head shell 6 is overall is rotated under the drive of coupling wheel 4 relative to cross-bar unit 11.
To sum up, the end rotation device that the present embodiment is provided can realize left and right and the up and down rotation of both direction, specific work
Make principle as follows：
The first motor 2 is controlled, driving montant unit 12 is turned using the output shaft of the first motor 2 as rotating shaft
It is dynamic；Now, because the cross-bar unit 11 of bracket institution 1 is fixedly connected with montant unit 12, thus, bracket institution 1 is as overall
Left-right rotation is carried out, and then may be such that the head shell 6 being connected on bracket institution 1 carries out left-right rotation；
The second motor 3 is controlled, driving coupling wheel 4 is rotated so that the cross-bar unit that coupling wheel 4 is connected
11 and head shell 6 can be relatively rotated so that head shell 6 is rotated upwardly and downwardly.
In the present embodiment, end rotation device is simple in construction, it is easy to assembly or disassembly, realizes left and right and up and down two
The rotation in individual direction, the flexible rotating for head shell 6 provides effective guarantee.
Embodiment two
Fig. 2 and Fig. 3 are referred to, the present embodiment two provides a kind of robot head, and the head includes head shell 6, with
And it is assemblied in the end rotation device inside head shell 6.
Head shell 6 and end rotation device will be respectively described below.
End rotation device, left and right and the up and down flexible rotating of both direction can be realized simultaneously, it includes bracket institution
1st, the first motor 2, the second motor 3 and rotating mechanism up and down.
Wherein, bracket institution 1 includes cross-bar unit 11 and montant unit 12, and the top of montant unit 12 is fixedly attached to horizontal stroke
Middle part, the bottom of bar unit 11 are fixedly attached to the output shaft of the first motor 2.
First motor 2, its output shaft is axially vertical with cross-bar unit 11, for driving supporting structure to be driven with first
The output shaft of dynamic motor 2 is rotated for rotating shaft.
The two ends of cross-bar unit 11 are connected to head shell 6 by rotating mechanism up and down, meanwhile, rotating mechanism and the up and down
Two motors 3 are connected；Under the driving effect of the second motor 3, rotating mechanism drives backspin on head shell 6 up and down
Turn.
Specifically, rotating mechanism includes two parts up and down：Coupling wheel 4 and active connection 5；Coupling wheel 4
The two ends of cross-bar unit 11, the side that cross-bar unit 11 passes through coupling wheel 4 and head shell 6 are divided into active connection 5
Connection, is flexibly connected by active connection 5 with the opposite side of head shell 6.
Second motor 3 is fixedly installed in cross-bar unit 11, preferably with coupling wheel 4 be located at same one end, its is defeated
Shaft is connected with coupling wheel 4, and driving effect is produced to coupling wheel 4.
Under the driving effect of the second motor 3, coupling wheel 4 is rotated, and drives coupled head shell 6
Side rotated；At the same time, because the opposite side of head shell 6 passes through active connection 5 and the activity of cross-bar unit 11
Connection, thus the overall of head shell 6 moved under the drive of coupling wheel 4 relative to cross-bar unit 11.
Head shell 6, specially hemisphere structure, it covers at the outside of end rotation device, and is filled with end rotation
Put and be rotatably connected.
It should be noted that the flexibility rotated for lifting, because head shell 6 is hemisphere structure, head shell 6
Pivot should coincide with its centre of sphere, therefore, the mode such as angle and size that can be by adjusting bracket institution 1 so that head
The joint of the rotary shaft of the both direction of housing 6 is overlapped with the centre of sphere.
Due to when head shell 6 is assemblied on machine human body, its user oriented that is open in normal state, thus
The present embodiment describes rotation direction according to the orientation under this state.
Under the driving effect of the first motor 2, the output shaft of bracket institution 1 using the first motor 2 enters as rotating shaft
Row is rotated, and drives head shell 6 to carry out left-right rotation；Under the driving effect of the second motor 3, coupling wheel 4 drives
Head shell 6 is rotated upwardly and downwardly.
In addition, the bottom of head shell 6 offers mounting hole 61, for being fixedly connected with mechanism (not shown) stretching, head
Portion's rotating device can be fixedly connected with mechanism by this and be fixedly attached to machine human body.Because head shell 6 is hemisphere structure,
It can thus realize and be seamlessly connected with machine human body.
Further, also fixation is equiped with touch display screen (not shown) at the opening of head shell 6, is with control
System electrical connection, user can select required service project by touch display screen, and the service item information of selection feeds back to control again
System processed, robot head carried out according to the instruction of control system above and below, left-right rotation respective angles.
