CN205497498U - Robot and head slewing mechanism thereof - Google Patents
Robot and head slewing mechanism thereof Download PDFInfo
- Publication number
- CN205497498U CN205497498U CN201620292647.0U CN201620292647U CN205497498U CN 205497498 U CN205497498 U CN 205497498U CN 201620292647 U CN201620292647 U CN 201620292647U CN 205497498 U CN205497498 U CN 205497498U
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- China
- Prior art keywords
- head
- connecting hole
- robot
- connector
- rotating shaft
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Abstract
The utility model discloses a head slewing mechanism of robot, this head slewing mechanism include: with the head fixed connection's of robot head connecting piece, the head connecting piece is equipped with first connecting hole, with the truck fixed connection's of robot truck connecting piece, the truck connecting piece is equipped with the second connecting hole corresponding with first connecting hole, cartridge in the pivot of first connecting hole and second connecting hole simultaneously, first connecting hole and be equipped with the circumferential location structure between the pivot so that head connecting piece and pivot are rotated together, the empty cover of second connecting hole in the pivot periphery so that the pivot be in free rotation in the second connecting hole, the driver part of setting in the truck of robot, the driver part with the pivot transmission is connected. According to the configuration, the utility model provides a pair of the head slewing mechanism of robot, it can make the robot head stablize accurate topotype apery head turn right or left, improves the degree of automation of robot.
Description
Technical field
This utility model relates to robotics, more particularly, it relates to a kind of robot and
Head rotating mechanism.
Background technology
Service robot is a kind of half autonomous or the most autonomous robot, can be engaged in the service being beneficial to man
Work.Service robot technology is intelligent as strategic high-tech, development major trend.Wherein,
The body action of anthropomorphic robot becomes closer to human action, such as head rotation, arm each joint picture
Human body equally motion etc..
How the automatic rotation structure of a kind of service-delivery machine head part is provided, the stable essence of robot head can be made
Really topotype imitates human body head left-right rotation, improves robot automation's degree, becomes those skilled in the art
Important technological problems to be solved.
Utility model content
In view of this, the purpose of this utility model is to provide the head rotating mechanism of a kind of robot, its
Robot head can be made the most accurately to imitate human body head left-right rotation, improve robot automation's journey
Degree.This utility model additionally provides a kind of robot including above-mentioned head rotating mechanism.
The head rotating mechanism of a kind of robot that this utility model provides, including:
Fix the head connector being connected with the head of robot, described head connector is provided with the first connection
Hole；
Fix the trunk connector being connected with the trunk of robot, described trunk connector is provided with and described
The second connecting hole that one connecting hole is corresponding；
It is plugged in described first connecting hole and the rotating shaft of described second connecting hole, described first connecting hole simultaneously
And it is provided with circumferential positioning structure so that described head connector turns together with described rotating shaft between described rotating shaft
Dynamic, described second connecting hole empty set in described rotating shaft periphery so that described rotating shaft is at described second connecting hole
Interior freely rotatable；
The driver part being arranged in the trunk of robot, described driver part is connected with described rotating shaft transmission.
Preferably, it is provided with thrust bearing between described head connector and described trunk connector.
Preferably, described first connecting hole cross section be shaped as semicircle, sector or polygon, described
Rotating shaft is identical with the shape of described first connecting hole with the part that described first connecting hole matches.
Preferably, the two ends of described rotating shaft are provided with helicitic texture, and described head connector, described trunk are even
Fitting and described thrust bearing are between two nuts that described helicitic texture matches.
Preferably, described head connector and described trunk connector are equipped with the cable-through hole Gong being routed through.
Preferably, described head connector is connected by screw is fixing with the head of robot.
Preferably, described trunk connector is connected by screw is fixing with the trunk of robot.
Preferably, described driver part is motor, and the output shaft of described motor is connected with described rotating shaft transmission.
This utility model additionally provides a kind of robot, including the head rotating mechanism described in as above any one.
In the technical scheme that this utility model provides, driver part drive shaft rotates, due to rotating shaft and the
Being provided with circumferential positioning structure between one connecting hole, rotating shaft can drive head connector to rotate, and then makes head
Portion rotates together with head connector.And rotating shaft empty set is in the second connecting hole, trunk connector will not be with
Rotating shaft rotates together, by utilizing this rotating mechanism, effectively reduces the resistance of head rotation, makes
Obtain head rotation stable, and by controlling the rotation of driver part, robot head can be accurately controlled
The angle rotated, improves robot automation's degree.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that,
Accompanying drawing in describing below is only embodiments more of the present utility model, for ordinary skill people
From the point of view of Yuan, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings
Figure.
