CN205950725U - Be used for realizing robot head wobbling drive mechanism - Google Patents
Be used for realizing robot head wobbling drive mechanism Download PDFInfo
- Publication number
- CN205950725U CN205950725U CN201620845245.9U CN201620845245U CN205950725U CN 205950725 U CN205950725 U CN 205950725U CN 201620845245 U CN201620845245 U CN 201620845245U CN 205950725 U CN205950725 U CN 205950725U
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- China
- Prior art keywords
- bevel gear
- connecting rod
- gear
- robot head
- drive mechanism
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Abstract
The utility model belongs to the technical field of intelligent robot, especially, relate to a be used for realizing robot head wobbling drive mechanism. 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, the pinion through the hold -in range with can be connected by driving pinion pivoted driving motor, the first bevel gear that sets up of the upper end fixedly connected with level of pinion connecting rod, the second bevel gear of first bevel gear and vertical setting mesh mutually, first umbrella gear revolve cup joint on the center pin, thereby and can drive first bevel gear level when the pinion through the pinion connecting rod at driving motor's effect infraduction measured time and rotate and drive the second bevel gear and vertically rotate. The advantage lies in: having realized robot head's luffing motion, being equivalent to the human function of nodding, adjusted robot head wobbling angle wantonly through the rotation of first bevel gear and second bevel gear, the flexibility is strong.
Description
Technical field
This utility model belongs to intelligent robot technology field, is used for realizing that robot head swings more particularly, to a kind of
Drive mechanism.
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 oscillation underaction, global design are reasonable not enough.
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 head oscillation underaction, whole
Body 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
The drive mechanism that device head part swings.
For reaching above-mentioned purpose, this utility model employs following technical proposal：This is used for realizing that robot head swings
Drive mechanism include rotating the little gear connecting rod being socketed on central shaft, the bottom fixed cover of described little gear connecting rod is connected to
Little gear, described little gear are connected with the motor for being capable of driving pinion rotation by Timing Belt, described little tooth
The upper end of wheel connecting rod is fixedly connected with horizontally disposed first bevel gear, the first described bevel gear and the second umbrella being vertically arranged
Gear is meshed, and the first described bevel-gear rotating is socketed on center shaft, and when little gear turns in the presence of motor
The first bevel gear can be driven to horizontally rotate so as to driving the second bevel gear to longitudinally rotate by little gear connecting rod when dynamic.By second
Bevel gear is connected with head fixed plate, drives head fixed plate to longitudinally rotate when the second bevel gear is longitudinally rotated, so as to reality
Show swinging up and down for robot head, equivalent to the nod of human body, by the rotation of the first bevel gear and the second bevel gear
Angle that robot head swing arbitrarily is adjusted, and motility is strong, and global design is reasonable.
In the above-mentioned drive mechanism for realizing robot head swing, the second described bevel gear is provided with and head
The tangent plane that portion's fixed plate is engaged, and the tangent plane fitted with the lower surface of head fixed plate.
Above-mentioned for realizing in drive mechanism that robot head swings, the bottom of described little gear connecting rod and in
It is provided with lower bearing between heart axle, between the top of described the first bevel gear and central shaft, is provided with upper bearing (metal).Little gear connecting rod and
First bevel gear is fixedly connected to form runner assembly, and upper bearing (metal) and lower bearing are beneficial to the runner assembly unitary rotation.
Above-mentioned for realizing in drive mechanism that robot head swings, the external wall of upper portion of described little gear connecting rod
On be provided with annular groove, the bottom of the first described bevel gear is axially extending to have the fixation being engaged with upper annular groove convex
Ring, in the upper annular groove of described fixed bulge loop insertion.Beneficial to the installation and removal between the first bevel gear and little gear connecting rod.
Above-mentioned for realizing in drive mechanism that robot head swings, the lower inner wall of described little gear connecting rod
On be provided with lower annular groove, described central shaft is provided with the positioning convex ring of the upper annular groove of insertion, described positioning convex ring and
The lower annular space accommodating for lower bearing is formed between lower annular groove, and described lower bearing is arranged on lower annular space.
