CN107081752B - Compact robot head and compact robot - Google Patents
Compact robot head and compact robot Download PDFInfo
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- CN107081752B CN107081752B CN201710340041.9A CN201710340041A CN107081752B CN 107081752 B CN107081752 B CN 107081752B CN 201710340041 A CN201710340041 A CN 201710340041A CN 107081752 B CN107081752 B CN 107081752B
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- 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
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to a compact robot head and a compact robot, wherein the robot head comprises a head pitching joint, a head rotating joint, a joint connecting flange and a vision system, and two ends of the joint connecting flange are respectively connected with the head pitching joint and the head rotating joint; the vision system is arranged at the upper part of the head rotary joint; the main improvement is that: according to the head pitching joint, the pitching platform and the pitching base are buckled to form a cavity, and the pitching motor and the pitching encoder are arranged in the cavity, so that the axial size is greatly reduced; meanwhile, the harmonic reducer is adopted to drive the pitching shutdown and the rotary joint to rotate, so that transmission return difference is greatly reduced, precision is improved, and the harmonic reducer has larger reverse starting moment, so that the whole system has a certain self-locking function under the condition of no brake.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to a compact robot head and a compact robot.
Background
For humanoid robots, the head generally has two joint motions of pitching and swinging, and a visual sensor is arranged on the head to complete the functions of visual monitoring, visual measurement, visual guidance and the like. The head of the humanoid robot is required to be small in size, compact in layout and particularly limited in neck size. The pitch joint in the existing humanoid robot head structure is formed by sequentially arranging a motor, a speed reducer, a bearing, a connecting flange and the like, the axial size of a pitch shaft is large, the size of the whole robot head is large, the precision is poor, and the measurement precision is difficult to guarantee when the robot head is provided with visual monitoring and visual measuring equipment.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a compact robot head and a compact robot, which have compact structural layout, small space volume and high precision.
The specific technical scheme of the invention is as follows:
the invention provides a compact robot head, which comprises a head pitching joint, a head turning joint, a joint connecting flange and a vision system, wherein two ends of the joint connecting flange are respectively connected with the head pitching joint and the head turning joint; the vision system is arranged at the upper part of the head rotary joint;
the improvement is that: the head pitching joint comprises a pitching base, a pitching platform and a pitching shaft assembly;
the pitching base comprises an upper left side wall, an upper right side wall and a lower cylindrical structure; the upper left side wall and the upper right side wall form a U-shaped structure with an upward opening, and are fixedly connected with the lower cylindrical structure; the left side wall and the right side wall of the upper part are respectively provided with a through hole; circular protrusions are arranged on two surfaces of the left side wall of the upper part and the right side wall of the upper part, which are opposite;
the pitching platform comprises an upper connecting plate, a left connecting bracket and a right connecting bracket; the upper connecting plate, the left connecting bracket and the right connecting bracket form a U-shaped structure with a downward opening; bearing mounting holes are formed in the left connecting bracket and the right connecting bracket;
the pitching platform and the pitching base are buckled to form a cavity;
the pitching shaft assembly comprises a pitching motor, a pitching speed reducer, a pitching motor adapter plate, a right connecting flange, a left connecting flange, a first bearing, a pitching encoder bracket and a pitching encoder;
the right connecting flange is arranged on the outer surface of the right connecting bracket, the left connecting flange is arranged on the outer surface of the left connecting bracket, and one end of the left connecting flange extends into the cavity; the pitching motor is positioned in the cavity; the output end of the pitching motor is connected with a pitching speed reducer through a pitching motor adapter plate, and the output end of the pitching speed reducer is connected with a right connecting flange; the number of the first bearings is two; one first bearing is arranged between the bearing mounting hole of the left connecting bracket and the circular protrusion of the upper left side wall, and the other first bearing is arranged between the bearing mounting hole of the right connecting bracket and the circular protrusion of the upper right side wall;
the pitching encoder and the pitching encoder bracket are fixed and then are arranged at the part of the left connecting flange extending into the cavity.
The pitch speed reducer adopts a harmonic speed reducer.
The upper connecting plate, the left connecting bracket and the right connecting bracket are of split type structures and are connected through screws and positioned through pins.
