CN205905019U - Mechanism of nodding of rod drive formula robot - Google Patents
Mechanism of nodding of rod drive formula robot Download PDFInfo
- Publication number
- CN205905019U CN205905019U CN201620687701.1U CN201620687701U CN205905019U CN 205905019 U CN205905019 U CN 205905019U CN 201620687701 U CN201620687701 U CN 201620687701U CN 205905019 U CN205905019 U CN 205905019U
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- connecting rod
- fixed seat
- motor
- nods
- column
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Abstract
The utility model discloses a mechanism of nodding of rod drive formula robot includes a pair of stand, be equipped with the connecting rod between the stand, the top of connecting rod is connected with the head fixing base, there is the motor bottom of connecting rod through actuating shaft connection, the motor fixed connection be in the outside lower part of stand, through installing the motor in the outside of stand, utilize motor drive connecting rod to realize nodding the action, removed the space limitation of motor installation, realized the convenient installation of the motor of different specifications, also simplified neck structure, realize the neck action of nodding by a wide margin, the while is with the outside lower part of motor fixed connection stand for the focus reduces, has reduced the inertia of the action of bowing, has improved the reliability, with the connecting rod setting between a pair of stand, prevent that the connecting rod action from taking place to interfere.
Description
Technical field
This utility model be related to robot nod mechanism and in particular to a kind of connecting rod drive-type machine people nods mechanism.
Background technology
The motion great majority of existing Robot neck are using the motor direct-drive positioned at cervical region, but due to machine
Person neck narrow space is it is impossible to accommodate large volume of motor, thus limiting the application of motor, and robot at this stage
Also cervical region significantly nodding action cannot be realized.
Utility model content
For solving above-mentioned technical problem, the mechanism the utility model proposes connecting rod drive-type machine people nods, to reach solution
Except the space that motor is installed limits, installs the motor of different size and the purpose realizing cervical region significantly nodding action.
For reaching above-mentioned purpose, the technical solution of the utility model is as follows:
A kind of connecting rod drive-type machine people nods mechanism, includes a column, is provided with connecting rod between described column, described
The top of connecting rod is connected with head fixed seat, and the bottom of described connecting rod is connected with motor by drive shaft, and described motor is fixing even
It is connected on the outer lower portion of described column.
This utility model, by motor is arranged on the outside of column, realizes nodding action using motor drivening rod, solution
The space restriction installed except motor, it is achieved that the convenient installation of the motor of different size, also simplify neck structure, realizes neck
Motor is fixedly connected the outer lower portion of column so that center of gravity reduces simultaneously, reduces and bend over to move by portion's significantly nodding action
The rotary inertia made, improves reliability；Connecting rod is arranged between a column, prevents from interfering during connecting rod action.
As preferred, the top of described column is provided with cervical region fixed seat, and described cervical region fixed seat is connected with described head
Portion's fixed seat, described head fixed seat is connected in described cervical region fixed seat by rotating shaft, described head fixed seat with described turn
Axle can be mechanically fixed by any one realization in these three modes of pin, key or screw thread.Realize head using rotating shaft to fix
The motility that seat rotates.
As preferred, the bottom of described head fixed seat is passed through hinged seat and is connected with the top realization of described connecting rod, institute
State connecting rod to be connected using bearing pin with described hinged seat.It is connected by the bearing pin between connecting rod and hinged seat, realize head fixed seat
The high efficiency of transmission.
As preferred, the bottom of described column is connected with waist fixed seat, and the two ends of described drive shaft are movably connected in
In described waist fixed seat, the bottom of described connecting rod is connected with swing arm, is connected using bearing pin between described connecting rod and described swing arm,
Described swing arm can be mechanically fixed by any one realization in these three modes of pin, key or screw thread with described drive shaft.Logical
The bearing pin crossed between connecting rod and swing arm is connected, and realizes the high efficiency of swing arm transmission.
As preferred, described swing arm, connecting rod, hinged seat and head fixed seat formation parallelogram sturcutre.Achieve
Drive shaft and the movement at the uniform velocity of cervical region rotating shaft.
