CN204913903U - Realize device of seamless activity of neck portion of robot - Google Patents
Realize device of seamless activity of neck portion of robot Download PDFInfo
- Publication number
- CN204913903U CN204913903U CN201520577697.9U CN201520577697U CN204913903U CN 204913903 U CN204913903 U CN 204913903U CN 201520577697 U CN201520577697 U CN 201520577697U CN 204913903 U CN204913903 U CN 204913903U
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- active unit
- robot
- neck
- head
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Abstract
The utility model provides a realize device of seamless activity of neck portion of robot, the movable unit that links together including several festivals, the distal end of every section movable unit is holding with the rotation of a lesson activity unit connection down, the near -end of every section movable unit is the stiff end, interconnect through head and the tail between two sections adjacent movable units, the rotation of lower a lesson activity unit can drive a lesson activity unit, and the rotation plane of every section movable unit is the not parallel or overlapping with the rotation plane of other movable units all, the distal end and the neck of robot of inferior minor details activity unit are connected the drive neck and are rotated together, the near -end of minor details activity unit is connected with the neck of robot, the distal end is connected the drive head with the head of robot and is rotated together. Can realize the robot the new line, bow and the level is rotated, the new line range can reach arbitrary angle, bows that it is at least 15 to realize, 360 arbitrary rotations can all be realized to horizontal pivoted motor, neck portion does not all have any gap moreover.
Description
Technical field
The utility model relates to a kind of device realizing the seamless activity of incidence of robot, can realize the new line of robot, bows and horizontally rotate, and no matter forward any angle to, all without any gap between the incidence of robot.
Background technology
Robot is the installations automatically performing work, and it both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.Robot is generally made up of executing agency, drive unit, checkout gear and control system and complicated machinery etc.For the consideration personalized, often the relevant portion of robot body is called the different structures such as pedestal, waist, neck, arm, wrist, hand, head.
Along with the development of core technology, robot is more and more universal, the drive mechanism of robot requires also more and more higher, existing robot moves head oscillation by a motor straight tape splicing, thus realize coming back or bowing, this method has two each and every one restrictions: 1, limited extent, has no idea to support significantly come back or bow; 2, large gap is had at neck, even if block also very unsightly by structure.
Utility model content
Namely the utility model is for the problems referred to above, propose one transmission mechanism very flexibly, by by several not at conplane electric rotating machine tandem compound, then by linkage algorithm, perfect can realize the new line of robot, bow and horizontally rotate, new line amplitude can reach arbitrarily angled, bow and can realize at least 15 °, the motor horizontally rotated can realize 360 ° and rotate arbitrarily, and no matter forwards any angle to, and incidence is all without any gap.
Specifically, the device realizing the seamless activity of incidence of robot described in the utility model, comprise the several sections of active unit linked together, the far-end often saving active unit is save the round end that active unit is connected with next, the rotation of next joint active unit can drive a joint active unit, the near-end often saving active unit is stiff end, be rotatably connected mutually by head and the tail between two adjacent joint active units, and the Plane of rotation often saving active unit is all not parallel with the Plane of rotation of other active unit or overlapping, the far-end of secondary minor details active unit and the neck of robot connect to drive together with neck and rotate, the most near-end of minor details active unit is connected with the neck of robot, far-end and the head of robot connect to drive together with head and rotate.
Further, described active unit comprises the motor and electric machine support that are positioned at stiff end, be positioned at the bearing of round end, main shaft and spindle carrier, main shaft by synchronizing wheel by rotor driven rotary, spindle carrier is also provided with the bracing frame rotated together with main shaft, except most minor details active unit, spindle carrier and the electric machine support of a upper joint active unit are fixed on the bracing frame of next joint active unit, and certain angle that tilts, thus the Plane of rotation of adjacent two joint active units is not parallel to each other.
Further, the device of the described seamless activity of the incidence realizing robot, comprise the active unit that four joints are cascaded mutually, first three joint active unit to be from low to high fixed on bracing frame of next joint active unit according to spindle carrier and the electric machine support of a upper joint active unit and the mode of inclination certain angle is connected, section three, the bracing frame of active unit is connected with the neck of robot, section four, the electric machine support of active unit and spindle carrier are fixed on the neck of robot, and bracing frame is connected with the head of robot.
Further, the neck of described robot and head can be mutually involutory, and the head of robot and neck are two tangent planes with circle, and incidence is seamless.
Utilize said apparatus to the method for the seamless activity of the incidence realizing robot, comprise and use above-mentioned Design of Mechanical Structure module, also comprise and use fixed structure design module and control algolithm module, above-mentioned device is Design of Mechanical Structure module, be composed in series by several rotational structure on different level, the angle design of each Plane of rotation determines the angle that can realize coming back, bowing, and serial mechanism achieves the superposition of motion; Coordinate the fixed structure design module of drive mechanism, this module main purpose distinguishes head and health, by being divided at head with circle two tangent planes, makes incidence seamless; Control algolithm module, is used for controlling the synergic rotation of each motor, thus realizes the action wanted, and this algorithm simulates the motion of all directions by modeling, then oppositely solves the rotational angle of each motor according to the impact point that will reach.
The device realizing the seamless activity of incidence of robot described in the utility model, has following advantage:
1, all motions are all the rotations of different angle, without any swing, thus enormously simplify structure;
2, use the structure of each motion series connection, achieve the superposition of motion, for flexibility is laid a good foundation, can realize coming back and bowing significantly;
3, realize significantly lifting bowing but incidence is seamless by rotating with circle tangent plane.
Accompanying drawing explanation
Fig. 1 is the structural representation of single-unit active unit in the utility model embodiment;
Fig. 2 is the front view of the utility model embodiment;
Fig. 3 is the side view of the utility model embodiment;
Fig. 4 is the sectional view of AA line in Fig. 3;
Fig. 5-7 is the schematic diagrames under device control machine department of human head and neck different conditions described in the utility model, and wherein, Fig. 5 is default conditions, and Fig. 6 is new line state, Fig. 7 is low head status;
Wherein, 1 be motor, 2 be electric machine support, 3 be synchronizing wheel, 4 be belt, 5 be spindle carrier, 6 be main shaft, 7 be bracing frame, 8 be bearing, 9 be robot head, 10 for rotor.
Detailed description of the invention
Below in conjunction with accompanying drawing, carry out nonrestrictive description to technology contents described in the utility model, object better understands described technology in order to the public.
The device realizing the seamless activity of incidence of robot described in the utility model, comprise the several sections of active unit linked together, as shown in the embodiment of fig. 1, this active unit comprises motor 1, electric machine support 2, and bearing 6, main shaft 6 and spindle carrier 5, electric machine support 2 is arranged on motor 1, play and support and fixing effect, main shaft 6 is positioned at the center of bearing 8, bearing 8 is fixed on spindle carrier 5, main shaft 6 by rotor 10 driven rotary, spindle carrier 5 is also provided with the bracing frame 7 rotated together with main shaft by synchronizing wheel 3 and belt 4.
The device realizing the seamless activity of incidence of robot described in the utility model, namely be in series by several above-mentioned active unit, in the present embodiment, as in Figure 2-4, described active unit is four, distinguish the bottom of corresponding robot, middle part, neck and head, be connected to each other by head and the tail between two adjacent joint active units, namely motor and the main shaft of going up a joint active unit are fixed on the bracing frame of next joint active unit by support, and ending is connected so is successively together in series active unit; Often save the shape of electric machine support in active unit and spindle carrier and inconsistent, by producing to the change of its shape the effect of inclination, all not parallel with the Plane of rotation of other active unit or overlapping with the Plane of rotation reaching the main shaft often saving active unit, and at an angle; The bracing frame of neck active unit and the neck of robot are fixed, and drive neck to rotate together, the neck of the electric machine support of head movement unit and spindle carrier and robot is fixed, and the head of far-end and robot is fixed, and drive head to rotate together; The neck of described robot and head can be mutually involutory, and the head of robot and neck are two tangent planes with circle, and incidence is seamless.
Like this, by above-mentioned device, then can realize the seamless activity of incidence of described robot, above-mentioned device is Design of Mechanical Structure module, the angle design of each Plane of rotation determines the angle that can realize coming back, bowing, and serial mechanism achieves the superposition of motion; Coordinate the fixed structure design module of drive mechanism, this module main purpose distinguishes head and health, by being divided at head with circle two tangent planes, makes the gap of incidence be zero; Control algolithm module, be used for controlling the synergic rotation of each motor, thus realize the action wanted, this algorithm mainly simulates the motion of all directions by modeling, then the rotational angle of each motor is oppositely solved according to the impact point that will reach, as illustrated in figs. 5-7.
It should be understood that; foregoing does not have any restriction to described technology contents; in fact; all improvement described structure carried out with identical or approximate principle; comprise each several part shape, size, material used; and the functional equivalent of respective element is replaced, all within the utility model technical scope required for protection.
Claims (4)
1. one kind realizes the device of the seamless activity of incidence of robot, it is characterized in that: comprise the several sections of active unit linked together, the far-end often saving active unit is save the round end that active unit is connected with next, the near-end often saving active unit is stiff end, be connected to each other by head and the tail between two adjacent joint active units, the rotation of next joint active unit can drive a joint active unit, and the Plane of rotation often saving active unit is all not parallel with the Plane of rotation of other active unit or overlapping, the far-end of secondary minor details active unit and the neck of robot connect to drive together with neck and rotate, the most near-end of minor details active unit is connected with the neck of robot, far-end and the head of robot connect to drive together with head and rotate.
2. the device realizing the seamless activity of incidence of robot according to claim 1, it is characterized in that: described active unit comprises the motor and electric machine support that are positioned at stiff end, be positioned at the bearing of round end, main shaft and spindle carrier, main shaft by synchronizing wheel by rotor driven rotary, spindle carrier is also provided with the bracing frame rotated together with main shaft, except most minor details active unit, spindle carrier and the electric machine support of a upper joint active unit are fixed on the bracing frame of next joint active unit, and certain angle that tilts, the Plane of rotation of adjacent two joint active units is not parallel to each other.
3. the device realizing the seamless activity of incidence of robot according to claim 2, it is characterized in that: comprise the active unit that four joints are cascaded mutually, first three joint active unit to be from low to high fixed on bracing frame of next joint active unit according to spindle carrier and the electric machine support of a upper joint active unit and the mode of inclination certain angle is connected, section three, the bracing frame of active unit is connected with the neck of robot, section four, the electric machine support of active unit and spindle carrier are fixed on the neck of robot, and bracing frame is connected with the head of robot.
4. the device of the seamless activity of the incidence realizing robot according to any one of claim 1-3, is characterized in that: the head of described robot and neck are two tangent planes with circle, can be mutually involutory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520577697.9U CN204913903U (en) | 2015-08-04 | 2015-08-04 | Realize device of seamless activity of neck portion of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520577697.9U CN204913903U (en) | 2015-08-04 | 2015-08-04 | Realize device of seamless activity of neck portion of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204913903U true CN204913903U (en) | 2015-12-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520577697.9U Expired - Fee Related CN204913903U (en) | 2015-08-04 | 2015-08-04 | Realize device of seamless activity of neck portion of robot |
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| Country | Link |
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| CN (1) | CN204913903U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108747A (en) * | 2015-08-04 | 2015-12-02 | 深圳市金刚蚁机器人技术有限公司 | Device for achieving seamless motion of head and neck of robot and method for device |
| CN106965205A (en) * | 2017-05-22 | 2017-07-21 | 中新智擎科技有限公司 | A kind of end rotation device and the robot head of seamless connection can be realized |
| CN114290379A (en) * | 2022-02-09 | 2022-04-08 | 柳州铁道职业技术学院 | Flexible neck mechanism of bionic robot |
-
2015
- 2015-08-04 CN CN201520577697.9U patent/CN204913903U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108747A (en) * | 2015-08-04 | 2015-12-02 | 深圳市金刚蚁机器人技术有限公司 | Device for achieving seamless motion of head and neck of robot and method for device |
| WO2017020627A1 (en) * | 2015-08-04 | 2017-02-09 | 深圳市金刚蚁机器人技术有限公司 | Apparatus for realizing seamless motion of head and neck of robot and method therefor |
| CN106965205A (en) * | 2017-05-22 | 2017-07-21 | 中新智擎科技有限公司 | A kind of end rotation device and the robot head of seamless connection can be realized |
| CN114290379A (en) * | 2022-02-09 | 2022-04-08 | 柳州铁道职业技术学院 | Flexible neck mechanism of bionic robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151230 Termination date: 20190804 |