CN205766240U - A kind of robot head rotating mechanism - Google Patents
A kind of robot head rotating mechanism Download PDFInfo
- Publication number
- CN205766240U CN205766240U CN201620627707.XU CN201620627707U CN205766240U CN 205766240 U CN205766240 U CN 205766240U CN 201620627707 U CN201620627707 U CN 201620627707U CN 205766240 U CN205766240 U CN 205766240U
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- head
- motor
- axle
- rotation
- angle measurement
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Abstract
This utility model provides a kind of robot head rotating mechanism, it is characterised in that: this end rotation mechanism includes upper and lower rotary module, left rotation and right rotation module, head shell and head main support；Described upper and lower rotary module by the first motor, fix the first electric machine support of the first motor, the first drive mechanism, the first Angle Measurement Module and two, left and right rotate firm axle and form；Described left rotation and right rotation module includes the second motor, fixes the second electric machine support of the second motor, the second drive mechanism, the second Angle Measurement Module, bearing and cervical region axle；Described head shell farther include one after skull breach and a breach shielding plate, described head main support rotates firm axle by two, described left and right and is connected with described head shell, described cervical region axle is connected with described head main support, described first Motor controlling machine device head part's nodding action, described second Motor controlling machine device head part's head shaking movement.
Description
Technical field
This utility model relates to robot field, particularly relates to a kind of robot head rotating mechanism.
Background technology
Intelligent robot head movement, is usually and arranges the rotation of driving means drive head at cervical region, and this requires to drive dress
Put and must keep on the same line with head, limit the installation site of driving means, be unfavorable for the structure of intelligent robot
Arrange；Further, since the output shaft of driving means belongs to slender axles, and the weight of head is the biggest, and head was rotating
Journey is easy to occur so that the output shaft of driving means bias, and then shortens the service life of driving means.
Owing to robot head inner space is limited, want multifreedom motion, needed to use multiple motor to carry out
Driving, it is sufficiently large that this requires robot interior to reserve design space；And motor is placed in head, then need to consider the peace of motor
Filling, installed part and driving means etc. will necessarily strengthen the weight of robot head, affect robot head operation stability, because of
This, it is high to there is head center of gravity in prior art, space crowded and cannot the technical barrier of cabling.
Utility model content
The purpose of this utility model is the defect existed for above-mentioned technology, it is provided that a kind of robot head whirler
Structure, this end rotation mechanism is made up of upper and lower two direct current generators, each self-driven nods and head shaking movement, it is achieved head turns flexibly
Dynamic.Upper and lower two direct current generators are provided separately, and on the one hand avoid direct current generator and are entirely placed on head and cause the nose heave foot of robot
Gently, the problem of cabling difficulty；On the other hand alleviate the small space of head, reduce robot head center of gravity, improve machine
The stability of head part's motion.
This utility model realizes in the following way: a kind of robot head rotating mechanism, it is characterised in that: this head
Portion's rotating mechanism includes upper and lower rotary module, left rotation and right rotation module, head shell and head main support；Described upper and lower rotating mould
Block by the first motor, fix the first electric machine support of the first motor, the first drive mechanism, the first Angle Measurement Module and left and right
Two rotate firm axles composition, described left rotation and right rotation module include the second motor, fix the second electric machine support of the second motor, second
Drive mechanism, the second Angle Measurement Module, bearing and cervical region axle；Described head shell farther include one after skull breach and
Breach shielding plate, described head main support rotates firm axle by two, described left and right and is connected with described head shell, described cervical region
Axle is connected with described head main support, described first Motor controlling machine device head part's nodding action, described second Motor controlling machine
Device head part's head shaking movement.
In optional technical scheme, two, described left and right rotates firm axle, and one of them rotates firm axle and the first drive mechanism
Being connected, another rotates firm axle and the first Angle Measurement Module connects.
First drive mechanism and the second drive mechanism can be belt group, gear train, linkage, sprocket wheel, worm gear snail
One or more combination in any in bar.
In optional technical scheme, the first Angle Measurement Module and the second Angle Measurement Module include potentiometer, coding
The combination in any in a kind of or the said equipment in device and suitable other equipment for measuring rotational angle；
Breach shielding plate is fixed on cervical region axle, rotates, after breach shielding plate length is more than along with the rotation of cervical region axle
The length of skull breach.
In an embodiment of the present utility model, the second drive mechanism includes three gears, one of them gear and second
Motor is connected, and another gear is fixed on cervical region axle, and the 3rd gear gear and the second Angle Measurement Module are connected.
This utility model also includes the robot with described end rotation mechanism.
Operation principle of the present utility model: during work, first driven by motor the first drive mechanism motion, through the first transmission
After the deceleration of mechanism, deliver torque to one of them and rotate firm axle, rotate firm axle and drive whole end rotation, the first angle again
Stop when measurement module feedback information is to the most required anglec of rotation, thus realize the accurate control of angle, it is achieved robot head
Rotate (nodding) process up and down；Cervical region axle is driven to rotate by the second drive mechanism when second motor rotates, the second angular surveying
Module potentiometer judges the anglec of rotation, it is achieved robot head left rotation and right rotation (shaking the head) process.Owing to breach shielding plate length is big
In the length of breach, so breach shielding plate can block skull inner space when robot head rotates (nodding) up and down always；
When robot head left rotation and right rotation (shaking the head), breach shielding plate with rear skull breach relative to invariant position, accordingly, it is capable to after Bao Zhenging
Skull gap position is constantly in occlusion state.
This utility model provides the benefit that:
1, upper and lower two direct current generators are provided separately, and control nodding action and the head shaking movement of robot head respectively, and one
Aspect, it is to avoid direct current generator is entirely placed on head and causes the problem that robot is top-heavy, cabling is difficult；On the other hand, alleviate
The small space of head, reduces robot head center of gravity, improves the stability of robot head motion.
2, head capsule inner support, internal cabling, make overall structure tailored appearance, attractive in appearance.
Accompanying drawing explanation
Fig. 1 is robot head rotating mechanism structural representation described in the utility model
Fig. 2 is skull breach and breach shielding plate schematic diagram after mechanism described in the utility model
Fig. 3 is mechanism described in the utility model first drive mechanism schematic diagram
Fig. 4 is mechanism described in the utility model second drive mechanism schematic diagram
Symbol in figure: 1: head shell；2: the first motors；3: the second motors；4: the first Angle Measurement Module；5: the second jiaos
Degree measurement module；6: head main support；7: the first drive mechanisms；8: the second drive mechanisms；9: two, left and right rotates firm axle；10:
Bearing；11, the second electric machine support；12: cervical region axle；13: rear skull breach；14: breach shielding plate；15: gear wheel；16: little tooth
Wheel；17:A gear；18:B gear；19:C gear；20: the first electric machine supports
Detailed description of the invention
The utility model will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of robot head rotating mechanism, this end rotation mechanism includes upper and lower rotary module, left and right
Rotary module, head shell 1 and head main support 6；Up and down rotary module by the first motor 2, fix the first of the first motor 2
Electric machine support the 20, first drive mechanism the 7, first Angle Measurement Module 4 and two, left and right rotate firm axle 9 and form, left rotation and right rotation
Module includes the second motor 3, fixes second electric machine support the 11, second drive mechanism the 8, second angular surveying mould of the second motor 3
Block 5, bearing 10 and cervical region axle 12；Head shell 1 farther include one after skull breach 13 and a breach shielding plate 14, head master
Support 6 rotates firm axle 9 by two, left and right and is connected with head shell 1, and cervical region axle 12 is connected with head main support 1, the first motor 2
Controlling robot head nodding action, the second motor 3 controls robot head head shaking movement.
In the present embodiment, the firm axle of anticlockwise and the first drive mechanism 7 are connected, the firm axle of right rotation and the first Angle Measurement Module
4 connect；First drive mechanism the 7, second drive mechanism 8 can be in belt group, gear train, linkage, sprocket wheel, worm and gear
One or more combination in any, in the present embodiment, the first drive mechanism includes gear wheel 15, little gear 16；Second transmission
Mechanism 8 is made up of three gears, and wherein, A gear 17 is connected with the second motor 3, and B gear 18 is fixed on cervical region axle 12, C gear
19 are connected with the second Angle Measurement Module 5.
In optional technical scheme, the first Angle Measurement Module 4 and the second Angle Measurement Module 5 include potentiometer, volume
The combination in any in a kind of or these equipment in code device and suitable other equipment for measuring rotational angle, this enforcement
The first Angle Measurement Module and the second Angle Measurement Module in example select potentiometer to be used for measuring rotational angle；Breach blocks
Sheet 14 is fixed on cervical region axle 12, rotates along with the rotation of cervical region axle 12, and breach shielding plate 14 length is more than rear skull breach
The length of 13.
This utility model also includes the robot with described end rotation mechanism.
During work, little gear the 16, first motor 2 and the first electric machine support 20 form actuating unit and engage with gear wheel 15,
Drive gear wheel 15 when the actuating unit of little gear 16 composition rotates, deliver torque to one of them and rotate firm axle, rotate
Just axle drives whole end rotation again, stops, it is achieved machine during the first Angle Measurement Module 4 feedback information to the most required anglec of rotation
Device head part rotates (nodding) process up and down；Driving A gear 17 when second motor 3 rotates, A gear 17 engages band with B gear 18
Dynamic cervical region axle 12 rotates, and B gear 18 engages drive C pinion rotation with C gear 19, and C gear 19 drives the second Angle Measurement Module 5
Rotating, the second Angle Measurement Module 5 feeds back rotation information, it is achieved robot head left rotation and right rotation (shaking the head) process.Due to breach
Shielding plate 14 length is more than the length of rear skull breach, so breach shielding plate 14 energy when robot head rotates (nodding) up and down
Block skull inner space always；When robot head left rotation and right rotation (shaking the head), breach shielding plate 14 and rear skull breach 13
Invariant position relatively, accordingly, it is capable to skull gap position is constantly in occlusion state after Bao Zhenging.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this practicality new
Within the protection domain of type.