Specifically, the head rotary joint of the robot head comprises a rotary support, a rotary platform and a rotary shaft assembly;
the rotary assembly comprises a rotary motor, a rotary motor adapter plate, a rotary speed reducer, a rotary connecting shaft, a second bearing, a bearing end cover, a rotary encoder bracket and a rotary encoder;
the rotary motor, the rotary motor adapter plate, the rotary speed reducer, the rotary connecting shaft and the bearing end cover are sequentially connected from bottom to top and are positioned in the rotary support, the outer ring surface of the second bearing is contacted with the inner wall of the rotary support, and the inner ring of the second bearing is sleeved on the rotary connecting shaft; the second bearing is arranged between the bearing end cover and the bulge on the inner wall of the rotary support;
the rotary encoder bracket is fixedly arranged on the upper end surface of the rotary support, and the rotary encoder is sleeved on the lower part of the rotary platform after being fixed by the rotary encoder bracket;
the lower part of the rotary platform is fixedly connected with the upper part of the rotary connecting shaft, and the upper part of the rotary platform is provided with a vision system.
The rotary speed reducer adopts a harmonic speed reducer.
Specifically, the vision system of the robot head comprises a monocular camera, a wide-angle camera and a wide-angle camera bracket;
the wide-angle camera support is arranged at the center of the upper part of the rotary platform, two monocular cameras are arranged, the two monocular cameras are fixed on the upper part of the rotary platform and are arranged on two sides of the wide-angle camera support, and the wide-angle camera is arranged at the top of the wide-angle camera support.
The first bearing is a deep groove ball bearing, and the second bearing is two angular contact bearings which are arranged back to back.
A trimming pad is arranged between the right connecting bracket and the right connecting flange and between the left connecting bracket and the left connecting flange;
a trimming pad is arranged between the lower part of the rotary platform and the upper part of the rotary connecting shaft, and a trimming pad is arranged between the second bearing and the bulge of the rotary support.
The pitching motor and the rotary motor are all disc type direct current brushless motors.
Based on the compact robot head and the compact robot, the invention also provides the compact robot using the head.
Compared with the prior art, the invention has the advantages that:
1. according to the head pitching joint, the pitching platform and the pitching base are buckled to form a cavity, and the pitching motor and the pitching encoder are arranged in the cavity, so that the axial size is greatly reduced; and the U-shaped pitching platform and the U-shaped pitching base are buckled in a connecting mode, so that the whole structure is uniformly stressed and stably rotates.
2. Compared with the existing planetary gear reducer, the invention greatly reduces transmission return difference, improves precision and reduces axial dimension; meanwhile, the harmonic reducer has larger reverse starting moment, so that the whole system has a certain self-locking function under the condition of not arranging a brake.
3. The upper connecting plate, the left connecting bracket and the right connecting bracket of the U-shaped pitching platform are of a split structure, the three parts are respectively subjected to rough machining, and then are connected into a whole by using screws and positioning pins for finish machining; during assembly, the three parts are respectively connected with other parts, and then are recombined together through screws and positioning pins. The feasibility of processing and assembling is met while the uniform stress and stable rotation of the whole structure are realized in the transmission process.
4. The vision system adopts the mode of two monocular cameras and one wide-angle camera, the wide-angle camera has a large field of view, global monitoring, vision guiding and target recognition are carried out, the head joint is guided to rotate after the target recognition, and the target is placed in the center of the field of view of the two monocular cameras; the two monocular phase mechanisms are used for forming a binocular stereo camera, the visual field is small, the precision is high, and three-dimensional reconstruction and pose measurement are carried out. This arrangement allows for both functionality and high accuracy requirements.
5. In the invention, the main bearing (first bearing) of the head pitching joint is a deep groove ball bearing, and the main bearing of the head slewing joint is a larger axial force, so the adopted bearing (second bearing) is two angular contact bearings which are arranged back to back.
6. The trimming pads are arranged between the right connecting bracket and the right connecting flange and between the left connecting bracket and the left connecting flange; a trimming pad is arranged between the lower part of the rotary platform and the upper part of the rotary connecting shaft, and a trimming pad is arranged between the second bearing and the bulge of the rotary support, and is used for adjusting the gaps of the positions, so that the overall precision is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a head pitch joint of the present invention;
FIG. 3 is an exploded view of FIG. 2;
FIG. 4 is a schematic structural view of a pitch platform
FIG. 5 is a schematic view of a head swing joint of the present invention;
fig. 6 is an exploded view of fig. 5.
The reference numerals are as follows:
1-head pitch joint, 11-pitch base, 111-upper left side wall, 112-upper right side wall, 113-lower cylindrical structure, 114-through hole, 115-circular boss, 12-pitch platform, 121-upper connecting plate, 122-left connecting bracket, 123-right connecting bracket, 124-bearing mounting hole, 13-pitch shaft assembly, 131-pitch motor, 132-pitch motor adapter plate, 133-pitch decelerator, 134-right connecting flange, 135-left connecting flange, 136-first bearing, 137-pitch encoder bracket, 138-pitch encoder, 14-trimming pad, 15-cavity, 2-head swivel joint, 21-swivel mount, 211-boss, 22-swivel platform, 23-swivel shaft assembly, 231-swivel motor, 232-swivel motor plate, 233-swivel decelerator, 234-swivel connecting shaft, 235-second bearing, 236-bearing end cap, 237-swivel encoder bracket, 238-swivel encoder, 3-joint flange, 4-vision system, 41-monocular camera, 42-wide angle mount, 43-camera.
Detailed Description
The structure and working process of the compact robot head provided by the invention are described below with reference to fig. 1 to 6:
the compact robot head is basically consistent with the structure of the existing robot head, and mainly comprises a head pitching joint 1, a head turning joint 2, a joint connecting flange 3 and a vision system 4, as shown in fig. 1;
the two ends of the joint connecting flange 3 are respectively connected with the head pitching joint 1 and the head revolving joint 2; the vision system 4 is arranged at the upper part of the head rotary joint 2;
the main improvement point of the head structure of the invention is a head pitching joint 1, which not only greatly reduces the axial dimension of the pitching axis of the head of the robot; and the head structure of the robot is adopted to ensure that the whole structure is uniformly stressed and stably rotates.
The structure of the head pitching joint 1 is shown in fig. 2-4, and comprises a pitching base 11, a pitching platform 12 and a pitching shaft assembly 13;
the pitch base 11 includes an upper left side wall 111, an upper right side wall 112, and a lower cylindrical structure 113; the upper left side wall 111 and the upper right side wall 112 form a U-shaped structure with an upward opening, and are fixedly connected with the lower cylindrical structure 113; the upper left side wall 111 and the upper right side wall 112 are respectively provided with a through hole 114; circular protrusions 115 are provided on both surfaces of the upper left side wall 111 and the upper right side wall 112 opposite to each other;
the pitch platform 12 includes an upper connection plate 121, a left side connection bracket 122, and a right side connection bracket 123; the upper connecting plate 121, the left connecting bracket 122 and the right connecting bracket 123 form a U-shaped structure with downward openings; the left connecting bracket 122 and the right connecting bracket 123 are provided with bearing mounting holes 124;
the pitching platform 12 and the pitching base 11 are buckled up and down to form a cavity 15;
the pitching shaft assembly 13 comprises a pitching motor 131, a pitching motor adapter plate 132, a pitching reducer 133, a right connecting flange 134, a left connecting flange 135, a first bearing 136, a pitching encoder bracket 137 and a pitching encoder 138;
the right connecting flange 134 is mounted on the outer surface of the right connecting bracket 123, the left connecting flange 125 is mounted on the outer surface of the left connecting bracket 122, and one end extends into the cavity 15; a pitch motor 131 is located within the cavity 15; the output end of the pitching motor 131 is connected with a pitching speed reducer 133 through a pitching motor adapter plate 132, and the output end of the pitching speed reducer 133 is connected with a right connecting flange 134; the number of first bearings 136 is two; one first bearing 136 is installed between the bearing installation hole 124 of the left side connection bracket 122 and the circular protrusion 115 of the upper left side wall, and the other first bearing 136 is installed between the bearing installation hole 124 of the right side connection bracket 123 and the circular protrusion 115 of the upper right side wall 112;
The points to be described are: the pitch speed reducer adopts a harmonic speed reducer, and the pitch motor adopts a disc type direct current brushless motor, so that the pitch speed reducer has larger torque, higher precision and smaller axial dimension; compared with a planetary gear reducer, the disc type direct current brushless motor directly drives the harmonic reducer to drive the head pitching joint to rotate, so that the transmission return difference is greatly reduced, the precision is improved, and the axial size is reduced; in the pitching process of the head, the gravity is unbalanced, so that the head has acceleration under the condition of sudden power failure, but the harmonic speed reducer has larger reverse starting moment, so that the whole system has a certain self-locking function, a brake is not required to be arranged any more, and the size and scale of the whole head are reduced;
in addition, as shown in fig. 4, the upper connecting plate 121, the upper left bracket 122 and the upper right bracket 123 in the pitching platform 12 are in a split structure, and the three parts are respectively rough machined and then are connected into a whole by using screws and positioning pins for finish machining; during assembly, the three parts are respectively connected with other parts, and then are newly combined together through screws and positioning pins. The feasibility of processing and assembling is met while the uniform stress and stable rotation of the whole structure are realized in the transmission process.
