CN107538496B - Robot double-freedom-degree head mechanism - Google Patents
Robot double-freedom-degree head mechanism Download PDFInfo
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- CN107538496B CN107538496B CN201610485517.3A CN201610485517A CN107538496B CN 107538496 B CN107538496 B CN 107538496B CN 201610485517 A CN201610485517 A CN 201610485517A CN 107538496 B CN107538496 B CN 107538496B
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Abstract
The invention relates to the technical field of robots, and particularly discloses a robot double-freedom-degree head mechanism which comprises a rack, a head pitching motor, a head rotating motor, a pitching transmission mechanism, a rotating transmission mechanism, a pitching shaft and a head mounting flange, wherein the head pitching motor is connected with the head rotating motor through a transmission shaft; the head pitching motor and the head rotating motor are vertically and orthogonally arranged up and down and are fixedly arranged on the rack; the head pitching motor transmits power to the pitching shaft through the pitching transmission mechanism, so that the pitching shaft performs pitching motion relative to the rack; the rotary transmission mechanism is respectively connected with the head rotary motor and the head mounting flange, and the head rotary motor drives the robot two-degree-of-freedom head mechanism to perform rotary motion relative to the head mounting flange through the rotary transmission mechanism. The head mechanism is completely in modular design, adopts a head mounting flange, has uniform interfaces and has the technical effect of enhancing interchangeability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot head mechanism with two degrees of freedom.
Background
The flexible head mechanism is an important component of the robot (such as a service robot), identification and cognition of external people and other things and corresponding reaction are realized through the head mechanism of the robot, and as an important link of interaction between the robot and the environment, the flexibility and the intelligence of the service robot can directly influence the operability and the application range of the robot. The intelligent service robot with the double-freedom-degree head can realize communication with people, and the head nodding, the head shaking and other actions of the head are used for responding to communication with external things.
At present, most common service robots in the market do not have a head mechanism and only consist of a body frame, and a small number of service robots are provided with fixed heads or heads with single degree of freedom, so that the flexibility is poor and the personification degree is low. The two-degree-of-freedom head service robots visible in the market are few in types, part of the structures are clumsy and difficult to install and debug, and meanwhile, the interchangeability and the modularization degree are low, and the interfaces cannot be unified.
Disclosure of Invention
The invention aims to overcome the defects of low head freedom degree, interchangeability and poor modularity of the existing service robot, and provides a novel robot double-freedom-degree head mechanism which comprises a rack, a head pitching motor, a head rotating motor, a pitching transmission mechanism, a rotating transmission mechanism, a pitching shaft and a head mounting flange for mounting the robot double-freedom-degree head mechanism;
the head pitching motor and the head rotating motor are vertically arranged in an up-down orthogonal mode and are both fixedly arranged on the rack;
the head pitching motor transmits power to the pitching shaft through the pitching transmission mechanism, so that the pitching shaft performs pitching motion relative to the rack;
the rotary transmission mechanism is respectively connected with the head rotary motor and the head mounting flange, and the head rotary motor drives the robot two-degree-of-freedom head mechanism to perform rotary motion relative to the head mounting flange through the rotary transmission mechanism.
In some embodiments, the pitch drive is a belt drive comprising a drive pulley, a driven pulley, and a toothed belt; the rotary transmission mechanism is a gear transmission mechanism and comprises a rotary driving gear and a rotary driven gear.
In some embodiments, the driving pulley is fixedly connected with an output shaft of the head tilting motor, and the driven pulley is fixedly connected with the tilting shaft; the rotary driving gear is mounted on an output shaft of the head rotating motor, and the driven rotating gear is fixed on the head mounting flange.
In some embodiments, the robot head mechanism with two degrees of freedom further includes a hollow rotating shaft for internal routing, the hollow rotating shaft is fixedly connected to the frame, the hollow rotating shaft is rotatably connected to a bearing seat through a support bearing, the support bearing is axially positioned by a bearing fixing clamp spring, and the bearing seat is fixedly connected to the head mounting flange and the driven gear.
In some embodiments, the head rotating motor is fixedly connected to the frame through an eccentric flange, and the center distance between the driving gear and the driven gear is adjusted by changing the mounting hole position of the eccentric flange.
In some embodiments, the head pitch motor is mounted on the frame through a pulley tensioning flange, a pulley tensioning block is mounted on the frame, two pulley tensioning nails are mounted on the pulley tensioning block and abut against the pulley tensioning flange, the pulley tensioning nails are fixed through fixing nuts, and the tightness of the pulley tensioning flange can be adjusted through rotating the pulley tensioning nails, so that the center distance between the driving pulley and the driven pulley is adjusted.
In some embodiments, the pitch axis is mounted with a mounting plate for connecting an emoticon and/or an intelligent PAD.
In some embodiments, the pitch motor and the rotation motor are both mounted with multiple turns of absolute code wheels that are used to record joint zero and rotation angles.
In some embodiments, the robot two-degree-of-freedom head mechanism further comprises a driving board card for driving the head pitching motor and the head rotating mechanism, and the driving board card is further used for controlling a code disc matched with the motor, an expression board and/or an intelligent PAD.
The invention has the beneficial effects that: according to the robot head mechanism with two degrees of freedom, the head mechanism is completely in modular design, and the head mounting flange is adopted, so that the technical effects of unified interfaces and enhanced interchangeability are achieved.
More specifically, the double motors are integrated, an up-down orthogonal vertical structure is adopted, and gear transmission and belt wheel transmission are respectively adopted to realize double-freedom-degree motion of the head, so that the technical effects of compact structure, simplicity, easy realization and large motion range of double-freedom-degree motion are achieved.
Furthermore, a plurality of circles of absolute code discs are installed in the head pitching motor and the head rotating motor, so that the technical effect of recording the zero position and the rotating angle of the joint with high precision without adding an additional zero position mechanism is achieved.
Drawings
FIG. 1 is a schematic diagram illustrating the overall structure of one embodiment of a two-degree-of-freedom head mechanism of a robot according to the present invention;
FIG. 2 is a schematic diagram of a position structure of a head tilting motor and a head rotating motor of an embodiment of a two-degree-of-freedom head mechanism of a robot according to the present invention;
FIG. 3 is a schematic diagram of a belt drive and tensioning mechanism of an embodiment of the two-degree-of-freedom head mechanism of the robot according to the present invention;
FIG. 4 is a schematic structural diagram of a pitch transmission mechanism of an embodiment of a two-degree-of-freedom head mechanism of a robot according to the present invention;
FIG. 5 is a schematic view of a partially enlarged structure of a rotation transmission mechanism of an embodiment of a two-degree-of-freedom head mechanism of a robot according to the present invention;
fig. 6 is a schematic view of the connection of the pitch axes of one embodiment of the robot two-degree-of-freedom head mechanism of the present invention.
Description of reference numerals:
The driving board card 5 rotates the driving gear 6
Hollow rotary shaft 8 of rotary driven gear 7
Belt wheel tensioning flange 13 expression board/intelligent PAD14
Expression board/intelligent PAD mounting panel 15 ear speaker mounting panel 16
Belt wheel tensioning nail fixing nut 19 belt wheel tensioning block 20
Multi-ring absolute code disc 21 drive board card mounting frame 22
Hollow rotating shaft support bearing 23 bearing fixing clamp spring 24
Bearing end cap 27
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
The main conception of the invention is as follows: by designing the structural configurations of the head pitching motor 1, the head rotating motor 2, the frame 3, the rotating motor eccentric flange 4, the driving board 5, the rotating driving gear 6, the rotating driven gear 7, the hollow rotating shaft 8, the pitching shaft 9, the pitching driving pulley 6, the pitching driven pulley 7, the synchronous toothed belt 12, the pulley tensioning flange 13 and the like, the structure is designed in a modular manner, and the interface is unified through the head mounting flange 17, so that the interchangeability and the universality are good. The invention has compact structure, convenient shell manufacture, high integration and complete modular design.
Referring to fig. 1-6, there are shown schematic structural views of an embodiment of a two-degree-of-freedom head mechanism of a robot according to the present invention. In the embodiment, the robot two-degree-of-freedom head mechanism comprises a frame 3, a head pitching motor 1, a head rotating motor 2, a pitching transmission mechanism, a rotating transmission mechanism, a pitching shaft 9 and a head mounting flange 17 for mounting the robot two-degree-of-freedom head mechanism.
The pitching shaft 9 is rotatably connected with the frame 3, the pitching transmission mechanism is respectively connected with the head pitching motor 1 and the pitching shaft 9, and the head pitching motor 1 transmits power to the pitching shaft 9 through the pitching transmission mechanism, so that the pitching shaft 9 performs pitching motion relative to the frame 3. The rotary transmission mechanism is respectively connected with the head rotary motor 1 and the head mounting flange 17, and the head rotary motor 2 drives the robot two-degree-of-freedom head mechanism to perform rotary motion relative to the head mounting flange 17 through the rotary transmission mechanism.
Specifically, as shown in fig. 2, the frame 3 is a U-shaped plate structure, the head pitching motor 1 and the head rotating motor 2 are both fixedly arranged inside the frame 3, and the head pitching motor 1 is arranged above the head rotating motor 2, and the two are vertically arranged in an orthogonal manner, so that the two-degree-of-freedom head mechanism of the robot saves space on one hand, and on the other hand, installation and movement space is reserved for the expression board/intelligent PAD14, thereby facilitating the manufacture of the shell, and the inner mechanism can not interfere with or leak outside the shell after covering the shell. The rotating motor 2 and the pitching motor 1 are both provided with a plurality of circles of absolute coded disks 21, and the matched plurality of circles of absolute coded disks 21 are 24mm in diameter and 20mm in length. The multi-turn absolute code wheel 21 has the advantages that the initial position of the motor can be recorded, the position is recorded as a zero position by the multi-turn absolute code wheel 21 after the initial position of the motor is set, the zero position can be found after each starting, and the head mechanism cannot rotate irregularly. The common zero marking is realized by an additional potentiometer or sensor mechanism, is not only complex but also occupies space, the multi-turn absolute code disc 21 in the robot double-freedom-degree head mechanism can also record the rotating angle of the motor, and the motion angle of the head is judged by recording the rotating angle of the motor, so that the precision is high. The robot is used for recording the zero position and the rotation angle of the joint, so that the zero position and the rotation angle can be known immediately after the robot is powered on without adding an additional zero position mechanism.
As shown in fig. 3 and 6, the pitching motor 1 is disposed above and is a belt transmission mechanism, and includes a driving pulley 10, a driven pulley 11 and a timing belt 12, and the pitching motor 1 realizes the head pitching degree of freedom through belt transmission with a tensioning mechanism. The pitching motor 1 is installed on the belt wheel tensioning flange 13 and further installed on the frame 3, the belt wheel tensioning block 20 is installed on the frame 3, two belt wheel tensioning nails 18 are installed on the belt wheel tensioning block 20, the belt wheel tensioning nails 18 are pressed against the belt wheel tensioning flange 13, the belt wheel tensioning nails 18 are prevented from being loosened through the fixing nuts 19, the belt wheel tensioning flange 13 can be further pressed far away through screwing the belt wheel tensioning nails 18, so that the center distance between the driving belt wheel 10 and the driven belt wheel 11 is further increased, and the tensioning effect of the synchronous toothed belt 12 is achieved at the moment. The driving belt wheel 10 is fixedly connected with an output shaft of the pitching motor 1, and the driven belt wheel 11 is fixedly connected with the pitching shaft 9. The pitch shaft 9 is rotatably connected with the frame 3 through a support bearing 26, and a bearing end cover 27 is fixedly connected to the frame 3 for supporting the axial positioning of the bearing 26. Expression board/intelligent PAD mounting panel 15 links firmly on every single move axle 9, and expression board/intelligent PAD14 installs on mounting panel 15, and ear's loudspeaker mounting panel 16 is installed respectively in the both sides of expression board/intelligent PAD14 for install loudspeaker or other equipment. Therefore, under the driving of the pitching motor 1, the driving belt wheel 10, the driven belt wheel 11 and the synchronous toothed belt 12 are transmitted to the pitching shaft 9, and under the driving of the pitching shaft 9, the pitching motion is performed, so that the expression board/intelligent PAD is driven to pitch.