As preferred, below described motor, it is connected with reductor, described reductor is connected with first bevel gear, described
Drive shaft is connected with second bevel gear, and described first bevel gear and second bevel gear match, and described first bevel gear and
Two bevel gears are in spatial vertical, and the bottom of described reductor is provided with adapter, and the rotating shaft of described reductor passes through described adapter
It is connected with described first bevel gear, described adapter is fixedly connected on the outside of described column by transfer block.By first
Bevel gear, second bevel gear, are easy to motor and drive shaft are driven, and realize fixing motor by adapter and transfer block
It is connected to outside column, contact the volumetric constraint of motor.
As preferred, one end of described drive shaft is provided with banking stop, and described waist fixed seat is provided with two photoelectric transfers
Sensor, described photoelectric sensor is located at the same side with banking stop, and described photoelectric sensor is adapted with described banking stop.Using
Banking stop and photoelectric sensor achieve the restriction of mechanism's rotational angle.
As preferred, described waist fixed seat is provided with limited block and gag lever post, and described limited block and gag lever post are respectively
Two ends positioned at described waist fixed seat.Achieve the mechanical position limitation of mechanism's rotational angle using limited block and gag lever post.
This utility model has the advantage that
1. this utility model, by motor is arranged on the outside of column, realizes nodding action using motor drivening rod,
The space relieving motor installation limits it is achieved that the convenient installation of the motor of different size, also simplify neck structure, realizes
Motor is fixedly connected the outer lower portion of column so that center of gravity reduces simultaneously, reduces and bend over by cervical region significantly nodding action
The rotary inertia of action, improves reliability, and connecting rod is arranged between a column, prevents from interfering during connecting rod action.
2. this utility model realizes the motility of head fixed seat rotation using rotating shaft.
3. the bearing pin that this utility model passes through between connecting rod and hinged seat is connected, and realizes the efficient of head fixed seat transmission
Property.
4. the bearing pin that this utility model passes through between connecting rod and swing arm is connected, and realizes the high efficiency of swing arm transmission.
5. this utility model utilizes the parallelogram sturcutre that swing arm, connecting rod, hinged seat and head fixed seat are formed, and realizes
The movement at the uniform velocity of drive shaft and cervical region rotating shaft.
6. this utility model passes through first bevel gear, second bevel gear, is easy to motor and drive shaft is driven, and pass through
Adapter and transfer block realize motor is fixedly connected on outside column, contact the volumetric constraint of motor.
7. this utility model achieves the restriction of mechanism's rotational angle using banking stop and photoelectric sensor.
8. this utility model achieves the mechanical position limitation of mechanism's rotational angle using limited block and gag lever post.
Brief description
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing of required use is briefly described in description of the prior art.
Fig. 1 nods for connecting rod drive-type machine people disclosed in this utility model embodiment the structural representation of mechanism.
Corresponding component title represented by figure numeral and letter:
1. column 2. connecting rod 3. head fixed seat 4. drive shaft, 5. motor 6. cervical region fixed seat
7. rotating shaft 8. hinged seat 9. waist fixed seat 10. swing arm 11. reductor
12. first bevel gear, 13. second bevel gear, 14. adapter, 15. transfer block 16. banking stop
17. photoelectric sensor, 18. limited block 19. gag lever post
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe.
This utility model provides connecting rod drive-type machine people and nods mechanism, and its operation principle is by being arranged on motor
The outside of column, realizes nodding action using motor drivening rod, and the space relieving motor installation limits it is achieved that different advise
The convenient installation of the motor of lattice, also simplify neck structure, realizes cervical region significantly nodding action, connects fixing for motor simultaneously
Connect the outer lower portion of column so that center of gravity reduces, reduce the rotary inertia of action of bending over, improve reliability, connecting rod is set
Put between a column, prevent from interfering during connecting rod action.
With reference to embodiment and specific embodiment, this utility model is described in further detail.
The mechanism as shown in figure 1, a kind of connecting rod drive-type machine people nods, includes a column 1, sets between described column
There is connecting rod 2, the top of described connecting rod is connected with head fixed seat 3, and the bottom of described connecting rod is connected with motor 5 by drive shaft 4,
Described motor is fixedly connected on the outer lower portion of described column.
