CN205928640U - A drive mechanism for realizing robot head longitudinal swing and left and right rocking move - Google Patents
A drive mechanism for realizing robot head longitudinal swing and left and right rocking move Download PDFInfo
- Publication number
- CN205928640U CN205928640U CN201620845065.0U CN201620845065U CN205928640U CN 205928640 U CN205928640 U CN 205928640U CN 201620845065 U CN201620845065 U CN 201620845065U CN 205928640 U CN205928640 U CN 205928640U
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- CN
- China
- Prior art keywords
- connecting rod
- gear
- bevel gear
- gear wheel
- drive mechanism
- Prior art date
- 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.)
- Withdrawn - After Issue
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Abstract
The utility model belongs to the technical field of intelligent robot, especially, relate to a drive mechanism for realizing robot head longitudinal swing and left and right rocking move. Cup joint at the epaxial pinion connecting rod in center including rotating, the fixed pinion that has cup jointed in lower part of pinion connecting rod, outer rotation of pinion connecting rod cup jointed the gear wheel connecting rod, the fixed gear wheel that has cup jointed in lower part of gear wheel connecting rod, the upper end of center pin rotate and to have cup jointed first bevel gear, first bevel gear mesh mutually with the second bevel gear, the gear wheel connecting rod on be equipped with and supply the fixed axis of rotation of cup jointing of head fixing plate, fixed the cup jointing in the axis of rotation of second bevel gear circumference, thereby can drive gear wheel connecting rod circumferential direction drive head fixing plate longitudinal swing and left and right rocking moves when big gear revolve. The advantage lies in: realize several directions simultaneous movements, can rotate the head like human head slant, have better rotation application scope and better yaw effect.
Description
Technical field
This utility model belongs to intelligent robot technology field, is used for realizing robot head longitudinal direction more particularly, to a kind of
The drive mechanism for swinging and rocking from side to side.
Background technology
Robot is the installations for executing automatically work.It can both receive mankind commander, can run volume in advance again
The program of row, it is also possible to according to the principle guiding principle action that is formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, building industry, or the work of danger.With the development of science and technology, increasing robot is walked
Enter common place, such as kindergarten or some indoor amusement places, be usually used in taking pictures and simple dialog, and existing robot head
Portion's motion structure is complex, needs first to drive a direction to rotate, then drives another direction to rotate again, need so as to reach
Rotational angle position is wanted, and can not disposably realize the rotation of both direction.
In order to be improved to prior art, people have carried out long-term exploration, it is proposed that various solutions.
For example, Chinese patent literature discloses a kind of robot [application number：CN201610152976.X], including chassis；Support arm,
Brace can be arranged on chassis around the first pivot axis in which swing up and down；Head, is arranged on support arm；First drive mechanism,
It is arranged in chassis or is arranged in support arm, the first drive mechanism drives support arm, so that support arm has recovery position
And outer pendulum position.
Although such scheme to some extent solves the deficiencies in the prior art, but can not disposably realize two sides
To rotation, global design is reasonable not enough.
Utility model content
The purpose of this utility model is for the problems referred to above, there is provided a kind of reasonable in design, simple structure for realizing machine
Device head part longitudinal oscillation and the drive mechanism for rocking from side to side.
For reaching above-mentioned purpose, this utility model employs following technical proposal：This is used for realizing robot head longitudinal direction
Swing and the drive mechanism that rocks from side to side includes rotating the little gear connecting rod being socketed on central shaft, described little gear connecting rod
Bottom fixed cover is connected to little gear, rotates and be socketed with gear wheel connecting rod, described gear wheel connecting rod outside described little gear connecting rod
Bottom fixed cover be connected to gear wheel, the upper end of described central shaft rotates and is socketed with the first bevel gear, the first described umbrella tooth
Wheel is meshed with the second bevel gear, and described gear wheel connecting rod is provided with the rotary shaft fixedly sleeved for head fixed plate, described
The second bevel gear circumferentially fixed socket on the rotating shaft, can drive when bull gear drive gear wheel connecting rod circumferentially rotate from
And drive the longitudinal oscillation of head fixed plate and rock from side to side.More specifically, gear wheel connecting rod circumferentially rotates drive robot head
Portion rocks from side to side, because the second bevel gear and the first bevel gear are meshed, drives the second bevel gear edge during gear wheel link rotatable
The first bevel gear to longitudinally rotate, so as to realize swinging up and down for robot head, equivalent to the nod of human body, by one
Secondary driving can achieve robot head longitudinal oscillation and two functions that rock from side to side, and realizes simultaneously in the two directions rotating,
Global design is reasonable, simple structure.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, described little gear
The upper end of connecting rod is fixedly connected with the first bevel gear, is horizontally rotated so as to band by driving the first bevel gear when the pinion is rotated
Dynamic second bevel gear is longitudinally rotated so that head fixed plate longitudinal oscillation.Machine can independently be realized by independent rotation pinion
Head part swings up and down, equivalent to the nod of human body.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, described gear wheel
The top of connecting rod is respectively provided on two sides with fixed side, and described rotary shaft is arranged between fixed side, described fixed side
On be provided with side locating slot for rotary shaft end positioning, be socketed with bearing in described rotary shaft, described bearing is located at side calmly
Between position groove and rotary shaft.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, described affixed side
Plate includes fixed plate and installing plate, described fixed plate and one system of gear wheel connecting rod, is provided with mounting groove in described fixed plate,
On mounting groove, described fixed plate is provided with the mounting plane positioned at mounting groove top to described installing plate, described
The groove tangent plane fitted with mounting plane is provided with installing plate.Head fixed plate is fixed on the rotating shaft, then by rotary shaft
End be erected on the opening of fixed plate, then the sidepiece again by installing plate installed in fixed plate realizes the positioning of rotary shaft,
Installation and removal beneficial to head fixed plate.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, described side positioning
Groove is located on installing plate, is provided with the opening communicated with side locating slot, is provided with position on described mounting plane in described fixed plate
Arcuate guide mouth between mounting groove and opening, the end of described rotary shaft is inserted in the locating slot of side through opening.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, the second described umbrella
Gear is provided with the tangent plane being engaged with head fixed plate, is provided with rotation hole and rotation hole inwall in the middle part of the second described bevel gear
On be provided with bevel gear locating slot, the sidepiece outer wall of described rotary shaft is provided with axle locating slot, the second described bevel gear and rotation
Locating piece is provided between axle, and a part for described locating piece is inserted in bevel gear locating slot, and locating piece another part inserts in axle
In locating slot.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, the first described umbrella
Inner bearing is provided between gear and central shaft, is provided with lower inner bearing between described little gear connecting rod and central shaft, described
Outer bearing is provided between the top of gear wheel connecting rod and the first bevel gear, between the bottom of gear wheel connecting rod and little gear connecting rod
It is provided with lower outer bearing.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, described central shaft
Upper end be provided with upper mounted plate, described upper inner bearing is located between upper mounted plate and little gear connecting rod.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, described little gear
Upper inner ring connected in star is provided with the external wall of upper portion of connecting rod, is provided with external annular groove on described gear wheel connecting rod inwall, described
Upper inner ring connected in star and upper external annular groove surround jointly storage tank, the bottom of the first described bevel gear is axially extending have with
Insert in the fixed bulge loop of storage tank.
Above-mentioned for realize robot head longitudinal oscillation and the drive mechanism that rocks from side to side in, described little gear
It is detachably secured on little gear connecting rod by fixing screws, the first described bevel gear and little gear connecting rod pass through fixing screws
Connection is detachably fixed, described gear wheel is detachably secured on gear wheel connecting rod by fixing screws, described little gear
Packing ring is provided with and gear wheel between.Beneficial to the installation and removal between all parts.
Compared with prior art, this is used for realizing the excellent of robot head longitudinal oscillation and the drive mechanism that rocks from side to side
Point is：Gear wheel connecting rod circumferentially rotates drive robot head and rocks from side to side, because the second bevel gear and the first bevel gear phase
Engagement, drives the second bevel gear to longitudinally rotate along the first bevel gear, so as to realize robot head during gear wheel link rotatable
Swing up and down, equivalent to the nod of human body, can achieve robot head longitudinal oscillation and left and right by once driving
Two functions of shake, it is possible to achieve several directions are simultaneously moved, can as human head oblique rotation head, have and preferably turn
The dynamic scope of application and more preferable yaw effect.
Description of the drawings
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 accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is the structural representation that this utility model is provided.
Fig. 2 is the sectional view that this utility model is provided.
Fig. 3 is the structural representation of the gear wheel connecting rod that this utility model is provided.
Fig. 4 is the structural representation of the installing plate that this utility model is provided.
Fig. 5 is the structural representation of the second bevel gear that this utility model is provided.
Fig. 6 is the structural representation of the rotary shaft that this utility model is provided.
In figure, central shaft 1, little gear connecting rod 2, little gear 3, Timing Belt 4, the first motor 5, gear wheel connecting rod 6, big
Gear 7, the second motor 8, the first bevel gear 9, the second bevel gear 10, rotary shaft 11, fixed side 12, side locating slot 13,
Fixed plate 14, installing plate 15, mounting groove 16, mounting plane 17, groove tangent plane 18, opening 19, arcuate guide mouth 20, tangent plane 21, umbrella
Gear locating slot 22, axle locating slot 23, locating piece 24, upper inner bearing 25, lower inner bearing 26, upper outer bearing 27, lower outer bearing 28,
Upper mounted plate 29, fixed bulge loop 30, head fixed plate 31.
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, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole
Embodiment.Embodiment in based on this utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of this utility model protection.
As shown in figures 1 to 6, this is used for realizing that robot head longitudinal oscillation and the drive mechanism for rocking from side to side include rotating
The little gear connecting rod 2 being socketed on central shaft 1, the bottom fixed cover of little gear connecting rod 2 are connected to little gear 3, outside little gear connecting rod 2
Rotation is socketed with gear wheel connecting rod 6, and the bottom fixed cover of gear wheel connecting rod 6 is connected to gear wheel 7, the upper end turning set of central shaft 1
The first bevel gear 9 is connected to, the first bevel gear 9 is meshed with the second bevel gear 10, and gear wheel connecting rod 6 is provided with for head fixed plate
31 fixedly sleeved rotary shafts 11, the second bevel gear 10 is circumferentially fixed to be socketed in rotary shaft 11, can when gear wheel 7 is rotated
Gear wheel connecting rod 6 is driven to circumferentially rotate so as to driving 31 longitudinal oscillation of head fixed plate and rock from side to side.More specifically, canine tooth
Wheel connecting rod 6 circumferentially rotates drive robot head and rocks from side to side, because the second bevel gear 10 and the first bevel gear 9 are meshed, greatly
Gear connecting rod 6 drives the second bevel gear 10 to longitudinally rotate along the first bevel gear 9 when rotating, so as to realize the upper of robot head
Lower swing, equivalent to the nod of human body, by once driving i.e. achievable robot head longitudinal oscillation and rocking from side to side
Two functions, realize rotating in the two directions simultaneously, and global design is reasonable, simple structure.
Wherein, little gear 3 is connected with the first motor 5 for being capable of the rotation of driving pinion 3 by Timing Belt 4, greatly
Gear 7 is connected with the second motor 8 for being capable of the rotation of drive gear wheel 7 by Timing Belt 4, the upper end of little gear connecting rod 2
Be fixedly connected with the first bevel gear 9, second is driven when little gear 3 is rotated by driving the first bevel gear 9 to horizontally rotate
Bevel gear 10 is longitudinally rotated so that 31 longitudinal oscillation of head fixed plate.Machine can independently be realized by independent rotation pinion 3
Head part swings up and down, equivalent to the nod of human body.
Wherein, the top of gear wheel connecting rod 6 is respectively provided on two sides with fixed side 12, and rotary shaft 11 is arranged on fixed side 12
Between, the side locating slot 13 for 11 end of rotary shaft positioning is provided with fixed side 12, is socketed with bearing, bearing in rotary shaft 11
It is located between side locating slot 13 and rotary shaft 11.More specifically, fixed side 12 includes fixed plate 14 and installing plate 15, fixed
Plate 14 and 6 one system of gear wheel connecting rod, are provided with mounting groove 16 in fixed plate 14, installing plate 15 is on mounting groove 16, fixed
Plate 14 is provided with the mounting plane 17 positioned at 16 top of mounting groove, is provided with the groove fitted with mounting plane 17 and cuts on installing plate 15
Face 18.Head fixed plate 31 is fixed in rotary shaft 11, then the end of rotary shaft 11 is erected at the opening of fixed plate 14
The sidepiece that installing plate 15 is arranged on fixed plate 14, on 19, is then realized the positioning of rotary shaft 11 again, beneficial to head fixed plate 31
Installation and removal.Side locating slot 13 is located on installing plate 15, is provided with the opening 19 communicated with side locating slot 13 in fixed plate 14,
The arcuate guide mouth 20 being provided with mounting plane 17 between mounting groove 16 and opening 19, the end of rotary shaft 11 pass through opening
19 are inserted in side locating slot 13.
Wherein, the second bevel gear 10 is provided with the tangent plane 21 being engaged with head fixed plate 31, in the middle part of the second bevel gear 10
It is provided with rotation hole and rotation hole inwall and is provided with bevel gear locating slot 22, the sidepiece outer wall of rotary shaft 11 is provided with axle locating slot 23,
Locating piece 24 is provided between second bevel gear 10 and rotary shaft 11, and a part for locating piece 24 is inserted in bevel gear locating slot 22,
24 another part of locating piece is inserted in axle locating slot 23.Inner bearing 25, little tooth is provided between first bevel gear 9 and central shaft 1
Lower inner bearing 26 is provided between wheel connecting rod 2 and central shaft 1, is provided between the top of gear wheel connecting rod 6 and the first bevel gear 9 outer
Bearing 27, is provided with lower outer bearing 28 between the bottom of gear wheel connecting rod 6 and little gear connecting rod 2.The upper end of central shaft 1 is provided with solid
Fixed board 29, upper inner bearing 25 are located between upper mounted plate 29 and little gear connecting rod 2.It is provided with the external wall of upper portion of little gear connecting rod 2
Upper inner ring connected in star, is provided with external annular groove on 6 inwall of gear wheel connecting rod, upper inner ring connected in star and upper external annular groove are common
Surround storage tank, the axially extending fixed bulge loop 30 for having and inserting in storage tank in the bottom of the first bevel gear 9.
Wherein, described little gear 3 is detachably secured on little gear connecting rod 2 by fixing screws, described the first umbrella
Gear 9 and little gear connecting rod 2 are detachably fixed connection by fixing screws, and described gear wheel 7 is detachable by fixing screws
It is fixed on gear wheel connecting rod 6, between described little gear 3 and gear wheel 7, is provided with packing ring.Beneficial to the installation between all parts
And dismounting.
Preferred embodiment of the present utility model is the foregoing is only, not in order to limit this utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements that is made etc. should be included in this utility model
Protection domain within.
Claims (10)
1. a kind of drive mechanism for realizing robot head longitudinal oscillation and rock from side to side, it is characterised in that including rotating
The little gear connecting rod (2) being socketed on central shaft (1), the bottom fixed cover of described little gear connecting rod (2) are connected to little gear
(3), described little gear connecting rod (2) is rotated outward and is socketed with gear wheel connecting rod (6), and the bottom of described gear wheel connecting rod (6) is solid
Gear wheel (7) is socketed with surely, and the upper end of described central shaft (1) rotates and is socketed with the first bevel gear (9), the first described umbrella tooth
Wheel (9) is meshed with the second bevel gear (10), and described gear wheel connecting rod (6) is provided with fixedly sleeved for head fixed plate (31)
Rotary shaft (11), described the second bevel gear (10) is circumferentially fixed to be socketed in rotary shaft (11), when gear wheel (7) is rotated
Gear wheel connecting rod (6) can be driven to circumferentially rotate so as to driving (31) longitudinal oscillation of head fixed plate and rock from side to side.
2. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 1, its are special
Levy and be, the upper end of described little gear connecting rod (2) is fixedly connected with the first bevel gear (9), pass through when little gear (3) is rotated
Drive the first bevel gear (9) to horizontally rotate so as to drive the second bevel gear (10) to longitudinally rotate so that head fixed plate (31) longitudinal direction
Swing.
3. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 2, its are special
Levy and be, the top of described gear wheel connecting rod (6) is respectively provided on two sides with fixed side (12), and described rotary shaft (11) is arranged
Between fixed side (12), the side locating slot for rotary shaft (11) end positioning on described fixed side (12), is provided with
(13), bearing is socketed with described rotary shaft (11), and described bearing is located between side locating slot (13) and rotary shaft (11).
4. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 3, its are special
Levy and be, described fixed side (12) includes fixed plate (14) and installing plate (15), described fixed plate (14) and gear wheel
(6) one system of connecting rod, is provided with mounting groove (16) in described fixed plate (14), described installing plate (15) is arranged on mounting groove
(16), on, described fixed plate (14) is provided with the mounting plane (17) positioned at mounting groove (16) top, described installing plate
(15) the groove tangent plane (18) fitted with mounting plane (17) is provided with.
5. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 4, its are special
Levy and be, described side locating slot (13) is located on installing plate (15), is provided with and side locating slot in described fixed plate (14)
(13) opening (19) for communicating, the arc being provided with described mounting plane (17) between mounting groove (16) and opening (19)
Targeting port (20), the end of described rotary shaft (11) are inserted in side locating slot (13) through opening (19).
6. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 5, its are special
Levy and be, described the second bevel gear (10) is provided with the tangent plane (21) being engaged with head fixed plate (31), described second
It is provided with the middle part of bevel gear (10) on rotation hole and rotation hole inwall and is provided with bevel gear locating slot (22), described rotary shaft (11)
Sidepiece outer wall is provided with axle locating slot (23), is provided with locating piece (24) between described the second bevel gear (10) and rotary shaft (11),
A part for described locating piece (24) is inserted in bevel gear locating slot (22), and locating piece (24) another part inserts in axle locating slot
(23) in.
7. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 6, its are special
Levy and be, between described the first bevel gear (9) and central shaft (1), be provided with inner bearing (25), described little gear connecting rod (2)
It is provided with lower inner bearing (26) and central shaft (1) between, between the top of described gear wheel connecting rod (6) and the first bevel gear (9)
Outer bearing (27) is provided with, lower outer bearing (28) between the bottom of gear wheel connecting rod (6) and little gear connecting rod (2), is provided with.
8. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 7, its are special
Levy and be, the upper end of described central shaft (1) is provided with upper mounted plate (29), and described upper inner bearing (25) is located at upper mounted plate
(29) and little gear connecting rod (2) between.
9. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 8, its are special
Levy and be, upper inner ring connected in star is provided with the external wall of upper portion of described little gear connecting rod (2), in described gear wheel connecting rod (6)
It is provided with external annular groove on wall, described upper inner ring connected in star and upper external annular groove surround storage tank jointly, described
The axially extending fixed bulge loop (30) for having and inserting in storage tank in the bottom of one bevel gear (9).
10. the drive mechanism for realizing robot head longitudinal oscillation and rock from side to side according to claim 9, its are special
Levy and be, described little gear (3) is detachably secured on little gear connecting rod (2) by fixing screws, the first described umbrella tooth
Wheel (9) and little gear connecting rod (2) are detachably fixed connection by fixing screws, and described gear wheel (7) can by fixing screws
Dismounting is fixed on gear wheel connecting rod (6), is provided with packing ring between described little gear (3) and gear wheel (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620845065.0U CN205928640U (en) | 2016-08-05 | 2016-08-05 | A drive mechanism for realizing robot head longitudinal swing and left and right rocking move |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620845065.0U CN205928640U (en) | 2016-08-05 | 2016-08-05 | A drive mechanism for realizing robot head longitudinal swing and left and right rocking move |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928640U true CN205928640U (en) | 2017-02-08 |
Family
ID=57921671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620845065.0U Withdrawn - After Issue CN205928640U (en) | 2016-08-05 | 2016-08-05 | A drive mechanism for realizing robot head longitudinal swing and left and right rocking move |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205928640U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113014A (en) * | 2016-08-05 | 2016-11-16 | 苏州库浩斯信息科技有限公司 | A kind of for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side |
-
2016
- 2016-08-05 CN CN201620845065.0U patent/CN205928640U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113014A (en) * | 2016-08-05 | 2016-11-16 | 苏州库浩斯信息科技有限公司 | A kind of for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170208 Effective date of abandoning: 20190326 |