Referring to fig. 1 and 2, it can be seen that the head rotating motor 2 rotates the head through gear transmission, and the rotating transmission mechanism is a gear transmission mechanism and includes a rotating driving gear 6 and a rotating driven gear 7. The head rotating motor 2 is arranged on the frame 3 through the eccentric flange 4, and the center distance between the driving gear 6 and the driven gear 7 can be adjusted by changing the mounting hole position of the eccentric flange 4, so that the gear transmission clearance is eliminated. The driving gear 6 is fixedly connected with an output shaft of the rotating motor 2, the driven gear 7 is fixedly connected with the head mounting flange 17, when the head rotating motor 2 drives the driving gear 6 to rotate, the driven gear 7 is fixedly connected with the head flange 17, reaction force enables the driving gear 6 to drive the rotating motor 2 and the head mechanism to integrally rotate around the driven gear 7, and the rotating freedom degree of the head mechanism is achieved.
The invention adopts a gear transmission and belt transmission mechanism, which is because: the head freedom degree of the traditional service robot is mostly realized by motor driving, the transmission modes mainly comprise a plurality of transmission modes such as gear transmission, toothed belt transmission, rigid rope transmission, connecting rod transmission and the like, wherein the gear transmission is preferably realized as a common transmission mode; the toothed belt has high transmission precision and long transmission distance, but needs a tensioning mechanism; the rope transmission can save space, but is easy to slip, difficult to fix and difficult to tension; the connecting rod transmission structure is simple, but the modularization degree is low, the occupied space is not convenient for manufacturing the head shell.
As shown in fig. 4, in one embodiment of the present invention, a central bore rotation shaft 8 is further included. Hollow rotation axis 8 and 3 fixed connection of frame, hollow rotation axis 8 rotate with bearing frame 25 through support bearing 23 and are connected, adopt bearing fixing clamp spring 24 to carry out axial positioning to support bearing 24, bearing frame 25 and the equal fixed connection of head mounting flange 17 and driven gear 7. The power cable of the robot double-freedom-degree head mechanism penetrates through the hollow rotating shaft 8, the hollow wiring is realized, and due to the fact that the installation interfaces are unified, only the power cable and the communication wire socket need to be introduced, and real modularization is achieved.
In one embodiment of the present invention, the present invention further comprises a driving board 5 for driving the head-tilting motor 1 and the head-rotating motor 2, and also controlling a code wheel matched with the motors and the head expression board/intelligent PAD 14. The driving board card 5 is installed on the frame 3 through the board card installation frame 22, but the driving board card is not limited to this, and can also be installed on the side surface to facilitate the addition of other mechanisms in the later period.
The robot head mechanism with two degrees of freedom is completely in modular design, the motor is matched with and customizes a plurality of circles of absolute code disks, the zero position and the rotation angle of the joint shaft can be recorded simultaneously, and a zero position mechanism does not need to be additionally added. The drive integrated circuit board is miniaturized, and double-deck integrated circuit board can two motors of simultaneous control, installs in head mechanism, does not need extra integrated circuit board and control accessory. In addition, the mounting interface of the head integral mechanism is only a flange plate, and the main power cable can pass through the hollow rotating shaft 8 of the head integral mechanism only by being directly mounted on the service robot frame. The robot double-freedom-degree head mechanism can be used for serving robots and can also be used as a double-freedom-degree joint mechanism to be applied to other fields such as industry, medical treatment and the like.