This utility model, by motor is arranged on the outside of column, realizes nodding action using motor drivening rod, solution
The space restriction installed except motor, it is achieved that the convenient installation of the motor of different size, also simplify neck structure, realizes neck
Motor is fixedly connected the outer lower portion of column so that center of gravity reduces simultaneously, reduces and bend over to move by portion's significantly nodding action
The rotary inertia made, improves reliability；Connecting rod is arranged between a column, prevents from interfering during connecting rod action.
It should be noted that the top of described column is provided with cervical region fixed seat 6, described cervical region fixed seat is connected with described
Head fixed seat, described head fixed seat is connected in described cervical region fixed seat by rotating shaft 7, described head fixed seat with described
Rotating shaft can be mechanically fixed by any one realization in these three modes of pin, key or screw thread.Realize head using rotating shaft solid
The motility that reservation rotates.
It should be noted that hinged seat 8 is passed through in the bottom of described head fixed seat realizing being connected with the top of described connecting rod,
Described connecting rod is connected using bearing pin with described hinged seat.It is connected by the bearing pin between connecting rod and hinged seat, realize head and fix
The high efficiency of seat transmission.
It should be noted that the bottom of described column is connected with waist fixed seat 9, the two ends of described drive shaft are flexibly connected
In described waist fixed seat, the bottom of described connecting rod is connected with swing arm 10, adopts bearing pin between described connecting rod and described swing arm
Connect, it is solid that described swing arm and described drive shaft can realize machinery by any one in these three modes of pin, key or screw thread
Fixed.It is connected by the bearing pin between connecting rod and swing arm, realize the high efficiency of swing arm transmission.
It should be noted that described swing arm, connecting rod, hinged seat and head fixed seat form parallelogram sturcutre.Realize
The movement at the uniform velocity of drive shaft and cervical region rotating shaft.
It should be noted that being connected with reductor 11 below described motor, described reductor is connected with first bevel gear
12, described drive shaft is connected with second bevel gear 13, and described first bevel gear and second bevel gear match, and described first cone
Gear and second bevel gear are in spatial vertical, and the bottom of described reductor is provided with adapter 14, and the rotating shaft of described reductor passes through
Described adapter is connected with described first bevel gear, and described adapter is fixedly connected on the outer of described column by transfer block 15
Side.By first bevel gear, second bevel gear, it is easy to motor and drive shaft is driven, and real by adapter and transfer block
Now motor is fixedly connected on outside column, contacts the volumetric constraint of motor.
It should be noted that one end of described drive shaft is provided with banking stop 16, described waist fixed seat is provided with two light
Electric transducer 17, described photoelectric sensor is located at the same side with banking stop, and described photoelectric sensor is fitted with described banking stop phase
Join.Achieve the restriction of mechanism's rotational angle using banking stop and photoelectric sensor.
It should be noted that described waist fixed seat is provided with limited block 18 and gag lever post 19, described limited block and spacing
Bar is located at the two ends of described waist fixed seat respectively.Achieve the machinery limit of mechanism's rotational angle using limited block and gag lever post
Position.
By way of above, connecting rod drive-type machine people provided by the utility model nods mechanism, by by motor
Be arranged on the outside of column, realize nodding action using motor drivening rod, relieve motor installation space limit it is achieved that
The convenient installation of the motor of different size, also simplify neck structure, realizes cervical region significantly nodding action, simultaneously by motor
It is fixedly connected the outer lower portion of column so that center of gravity reduces, reduce the rotary inertia of action of bending over, improve reliability, will
Connecting rod is arranged between a column, prevents from interfering during connecting rod action.
Above-described is only that connecting rod drive-type machine people disclosed in the utility model nods the side of being preferable to carry out of mechanism
Formula it is noted that for the person of ordinary skill of the art, on the premise of creating design without departing from this utility model,
Some deformation can also be made and improve, these broadly fall into protection domain of the present utility model.
Claims (8)
1. a kind of connecting rod drive-type machine people nods mechanism it is characterised in that including a column, is provided between described column
Connecting rod, the top of described connecting rod is connected with head fixed seat, and the bottom of described connecting rod is connected with motor by drive shaft, described electricity
Machine is fixedly connected on the outer lower portion of described column.
