CN114833867A - Robot neck motion and robot - Google Patents
Robot neck motion and robot Download PDFInfo
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- CN114833867A CN114833867A CN202210385516.7A CN202210385516A CN114833867A CN 114833867 A CN114833867 A CN 114833867A CN 202210385516 A CN202210385516 A CN 202210385516A CN 114833867 A CN114833867 A CN 114833867A
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- 238000009434 installation Methods 0.000 abstract 1
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- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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- 230000009471 action Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The application discloses robot neck motion and robot, robot neck motion includes: the fixing frame is internally provided with a mounting cavity in a limited way; the first driving assembly, a part of the first driving assembly locates in the installation cavity; the movable assembly is arranged on the fixed frame, and the output end of the first driving assembly is connected with the movable assembly; the first limiting piece is arranged on the fixed frame; the connecting assembly is arranged on one side of the fixing frame; a fixing plate, the connecting assembly extending towards the fixing plate; the second driving assembly is arranged on the fixing plate and drives a part of the connecting assembly to rotate in the horizontal direction; and the second limiting piece is arranged on the connecting component. This application can realize robot neck motion's multi-direction motion, and the motion degree of freedom is high, and whole space accounts for than little, and simple structure is fit for using widely by a large scale.
Description
Technical Field
The application relates to the technical field of robot manufacturing, in particular to a robot neck movement mechanism and a robot.
Background
The existing robot neck movement mechanism generally adopts three setting modes, the first mode is a direct connection mode, the neck movement freedom degree is avoided, the upper body of the robot is integrally designed, and the horizontal rotation of the head can be realized only through the rotation of the bottom. The second type adopts two linear electric motors and revolving stage combination, realizes the neck every single move through control linear electric motor's stroke and difference in height, realizes horizontal motion through revolving stage control. The third one adopts multi-motor and multi-connecting-rod design, is controlled by three or more motors, and simultaneously, the output shaft of the motor drives the connecting rod through the size to realize multi-degree-of-freedom movement of the neck.
In three kinds of setting modes among the prior art, the first adoption directly links the mode for the neck motion lacks the motion degree of freedom, and the robot is whole stiff, can't realize humanoid neck motion. The second kind adopts linear electric motor to add the design of revolving stage, and its structure is complicated, and linear electric motor's motion fulcrum is many, simultaneously because spare part is more, leads to the dismouting difficulty, difficult assembly and maintenance. The third design mode of adopting many motors, many connecting rods, the space is used for than big, and spare part processing degree of difficulty is big, and is with high costs.
Disclosure of Invention
An object of this application is to provide a new technical scheme of robot neck motion, can solve among the prior art at least that neck motion lacks the degree of freedom, the structure is complicated and occupation space is big scheduling problem.
According to a first aspect of the present application, there is provided a robot neck movement mechanism comprising: the fixing frame is internally provided with a mounting cavity in a limited way; a first drive assembly, a portion of the first drive assembly disposed within the mounting cavity; the movable assembly is arranged on the fixed frame, and the output end of the first driving assembly is connected with the movable assembly so as to drive the movable assembly to move in the height direction relative to the fixed frame; the first limiting piece is arranged on the fixed frame and limits the movable range of the movable assembly in the height direction; the connecting assembly is arranged on one side of the fixed frame, which is far away from the movable assembly.
A fixing plate arranged spaced apart from the fixing frame in a height direction, the connection assembly extending toward the fixing plate; the second driving assembly is arranged on the fixing plate, part of the second driving assembly is connected with the connecting assembly, and the second driving assembly drives part of the connecting assembly to rotate in the horizontal direction so as to drive the movable assembly to move in the horizontal direction; the second limiting part is arranged on the connecting assembly, and limits the moving range of the connecting assembly in the horizontal direction.
Optionally, the fixture comprises: the support body is a v-21274h-shaped body, the open end of the support body faces the movable assembly, the rear plate is arranged on one side of the support body, and the rear plate and the support body form a square frame.
Optionally, the movable assembly comprises: the mounting plate is arranged on one side of the fixing frame, which is far away from the connecting assembly; the connecting plate, the connecting plate is established the orientation of mounting panel one side of first drive assembly, one side of first drive assembly with the connecting plate is connected, in order to drive the connecting plate moves about in the direction of height, first locating part restriction the moving range of connecting plate on the direction of height.
Optionally, the section of the connecting plate is in a shape of a v 21274, the connecting plate is connected with the mounting plate through a bolt, the connecting plate is sleeved on the fixed frame, and the connecting plate can move relative to the fixed frame; the first limiting parts are a plurality of limiting shafts, the limiting shafts are arranged on two opposite sides of the fixing frame at intervals, and one side of the connecting plate, facing the limiting shafts, is provided with a limiting surface in limiting fit with the limiting shafts.
Optionally, the first drive assembly comprises: the pitching motor is arranged in the mounting cavity; the clamping ring is arranged on one side of the connecting plate, and the output end of the pitching motor is connected with the connecting plate through the clamping ring.
Optionally, the robot neck movement mechanism further comprises: the damper is arranged on one side, opposite to the clamping ring, of the connecting plate.
Optionally, the connection assembly comprises: the bearing seat is arranged in the fixed frame, and one part of the second driving assembly is connected with the bearing seat; the center shaft penetrates through the bearing seat, and one side of the center shaft, which faces the fixing frame, is connected with the fixing frame.
Optionally, the second limiting member is two limiting bolts, one side of the central shaft facing the fixed frame is spaced apart from the bearing seat, one of the limiting bolts is disposed on one side of the central shaft facing the fixed frame, and a nut of the limiting bolt faces the bearing seat; be equipped with the backing ring in the bearing frame, another stop bolt passes the backing ring, and another stop bolt's nut protrusion the bearing frame, with the center pin is relative the bearing frame pivoted in-process, two stop bolt can cooperate spacingly.
Optionally, the second drive assembly comprises: the fixing seat is arranged on the fixing plate and connected with the connecting assembly; the horizontal motor is arranged on one side of the fixed seat far away from the connecting assembly, and one part of the horizontal motor extends into the fixed seat; the controller is arranged on the fixing plate.
According to a second aspect of the present application, there is provided a robot comprising the robot neck movement mechanism described in the above embodiments.
According to the robot neck movement mechanism provided by the embodiment of the invention, the first driving assembly is arranged in the fixed frame, and the first driving assembly drives the movable assembly to move in the height direction, so that the pitching movement of the robot neck is realized. Simultaneously, the movement of the movable assembly in the height direction is limited by the first limiting part, the pitching movement of the robot neck movement mechanism can be guaranteed, and the robot neck movement mechanism can be prevented from moving beyond the limit in the height direction to damage a mechanical structure. Through setting up second drive assembly, the independent drive movable assembly moves in the horizontal direction, realizes robot neck motion horizontal rotation.
Simultaneously, the horizontal rotation range of the robot neck movement mechanism is limited through the second limiting part, the horizontal rotation of the robot neck movement mechanism can be guaranteed, the robot neck movement mechanism can be prevented from moving in an overrun mode in the horizontal direction, and the mechanical mechanism is prevented from being damaged. This application just can realize robot neck motion's multi-direction motion through first drive assembly and second drive assembly, and the degree of freedom of motion is high, and whole space accounts for than little, and simple structure is fit for using widely by a large scale.
Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural view of a robot neck movement mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of the assembly of the fixing frame and the connecting plate of the robot neck movement mechanism according to the embodiment of the invention;
fig. 3 is a cross-sectional view of a connecting assembly of a robot neck movement mechanism according to an embodiment of the present invention.
Reference numerals:
a robot neck movement mechanism 100;
a fixed frame 10; a frame body 11; a rear plate 12;
a first drive assembly 20; a pitching motor 21; a clamping ring 22;
a movable assembly 30; a mounting plate 31; a connecting plate 32; a stopper surface 321;
a first stopper 41; a second stopper 42;
a connecting assembly 50; a bearing housing 51; a central shaft 52; a backing ring 53;
a fixing plate 60;
a second drive assembly 70; a fixed base 71; a horizontal motor 72; a controller 73;
a housing 81; a damper 82.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The robot neck movement mechanism 100 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, a robot neck movement mechanism 100 according to an embodiment of the present invention includes a fixed frame 10, a first driving assembly 20, a movable assembly 30, a first limiting member 41, a connecting assembly 50, a fixed plate 60, a second driving assembly 70, and a second limiting member 42.
Specifically, the holder 10 defines a mounting cavity therein, and a portion of the first drive assembly 20 is disposed within the mounting cavity. The movable assembly 30 is disposed on the fixed frame 10, and the output end of the first driving assembly 20 is connected to the movable assembly 30 to drive the movable assembly 30 to move in the height direction relative to the fixed frame 10. The first limiting member 41 is disposed on the fixing frame 10, and the first limiting member 41 limits the moving range of the movable assembly 30 in the height direction. The connecting assembly 50 is disposed on a side of the fixed frame 10 away from the movable assembly 30. The fixing plate 60 is disposed to be spaced apart from the fixing frame 10 in a height direction, and the connecting assembly 50 extends toward the fixing plate 60.
The second driving assembly 70 is disposed on the fixing plate 60, and a portion of the second driving assembly 70 is connected to the connecting assembly 50, and the second driving assembly 70 drives a portion of the connecting assembly 50 to rotate in the horizontal direction, so as to drive the movable assembly 30 to move in the horizontal direction. The second limiting member 42 is disposed on the connecting assembly 50, and the second limiting member 42 limits a moving range of the connecting assembly 50 in a horizontal direction.
In other words, referring to fig. 1, the robot neck movement mechanism 100 according to the embodiment of the present invention mainly includes a fixed frame 10, a first driving assembly 20, a movable assembly 30, a first limiting member 41, a connecting assembly 50, a fixed plate 60, a second driving assembly 70, and a second limiting member 42. Wherein, a mounting cavity is formed in the fixing frame 10, and a part of the first driving assembly 20 is mounted in the mounting cavity, so as to effectively reduce the occupied space of the robot neck movement mechanism 100. The movable assembly 30 is arranged on the top of the fixed frame 10, and the movable assembly 30 can be provided with a robot camera, a sensor and other components. The output end of the first driving assembly 20 is connected to the movable assembly 30, and the first driving assembly 20 can drive the movable assembly 30 to move in the height direction relative to the fixed frame 10, so as to implement the pitch motion of the robot neck motion mechanism 100.
As shown in fig. 1 and 2, the first limiting member 41 is mounted on the fixed frame 10, and when the movable assembly 30 performs the pitching motion in the height direction, the first limiting member 41 limits the movable range of the movable assembly 30 in the height direction, so as to prevent the movable assembly 30 from moving in the height direction beyond the limit, and damage other mechanical structures of the robot neck movement mechanism 100, and the structural safety is high.
As shown in fig. 1 and 3, the coupling assembly 50 is mounted at the bottom of the fixing frame 10. The fixing plate 60 is disposed to be spaced apart from the fixing frame 10 in a height direction, and the connecting assembly 50 extends toward the fixing plate 60. The second driving assembly 70 is mounted on the fixing plate 60, and a portion of the second driving assembly 70 is connected with the connecting assembly 50. The second driving assembly 70 can drive a part of the connecting assembly 50 to rotate in the horizontal direction, and the movable assembly 30 is moved in the horizontal direction by the rotation of the connecting assembly 50. The second limiting part 42 is installed on the connecting assembly 50, and in the process that the movable assembly 30 moves in the horizontal direction, the second limiting part 42 can limit the moving range of the connecting assembly 50 in the horizontal direction, so that the robot neck movement mechanism 100 is prevented from moving in the horizontal direction beyond the limit, the mechanical mechanism is prevented from being damaged, and the structural safety is high.
Therefore, according to the robot neck movement mechanism 100 of the embodiment of the present invention, the first driving assembly 20 is disposed in the fixed frame 10, and the first driving assembly 20 drives the movable assembly 30 to move in the height direction, so as to implement the pitching movement of the robot neck. Meanwhile, the first limiting part 41 is arranged to limit the movement of the movable assembly 30 in the height direction, so that the pitching movement of the robot neck movement mechanism 100 can be guaranteed, and the robot neck movement mechanism 100 can be prevented from moving in the height direction beyond the limit, and the mechanical structure is damaged. By arranging the second driving assembly 70, the movable assembly 30 is driven to move in the horizontal direction separately, so that the robot neck movement mechanism 100 rotates horizontally.
Meanwhile, the horizontal rotation range of the robot neck movement mechanism 100 is limited by the second limiting part 42, so that the robot neck movement mechanism 100 can be ensured to rotate horizontally, and the robot neck movement mechanism 100 can be prevented from moving in an overrun manner in the horizontal direction to damage a mechanical mechanism. This application just can realize the multi-direction motion of robot neck motion 100 through first drive assembly 20 and second drive assembly 70, and the degree of freedom of motion is high, and whole space accounts for than little, and simple structure is fit for using widely by a large scale.
According to one embodiment of the present invention, the fixing frame 10 includes: the frame body 11 is a v-21274h-shaped body, the opening end of the frame body 11 faces the movable assembly 30, the rear plate 12 is arranged on one side of the frame body 11, and the rear plate 12 and the frame body 11 form a square frame.
That is, as shown in fig. 1 and 2, the fixing frame 10 mainly includes a frame body 11 and a rear plate 12, the frame body 11 is configured as an Contraband shape, an open end of the frame body 11 faces the movable assembly 30, and the first driving assembly 20 is installed inside the frame body 11, so as to reduce an occupied space of the first driving assembly 20. The rear plate 12 is disposed on one side of the opening of the frame body 11, and the rear plate 12 and the frame body 11 form a square frame to protect the structural members inside the fixing frame 10.
In some embodiments of the present invention, movable assembly 30 includes a mounting plate 31 and a connecting plate 32.
Specifically, the mounting plate 31 is provided on a side of the fixing frame 10 away from the coupling assembly 50. The mounting plate 31 is disposed on a side of the mounting plate 31 facing the first driving assembly 20, the side of the first driving assembly 20 is connected to the connecting plate 32 to drive the connecting plate 32 to move in the height direction, and the first limiting member 41 limits a moving range of the connecting plate 32 in the height direction.
In other words, as shown in fig. 1 and 2, the movable assembly 30 is mainly composed of a mounting plate 31 and a connecting plate 32. Wherein the mounting plate 31 is disposed on top of the fixing frame 10. The mounting plate 31 may be provided with a camera, a sensor, and the like. The connecting plate 32 is arranged on the bottom surface of the mounting plate 31, and the mounting plate 31 and the connecting plate 32 are fixedly connected through bolts, so that the assembling mode is simple and convenient, and the disassembly and assembly are easy. The first driving assembly 20 is connected to the connecting plate 32, and the first driving assembly 20 can drive the connecting plate 32 to move in the height direction, so as to implement the pitch motion of the robot neck motion mechanism 100. The first limiting member 41 can limit the moving range of the connecting plate 32 in the height direction, prevent the connecting plate 32 from moving in the height direction in an over-limit manner, damage structural components and improve the safety of structural members.
According to one embodiment of the present invention, the connecting plate 32 has a cross-section of v 21274, the connecting plate 32 is connected to the mounting plate 31 by bolts, the connecting plate 32 is sleeved on the fixing frame 10, and the connecting plate 32 is movable relative to the fixing frame 10. The first limiting members 41 are a plurality of limiting shafts, the limiting shafts are spaced apart from each other and disposed on two opposite sides of the fixing frame 10, and one side of the connecting plate 32 facing the limiting shafts is provided with limiting surfaces 321 that are in limiting fit with the limiting shafts.
That is, referring to FIG. 2, the connecting plate 32 may be provided as a \ 21274 @, or a U-shaped plate, and the connecting plate 32 is bolted to the mounting plate 31. The connecting plate 32 is fitted over the fixing frame 10, and the connecting plate 32 can perform pitching motion in the height direction with respect to the fixing frame 10. As shown in fig. 1 and 2, the first limiting member 41 may adopt a plurality of limiting shafts. Alternatively, the number of the limiting shafts may be four, each two limiting shafts are respectively oppositely arranged at two opposite sides of the fixing frame 10, and the two limiting shafts on each side of the fixing frame 10 are arranged at intervals.
The connecting plate 32 is provided with a limiting surface 321 on a side facing the limiting shaft. When movable assembly 30 luffing motion to below extreme position, the spacing face 321 and the spacing cooperation of axle of connecting plate 32 prevent that connecting plate 32 from moving in the direction of height transfinites, damaging the structural component, improve the security of structure.
According to one embodiment of the invention, the first drive assembly 20 comprises a pitch motor 21 and a clamping ring 22.
Specifically, the tilt motor 21 is provided in the mounting cavity. The clamping ring 22 is arranged on one side of the connecting plate 32, and the output end of the pitching motor 21 is connected with the connecting plate 32 through the clamping ring 22.
In other words, referring to fig. 1, the first drive assembly 20 is mainly composed of a pitch motor 21 and a clamp ring 22. The pitching motor 21 is arranged in the mounting cavity, and the pitching motor 21 can be fixed in the fixing frame 10 through bolts. The clamping ring 22 is arranged on one side of the connecting plate 32, and one side of the connecting plate 32 is connected with the output end of the pitching motor 21 through the clamping ring 22. The connecting plate 32 is driven by the pitching motor 21 to perform pitching motion, and the mounting plate 31 is driven to perform pitching motion.
In some embodiments of the present invention, referring to FIG. 2, the robotic neck motion mechanism 100 further comprises a damper 82, the damper 82 being mounted on an opposite side of the attachment plate 32 from the clamp ring 22. The other side of the connecting plate 32 is connected to the fixing frame 10 through a damper 82. The damper 82 can effectively eliminate the gap of the pitching motor 21, improve the stability of the motor, reduce the performance requirement of the motor and reduce the cost.
According to one embodiment of the present invention, the connecting assembly 50 includes a bearing housing 51 and a central shaft 52.
Specifically, the bearing housing 51 is provided in the fixed frame 10, and a portion of the second driving assembly 70 is connected to the bearing housing 51. A central shaft 52, the central shaft 52 is inserted into the bearing seat 51, and one side of the central shaft 52 facing the fixing frame 10 is connected to the fixing frame 10.
That is, as shown in fig. 1 and 3, the bearing housing 51 is installed in the fixed frame 10, and the outer race of the bearing housing 51 is connected to the second driving assembly 70 by bolts. A portion of the second drive assembly 70 is connected to the bearing block 51. Another portion of the second drive assembly 70 is connected to the central shaft 52. The central shaft 52 passes through the middle part of the bearing seat 51 and is fixed with the bearing inner ring of the bearing seat 51 by the shaft clamping fixing mode. The side of the central shaft 52 facing the holder 10 may be connected to the holder 10 by means of bolts. The second driving assembly 70 can drive the central shaft 52 to rotate around the axial direction thereof in the horizontal direction, and further drive the movable assembly 30 to rotate in the water product direction, so as to realize the horizontal rotation of the robot neck movement mechanism 100.
In some embodiments of the present invention, the second position-limiting member 42 is two position-limiting bolts, a side of the central shaft 52 facing the fixing frame 10 is spaced apart from the bearing seat 51, one of the position-limiting bolts is disposed on the side of the central shaft 52 facing the fixing frame 10, and a nut of the position-limiting bolt faces the bearing seat 51; be equipped with backing ring 53 in the bearing frame 51, another spacing bolt passes backing ring 53, and the nut of another spacing bolt protrusion bearing frame 51 to in the relative bearing frame 51 pivoted of center pin 52 in-process, two spacing bolts can cooperate spacingly.
That is, as shown in fig. 3, the second limiting member 42 may be two limiting bolts, and a side of the central shaft 52 facing the fixing frame 10 is spaced apart from the bearing seat 51. One of the stopper bolts is installed on the bottom surface of the side of the center shaft 52 facing the fixing frame 10, and the nut of the stopper bolt protrudes toward the bearing housing 51. A backing ring 53 is installed in the bearing seat 51, another limiting bolt penetrates through the backing ring 53, and another limiting bolt penetrates through the backing ring 53 to ensure that the nut of the limiting bolt protrudes out of the bearing seat 51. In the process that the central shaft 52 rotates relative to the bearing seat 51, the nuts of the two limiting bolts are in mutual contact at the limiting position, the matching limiting is realized, the connecting plate 32 is prevented from moving in an overrun mode in the horizontal direction, structural parts are prevented from being damaged, and the safety of structural parts is improved.
According to one embodiment of the present invention, the second driving assembly 70 includes a holder 71, a horizontal motor 72, and a controller 73.
Specifically, the fixing seat 71 is disposed on the fixing plate 60, and the fixing seat 71 is connected to the connecting assembly 50. The horizontal motor 72 is arranged on one side of the fixed seat 71 far away from the connecting component 50, and a part of the horizontal motor 72 extends into the fixed seat 71. The controller 73 is provided on the fixed plate 60.
In other words, as shown in fig. 1, the second driving assembly 70 is mainly composed of a fixing base 71, a horizontal motor 72, and a controller 73. Wherein, the fixing seat 71 is arranged on the fixing plate 60, and the fixing seat 71 is fixed with the fixing plate 60 by bolts. The fixed seat 71 is bolted to the bearing seat 51 in the connecting assembly 50. The horizontal motor 72 is installed on one side of the fixed seat 71 far away from the connecting assembly 50, and a part of the horizontal motor 72 extends into the fixed seat 71 and is fixed inside the fixed seat 71. A controller 73 is mounted on the fixing plate 60, and the controller 73 can control the operation of the horizontal motor 72.
In the application, referring to fig. 1 to 3, the pitching motor 21 provides power for the robot neck movement mechanism 100 to perform pitching movement, so as to ensure that the neck finishes up-and-down pitching movement, and the damper 82 ensures that a relatively small gap can be maintained at the neck after the pitching motor 21 finishes movement, thereby avoiding frequent 'nodding' of the robot in the whole movement process. The first limiting part 41 can prevent the neck from moving beyond the limit under the action of external force and damaging the mechanical structure. Horizontal motor 72 can provide neck horizontal rotation power, and horizontal motor 72 connects through bearing frame 51 and center pin 52, realizes the horizontal rotation of neck, and two spacing bolts on coupling assembling 50 can contact each other at the horizontal pivoted in-process of movable component 30, realize that the horizontal direction is spacing.
In this application, robot neck motion 100 still is provided with shell 81, and structures such as mount 10, every single move motor 21 all are located shell 81, and furthest guarantees robot neck size, and whole occupation space is little. This application realizes that robot neck motion 100 is pitching motion and horizontal motion through adopting bi-motor simultaneous drive mode, need not encoder zero-bit mark, and is with low costs, simple structure, spare part are few.
In the pitching limiting process of the robot neck movement mechanism 100, when the pitching motor 21 drives the connecting plate 32 at the top of the fixing frame 10 to perform pitching movement through the clamping ring 22, the robot stops moving to the design limit, at this time, the connecting plate 32 continues to move under the influence of external force, and when the robot touches the pitching first limiting member 41 at a certain angle, the pitching limiting is completed.
In the horizontal movement limiting process of the robot neck movement mechanism 100, the central shaft 52 is connected with the horizontal motor 72 through a groove at the lower end thereof, when the outer ring of the bearing seat 51 is fixed with the fixed seat 71 through a bolt, a backing ring 53 is added at the joint of one limiting bolt in the second limiting part 42, so that the top of the limiting bolt protrudes out of the surface of the bearing seat 51, the other limiting bolt in the second limiting part 42 is fixed on the central shaft 52, and the horizontal limiting is realized through the mutual contact of the tops of the two limiting bolts. Meanwhile, when the robot is started, the starting zero position in the horizontal direction is determined by the stroke from horizontal left-right rotation to the limit position, the tops of the two limit bolts cannot be contacted with each other by the horizontal rotation after starting, and the motion freedom degree in the horizontal direction is ensured.
In summary, according to the robot neck movement mechanism 100 of the embodiment of the present invention, the first driving assembly 20 is disposed in the fixed frame 10, and the first driving assembly 20 drives the movable assembly 30 to move in the height direction, so as to implement the pitch movement of the robot neck. Meanwhile, the first limiting part 41 is arranged to limit the movement of the movable assembly 30 in the height direction, so that the pitching movement of the robot neck movement mechanism 100 can be guaranteed, and the robot neck movement mechanism 100 can be prevented from moving in the height direction beyond the limit, and the mechanical structure is damaged. By arranging the second driving assembly 70, the movable assembly 30 is driven to move in the horizontal direction separately, so that the robot neck movement mechanism 100 rotates horizontally.
Meanwhile, the horizontal rotation range of the robot neck movement mechanism 100 is limited by the second limiting part 42, so that the robot neck movement mechanism 100 can be ensured to rotate horizontally, and the robot neck movement mechanism 100 can be prevented from moving in an overrun manner in the horizontal direction to damage a mechanical mechanism. This application just can realize the multi-direction motion of robot neck motion 100 through first drive assembly 20 and second drive assembly 70, and the degree of freedom of motion is high, and whole space accounts for than little, and simple structure is fit for using widely by a large scale.
According to a second aspect of the present application, there is provided a robot comprising the robot neck movement mechanism 100 of the above-described embodiment. Since the robot neck movement mechanism 100 according to the embodiment of the present invention has the technical effects described above, the robot according to the embodiment of the present invention should also have the technical effects described above, that is, the robot according to the present application can realize the multi-directional movement of the robot neck movement mechanism 100 by using the robot neck movement mechanism 100, and has the advantages of high freedom of movement, small overall space occupation ratio, simple structure, and suitability for large-area popularization and use.
Of course, the working principle and other structures of the robot are understood and can be realized by those skilled in the art, and detailed description is omitted in the present application.
Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present application. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the application is defined by the appended claims.
Claims (10)
1. A robot neck motion mechanism, comprising:
the fixing frame is internally provided with a mounting cavity in a limited way;
a first drive assembly, a portion of the first drive assembly disposed within the mounting cavity;
the movable assembly is arranged on the fixed frame, and the output end of the first driving assembly is connected with the movable assembly so as to drive the movable assembly to move in the height direction relative to the fixed frame;
the first limiting piece is arranged on the fixed frame and limits the movable range of the movable assembly in the height direction;
the connecting assembly is arranged on one side of the fixed frame, which is far away from the movable assembly;
a fixing plate arranged spaced apart from the fixing frame in a height direction, the connection assembly extending toward the fixing plate;
the second driving assembly is arranged on the fixing plate, part of the second driving assembly is connected with the connecting assembly, and the second driving assembly drives part of the connecting assembly to rotate in the horizontal direction so as to drive the movable assembly to move in the horizontal direction;
the second limiting part is arranged on the connecting assembly, and limits the moving range of the connecting assembly in the horizontal direction.