The double-freedom-degree head mechanism can be applied to various service robots such as leading, explaining and displaying, is completely modularized in design, and is uniform in mounting interface (the head mechanism is completely modularized, only the head mounting flange 17 is reserved as the mounting interface, the head mounting flange 17 is uniform in structure, if all the service robots want to mount the mechanism, only the mounting holes corresponding to the mounting flange 17 are needed, and the rest of the service robots are not changed), so that the universality of various robot head mechanisms is realized. Compact structure, convenient shell preparation, occupation space is little, and internal mechanism does not interfere not outer hourglass after the installation shell.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (3)
1. A robot double-freedom-degree head mechanism is characterized in that: the robot double-freedom-degree head mechanism comprises a rack, a head pitching motor, a head rotating motor, a pitching transmission mechanism, a rotating transmission mechanism, a pitching shaft and a head mounting flange for mounting the robot double-freedom-degree head mechanism;
the head pitching motor and the head rotating motor are vertically arranged in an up-down orthogonal mode and are both fixedly arranged on the rack;
the head pitching motor transmits power to the pitching shaft through the pitching transmission mechanism, so that the pitching shaft performs pitching motion relative to the rack;
the rotary transmission mechanism is respectively connected with the head rotary motor and the head mounting flange, and the head rotary motor drives the robot two-degree-of-freedom head mechanism to perform rotary motion relative to the head mounting flange through the rotary transmission mechanism;
the pitching transmission mechanism is a belt transmission mechanism and comprises a driving belt wheel, a driven belt wheel and a toothed belt;
the rotary transmission mechanism is a gear transmission mechanism and comprises a rotary driving gear and a rotary driven gear;
the robot double-freedom-degree head mechanism further comprises a hollow rotating shaft for internal wiring, the hollow rotating shaft is fixedly connected with the rack, the hollow rotating shaft is rotatably connected with a bearing seat through a supporting bearing, the supporting bearing is axially positioned by adopting a bearing fixing clamp spring, and the bearing seat is fixedly connected with the head mounting flange and a driven gear;
the pitching motor and the rotating motor are both provided with a plurality of circles of absolute code discs, and the plurality of circles of absolute code discs are used for recording the zero position and the rotating angle of the joint;
the driving belt wheel is fixedly connected with an output shaft of the head pitching motor, and the driven belt wheel is fixedly connected with the pitching shaft;
the rotary driving gear is mounted on an output shaft of the head rotary motor, and the rotary driven gear is fixed on the head mounting flange;
the head rotating motor is fixedly connected with the rack through an eccentric flange, and the center distance between the driving gear and the driven gear is adjusted by changing the mounting hole position of the eccentric flange;
head every single move motor passes through band pulley tensioning flange mounting in the frame, install band pulley tensioning piece in the frame, install two band pulley tensioning nails on the band pulley tensioning piece, band pulley tensioning nail top is in on the band pulley tensioning flange, band pulley tensioning nail passes through fixation nut fixed, through the elasticity of the adjustable band pulley tensioning flange of rotatory band pulley tensioning nail, thereby the adjustment driving pulley with driven pulleys's centre-to-centre spacing.
2. The robotic two degree-of-freedom head mechanism according to claim 1, wherein the pitch axis is mounted with a mounting plate for connecting an expression PAD and/or an intelligent PAD.
3. The robotic two degree-of-freedom head mechanism of claim 1 further comprising a drive board for driving the head pitch motor and the head rotation motor, the drive board further for controlling a code wheel and an expression board and/or an intelligent PAD that are mated to the motors.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610485517.3A CN107538496B (en) | 2016-06-24 | 2016-06-24 | Robot double-freedom-degree head mechanism |
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| CN201610485517.3A CN107538496B (en) | 2016-06-24 | 2016-06-24 | Robot double-freedom-degree head mechanism |
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| CN107538496A CN107538496A (en) | 2018-01-05 |
| CN107538496B true CN107538496B (en) | 2021-01-12 |
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| JP2021523838A (en) * | 2018-05-14 | 2021-09-09 | ボード オブ リージェンツ, ザ ユニバーシティ オブ テキサス システムBoard Of Regents, The University Of Texas System | Integrated system design for mobile work robots with social expressive ability |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4237118B2 (en) * | 2004-08-24 | 2009-03-11 | Ｎｅｃアクセステクニカ株式会社 | Robot apparatus and control method of robot apparatus |
| 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 |
| CN202726605U (en) * | 2012-08-15 | 2013-02-13 | 江苏长江钢业重工有限公司 | Y direction driving device of cutting machine |
| CN104669296A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | High-power-density modularized rotary joint of space manipulator |
| CN205097193U (en) * | 2015-09-23 | 2016-03-23 | 众德迪克科技（北京）有限公司 | Robot with nod and shake head function |
| CN205021600U (en) * | 2015-09-28 | 2016-02-10 | 深圳市寒武纪智能科技有限公司 | Novel household service robot head rotates every single move mechanism |
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