To sum up, in the present embodiment, the head shell 6 of robot head employs the hemisphere structure design of uniqueness, and logical
The structure design of head rotating device is crossed so that the pivot of head shell 6 coincides with the centre of sphere, so can not only be ensured
Head is seamlessly connected with body, and ensure that flexible rotating of the head shell 6 above and below, in the both direction of left and right, with machine
Human body is not interfered.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of end rotation device, is installed in inside head shell, it is characterised in that the end rotation device includes：Branch
Frame mechanism, the first motor, the second motor and rotating mechanism up and down；
The bracket institution includes cross-bar unit and montant unit；The top of the montant unit is fixedly attached to cross-bar unit
Middle part, bottom are fixedly attached to the output shaft of the first motor；The two ends of the cross-bar unit are connected by rotating mechanism up and down
It is connected to the head shell；The output shaft of second motor is fixedly connected with the rotating mechanism up and down.
2. end rotation device according to claim 1, it is characterised in that the rotating mechanism up and down includes coupling wheel
And active connection, it is divided into the two ends of the cross-bar unit；
The cross-bar unit is rotatably connected by the side of coupling wheel and head shell, passes through active connection and head shell
The opposite side of body is flexibly connected.
3. end rotation device according to claim 2, it is characterised in that the second motor fixing assembling is in institute
State in cross-bar unit.
4. a kind of robot head of achievable seamless connection, including head shell, it is characterised in that inside the head shell
End rotation device is also associated with, the end rotation device is as described in claims 1 to 3 is any.
5. robot head according to claim 4, it is characterised in that the head shell is sphere structure, is opened thereon
Provided with opening.
6. robot head according to claim 5, it is characterised in that the head shell is hemisphere structure.
7. robot head according to claim 5, it is characterised in that the rotary shaft of rotating mechanism up and down with it is described
The joint of the rotary shaft of first motor, is overlapped with the ball centre point of the head shell.
8. robot head according to claim 5, it is characterised in that there be fixing assembling at the opening of the head shell
Display screen.
9. robot head according to claim 4, it is characterised in that be also fixedly connected with mechanism, the head including one
Offered on housing and be fixedly connected with the mounting hole that mechanism is adapted with described；
The end rotation device is connected by the mechanism that is fixedly connected with outside machine human body.
10. robot head according to claim 8, it is characterised in that the display screen is specially touch display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710363527.4A CN106965205A (en) | 2017-05-22 | 2017-05-22 | A kind of end rotation device and the robot head of seamless connection can be realized |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710363527.4A CN106965205A (en) | 2017-05-22 | 2017-05-22 | A kind of end rotation device and the robot head of seamless connection can be realized |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106965205A true CN106965205A (en) | 2017-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710363527.4A Pending CN106965205A (en) | 2017-05-22 | 2017-05-22 | A kind of end rotation device and the robot head of seamless connection can be realized |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204913903U (en) * | 2015-08-04 | 2015-12-30 | 深圳市金刚蚁机器人技术有限公司 | Realize device of seamless activity of neck portion of robot |
| CN205075068U (en) * | 2015-10-20 | 2016-03-09 | 智童时刻（厦门）科技有限公司 | Intelligent robot's head and health connection structure |
| CN205201536U (en) * | 2015-11-04 | 2016-05-04 | 上海拓趣信息技术有限公司 | A built -in cloud platform for robot head motion |
| CN105818152A (en) * | 2016-05-18 | 2016-08-03 | 单建强 | Head motion system of robot |
| CN205835355U (en) * | 2016-06-03 | 2016-12-28 | 杭州艾米机器人有限公司 | The rotating service robot of head |
| CN206717906U (en) * | 2017-05-22 | 2017-12-08 | 中新智擎科技有限公司 | A kind of end rotation device and the robot head in central rotation |
-
2017
- 2017-05-22 CN CN201710363527.4A patent/CN106965205A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204913903U (en) * | 2015-08-04 | 2015-12-30 | 深圳市金刚蚁机器人技术有限公司 | Realize device of seamless activity of neck portion of robot |
| CN205075068U (en) * | 2015-10-20 | 2016-03-09 | 智童时刻（厦门）科技有限公司 | Intelligent robot's head and health connection structure |
| CN205201536U (en) * | 2015-11-04 | 2016-05-04 | 上海拓趣信息技术有限公司 | A built -in cloud platform for robot head motion |
| CN105818152A (en) * | 2016-05-18 | 2016-08-03 | 单建强 | Head motion system of robot |
| CN205835355U (en) * | 2016-06-03 | 2016-12-28 | 杭州艾米机器人有限公司 | The rotating service robot of head |
| CN206717906U (en) * | 2017-05-22 | 2017-12-08 | 中新智擎科技有限公司 | A kind of end rotation device and the robot head in central rotation |
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Application publication date: 20170721 |