Fig. 1 is head bindiny mechanism schematic diagram in this utility model detailed description of the invention；
Fig. 2 is this utility model detailed description of the invention shaft schematic diagram；
Fig. 3 is head connector schematic diagram in this utility model detailed description of the invention；
Fig. 4 is trunk connector schematic diagram in this utility model detailed description of the invention；
In Fig. 1-Fig. 4:
Head connector--11, trunk connector--12, rotating shaft 13, driver part 14, first connect
Hole--the 15, second connecting hole 16, thrust bearing 17, cable-through hole 18.
Detailed description of the invention
The purpose of this utility model is to provide the head rotating mechanism of a kind of robot, and it can make machine
Head part the most accurately imitates human body head left-right rotation, improves robot automation's degree.This is concrete
Embodiment further provides a kind of robot including above-mentioned head rotating mechanism.
Hereinafter, referring to the drawings embodiment is illustrated.Additionally, embodiments illustrated below is not to right
Utility model content described in requirement plays any restriction effect.It addition, the structure represented by example below
The full content become is not limited to as necessary to the solution of the utility model described in claim.
Referring to Fig. 1-Fig. 4, the head rotating mechanism of the robot that this detailed description of the invention provides, including head
Portion's connector 11, trunk connector 12, rotating shaft 13 and driver part 14.
Wherein, the head of head connector 11 and robot is fixing to be connected, and head connector 11 is provided with the
One connecting hole 15；The trunk of trunk connector 12 and robot is fixing to be connected, trunk connector 12 be provided with and
The second connecting hole 16 that first connecting hole 15 is corresponding.Rotating shaft 13 runs through the first connecting hole 15 and second simultaneously
Connecting hole 16.
Being provided with circumferential positioning structure between first connecting hole 15 and rotating shaft 13, i.e. passing through circumferential positioning structure will
Rotating shaft 13 carries out circumferentially positioned so that head connector 11 rotates together with rotating shaft 13 with the first connecting hole 15.
Second connecting hole 16 empty set in rotating shaft 13 periphery so that rotating shaft 13 is freely rotatable in the second connecting hole 16.
Driver part 14 is arranged in the trunk of robot, and driver part 14 is in transmission connection with rotating shaft 13, i.e.
Driver part 14 can drive rotating shaft 13 to rotate.This driver part 14 can be specially motor, certainly,
It is alternatively other type of driver part, such as, hydraulic motor etc..
It is arranged such, the head rotating mechanism of the robot that this detailed description of the invention provides, driver part 14
Drive shaft 13 rotates, owing to being provided with circumferential positioning structure, rotating shaft between rotating shaft 13 and the first connecting hole 15
13 can drive head connector 11 to rotate, and then make head rotate together with head connector 11.And turn
Axle 13 empty set is in the second connecting hole 16, and trunk connector 12 will not rotate together with rotating shaft 13, utilizes this
Plant rotating mechanism, effectively reduce the resistance of head rotation so that head rotation is stable, and pass through
Control the rotation of driver part 14, the angle that robot head rotates can be accurately controlled, improve machine
People's automaticity.
In order to reduce the friction between head connector 11 and trunk connector 12 so that the head of robot
Can rotate under less resistance, preferably set between head connector 11 and trunk connector 12
There is thrust bearing 17.Being arranged such, thrust bearing 17 can effectively reduce head connector 11 and trunk connects
Friction between fitting 12.
It addition, the circumferential positioning structure between above-mentioned first connecting hole 15 and rotating shaft 13, can specific as follows state
Arrange.The shape of the first connecting hole 15 cross section can be semicircle, fan-shaped or polygon, rotating shaft 13 with
The cross section of the part that the first connecting hole 15 matches and the shape of the first connecting hole 15 are identical.So, turn
Axle 13 circumference is stuck in the first connecting hole 15, it is possible to prevent rotating shaft 13 from relatively rotating with head connector 11.
Circumferential positioning structure between the most above-mentioned first connecting hole 15 and rotating shaft 13 is alternatively other type structure,
Such as, the two can be interference fit or realize circumferentially positioned by pin etc..
Further, rotating shaft 13 can also play connection robot head and the effect of trunk, specifically can be
The two ends of rotating shaft 13 are provided with helicitic texture, head connector 11, trunk connector 12 and thrust bearing 17
Between two nuts matched with helicitic texture.
So, being limited between two nuts of trunk connector 12 and head connector 11, and trunk
Connector 12 can be connected by screw, pin etc. are fixing with trunk, and head connector 11 and head also may be used
By the fixing connection such as screw, pin, so, reliably connecting of head and trunk can be realized by rotating shaft 13
Connect.
It addition, connect up for convenience, it is equipped with at head connector 11 and trunk connector 12 and wears for circuit
The cable-through hole 18 crossed.
This detailed description of the invention additionally provides a kind of robot, including head rotating mechanism as above.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses
This utility model.Multiple amendment to these embodiments will be aobvious for those skilled in the art
And be clear to, generic principles defined herein can be without departing from spirit or scope of the present utility model
In the case of, realize in other embodiments.Therefore, this utility model is not intended to be limited to institute herein
These embodiments shown, and it is to fit to consistent with principles disclosed herein and features of novelty the widest
Scope.
Claims (9)
1. the head rotating mechanism of a robot, it is characterised in that including:
The head connector (11) being connected, described head connector (11) is fixed with the head of robot
It is provided with the first connecting hole (15)；
The trunk connector (12) being connected, described trunk connector (12) is fixed with the trunk of robot
It is provided with second connecting hole (16) corresponding with described first connecting hole (15)；
It is plugged in the rotating shaft (13) of described first connecting hole (15) and described second connecting hole (16) simultaneously,
It is provided with circumferential positioning structure so that described between described first connecting hole (15) and described rotating shaft (13)
Head connector (11) rotates together with described rotating shaft (13), described second connecting hole (16) empty set
In described rotating shaft (13) periphery so that described rotating shaft (13) in described second connecting hole (16) from
By rotating；
The driver part (14) being arranged in the trunk of robot, described driver part (14) is with described
Rotating shaft (13) is in transmission connection.
2. head rotating mechanism as claimed in claim 1, it is characterised in that described head connector (11)
And it is provided with thrust bearing (17) between described trunk connector (12).
3. head rotating mechanism as claimed in claim 1, it is characterised in that described first connecting hole (15)
Cross section be shaped as semicircle, sector or polygon, described rotating shaft (13) and described first connecting hole
(15) part matched is identical with the shape of described first connecting hole (15).
4. head rotating mechanism as claimed in claim 2, it is characterised in that described rotating shaft (13)
Two ends are provided with helicitic texture, described head connector (11), described trunk connector (12) and described
Thrust bearing (17) is between two nuts that described helicitic texture matches.
5. head rotating mechanism as claimed in claim 1, it is characterised in that described head connector (11)
It is equipped with the cable-through hole (18) Gong being routed through with described trunk connector (12).
6. head rotating mechanism as claimed in claim 1, it is characterised in that described head connector (11)
It is connected by screw is fixing with the head of robot.
7. head rotating mechanism as claimed in claim 1, it is characterised in that described trunk connector (12)
It is connected by screw is fixing with the trunk of robot.
8. head rotating mechanism as claimed in claim 1, it is characterised in that described driver part (14)
For motor, the output shaft of described motor is in transmission connection with described rotating shaft (13).
9. a robot, it is characterised in that include the head rotation as described in any one of claim 1-8
Mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620292647.0U CN205497498U (en) | 2016-04-08 | 2016-04-08 | Robot and head slewing mechanism thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620292647.0U CN205497498U (en) | 2016-04-08 | 2016-04-08 | Robot and head slewing mechanism thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205497498U true CN205497498U (en) | 2016-08-24 |
Family
ID=56737254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620292647.0U Expired - Fee Related CN205497498U (en) | 2016-04-08 | 2016-04-08 | Robot and head slewing mechanism thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205497498U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737731A (en) * | 2016-12-21 | 2017-05-31 | 歌尔股份有限公司 | A kind of robot head structure and robot |
| CN106863274A (en) * | 2017-03-21 | 2017-06-20 | 芜湖星途机器人科技有限公司 | Robot trunk and the mounting structure on chassis |
-
2016
- 2016-04-08 CN CN201620292647.0U patent/CN205497498U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737731A (en) * | 2016-12-21 | 2017-05-31 | 歌尔股份有限公司 | A kind of robot head structure and robot |
| CN106737731B (en) * | 2016-12-21 | 2023-08-25 | 歌尔股份有限公司 | Robot head structure and robot |
| CN106863274A (en) * | 2017-03-21 | 2017-06-20 | 芜湖星途机器人科技有限公司 | Robot trunk and the mounting structure on chassis |
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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 |
Granted publication date: 20160824 |