Claims (6)
1. a robot head rotating mechanism, it is characterised in that: this end rotation mechanism includes upper and lower rotary module, left-right rotary
Revolving die block, head shell and head main support；Described upper and lower rotary module by the first motor, fix the first motor first electricity
Machine support, the first drive mechanism, the first Angle Measurement Module and two, left and right rotate firm axle composition, described left rotation and right rotation module
Including the second motor, fix the second electric machine support of the second motor, the second drive mechanism, the second Angle Measurement Module, bearing and
Cervical region axle；Described head shell farther include one after skull breach and a breach shielding plate, described head main support passes through institute
Stating two, the left and right firm axle of rotation to be connected with described head shell, described cervical region axle is connected with described head main support, and described first
Motor controlling machine device head part's nodding action, described second Motor controlling machine device head part's head shaking movement.
Robot head rotating mechanism the most according to claim 1, it is characterised in that: two, described left and right rotates firm axle
In, one of them rotates firm axle and the first drive mechanism is connected, and another rotates firm axle and the first Angle Measurement Module is connected.
Robot head rotating mechanism the most according to claim 1, it is characterised in that: described first drive mechanism and institute
Stating the second drive mechanism is one or more combination in any in belt group, gear train, linkage, sprocket wheel, worm and gear.
Robot head rotating mechanism the most according to claim 1, it is characterised in that: the first described Angle Measurement Module
And described second Angle Measurement Module includes potentiometer, encoder and suitably for measuring other equipment of rotational angle
In a kind of or the said equipment in combination in any.
Robot head rotating mechanism the most according to claim 1, it is characterised in that: described shielding plate is fixed on cervical region axle
On, rotate along with the rotation of cervical region axle；
Described shielding plate length is more than the length of rear skull breach.
Robot head rotating mechanism the most according to claim 1, it is characterised in that: described second drive mechanism respectively with
Described second motor, described second Angle Measurement Module and described cervical region axle connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620627707.XU CN205766240U (en) | 2016-06-23 | 2016-06-23 | A kind of robot head rotating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620627707.XU CN205766240U (en) | 2016-06-23 | 2016-06-23 | A kind of robot head rotating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205766240U true CN205766240U (en) | 2016-12-07 |
Family
ID=58130648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620627707.XU Expired - Fee Related CN205766240U (en) | 2016-06-23 | 2016-06-23 | A kind of robot head rotating mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN205766240U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737743A (en) * | 2016-12-30 | 2017-05-31 | 深圳市优必选科技有限公司 | Robot head rotational 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 |
| CN107186730A (en) * | 2017-06-23 | 2017-09-22 | 歌尔科技有限公司 | A kind of robot |
| CN109366499A (en) * | 2018-12-07 | 2019-02-22 | 歌尔科技有限公司 | A kind of robot head driving mechanism 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 |
| CN111546362A (en) * | 2019-02-11 | 2020-08-18 | 和硕联合科技股份有限公司 | Robot device |
| CN112276962A (en) * | 2020-09-27 | 2021-01-29 | 惠州华阳通用电子有限公司 | Detachable transmission device of vehicle-mounted robot |
-
2016
- 2016-06-23 CN CN201620627707.XU patent/CN205766240U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737743A (en) * | 2016-12-30 | 2017-05-31 | 深圳市优必选科技有限公司 | Robot head rotational structure |
| CN106737743B (en) * | 2016-12-30 | 2024-03-29 | 深圳市优必选科技有限公司 | Robot head rotating 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 |
| CN107186730A (en) * | 2017-06-23 | 2017-09-22 | 歌尔科技有限公司 | A kind of robot |
| CN107186730B (en) * | 2017-06-23 | 2023-09-15 | 歌尔科技有限公司 | 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 |
| CN109366499A (en) * | 2018-12-07 | 2019-02-22 | 歌尔科技有限公司 | A kind of robot head driving mechanism and robot |
| CN111546362A (en) * | 2019-02-11 | 2020-08-18 | 和硕联合科技股份有限公司 | Robot device |
| CN111546362B (en) * | 2019-02-11 | 2021-10-15 | 和硕联合科技股份有限公司 | Robot device |
| CN112276962A (en) * | 2020-09-27 | 2021-01-29 | 惠州华阳通用电子有限公司 | Detachable transmission device of vehicle-mounted 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: 20161207 Termination date: 20210623 |