Above-mentioned for realizing in drive mechanism that robot head swings, the upper end of described central shaft is provided with solid
Fixed board, described upper bearing (metal) are located between upper mounted plate and the first bevel gear, are opened in the upper inside wall of described the first bevel gear
There is the upper annular space being engaged with upper bearing (metal).
In the above-mentioned drive mechanism for realizing robot head swing, described little gear can by fixing screws
Dismounting is fixed on little gear connecting rod, and the first described bevel gear and little gear connecting rod are detachably fixed company by fixing screws
Connect.Beneficial to the installation and removal between all parts.
Compared with prior art, this advantage for being used for the drive mechanism for realizing that robot head swings is：When little tooth
Wheel can be horizontally rotated so as to driving the by little gear connecting rod the first bevel gear of drive when rotating in the presence of motor
Two bevel gears are longitudinally rotated, and the second bevel gear is connected with head fixed plate, drive head when the second bevel gear is longitudinally rotated
Portion's fixed plate is longitudinally rotated, so as to realize swinging up and down for robot head, equivalent to the nod of human body, by the first umbrella
The rotation of gear and the second bevel gear arbitrarily adjusts the angle that robot head swings, and motility is strong, and global design is reasonable.
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.
In figure, central shaft 1, little gear connecting rod 2, little gear 3, Timing Belt 4, motor 5, the first bevel gear 6, the second umbrella
Gear 7, tangent plane 8, lower bearing 9, upper bearing (metal) 10, upper annular groove 11, fixed bulge loop 12, lower annular groove 13, positioning convex ring 14,
Upper mounted plate 15.
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 Figure 1-2, this is used for realizing that the drive mechanism that robot head swings includes that rotation is socketed in central shaft 1
Little gear connecting rod 2, the bottom fixed cover of little gear connecting rod 2 is connected to little gear 3, and little gear 3 by Timing Belt 4 and can drive
The motor 5 that little gear 3 is rotated is connected, and the upper end of little gear connecting rod 2 is fixedly connected with horizontally disposed first bevel gear
6, the first bevel gear 6 is meshed with the second bevel gear 7 being vertically arranged, and the first bevel gear 6 is rotated and is socketed on central shaft 1, and
The first bevel gear 6 can be driven to horizontally rotate by little gear connecting rod 2 when little gear 3 is rotated in the presence of motor 5
So as to drive the second bevel gear 7 to longitudinally rotate.Second bevel gear 7 is connected with head fixed plate, when 7 longitudinal direction of the second bevel gear
Head fixed plate is driven to longitudinally rotate during rotation, so as to realize swinging up and down for robot head, equivalent to the point greatest service of human body
Can, the angle that robot head swings arbitrarily is adjusted by the rotation of the first bevel gear 6 and the second bevel gear 7, motility is strong, whole
Body is reasonable in design.
Wherein, the second bevel gear 7 is provided with the tangent plane 8 being engaged with head fixed plate, and the tangent plane 8 and head fixed plate
Lower surface fit.Be provided with lower bearing 9 between the bottom of little gear connecting rod 2 and central shaft 1, the top of the first bevel gear 6 and
Upper bearing (metal) 10 is provided between central shaft 1.Little gear connecting rod 2 and the first bevel gear 6 are fixedly connected to form runner assembly, upper bearing (metal) 10
It is beneficial to the runner assembly unitary rotation with lower bearing 9.It is provided with annular groove 11 in the external wall of upper portion of little gear connecting rod 2, first
The bottom of bevel gear 6 is axially extending the fixed bulge loop 12 being engaged with upper annular groove 11, and the fixed insertion of bulge loop 12 is upper annular
In groove 11.Beneficial to the installation and removal between the first bevel gear 6 and little gear connecting rod 2.In the lower inner wall of little gear connecting rod 2
Lower annular groove 13 is provided with, central shaft 1 is provided with the positioning convex ring 14 of the upper annular groove 11 of insertion, positioning convex ring 14 and lower annular
The lower annular space accommodating for lower bearing 9 is formed between groove 13, and lower bearing 9 is arranged on lower annular space.The upper end of central shaft 1
Upper mounted plate 15 is provided with, upper bearing (metal) 10 is located between upper mounted plate 15 and the first bevel gear 6, the upper inside wall of the first bevel gear 6
On be provided with the upper annular space being engaged with upper bearing (metal) 10.Little gear 3 is detachably secured to little gear connecting rod 2 by fixing screws
On, the first bevel gear 6 and little gear connecting rod 2 are detachably fixed connection by fixing screws.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 (7)
1. a kind of for realize robot head swing drive mechanism, it is characterised in that including rotate be socketed in central shaft (1)
On little gear connecting rod (2), the bottom fixed cover of described little gear connecting rod (2) is connected to little gear (3), described little gear
(3) by Timing Belt (4) with can the motor (5) that rotates of driving pinion (3) be connected, described little gear connecting rod
(2) upper end is fixedly connected with horizontally disposed first bevel gear (6), described the first bevel gear (6) and for being vertically arranged
Two bevel gears (7) are meshed, and described the first bevel gear (6) is rotated and is socketed on central shaft (1), and when little gear (3) is being driven
The first bevel gear (6) can be driven to horizontally rotate so as to driving by little gear connecting rod (2) when rotating in the presence of galvanic electricity machine (5)
Second bevel gear (7) is longitudinally rotated.