Referring to fig. 5 and 6, wherein the head swing joint 2 includes a swing support 21, a swing platform 22, and a swing shaft assembly 23;
the rotary shaft assembly 23 includes a rotary motor 231, a rotary motor adapter plate 232, a rotary reducer 233, a rotary connecting shaft 234, a second bearing 235, a bearing end cover 236, a rotary encoder bracket 237, and a rotary encoder 238;
the rotary motor 231, the rotary motor adapter plate 232, the rotary speed reducer 233, the rotary connecting shaft 234 and the bearing end cover 236 are sequentially connected from bottom to top and are positioned in the rotary support 21, the outer ring surface of the second bearing 235 is contacted with the inner wall of the rotary support 21, and the inner ring of the second bearing 235 is sleeved on the rotary connecting shaft 234; the second bearing 235 is mounted between the bearing cap 236 and the boss 211 on the inner wall of the swivel support 21;
the rotary encoder bracket 237 is fixedly arranged on the upper end surface of the rotary support 21, and the rotary encoder 238 is sleeved on the lower part of the rotary platform 22 after being fixed by the rotary encoder bracket 237;
the lower part of the rotary platform 22 is fixedly connected with the upper part of the rotary connecting shaft 234, and the vision system 4 is installed on the upper part of the rotary platform 22.
The same rotary speed reducer 233 is a harmonic speed reducer, and the rotary motor 231 is a disk type dc brushless motor, so as to reduce the structural size of the robot head.
Further, the vision system 4 adopted by the present invention includes a monocular camera 41, a wide-angle camera 42, and a wide-angle camera stand 43;
the wide-angle camera support 43 is installed in the center of the upper part of the rotary platform 22, two monocular cameras 41 are arranged, two monocular cameras 41 are fixed on the upper part of the rotary platform 22 and are arranged on two sides of the wide-angle camera support 43, and the wide-angle camera 42 is installed on the top of the wide-angle camera support 43. The main purpose is that because the wide-angle camera has a large field of view, global monitoring, visual guidance and target recognition are carried out, the head joint is guided to rotate after the target recognition, and the target is placed in the center of the fields of view of the two monocular cameras; the two monocular phase mechanisms are used for forming a binocular stereo camera, the visual field is small, the precision is high, and three-dimensional reconstruction and pose measurement are carried out. This arrangement allows for both functionality and high accuracy requirements.
Furthermore, as the bearing of the head pitching joint 1 mainly bears radial force, two deep groove ball bearings are selected; the head rotary joint 2 needs to bear larger axial force, so a pair of back-to-back angular contact bearings are selected;
further, the trimming pad 14 is mounted between the right side connection bracket 123 and the right connection flange 134 and between the left side connection bracket 122 and the left connection flange 135; a trimming pad 14 is provided between the lower part of the swivel platform 22 and the upper part of the swivel connection shaft 234, and a trimming pad 14 is provided between the second bearing 235 and the protrusion 211 of the swivel support 21, in order to adjust the gap of the positions, so as to facilitate the improvement of the overall accuracy.
Furthermore, the pitching encoder and the gyration encoder both adopt high-precision photoelectric encoders, so that the actual positions of the joints can be measured with high precision, and accurate data can be provided for a control system.