2. connecting rod drive-type machine people according to claim 1 nods mechanism it is characterised in that the top of described column sets
There is cervical region fixed seat, described cervical region fixed seat is connected with described head fixed seat, described head fixed seat is connected by rotating shaft
In described cervical region fixed seat, described head fixed seat and described rotating shaft can be by these three modes of pin, key or screw thread
Any one realization is mechanically fixed.
3. connecting rod drive-type machine people according to claim 1 nods mechanism it is characterised in that described head fixed seat
Bottom is passed through hinged seat and is realized being connected with the top of described connecting rod, and described connecting rod is connected using bearing pin with described hinged seat.
4. connecting rod drive-type machine people according to claim 1 nods mechanism it is characterised in that the bottom of described column connects
It is connected to waist fixed seat, the two ends of described drive shaft are movably connected in described waist fixed seat, the bottom of described connecting rod connects
Have swing arm, be connected using bearing pin between described connecting rod and described swing arm, described swing arm and described drive shaft can by pin, key or
Any one realization in these three modes of screw thread is mechanically fixed.
5. connecting rod drive-type machine people according to claim 4 nods mechanism it is characterised in that described swing arm, connecting rod, hinge
Joint chair and head fixed seat form parallelogram sturcutre.
6. connecting rod drive-type machine people according to claim 1 nods mechanism it is characterised in that connecting below described motor
There is reductor, described reductor is connected with first bevel gear, described drive shaft is connected with second bevel gear, described first cone tooth
Wheel and second bevel gear match, and described first bevel gear and second bevel gear are in spatial vertical, the bottom of described reductor
It is provided with adapter, the rotating shaft of described reductor is connected through described adapter with described first bevel gear, described adapter leads to
Cross the outside that transfer block is fixedly connected on described column.
7. connecting rod drive-type machine people according to claim 4 nods mechanism it is characterised in that one end of described drive shaft
It is provided with banking stop, described waist fixed seat is provided with two photoelectric sensors, described photoelectric sensor and banking stop are located at same
Side, and described photoelectric sensor is adapted with described banking stop.
8. connecting rod drive-type machine people according to claim 4 nods mechanism it is characterised in that in described waist fixed seat
It is provided with limited block and gag lever post, described limited block and gag lever post are respectively positioned at the two ends of described waist fixed seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620687701.1U CN205905019U (en) | 2016-06-28 | 2016-06-28 | Mechanism of nodding of rod drive formula robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620687701.1U CN205905019U (en) | 2016-06-28 | 2016-06-28 | Mechanism of nodding of rod drive formula robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205905019U true CN205905019U (en) | 2017-01-25 |
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ID=57813476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620687701.1U Active CN205905019U (en) | 2016-06-28 | 2016-06-28 | Mechanism of nodding of rod drive formula robot |
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| CN (1) | CN205905019U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858157A (en) * | 2018-09-05 | 2018-11-23 | 深圳市三宝创新智能有限公司 | A kind of robot head device and machine construction |
| CN108858274A (en) * | 2018-08-07 | 2018-11-23 | 科大讯飞股份有限公司 | Robot head runner assembly and robot |
| CN111037600A (en) * | 2019-09-05 | 2020-04-21 | 杭州程天科技发展有限公司 | Exoskeleton robot joint module |
| CN111546362A (en) * | 2019-02-11 | 2020-08-18 | 和硕联合科技股份有限公司 | Robot device |
-
2016
- 2016-06-28 CN CN201620687701.1U patent/CN205905019U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858274A (en) * | 2018-08-07 | 2018-11-23 | 科大讯飞股份有限公司 | Robot head runner assembly and robot |
| CN108858274B (en) * | 2018-08-07 | 2020-12-22 | 科大讯飞股份有限公司 | Robot head rotating assembly and robot |
| CN108858157A (en) * | 2018-09-05 | 2018-11-23 | 深圳市三宝创新智能有限公司 | A kind of robot head device and machine construction |
| 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 |
| CN111037600A (en) * | 2019-09-05 | 2020-04-21 | 杭州程天科技发展有限公司 | Exoskeleton robot joint module |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |