CN205075068U - Intelligent robot's head and health connection structure - Google Patents
Intelligent robot's head and health connection structure Download PDFInfo
- Publication number
- CN205075068U CN205075068U CN201520810340.0U CN201520810340U CN205075068U CN 205075068 U CN205075068 U CN 205075068U CN 201520810340 U CN201520810340 U CN 201520810340U CN 205075068 U CN205075068 U CN 205075068U
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- Prior art keywords
- head
- motor
- health
- holder
- nodding
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Abstract
The utility model discloses an intelligent robot's head and health connection structure, including health casing, head casing, head support, the motor of turning round, the hall sensor that turns round, the motor of nodding, nod hall sensor and controller, but the health casing fixed mounting motor of turning round, the motor shaft and the head support fixed connection of the motor of turning round are installed on the health casing to the head support with turn right or left's mode, but the head casing is installed on the head support with tilting's mode, the head casing fixed mounting motor of nodding, the motor shaft and the head support fixed connection of the motor of nodding, the installation is used for detecting head support turned angle's the hall sensor that turns round between health casing and the head support, and the installation is used for detecting head casing turned angle's the hall sensor that nods between head support and the head casing, and the motor of turning round, the hall sensor that turns round, nod motor and the hall sensor that nods all are connected with the controller is electric. The utility model discloses a rotation of head and the action of nodding.
Description
Technical field
The utility model relates to a kind of head and health syndeton of intelligent robot.
Background technology
Intelligent robot is simulating human behavior or thought, also or simulation other biological machinery (as robot dog, machine cat etc.).Intelligent robot possesses internal information sensor and external information sensor, as vision, the sense of hearing, sense of touch or sense of smell, except there is receptor, it also has effector as the means acting on surrounding environment, mostly be motor synchronizing motor, be similar to muscles, they make hand, pin or head move up, and also have some light or sound as response.
Right general intelligence robot is according to different purposes, some needs health can complete the action of rotating or swinging, some needs head can complete the action of rotating or nodding, the present inventor develops a kind of bionical intelligent robot, this robot requires that its head can realize rotating and nodding action, Given this present inventor develops the syndeton of a kind of health and base specially, and realize rotating and nodding by this syndeton, this case produces thus.
Utility model content
The head of a kind of intelligent robot that the utility model provides and health syndeton, achieve rotation and the nodding action of head.
To achieve these goals, the technical solution of the utility model is as follows:
A kind of head of intelligent robot and health syndeton, comprise health housing, head shell, holder,head, rotary head motor, rotary head Hall element, motor of nodding, nod Hall element and controller, holder,head is can the mode of left-right rotation be arranged on health housing, health housing fixed installation rotary head motor, the motor shaft of rotary head motor is fixedly connected with holder,head; Head shell is arranged on holder,head in the mode that can rotate up and down, and head shell fixedly mounts motor of nodding, and the motor shaft of motor of nodding is fixedly connected with holder,head; The rotary head Hall element being used for head holder pivots angle is installed between health housing and holder,head, the Hall element of nodding being used for head housing into rotation angle is installed between holder,head and head shell, rotary head motor, rotary head Hall element, nod motor and Hall element of nodding are electrically connected with controller respectively, control rotary electric machine and machine operation of nodding by controller.
Described health housing internal fixtion installs health inner support, and rotary head motor is fixedly mounted on health inner support.
Be arranged on health housing by neck bearing after the motor shaft of described rotary head motor and holder,head interfix, holder is formed at holder,head bottom, the motor shaft of rotary head motor fixedly mounts Connection Block, holder and Connection Block are bolted, and holder and Connection Block are resisted against the upper and lower end face of neck bearing inner race respectively and can rotate with inner ring.
Described health inner support fixed installation rotary head tablet, rotary head tablet is installed the rotary head Hall components and parts of some rotary head Hall elements of curved layout, Connection Block forms cross bar, cross bar is installed the rotary head magnet of rotary head Hall element.
Described Connection Block forms spacing block set, health housing is positioned at two ends, the left and right mounting limit block of spacing block set rotary motion trace.
Described head shell is offered the bar shaped groove stretched out for holder, bar shaped groove is that front and back are arranged, is limited the extreme rotational angle of head shell by bar shaped groove and holder.
Described holder,head is circular arc, arrange about holder,head, the two ends of holder,head circular arc form cylindrical ear seat, head shell is articulated on this cylindrical ear seat, securement head inner support in head shell, head inner support is fixedly connected with head shell by annular seating, and annular seating is enclosed within cylindrical ear seat, motor of nodding is fixedly mounted on head inner support, and its motor shaft is fixedly connected with cylindrical ear seat.
Install middle base between the motor shaft of described motor of nodding and cylindrical ear seat, middle base fixedly mounts with the motor shaft of cylindrical ear seat and motor of nodding respectively.
Described head inner support installs tablet of nodding, tablet of nodding is installed the Hall components and parts of nodding of some Hall elements of nodding of curved layout, middle base forms montant, montant is installed the magnet of nodding of Hall element of nodding.
After adopting such scheme, when the utility model controller receives rotary head instruction, control rotary head machine operation, holder,head left-right rotation, thus drive pivot joint head shell left-right rotation thereon, realize rotary head function, when controller receive rotary head Hall element detect that the angle that holder,head turns over is consistent with instruction angle time, control rotary head motor and quit work.When controller receives and nods instruction, control to nod machine operation, head shell rotates up and down and makes nodding action, when controller receive Hall element of nodding detect that the angle that head shell turns over is consistent with instruction angle time, the motor that controls to nod quits work.
Accompanying drawing explanation
Fig. 1 is the STRUCTURE DECOMPOSITION figure of the present embodiment;
Fig. 2 is the three-dimensional structure diagram looked up after the present embodiment saves partial shell;
Fig. 3 is the three-dimensional structure diagram overlooked after the present embodiment saves partial shell;
Fig. 4 is the three-dimensional structure diagram that the present embodiment saves health housing and partial head housing.
Label declaration
Health housing 1, health inner support 11, neck bearing 12, inner ring 121, rotary head tablet 13, positive stop 14, head shell 2, head inner support 21, annular seating 22, to nod tablet 23, bar shaped groove 24, holder,head 3, holder 31, cylindrical ear seat 32, middle base 33, montant 331, rotary head motor 4, Connection Block 41, cross bar 411, spacing block set 412, rotary head Hall element 5, rotary head Hall components and parts 51, rotary head magnet 52, motor 6 of nodding, Hall element 7 of nodding, to nod Hall components and parts 71, magnet 72 of nodding.
Detailed description of the invention
In order to explain the technical solution of the utility model further, below by specific embodiment, the utility model is elaborated.
As Figure 1-4, be head and the health syndeton of a kind of intelligent robot that the utility model discloses, comprise health housing 1, head shell 2, holder,head 3, rotary head motor 4, rotary head Hall element 5, motor 6 of nodding, nod Hall element 7 and controller.Head shell 2 is arranged on holder,head 3 in the mode that can rotate up and down.
The structure realizing rotary head function is as follows:
Health housing 1 internal fixtion installs health inner support 11, and rotary head motor 4 is fixedly mounted on health inner support 11.The motor shaft of rotary head motor 4 is fixedly connected with holder,head 3, after the motor shaft of rotary head motor 4 and holder,head 3 interfix, is arranged on health housing 1 by neck bearing 12.Holder 31 is formed in holder,head 3 bottom, the motor shaft of rotary head motor 4 fixedly mounts Connection Block 41, holder 31 and Connection Block 41 are bolted, as shown in Figure 4, holder 31 and Connection Block 41 are resisted against the upper and lower end face of the inner ring 121 of neck bearing 12 respectively and can rotate with inner ring 121, thus realize holder,head 3 can the mode of left-right rotation be arranged on health housing 1.
When controller receives rotary head instruction, control rotary head motor 4 to work, rotary head motor 4 maintains static, its motor shaft drives the inner ring 121 of Connection Block 41, holder 31 and neck bearing 12 to rotate, thus drive holder,head 3 left-right rotation, holder,head 3 drives head shell 2 left-right rotation mounted thereto, realizes rotary head function.Rotary head motor 4 rotates and reverse and controls different rotary head directions respectively.
Install rotary head Hall element 5 between health housing 1 and holder,head 3, rotary head Hall element 5 is for head support 3 rotational angle.Hall element is conventional prior art for detecting rotational angle, and Hall element mainly divides two parts, and a part is Hall components and parts, and another part is magnet, and when magnet is near Hall components and parts, namely Hall components and parts send a signal.
Rotary head Hall element 5 installation site that the present embodiment preferably adopts is, rotary head tablet 13 is fixedly mounted at health inner support 11, rotary head tablet 13 is installed the rotary head Hall components and parts 51 of some rotary head Hall elements 5 of curved layout, Connection Block 41 is formed cross bar 411, cross bar 411 is installed the rotary head magnet 52 of rotary head Hall element 5.
When controller receive rotary head Hall element 5 detect that the angle that holder,head 3 turns over is consistent with instruction angle time, control rotary head motor 4 and quit work.
Losing efficacy to prevent controller causes rotary head to cross limit damaged member, thus result in greater loss, therefore need to arrange mechanical position limitation, namely on Connection Block 41, form spacing block set 412, health housing 1 is positioned at two ends, the left and right mounting limit block 14 of spacing block set 412 rotary motion trace.When Connection Block 41 rotates, when spacing block set 412 touches positive stop 14, rotary head motor 4 cannot continue to drive Connection Block 41 to rotate,
The structure realizing nod is as follows:
Holder,head 3 is in circular arc, holder,head about 3 is arranged, the two ends of holder,head 3 circular arc form cylindrical ear seat 32, and head shell 2 is articulated on this cylindrical ear seat 32, thus realize head shell 2 to be arranged on holder,head 3 in the mode that can rotate up and down.
Head shell 2 fixedly mounts motor 6 of nodding, and the motor shaft of motor 6 of nodding is fixedly connected with holder,head 3.The mounting means that the present embodiment preferably adopts is, securement head inner support 21 in head shell 2, head inner support 21 is fixedly connected with head shell 2 by annular seating 22, annular seating 22 is enclosed within cylindrical ear seat 32, motor 6 of nodding is fixedly mounted on head inner support 21, and its motor shaft is fixedly connected with cylindrical ear seat 32.
When controller receives and nods instruction, control motor 6 of nodding and work, its motor shaft and holder,head 3 maintain static, and motor 6 of nodding drives head inner support 21 to rotate, thus drive head shell about 2 to rotate to make nodding action.
Install Hall element 7 of nodding between holder,head 3 and head shell 2, Hall element 7 of nodding is for head housing 2 rotational angle.
Rotary head Hall element 5 installation site that the present embodiment preferably adopts is, between the motor shaft and cylindrical ear seat 32 of motor 6 of nodding, middle base 33 is installed, middle base 33 fixedly mounts with the motor shaft of cylindrical ear seat 32 and motor 6 of nodding respectively, middle base 33 is formed montant 331, montant 331 is installed the magnet 72 of nodding of Hall element 7 of nodding.Head inner support 21 installs tablet 23 of nodding, tablet 23 of nodding is installed the Hall components and parts 71 of nodding of some Hall elements 7 of nodding of curved layout.
When controller receive Hall element 7 of nodding detect that the angle that head shell 2 turns over is consistent with instruction angle time, control motor 6 of nodding and quit work.
Lost efficacy to prevent controller and to cause nodding limit and damaged member, thus result in greater loss, therefore need to arrange mechanical position limitation, for the structure of the present embodiment, adopt following simple mechanical position limitation, as shown in Figure 1, on head shell 2, namely offer the bar shaped groove 24 stretched out for holder 31, bar shaped groove 24 is arranged in front and back, is limited the extreme rotational angle of head shell 2 by bar shaped groove 24 and holder 31.During nodding action, holder 31 will keep motionless, and head shell about 2 rotates thus drives bar shaped groove 24 to rotate, and when the two ends of bar shaped groove 24 touch holder 31, holder 31 can limit head shell 2 and be rotated further.
These are only preferred embodiment of the present utility model, the restriction not to protection domain of the present utility model.All equivalent variations done according to the mentality of designing of this case, all fall into the protection domain of this case.
Claims (9)
1. the head of an intelligent robot and health syndeton, it is characterized in that: comprise health housing, head shell, holder,head, rotary head motor, rotary head Hall element, motor of nodding, nod Hall element and controller, holder,head is can the mode of left-right rotation be arranged on health housing, health housing fixed installation rotary head motor, the motor shaft of rotary head motor is fixedly connected with holder,head; Head shell is arranged on holder,head in the mode that can rotate up and down, and head shell fixedly mounts motor of nodding, and the motor shaft of motor of nodding is fixedly connected with holder,head; The rotary head Hall element being used for head holder pivots angle is installed between health housing and holder,head, the Hall element of nodding being used for head housing into rotation angle is installed between holder,head and head shell, rotary head motor, rotary head Hall element, nod motor and Hall element of nodding are electrically connected with controller respectively, control rotary electric machine and machine operation of nodding by controller.
2. the head of a kind of intelligent robot as claimed in claim 1 and health syndeton, is characterized in that: described health housing internal fixtion installs health inner support, and rotary head motor is fixedly mounted on health inner support.
3. the head of a kind of intelligent robot as claimed in claim 2 and health syndeton, it is characterized in that: be arranged on health housing by neck bearing after the motor shaft of described rotary head motor and holder,head interfix, holder is formed at holder,head bottom, the motor shaft of rotary head motor fixedly mounts Connection Block, holder and Connection Block are bolted, and holder and Connection Block are resisted against the upper and lower end face of neck bearing inner race respectively and can rotate with inner ring.
4. the head of a kind of intelligent robot as claimed in claim 3 and health syndeton, it is characterized in that: described health inner support fixed installation rotary head tablet, rotary head tablet is installed the rotary head Hall components and parts of some rotary head Hall elements of curved layout, Connection Block forms cross bar, cross bar is installed the rotary head magnet of rotary head Hall element.
5. the head of a kind of intelligent robot as claimed in claim 3 and health syndeton, is characterized in that: described Connection Block forms spacing block set, health housing be positioned at two ends, the left and right mounting limit block of spacing block set rotary motion trace.
6. the head of a kind of intelligent robot as claimed in claim 3 and health syndeton, it is characterized in that: described head shell is offered the bar shaped groove stretched out for holder, bar shaped groove is that front and back are arranged, is limited the extreme rotational angle of head shell by bar shaped groove and holder.
7. the head of a kind of intelligent robot as claimed in claim 1 and health syndeton, it is characterized in that: described holder,head is circular arc, arrange about holder,head, the two ends of holder,head circular arc form cylindrical ear seat, head shell is articulated on this cylindrical ear seat, securement head inner support in head shell, head inner support is fixedly connected with head shell by annular seating, annular seating is enclosed within cylindrical ear seat, motor of nodding is fixedly mounted on head inner support, and its motor shaft is fixedly connected with cylindrical ear seat.
8. the head of a kind of intelligent robot as claimed in claim 7 and health syndeton, it is characterized in that: described in nod between the motor shaft of motor and cylindrical ear seat middle base be installed, middle base fixedly mounts with the motor shaft of cylindrical ear seat and motor of nodding respectively.
9. the head of a kind of intelligent robot as claimed in claim 8 and health syndeton, it is characterized in that: described head inner support installs tablet of nodding, nod and tablet is installed the Hall components and parts of nodding of some Hall elements of nodding of curved layout, middle base forms montant, montant is installed the magnet of nodding of Hall element of nodding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520810340.0U CN205075068U (en) | 2015-10-20 | 2015-10-20 | Intelligent robot's head and health connection structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520810340.0U CN205075068U (en) | 2015-10-20 | 2015-10-20 | Intelligent robot's head and health connection structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205075068U true CN205075068U (en) | 2016-03-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520810340.0U Expired - Fee Related CN205075068U (en) | 2015-10-20 | 2015-10-20 | Intelligent robot's head and health connection structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205075068U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113065A (en) * | 2016-08-24 | 2016-11-16 | 珠海格力智能装备有限公司 | Robot and head assembly thereof |
| CN106515946A (en) * | 2016-12-23 | 2017-03-22 | 纳恩博（北京）科技有限公司 | Robot |
| CN106625602A (en) * | 2016-12-30 | 2017-05-10 | 深圳市优必选科技有限公司 | Robot |
| 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 |
| CN107538517A (en) * | 2016-06-23 | 2018-01-05 | 江苏雷动智能制造有限公司 | A kind of robot head rotating mechanism |
| CN108098831A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of three-degree of freedom flexible joint structure |
| 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 |
| CN109927640A (en) * | 2017-12-15 | 2019-06-25 | 蔚来汽车有限公司 | Vehicle intelligent terminal and the vehicle for using it |
-
2015
- 2015-10-20 CN CN201520810340.0U patent/CN205075068U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538517A (en) * | 2016-06-23 | 2018-01-05 | 江苏雷动智能制造有限公司 | A kind of robot head rotating mechanism |
| CN106113065A (en) * | 2016-08-24 | 2016-11-16 | 珠海格力智能装备有限公司 | Robot and head assembly thereof |
| CN106515946A (en) * | 2016-12-23 | 2017-03-22 | 纳恩博（北京）科技有限公司 | Robot |
| CN106625602A (en) * | 2016-12-30 | 2017-05-10 | 深圳市优必选科技有限公司 | Robot |
| CN106625602B (en) * | 2016-12-30 | 2024-02-02 | 深圳市优必选科技有限公司 | Robot |
| 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 |
| CN109927640A (en) * | 2017-12-15 | 2019-06-25 | 蔚来汽车有限公司 | Vehicle intelligent terminal and the vehicle for using it |
| CN108098831A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of three-degree of freedom flexible joint structure |
| CN108098831B (en) * | 2017-12-26 | 2020-11-10 | 常州大学 | Three-degree-of-freedom flexible joint structure |
| 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 |
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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: 20160309 Termination date: 20201020 |