2. A robotic neck motion mechanism as claimed in claim 1, in which the mount comprises: the support body is a v-21274h-shaped body, the open end of the support body faces the movable assembly, the rear plate is arranged on one side of the support body, and the rear plate and the support body form a square frame.
3. The robotic neck motion mechanism of claim 1, wherein the movable assembly comprises:
the mounting plate is arranged on one side of the fixing frame, which is far away from the connecting assembly;
the connecting plate, the connecting plate is established the orientation of mounting panel one side of first drive assembly, one side of first drive assembly with the connecting plate is connected, in order to drive the connecting plate moves about in the direction of height, first locating part restriction the moving range of connecting plate on the direction of height.
4. The robot neck motion mechanism of claim 3, wherein the connecting plate has a cross-section of v 21274h shape, is connected with the mounting plate by bolts, is sleeved on the fixing frame and is movable relative to the fixing frame; the first limiting parts are a plurality of limiting shafts, the limiting shafts are arranged on two opposite sides of the fixing frame at intervals, and one side of the connecting plate, facing the limiting shafts, is provided with a limiting surface in limiting fit with the limiting shafts.
5. A robotic neck motion mechanism according to claim 3, wherein the first drive assembly comprises:
the pitching motor is arranged in the mounting cavity;
the clamping ring is arranged on one side of the connecting plate, and the output end of the pitching motor is connected with the connecting plate through the clamping ring.
6. The robotic neck motion mechanism of claim 5, further comprising: the damper is arranged on one side, opposite to the clamping ring, of the connecting plate.
7. A robotic neck motion mechanism according to claim 1, wherein the connection assembly comprises:
the bearing seat is arranged in the fixed frame, and one part of the second driving assembly is connected with the bearing seat;
the center shaft penetrates through the bearing seat, and one side of the center shaft, which faces the fixing frame, is connected with the fixing frame.
8. The robot neck motion mechanism of claim 7, wherein the second limiting member is two limiting bolts, one of the limiting bolts is disposed on the side of the central shaft facing the fixed frame, and the nut of the limiting bolt faces the bearing seat; be equipped with the backing ring in the bearing frame, another stop bolt passes the backing ring, and another stop bolt's nut protrusion the bearing frame, with the center pin is relative the bearing frame pivoted in-process, two stop bolt can cooperate spacingly.
9. The robotic neck motion mechanism of claim 1, wherein the second drive assembly comprises:
the fixing seat is arranged on the fixing plate and connected with the connecting assembly;
the horizontal motor is arranged on one side of the fixed seat far away from the connecting assembly, and one part of the horizontal motor extends into the fixed seat;
the controller is arranged on the fixing plate.
10. A robot comprising a robot neck motion mechanism according to any of claims 1-9.
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| CN202210385516.7A CN114833867A (en) | 2022-04-13 | 2022-04-13 | Robot neck motion and robot |
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| EP2733408A1 (en) * | 2012-11-20 | 2014-05-21 | Future Robot Co., Ltd. | Robot neck joint structure |
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| CN109807878A (en) * | 2019-03-21 | 2019-05-28 | 广州映博智能科技有限公司 | A kind of head movement device and robot |
| CN215433707U (en) * | 2021-08-02 | 2022-01-07 | 国汽朴津智能科技(合肥)有限公司 | Robot head motion |
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| JP2002154082A (en) * | 2000-11-16 | 2002-05-28 | Nec Access Technica Ltd | Joint rotating mechanism of robot |
| EP2733408A1 (en) * | 2012-11-20 | 2014-05-21 | Future Robot Co., Ltd. | Robot neck joint structure |
| CN106976098A (en) * | 2017-06-05 | 2017-07-25 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot neck structure |
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