CN109910023A - A kind of service robot connecting rod oscillating mechanism - Google Patents
A kind of service robot connecting rod oscillating mechanism Download PDFInfo
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- CN109910023A CN109910023A CN201910233715.4A CN201910233715A CN109910023A CN 109910023 A CN109910023 A CN 109910023A CN 201910233715 A CN201910233715 A CN 201910233715A CN 109910023 A CN109910023 A CN 109910023A
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- steering engine
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- connecting rod
- rotating seat
- bearing
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 32
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 5
- 230000003100 immobilizing effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Abstract
The invention discloses a kind of service robot connecting rod oscillating mechanisms, including rotating seat, pedestal, steering engine bearing, steering engine, turntable, rotation axis, connecting rod, bearing cap, steering engine disk, rolling bearing；Robot head is connected above rotating seat；Basis of the pedestal as oscillating mechanism；Steering engine, bearing cap installation are on the base, steering engine bearing output end connects steering engine disk, steering engine disk and turntable cooperate, the rotation of steering engine disk drives the rotation of turntable, there is the axis of connection steering engine bearing on turntable, turntable realizes the assembly with connecting rod by steering engine bearing, and the connecting rod other end is matched by steering engine bearing with rotation axis, rotation axis protrudes into rotary shaft, and the rotation of rotation axis drives the rotation of rotating seat；When work, steering engine rotation drives steering engine disc spins, and then drives connecting rod, and connecting rod rotated by rotation axis rotation, rotation axis rotation drives rotating seat rotation, realizes the head shaking movement of robot.Solve the problems, such as that existing oscillating mechanism is prone to wear or line is crossed in inconvenience.
Description
Technical field
The present invention relates to a kind of oscillating mechanisms of bio-robot, and in particular to a kind of service robot connecting rod head-shaking machine
Structure.
Background technique
Nowadays, with the continuous improvement of people's level of education, people less and less is ready to be engaged in low technical requirement, low additional
The service trade of value, such as welcome, consulting, reception action.It is increasingly mature with robot technology, especially in apery
The development and application of the technologies such as motion control, voice semantics recognition, image recognition, the intelligent interaction of robot field, make humanoid
The more life-like image that robot can be done, while the prospect for also more highlighting apery service humanoid robot future market is wide
Wealthy, the head of anthropomorphic robot needs to complete shake the head equal a series of actions.However, robot oscillating mechanism in the prior art is adopted
It is directly connected to the mode driven with gear drive or steering engine, motor output shaft, with gear-driven mode, due to gear and gear
Between the abrasion that moves so that generating gap between gear；In such a way that steering engine, motor output shaft are directly connected to drive, and not side
Just line is crossed on head, and is assembled very troublesome.
It is therefore desirable to be optimized to existing oscillating mechanism, to be more preferably applied to bio-robot, obtains and preferably use
Effect and more preferably practicability.
Summary of the invention
The purpose of the present invention is to provide a kind of service robot connecting rod oscillating mechanisms, hold to solve existing oscillating mechanism
Easy to wear or inconvenient the problem of crossing line.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of service robot connecting rod oscillating mechanism, the oscillating mechanism include rotating seat, pedestal, steering engine bearing, steering engine,
Turntable, rotation axis, connecting rod, bearing cap, steering engine disk, rolling bearing；Robot head is connected above the rotating seat, rotating seat
Rotation drives robot head rotation；The pedestal is connected with fixed point or machine human body, the basis as oscillating mechanism；
On the base, the steering engine bearing output end connects steering engine disk for the steering engine, bearing cap installation, and steering engine disk and turntable cooperate, rudder
The rotation of machine disk drives the rotation of turntable, has the axis of connection steering engine bearing on turntable, turntable is realized by steering engine bearing and connecting rod
Assembly, the connecting rod other end matched by steering engine bearing with rotation axis, and rotation axis protrudes into rotary shaft, the rotation band of rotation axis
The rotation of dynamic rotating seat；When work, pedestal is fixed, and steering engine is installed on the base, and steering engine rotation drives steering engine disc spins, in turn
Connecting rod, the rotation of connecting rod rotated by rotation axis are driven, rotation axis rotation drives rotating seat rotation, realizes that shaking the head for robot is dynamic
Make.
Preferably, there are the installing port connecting with robot head, rotating seat intermediate hollow, rotating seat in above-mentioned rotating seat upper end
Bottom be it is cylindric, the outer diameter of cylindrical outer shape is matched with the internal diameter of rolling bearing, realize rotating seat rolling bearing pact
It is rotated under beam.
Preferably, the interface being connected with machine human body or immobilizing foundation is arranged at said base bottom, and base interior has
The installation interface of bearing cap is connected the outer ring of pedestal and rolling bearing by the cooperation of pedestal and bearing cap, realizes rotating seat
With the relative rotation of pedestal.
Preferably, the outer diameter of above-mentioned turntable is matched with the internal diameter of steering engine disk, realizes the connection of turntable and steering engine disk.
Preferably, the output end of above-mentioned rotation axis is fixedly connected with rotating seat.
Preferably, the axis of connection steering engine bearing is arranged at the bottom of above-mentioned rotary shaft.
Preferably, the internal diameter of above-mentioned bearing cap is greater than the output end outer diameter of rotation axis.
The present invention has the advantage that
Link design of the invention eliminates gear-driven wear problem, solves the routing problem of direct-connected mode, makes
The design for obtaining bio-robot obtains bigger practicability and reliability.
Detailed description of the invention
Fig. 1 be a kind of service robot connecting rod oscillating mechanism of the present invention with head general assembly perspective view.
Fig. 2 is a kind of perspective view of service robot connecting rod oscillating mechanism of the present invention.
Fig. 3 is a kind of perspective view at second visual angle of service robot connecting rod oscillating mechanism of the present invention.
Fig. 4 is a kind of perspective view at the third visual angle of service robot connecting rod oscillating mechanism of the present invention.
Fig. 5 is a kind of perspective view for omitting pedestal of service robot connecting rod oscillating mechanism of the present invention.
In figure: 1, rotating seat；2, pedestal；3, steering engine bearing；4, steering engine；5, turntable；6, rotation axis；7, connecting rod；8, bearing
Lid；9, steering engine disk；10, rolling bearing.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper", "lower", " left side ", the right side in this specification ", the term of " centre ", be merely convenient to chat
That states is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing skill without essence
It is held in art, when being also considered as the enforceable scope of the present invention.
Embodiment 1
Referring to Fig. 1-5, a kind of service robot connecting rod oscillating mechanism, the oscillating mechanism includes rotating seat 1, pedestal 2, rudder
Machine bearing 3, steering engine 4, turntable 5, rotation axis 6, connecting rod 7, bearing cap 8, steering engine disk 9, rolling bearing 10；1 top of rotating seat
Robot head is connected, the rotation of rotating seat 1 drives robot head rotation；The pedestal 2 and fixed point or the machine person
Body is connected, the basis as oscillating mechanism；The steering engine 4, bearing cap 8 are installed on the base 2, the 4 bearing output end of steering engine
Steering engine disk 9 is connected, steering engine disk 9 and turntable 5 cooperate, and the rotation of steering engine disk 9 drives the rotation of turntable 5, have connection steering engine on turntable 5
The axis of bearing 3, turntable 5 realize the assembly with connecting rod 7 by steering engine bearing 3, and 7 other end of connecting rod passes through steering engine bearing 3 and rotation
Axis 6 matches, and rotation axis 6 protrudes into rotary shaft, and the rotation of rotation axis 6 drives the rotation of rotating seat 1；When work, pedestal 2 is solid
Fixed, steering engine 4 is installed on the base 2, and steering engine 4 rotates, and drives steering engine disk 9 to rotate, and then drive connecting rod 7, the rotation band turn of connecting rod 7
Moving axis 6 rotates, and the rotation of rotation axis 6 drives rotating seat 1 to rotate, and realizes the head shaking movement of robot.
Preferably, there are the installing port connecting with robot head, 1 intermediate hollow of rotating seat, rotation in above-mentioned 1 upper end of rotating seat
Seat 1 bottom be it is cylindric, the outer diameter of cylindrical outer shape is matched with the internal diameter of rolling bearing 10, realization rotating seat 1 in rotation axis
It holds and is rotated under 10 constraint.
Preferably, the interface being connected with machine human body or immobilizing foundation arranged at 2 bottom of said base, inside pedestal 2
There is the installation interface of bearing cap 8, by the cooperation of pedestal 2 and bearing cap 8, pedestal 2 is connect with the outer ring of rolling bearing 10, it is real
The relative rotation of existing rotating seat 1 and pedestal 2.
Preferably, the outer diameter of above-mentioned turntable 5 is matched with the internal diameter of steering engine disk 9, realizes the connection of turntable 5 and steering engine disk 9.
Preferably, the output end of above-mentioned rotation axis 6 is fixedly connected with rotating seat 1.
Preferably, the axis of connection steering engine bearing 3 is arranged at the bottom of above-mentioned rotary shaft 6.
Preferably, the internal diameter of above-mentioned bearing cap 8 is greater than the output end outer diameter of rotation axis 6.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (7)
1. a kind of service robot connecting rod oscillating mechanism, it is characterised in that: the oscillating mechanism includes rotating seat (1), pedestal
(2), steering engine bearing (3), steering engine (4), turntable (5), rotation axis (6), connecting rod (7), bearing cap (8), steering engine disk (9), rotation axis
Hold (10)；Robot head is connected above the rotating seat (1), the rotation of rotating seat (1) drives robot head rotation；It is described
Pedestal (2) is connected with fixed point or machine human body, the basis as oscillating mechanism；The steering engine (4), bearing cap (8) peace
On pedestal (2), steering engine (4) the bearing output end connects steering engine disk (9), and steering engine disk (9) and turntable (5) cooperate, steering engine
The rotation of disk (9) drives the rotation of turntable (5), there is the axis of connection steering engine bearing (3) on turntable (5), and turntable (5) passes through steering engine axis
The assembly of (3) realization and connecting rod (7) is held, connecting rod (7) other end is matched by steering engine bearing (3) with rotation axis (6), rotation axis
(6) it protrudes into rotary shaft, the rotation of rotation axis (6) drives the rotation of rotating seat (1)；When work, pedestal (2) is fixed, steering engine (4)
It is mounted on pedestal (2), steering engine (4) rotation drives steering engine disk (9) rotation, and then drives connecting rod (7), and connecting rod (7) rotation drives
Rotation axis (6) rotation, rotation axis (6) rotation drive rotating seat (1) rotation, realize the head shaking movement of robot.
2. a kind of service robot connecting rod oscillating mechanism according to claim 1, it is characterised in that: the rotating seat (1)
There is an installing port connecting with robot head in upper end, rotating seat (1) intermediate hollow, rotating seat (1) bottom be it is cylindric, it is cylindric
The outer diameter of shape is matched with the internal diameter of rolling bearing (10), realizes that rotating seat (1) rotates under the constraint of rolling bearing (10).
3. a kind of service robot connecting rod oscillating mechanism according to claim 1, it is characterised in that: pedestal (2) bottom
There is the interface being connected with machine human body or immobilizing foundation in portion, there is the installation interface of bearing cap (8) inside pedestal (2), leads to
Pedestal (2) is connect by the cooperation for crossing pedestal (2) Yu bearing cap (8) with the outer ring of rolling bearing (10), realize rotating seat (1) with
The relative rotation of pedestal (2).
4. a kind of service robot connecting rod oscillating mechanism according to claim 1, it is characterised in that: the turntable (5)
Outer diameter is matched with the internal diameter of steering engine disk (9), realizes the connection of turntable (5) and steering engine disk (9).
5. a kind of service robot connecting rod oscillating mechanism according to claim 1, it is characterised in that: the rotation axis (6)
Output end be fixedly connected with rotating seat (1).
6. a kind of service robot connecting rod oscillating mechanism according to claim 1, it is characterised in that: the rotary shaft (6)
Bottom have connection steering engine bearing (3) axis.
7. a kind of service robot connecting rod oscillating mechanism according to claim 1, it is characterised in that: the bearing cap (8)
Internal diameter be greater than rotation axis (6) output end outer diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233715.4A CN109910023A (en) | 2019-03-26 | 2019-03-26 | A kind of service robot connecting rod oscillating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233715.4A CN109910023A (en) | 2019-03-26 | 2019-03-26 | A kind of service robot connecting rod oscillating mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN109910023A true CN109910023A (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910233715.4A Pending CN109910023A (en) | 2019-03-26 | 2019-03-26 | A kind of service robot connecting rod oscillating mechanism |
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| CN (1) | CN109910023A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975931A (en) * | 2019-12-13 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Connecting rod type robot head movement mechanism |
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| JP2002326182A (en) * | 2001-04-26 | 2002-11-12 | Daihen Corp | Arm operating mechanism and industrial robot provided with the arm operating mechanism |
| 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 |
| CN205363923U (en) * | 2016-03-10 | 2016-07-06 | 广州今甲智能科技有限公司 | Rotary type arm device of intelligence food delivery robot |
| CN205796514U (en) * | 2016-07-05 | 2016-12-14 | 河源市勇艺达科技股份有限公司 | A kind of robot that can shake the head |
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
| CN106965196A (en) * | 2017-04-24 | 2017-07-21 | 黄国彬 | A kind of service robot |
| CN206605500U (en) * | 2017-03-16 | 2017-11-03 | 江苏红石信息系统集成服务有限公司 | A kind of service humanoid robot with rotating mechanism |
| US20170326724A1 (en) * | 2015-04-08 | 2017-11-16 | Beijing Evolver Robotics Co., Ltd | Multi-Functional Home Service Robot |
| CN209850939U (en) * | 2019-03-26 | 2019-12-27 | 深圳勇艺达机器人有限公司 | Connecting rod head shaking mechanism of service robot |
-
2019
- 2019-03-26 CN CN201910233715.4A patent/CN109910023A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000148056A (en) * | 1998-11-10 | 2000-05-26 | Toyobo Engineering Kk | Random control type mannequin or the like |
| JP2002326182A (en) * | 2001-04-26 | 2002-11-12 | Daihen Corp | Arm operating mechanism and industrial robot provided with the arm operating mechanism |
| US20170326724A1 (en) * | 2015-04-08 | 2017-11-16 | Beijing Evolver Robotics Co., Ltd | Multi-Functional Home Service Robot |
| 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 |
| CN205363923U (en) * | 2016-03-10 | 2016-07-06 | 广州今甲智能科技有限公司 | Rotary type arm device of intelligence food delivery robot |
| CN205796514U (en) * | 2016-07-05 | 2016-12-14 | 河源市勇艺达科技股份有限公司 | A kind of robot that can shake the head |
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
| CN206605500U (en) * | 2017-03-16 | 2017-11-03 | 江苏红石信息系统集成服务有限公司 | A kind of service humanoid robot with rotating mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975931A (en) * | 2019-12-13 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Connecting rod type robot head movement mechanism |
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