CN110802605A - Rotating structure and robot - Google Patents
Rotating structure and robot Download PDFInfo
- Publication number
- CN110802605A CN110802605A CN201910968819.XA CN201910968819A CN110802605A CN 110802605 A CN110802605 A CN 110802605A CN 201910968819 A CN201910968819 A CN 201910968819A CN 110802605 A CN110802605 A CN 110802605A
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- connecting rod
- rotating structure
- bracket
- head
- rotating
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- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention is suitable for the technical field of robots and provides a rotating structure and a robot, wherein the rotating structure comprises a bracket; the connecting piece is rotatably connected to the bracket; the driving piece is arranged above the connecting piece; one end of the connecting rod is connected with the output shaft of the driving piece; the connecting rod is arranged on the support, the connecting rod is arranged on the connecting rod, and the connecting rod is arranged on the connecting rod. The rotating structure of the invention has simple structure, small volume and small occupied space, can realize the head rotating function under the condition of limited neck space, and has good application prospect on small robots.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a rotating structure and a robot.
Background
In the existing robot product, in order to realize the head raising and lowering actions, the robot is realized by installing a steering engine at the neck position of the robot. However, the structure for driving the head to act occupies a large space, and for a small robot, the neck does not have enough space for accommodating the steering engine due to the volume limitation of the small robot.
Disclosure of Invention
The invention aims to provide a rotating structure, aiming at solving the technical problem that the existing structure for driving a head to act occupies a large space.
The present invention is achieved as such, a rotation structure comprising:
a support;
the connecting piece is rotatably connected to the bracket;
the driving piece is arranged above the connecting piece; and
one end of the connecting rod is connected with the output shaft of the driving piece;
the connecting rod is arranged on the support, the connecting rod is arranged on the connecting rod, and the connecting rod is arranged on the connecting rod.
In one embodiment of the present invention, the guiding position is a guiding groove or a guiding hole formed along the length direction of the connecting rod.
In an embodiment of the invention, the connecting piece is provided with a limiting hole, and the pull rod penetrates through the limiting hole and then is in sliding fit with the guide position.
In an embodiment of the present invention, a positioning groove is formed at one end of the connecting rod connected with the output shaft, and the output shaft is fixedly connected in the positioning groove.
In an embodiment of the invention, the bracket is provided with an arc-shaped boss, the connecting piece is provided with an arc-shaped groove matched with the arc-shaped boss, and at least part of the arc-shaped protrusion is accommodated in the arc-shaped groove.
In an embodiment of the present invention, the rotating structure further includes a rotating shaft disposed parallel to the pull rod, the rotating shaft penetrates through the bracket and the connecting member, and the connecting member rotates around the rotating shaft relative to the bracket.
In one embodiment of the present invention, the connecting parts are disposed on two opposite sides of the connecting member, the connecting parts are provided with connecting holes, and the rotating shaft penetrates through the connecting holes.
In an embodiment of the present invention, the rotating shaft includes a rotating shaft rod portion and a rotating shaft head portion connected to one end of the rotating shaft rod portion, the other end of the rotating shaft rod portion is provided with an external thread, and the rotating structure further includes a locking member, which is used for being matched with the external thread.
In an embodiment of the present invention, the rotating structure further includes an end cap covering the connecting hole.
Another object of the present invention is to provide a robot comprising:
a body; and
the head is rotatably connected to the body through the rotating structure in any one of the above embodiments, the support is arranged on the body, and the connecting piece is arranged on the head.
In one embodiment of the invention, the head comprises a head housing, the drive member is secured within the head housing by a fastener, and the connecting member is secured beneath the head housing by a fastener.
The implementation of the rotating structure and the robot of the invention at least has the following beneficial effects: the rotating structure is simple in structure, small in size, small in occupied space and suitable for a small robot, and the rotating structure is small in size and small in occupied space.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram (I) of a partial structure of a robot provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a partially exploded view of a robot provided in accordance with an embodiment of the present invention;
fig. 4 is a schematic view (two) of a partial structure of a robot provided by an embodiment of the invention;
FIG. 5 is a perspective view of a support of a rotational structure provided in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a side view of a link of a rotational structure provided in an embodiment of the present invention;
FIG. 7 is a side view of a connecting member of a swivel structure according to an embodiment of the present invention;
FIG. 8 is a schematic diagram (II) of a side view of a connecting member of a rotating structure provided in an embodiment of the present invention;
fig. 9 is a schematic perspective view of a rotating shaft of a rotating structure according to an embodiment of the present invention.
Reference numerals referred to in the above figures are detailed below:
10-a rotating structure; 11-a scaffold; 110-a pull rod; 111-an arc boss; 112-a body portion; 12-a connector; 121-a connecting part; 1211-connecting hole; 122-a limiting hole; 13-a drive member; 131-an output shaft; 1311-first fixation hole; 14-a connecting rod; 141-guiding bit; 142-a positioning groove; 143-second fixing hole; 15-a rotating shaft; 151-shaft lever portion; 152-a spindle head; 1511-external thread; 16-an end cap; 20-body; 30-a head; 31-a bottom shell; 40-arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.
Referring to fig. 1 to 5, an embodiment of the present invention first provides a rotating structure 10, where the rotating structure 10 includes a bracket 11, a connecting member 12, a driving member 13, and a connecting rod 14. The connecting piece 12 is rotatably connected to the bracket 11, and specifically, the connecting piece 12 is covered on the bracket 11 and can rotate relative to the bracket 11; the driving member 13 is disposed above the connecting member 12, one end of the connecting rod 14 is connected to the output shaft 131 of the driving member 13, and when the driving member 13 drives the output shaft 131 to rotate, the connecting rod 14 is driven to rotate. In this embodiment, a pull rod 110 parallel to the output shaft 131 is protrudingly disposed on a side portion of the bracket 11, a guide position 141 is disposed along a length direction of the connecting rod 14 at an end of the connecting rod 14 away from the output shaft 131, and the pull rod 110 is slidably engaged with the guide position 141, and the guide position 141 is used for guiding the pull rod 110. When the output shaft 131 of the driving member 13 rotates, the connecting rod 14 is driven to move, and the connecting member 12 is driven to rotate relative to the bracket 11.
In this embodiment, the output shaft 131 of the driving member 13 and the pull rod 110 are perpendicular to the rotation plane of the connecting member 12. Since the guiding direction 141 is used for guiding the pull rod 110, the stroke of the guiding direction 141 along the length direction of the connecting rod 14 affects the rotating angle of the connecting element 12, and the larger the stroke of the guiding direction 141, the larger the rotating angle of the connecting element 12. Thus, the stroke of the guiding bit 141 can be designed according to the actual requirement of the rotation angle of the connecting piece 12.
Optionally, a pull rod 110 is arranged on two opposite sides of the bracket 11, and a connecting rod 14 and a driving member 13 which are matched with the pull rod 110 are correspondingly arranged on two sides of the bracket 11; alternatively, a pull rod 110 is provided at one side of the bracket 11, and a link 14 and a driving member 13 engaged with the pull rod 110 are correspondingly provided at one side of the bracket 11. Preferably, a pull rod 110 is provided at one side of the bracket 11, and a connecting rod 14 and a driving member 13 which are matched with the pull rod 110 are correspondingly provided at one side of the bracket 11, so as to reduce the use of parts under the condition that the rotation of the driving connecting member 12 relative to the bracket 11 can be satisfied, save the cost as much as possible, and make the whole structure more compact.
The movement process of the rotating structure 10 of the present embodiment is as follows: when the driving member 13 drives the output shaft 131 to rotate clockwise, the connecting rod 14 is driven to move, and the connecting member 12 is driven to rotate clockwise; when the driving member 13 drives the output shaft 131 to rotate counterclockwise, the driving link 14 is moved, and the connecting member 12 is driven to rotate counterclockwise.
In this embodiment, by providing the bracket 11, the connecting member 12, the driving member 13 and the connecting rod 14, the pull rod 110 is disposed at the side of the bracket 11, the pull rod 110 is parallel to the output shaft 131 of the driving member 13, one end of the connecting rod 14 is connected to the output shaft 131, the other end of the connecting rod 14 is provided with the guiding position 141 along its own length direction, the pull rod 110 is in sliding fit with the guiding position 141, when the output shaft 131 of the driving member 13 rotates, the connecting rod 14 can be driven to move, and further the connecting member 12 is driven to rotate relative to the bracket 11, the rotating structure 10 of this embodiment is simple in structure, small in size, small in occupied space.
In one embodiment, the driving member 13 is a steering engine, and an output shaft 131 of the steering engine is parallel to the pull rod 110 and perpendicular to a rotation plane of the connecting member 12. It will be appreciated that in other embodiments, the driving member 13 may be a motor or the like having an output shaft 131.
In one embodiment, the guiding position 141 is a guiding groove formed along the length direction of the connecting rod 14, the guiding groove does not penetrate through the connecting rod 14 along the thickness direction of the connecting rod 14, the guiding groove is formed on one side of the connecting rod 14 close to the pull rod 110, and the end of the pull rod 110 is in sliding fit in the guiding groove, so that the guiding groove can guide the pull rod 110. Optionally, the guide slot is a kidney-shaped slot, so that the processing is convenient.
In another embodiment, please refer to fig. 6, the guiding position 141 is a guiding hole formed along the length direction of the connecting rod 14, the guiding hole penetrates through the connecting rod 14 along the thickness direction of the connecting rod 14, and the end of the pull rod 110 penetrates through the guiding hole and is slidably engaged with the guiding hole, so that the guiding hole can guide the pull rod 110. Optionally, the guide hole is a waist-shaped hole, and processing is convenient.
In one embodiment, please refer to fig. 7, a limiting hole 122 is formed on the connecting member 12, and the pull rod 110 is slidably engaged with the guiding portion 141 after passing through the limiting hole 122. In the present embodiment, during the rotation of the connecting member 12, the limiting hole 122 is used to limit the rotation angle of the connecting member 12, so the stroke of the limiting hole 122 can be designed according to the actual rotation angle of the connecting member 12. In practical applications, the limiting hole 122 is arc-shaped. In order to realize the same clockwise and counterclockwise rotation angles of the connecting member 12 relative to the bracket 11, the limiting holes 122 are bilaterally symmetrical relative to the pull rod 110.
In one embodiment, one end of the connecting rod 14 is fixedly connected to the output shaft 131, and the other end of the connecting rod 14 is provided with the above-mentioned guiding direction 141. Referring to fig. 6, one end of the connecting rod 14 connected to the output shaft 131 is provided with a positioning groove 142, and the end of the output shaft 131 is fixedly connected to the positioning groove 142. Specifically, referring to fig. 3, a first fixing hole 1311 is formed in the output shaft 131 along the axial direction thereof, a second fixing hole 143 communicated with the positioning slot 142 is formed in the connecting rod 14, the second fixing hole 143 penetrates through a surface of a side of the connecting rod 14 away from the positioning slot 142, and one end of the fastener is fixed in the first fixing hole 1311 after penetrating through the second fixing hole 143, so as to fixedly connect the connecting rod 14 and the output shaft 131. Fasteners include, but are not limited to, screws and the like. In this embodiment, the output shaft 131 is cylindrical, the cross sections of the first fixing hole 1311, the second fixing hole 143, and the positioning groove 142 are circular, the aperture of the second fixing hole 143 is smaller than the aperture of the positioning groove 142, and the end surface of the end of the output shaft 131 abuts against the bottom surface of the positioning groove 142 during assembly.
It can be understood that, in order to prevent the connecting rod 14 and the output shaft 131 from rotating relatively, a shaft pin may be disposed on the connecting rod 14 along the radial direction of the positioning slot 142, and a tip of the shaft pin abuts against the output shaft 131; a tangent plane may also be provided on the output shaft 131, and accordingly, a plane matching with the tangent plane is formed on the sidewall of the positioning slot 142, so that the relative rotation between the connecting rod 14 and the output shaft 131 is prevented by the matching of the tangent plane of the output shaft 131 and the plane of the positioning slot 142.
In one embodiment, referring to fig. 5, an arc-shaped boss 111 is disposed on the bracket 11, and an arc-shaped groove matched with the arc-shaped boss 111 is disposed on the connecting member 12. Wherein, the arc boss 111 is at least partially accommodated in the arc groove. In this embodiment, arc boss 111 and arc recess all are circular-arcly, and arc boss 111 matches with the arc recess to it is smooth and easy that connecting piece 12 can rotate relative to support 11.
In one embodiment, referring to fig. 3, the rotating structure 10 further includes a rotating shaft 15, the rotating shaft 15 is disposed parallel to the pull rod 110, the rotating shaft 15 penetrates through the bracket 11 and the connecting member 12, so that the connecting member 12 can rotate relative to the bracket 11 around the rotating shaft 15. Specifically, the rotating shaft 15 penetrates through the arc-shaped boss 111 and the connecting member 12, and the connecting member 12 can rotate around the rotating shaft 15 relative to the arc-shaped boss 111. In the present embodiment, the rotation shaft 15 is provided to allow the connecting member 12 to rotate clockwise or counterclockwise relative to the arc-shaped boss 111, which is simple in structure. Of course, in other embodiments, other rotating members may be used to effect rotation of the connector 12 relative to the arcuate projections 111.
In one embodiment, please refer to fig. 7 and 8, the connecting portions 121 are disposed on two opposite sides of the connecting member 12, the connecting portions 121 are formed by extending portions of two opposite sides of the arc-shaped groove toward the direction of the arc-shaped boss 111, and the connecting portions 121 are used for the rotating shaft 15 to pass through. Specifically, a connection hole 1211 is formed in the connection portion 121, and one end of the rotation shaft 15 sequentially penetrates through the connection hole 1211 on one side of the connection member 12, the arc-shaped boss 111 and the connection hole 1211 on the other side of the connection member 12, so as to realize the rotational connection between the connection member 12 and the bracket 11.
In one embodiment, in order to prevent the rotation shaft 15 from being separated from the bracket 11 and the connection member 12, both ends of the rotation shaft 15 need to be fastened to the connection parts 121 in an axial direction. Specifically, referring to fig. 9, the rotating shaft 15 includes a shaft rod 151 and a shaft head 152, the shaft head 152 is fixedly connected to one end of the shaft rod 151, and an external thread 1511 is disposed at the other end of the shaft rod 151. In this embodiment, the rotating structure 10 further includes a locking member for cooperating with the external thread 1511 to prevent the rotating shaft 15 from moving axially, thereby preventing the rotating shaft 15 from being separated from the bracket 11 and the connecting member 12. The locking member includes, but is not limited to, a nut that engages external threads 1511 on the shaft portion 151. When assembling, the surface of the rotating shaft head 152 adjacent to the rotating shaft rod part 151 abuts against the surface of the connecting part 121 on one side of the connecting piece 12, and the inner side surface of the locking piece abuts against the surface of the connecting part 121 on the other side of the connecting piece 12.
Preferably, in order to hide the rotation shaft 15 to maintain the integrity of the overall appearance of the product, the rotation structure 10 further includes an end cap 16 covering the connection hole 1211, as shown in fig. 3, wherein the end cap 16 covers the end of the rotation shaft 15 to hide the rotation shaft 15.
Based on the same concept, referring to fig. 1 to 9, an embodiment of the present invention further provides a robot, which includes a body 20 and a head 30, wherein the head 30 is rotatably connected to the body 20 through a rotating structure 10 according to any one of the above embodiments, so as to implement a head-up and head-down motion of the head 30. Specifically, the bracket 11 of the rotating structure 10 is disposed at the neck portion of the body 20, and the connecting member 12 is disposed at an end of the head 30 close to the body 20, so that when the connecting member 12 rotates relative to the bracket 11, the head-up and head-down actions of the head 30 can be realized.
The movement process of the head 30 of the robot of the present embodiment is as follows: when the driving part 13 of the rotating structure 10 drives the output shaft 131 to rotate clockwise, the connecting rod 14 is driven to move, so as to drive the connecting part 12 to rotate clockwise, and the connecting part 12 further drives the head 30 to rotate clockwise, so that the head raising action of the head 30 of the robot is realized; when the driving part 13 of the rotating structure 10 drives the output shaft 131 to rotate counterclockwise, the connecting rod 14 is driven to move, and further the connecting part 12 is driven to rotate counterclockwise, and the connecting part 12 further drives the head 30 to rotate counterclockwise, so as to implement the head lowering action of the head 30 of the robot.
In this embodiment, the bracket 11 includes a main body 112 and an arc boss 111, the main body 112 is connected to the body 20 of the robot, the arc boss 111 is disposed on the main body 112, and the arc boss 111 can be used as a neck of the robot.
The head 30 action of robot is realized through above-mentioned rotating-structure 10 to this embodiment, and its simple structure, small, occupation space are little, need not install the steering wheel in the neck position of robot and also can realize the head 30 action of robot. The rotating structure 10 of the embodiment can realize the rotating function of the head 30 under the condition of limited neck space, and has good application prospect on small robots.
In one embodiment, the head 30 includes a head housing, and the driving member 13 of the rotary structure 10 is fixed in the head housing by a fastener. The link 12 of the rotating structure 10 is fixed to the lower side of the head housing by a fastener so that the link 12 can rotate the head 30. The fasteners include, but are not limited to, screws, etc.
Specifically, the head housing includes a bottom shell 31, the driving member 13 is fixedly connected to the bottom shell 31 by screws, and the connecting member 12 is fixed below the bottom shell 31 by screws.
It is understood that the robot of the present embodiment may further include an arm 40 and other structures besides the above structures, and the present embodiment is not described in detail herein.
The invention is not to be considered as limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (11)
1. A rotary structure, comprising:
a support;
the connecting piece is rotatably connected to the bracket;
the driving piece is arranged above the connecting piece; and
one end of the connecting rod is connected with the output shaft of the driving piece;
the connecting rod is arranged on the support, the connecting rod is arranged on the connecting rod, and the connecting rod is arranged on the connecting rod.
2. The rotating structure according to claim 1, wherein the guide position is a guide groove or a guide hole formed along the length direction of the connecting rod.
3. The rotating structure according to claim 1, wherein the connecting member is provided with a limiting hole, and the pull rod is inserted into the limiting hole and then is in sliding fit with the guide portion.
4. The rotating structure according to claim 1, wherein a positioning groove is formed at one end of the connecting rod connected with the output shaft, and the output shaft is fixedly connected in the positioning groove.
5. The rotating structure according to claim 1, wherein the bracket is provided with an arc-shaped boss, the connecting piece is provided with an arc-shaped groove matched with the arc-shaped boss, and at least part of the arc-shaped protrusion is accommodated in the arc-shaped groove.
6. The rotating structure according to claim 1, further comprising a rotating shaft disposed parallel to the pull rod, wherein the rotating shaft penetrates through the bracket and the connecting member, and the connecting member rotates around the rotating shaft relative to the bracket.
7. The rotating structure according to claim 6, wherein the connecting members are provided with connecting portions at opposite sides thereof, the connecting portions are provided with connecting holes, and the rotating shaft is inserted through the connecting holes.
8. The rotating structure according to claim 7, wherein the rotating shaft comprises a shaft portion and a shaft head portion connected to one end of the shaft portion, the other end of the shaft portion is provided with an external thread, and the rotating structure further comprises a locking member for engaging with the external thread.
9. The rotating structure according to claim 7, further comprising an end cap covering the coupling hole.
10. A robot, comprising:
a body; and
a head rotatably connected to the body by a rotating structure according to any one of claims 1 to 9, the bracket being provided on the body, and the connecting member being provided on the head.
11. The robot of claim 10, wherein said head includes a head housing, said drive member being secured within said head housing by a fastener, said connecting member being secured beneath said head housing by a fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910968819.XA CN110802605A (en) | 2019-10-12 | 2019-10-12 | Rotating structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910968819.XA CN110802605A (en) | 2019-10-12 | 2019-10-12 | Rotating structure and robot |
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| Publication Number | Publication Date |
|---|---|
| CN110802605A true CN110802605A (en) | 2020-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910968819.XA Pending CN110802605A (en) | 2019-10-12 | 2019-10-12 | Rotating structure and robot |
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Application publication date: 20200218 |