It should be noted that the above specific embodiments are given for better explanation of the present invention, and are not to be construed as limiting the present invention, and any similar structures obtained by using the description of the present invention and the accompanying drawings should be included in the scope of protection of the patent claims of the present invention.
Claims (10)
1. The compact robot head comprises a head pitching joint (1), a head rotating joint (2), a joint connecting flange (3) and a vision system (4), wherein two ends of the joint connecting flange (3) are respectively connected with the head pitching joint (1) and the head rotating joint (2); the vision system (4) is arranged at the upper part of the head rotary joint (2);
the method is characterized in that: the head pitching joint (1) comprises a pitching base (11), a pitching platform (12) and a pitching shaft assembly (13);
the pitch base (11) comprises an upper left side wall (111), an upper right side wall (112) and a lower cylindrical structure (113); the upper left side wall (111) and the upper right side wall (112) form a U-shaped structure with an upward opening, and are fixedly connected with the lower cylindrical structure (113); the upper left side wall (111) and the upper right side wall (112) are respectively provided with a through hole (114); circular protrusions (115) are arranged on two opposite surfaces of the upper left side wall (111) and the upper right side wall (112);
the pitching platform (12) comprises an upper connecting plate (121), a left connecting bracket (122) and a right connecting bracket (123); an upper connecting plate (121), a left connecting bracket (122) and a right connecting bracket (123) form a U-shaped structure with a downward opening; the left connecting bracket (122) and the right connecting bracket (123) are provided with bearing mounting holes (124);
the pitching platform (12) and the pitching base (11) are buckled to form a cavity (15);
the pitching shaft assembly (13) comprises a pitching motor (131), a pitching motor adapter plate (132), a pitching speed reducer (133), a right connecting flange (134), a left connecting flange (135), a first bearing (136), a pitching encoder bracket (137) and a pitching encoder (138);
the right connecting flange (134) is arranged on the outer surface of the right connecting bracket (123), the left connecting flange (135) is arranged on the outer surface of the left connecting bracket (122) and one end of the left connecting flange extends into the cavity (15); a pitch motor (131) is located within the cavity (15); the output end of the pitching motor (131) is connected with a pitching speed reducer (133) through a pitching motor adapter plate (132), and the output end of the pitching speed reducer (133) is connected with a right connecting flange (134); the number of the first bearings (136) is two; one first bearing (136) is installed between the bearing installation hole (124) of the left side connection bracket (122) and the circular protrusion (115) of the upper left side wall (111), and the other first bearing (136) is installed between the bearing installation hole of the right side connection bracket (123) and the circular protrusion (115) of the upper right side wall (112);
the pitch encoder (138) is fixed with the pitch encoder bracket (137) and then is arranged at the part of the left connecting flange (135) extending into the cavity (15).
2. A compact robotic head as claimed in claim 1, wherein: the pitch speed reducer (133) adopts a harmonic speed reducer.
3. A compact robotic head as claimed in claim 1 or 2, wherein: the upper connecting plate (121), the left connecting bracket (122) and the right connecting bracket (123) are of split type structures and are positioned by screw connection and pins.
4. A compact robotic head as claimed in claim 3, wherein:
the head rotary joint (2) comprises a rotary support (21), a rotary platform (22) and a rotary shaft assembly (23);
the rotary shaft assembly (23) comprises a rotary motor (231), a rotary motor adapter plate (232), a rotary speed reducer (233), a rotary connecting shaft (234), a second bearing (235), a bearing end cover (236), a rotary encoder bracket (237) and a rotary encoder (238);
the rotary motor (231), the rotary motor adapter plate (232), the rotary speed reducer (233), the rotary connecting shaft (234) and the bearing end cover (236) are sequentially connected from bottom to top and are positioned in the rotary support (21), the outer ring surface of the second bearing (235) is contacted with the inner wall of the rotary support (21), and the inner ring of the second bearing (235) is sleeved on the rotary connecting shaft (234); the second bearing (235) is arranged between the bearing end cover (236) and the bulge (211) on the inner wall of the slewing bearing (21);
the rotary encoder bracket (237) is fixedly arranged on the upper end surface of the rotary support (21), and the rotary encoder (238) is sleeved on the lower part of the rotary platform (22) after being fixed by the rotary encoder bracket (237);
the lower part of the rotary platform (22) is fixedly connected with the upper part of the rotary connecting shaft (234), and the upper part of the rotary platform (22) is provided with the vision system (4).
5. A compact robotic head as claimed in claim 4, wherein: the rotary speed reducer (233) is a harmonic speed reducer.
6. A compact robotic head as claimed in claim 5, wherein: the vision system (4) comprises a monocular camera (41), a wide-angle camera (42) and a wide-angle camera bracket (43);
the wide-angle camera support (43) is arranged at the center of the upper part of the rotary platform (22), two monocular cameras (41) are arranged, the two monocular cameras (41) are fixed on the upper part of the rotary platform (22) and are arranged at two sides of the wide-angle camera support (43), and the wide-angle camera (42) is arranged at the top of the wide-angle camera support (43).
7. A compact robotic head as claimed in claim 6, wherein:
the first bearing (136) is a deep groove ball bearing, and the second bearing (235) is two angular contact bearings arranged back to back.
8. A compact robotic head as claimed in claim 7, wherein:
a trimming pad (14) is arranged between the right connecting bracket (123) and the right connecting flange (134) and between the left connecting bracket (122) and the left connecting flange (135);
a trimming pad (14) is arranged between the lower part of the rotary platform (22) and the upper part of the rotary connecting shaft (234), and a trimming pad (14) is arranged between the second bearing (235) and the bulge (211) of the rotary support (21).
9. A compact robotic head as claimed in claim 8, wherein: the pitching motor (131) and the rotary motor (231) are both disc type direct current brushless motors.
10. A compact robot, includes robot body and robot head, its characterized in that: the robot head employing a compact robot head as claimed in any one of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710340041.9A CN107081752B (en) | 2017-05-15 | 2017-05-15 | Compact robot head and compact robot |
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| CN201710340041.9A CN107081752B (en) | 2017-05-15 | 2017-05-15 | Compact robot head and compact robot |
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| CN107081752A CN107081752A (en) | 2017-08-22 |
| CN107081752B true CN107081752B (en) | 2023-05-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107733153B (en) * | 2017-11-14 | 2023-06-06 | 哈尔滨理工大学 | Large-visual angle motor direct-drive robot observation device |
| CN109955219A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Robot head revolution, pitching movement platform |
| CN108274478A (en) * | 2018-04-09 | 2018-07-13 | 上海方立数码科技有限公司 | A kind of intellect service robot head rotating mechanism |
| CN108827496B (en) * | 2018-04-12 | 2020-06-12 | 北京汇力智能科技有限公司 | Coal pile temperature measurement robot |
| CN108890664A (en) * | 2018-08-31 | 2018-11-27 | 山东锘博特智能科技有限公司 | A kind of robot head movement mechanism |
| CN113927625B (en) * | 2021-09-28 | 2023-08-01 | 深圳市零差云控科技有限公司 | Robot joint assembly, control method of robot joint assembly and robot |
| CN115338887A (en) * | 2022-09-16 | 2022-11-15 | 哈尔滨工业大学 | Three-degree-of-freedom humanoid robot head system |
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| CN105563497A (en) * | 2016-03-07 | 2016-05-11 | 东南大学 | Body and head mechanism of humanoid robot |
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| CN101837592B (en) * | 2010-05-12 | 2011-09-14 | 哈尔滨工业大学 | Humanoid robot head based on bevel gear differential coupling mechanism |
| WO2012160659A1 (en) * | 2011-05-25 | 2012-11-29 | 株式会社日立製作所 | Head structure of robot and head drive method |
| CN202622810U (en) * | 2012-05-15 | 2012-12-26 | 郑州大学 | Head and neck design of intelligent robot |
| CN205817834U (en) * | 2016-05-23 | 2016-12-21 | 平安科技（深圳）有限公司 | Robot and head movement device thereof |
| CN206748429U (en) * | 2017-05-15 | 2017-12-15 | 中国科学院西安光学精密机械研究所 | A kind of compact machines head part and compact machines people |
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| CN105563497A (en) * | 2016-03-07 | 2016-05-11 | 东南大学 | Body and head mechanism of humanoid robot |
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