2. according to claim 1 for realizing drive mechanism that robot head swings, it is characterised in that described the
Two bevel gears (7) are provided with the tangent plane (8) being engaged with head fixed plate, and the lower surface of the tangent plane (8) and head fixed plate
Fit.
3. according to claim 2 for realize robot head swing drive mechanism, it is characterised in that described is little
It is provided with lower bearing (9) between the bottom of gear connecting rod (2) and central shaft (1), the top and center of described the first bevel gear (6)
Upper bearing (metal) (10) is provided between axle (1).
4. according to claim 3 for realize robot head swing drive mechanism, it is characterised in that described is little
Annular groove (11) is provided with the external wall of upper portion of gear connecting rod (2), and the bottom of described the first bevel gear (6) is axially extending to be had
The fixed bulge loop (12) being engaged with upper annular groove (11), in described fixed bulge loop (12) insertion in annular groove (11) and
The fixed inwall of bulge loop (12) and the inwall of little gear connecting rod (2) flush.
5. according to claim 4 for realize robot head swing drive mechanism, it is characterised in that described is little
Lower annular groove (13) is provided with the lower inner wall of gear connecting rod (2), and described central shaft (1) is provided with the upper annular groove of insertion
(11) positioning convex ring (14), forms between described positioning convex ring (14) and lower annular groove (13) accommodating for lower bearing (9)
Lower annular space, described lower bearing (9) is arranged on lower annular space.
6. according to claim 5 for realize robot head swing drive mechanism, it is characterised in that in described
The upper end of heart axle (1) is provided with upper mounted plate (15), and described upper bearing (metal) (10) is located at upper mounted plate (15) and the first bevel gear (6)
Between, it is provided with, in the upper inside wall of described the first bevel gear (6), the upper annular space being engaged with upper bearing (metal) (10).
7. according to claim 6 for realize robot head swing drive mechanism, it is characterised in that described is little
Gear (3) is detachably secured on little gear connecting rod (2) by fixing screws, and described the first bevel gear (6) and little gear connect
Bar (2) is detachably fixed connection by fixing screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620845245.9U CN205950725U (en) | 2016-08-05 | 2016-08-05 | Be used for realizing robot head wobbling drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620845245.9U CN205950725U (en) | 2016-08-05 | 2016-08-05 | Be used for realizing robot head wobbling drive mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205950725U true CN205950725U (en) | 2017-02-15 |
Family
ID=57973556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620845245.9U Expired - Fee Related CN205950725U (en) | 2016-08-05 | 2016-08-05 | Be used for realizing robot head wobbling drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205950725U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110624251A (en) * | 2019-09-18 | 2019-12-31 | 陈健平 | Mechanical model of cartoon figure |
-
2016
- 2016-08-05 CN CN201620845245.9U patent/CN205950725U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110624251A (en) * | 2019-09-18 | 2019-12-31 | 陈健平 | Mechanical model of cartoon figure |
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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: 20170215 Termination date: 20200805 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |