CN206066465U - Robot head connecting connection parts and robot - Google Patents
Robot head connecting connection parts and robot Download PDFInfo
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- CN206066465U CN206066465U CN201620761897.4U CN201620761897U CN206066465U CN 206066465 U CN206066465 U CN 206066465U CN 201620761897 U CN201620761897 U CN 201620761897U CN 206066465 U CN206066465 U CN 206066465U
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- nodding
- rotating shaft
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Abstract
This utility model discloses a kind of robot head connecting connection parts, and which includes head-shaking device and elevation mount.Head-shaking device includes：Driven gear of shaking the head that the head-shaking motor component being arranged on the body of robot, the panning gear being arranged on head-shaking motor component are engaged with panning gear, it is arranged on shaking the head on driven gear of shaking the head and rotating shaft and is arranged on the pallet shaken the head in rotating shaft.Elevation mount includes：The electric machine assembly of nodding that is arranged on pallet, be arranged on nod on electric machine assembly nod gear and be engaged with gear of nodding nod and driven gear and be arranged on the rotating shaft of nodding nodded on driven gear.The robot head connecting connection parts of this utility model embodiment, nod in rotating shaft as the head of robot is arranged on, and rotating shaft of nodding are arranged on pallet.Therefore, shake the head rotating shaft rotation can drive be arranged on pallet head portion rotation, so as to realize the oscillating function of head；The rotation of rotating shaft of nodding can drive the rotation of head, so as to realize the nod of head.
Description
Technical field
This utility model is related to robot, and in particular to a kind of robot head connecting connection parts.
Background technology
The head of existing robot can only be shaken the head or pitching, it is impossible to meet some applications, such as some servers
Device people, in order to improve interaction effect, it may be necessary to represented by shaking the head and disagreed, and agreed by pitching.
Utility model content
This utility model is intended at least to solve to a certain extent one of technical problem in correlation technique.For this purpose, this reality
With a kind of robot head connecting connection parts of new proposition.
This utility model discloses a kind of robot head connecting connection parts, and which includes head-shaking device and elevation mount.It is described to shake
Head device includes：The head-shaking motor component that is arranged on the body of the robot, it is arranged on the head-shaking motor component
Driven gear of shaking the head that driving gear of shaking the head is engaged with the driving gear of shaking the head, it is arranged on described shaking the head on driven gear
Shake the head and rotating shaft and be arranged on the pallet shaken the head in rotating shaft.The elevation mount includes：The point being arranged on the pallet
Head electric machine assembly, be arranged on the driving gear of nodding nodded on electric machine assembly, be arranged on the pallet and with the point
What head driving gear was engaged nod driven gear and it is arranged on the driven gear of nodding and the head with the robot
The rotating shaft of nodding of connection.
In above-mentioned robot head connecting connection parts, the body is used to support the robot head connecting connection parts, described
Head-shaking motor component is fixed on the body, and provides power for the head-shaking device；The driving gear and described of shaking the head
Driven gear of shaking the head is used to transmit power so that the axis of rotation of shaking the head；The elevation mount is arranged on the pallet, institute
State and nod electric machine assembly for the elevation mount and power is provided and is arranged on the pallet；The driving gear and described of nodding
Driven gear of nodding is used to transmit power so that the axis of rotation of shaking the head.
In some embodiments, the body includes bearing, and the bearing is used to support the body, the electricity of shaking the head
Thermomechanical components are fixed on the bearing.
In some embodiments, the head-shaking motor component includes head-shaking motor rotating shaft, the head-shaking motor rotating shaft with
The rotating shaft of shaking the head is substantially parallel.The driving gear of shaking the head is set in the head-shaking motor rotating shaft, the driven tooth of shaking the head
Wheel is set in the rotating shaft of shaking the head and is engaged with the driving gear of shaking the head.
In some embodiments, the driven gear of shaking the head is provided with gear step, and the gear step is formed with spiral shell
Pit.The driven gear of shaking the head is fixed on described shaking the head in rotating shaft by securing member and screwed hole cooperation.
In some embodiments, the rotating shaft of shaking the head includes stage casing and hypomere, the hypomere be smaller in size than it is described in
The size of section.Ladder of shaking the head is formed with down between the stage casing and the hypomere.The hypomere is formed with lower external screw thread.The machine
Device number of people connecting connection parts also include the lower nut coordinated with the lower external screw thread so that the driven gear of shaking the head is fixed on institute
State down and shake the head between ladder and the lower nut.
In some embodiments, the robot head connecting connection parts include arranging fixation of shaking the head on the body
Component.The fixation kit of shaking the head includes arranging fixed cover of shaking the head on the body, and the rotating shaft of shaking the head is arranged on described
Shake the head inside fixed cover.The fixation kit of shaking the head include being set in it is described shake the head in rotating shaft, and be embedded the fixed cover of shaking the head
Interior bearing group.The fixation kit of shaking the head includes the abutment sleeve being arranged between the bearing group, and the abutment sleeve is used
In the positioning bearing group.
In some embodiments, the bearing group includes the upper bearing (metal) near the pallet.The fixation kit of shaking the head
Including the support set being arranged between the upper bearing (metal) and the pallet, the support set is arranged described shaking the head in rotating shaft.It is described
Rotating shaft of shaking the head includes that epimere and hypomere, the epimere and the hypomere are located at the opposite two ends of the rotating shaft of shaking the head respectively, described
Epimere is formed with external screw thread.The robot head connecting connection parts also include the top nut coordinated with the upper external screw thread to incite somebody to action
The pallet is fixed between the support set and the top nut.
In some embodiments, the pallet is formed with circular arc stopper slot, is provided with the top of the fixed cover of shaking the head
The spacing preiection coordinated with the stopper slot, the spacing preiection and the stopper slot are coordinated for limiting the rotation of the pallet
Scope.
In some embodiments, the pallet include right support plate on the right side of the pallet and with the right support
The opposite left support plate of plate, the electric machine assembly of nodding are fixed in the right support plate.
In some embodiments, the electric machine assembly of nodding includes machine shaft of nodding, it is described nod machine shaft with
The rotating shaft of nodding is substantially parallel.The driving gear of nodding is nodded on machine shaft described in being set in, the driven tooth of nodding
Wheel is set in the rotating shaft of nodding and is engaged with the driving gear of nodding.
In some embodiments, the pallet includes the point being arranged between the left support plate and the right support plate
Head fixed cover.The rotating shaft of nodding is arranged on described nodding in fixed cover.The robot head connecting connection parts are included for solid
The fixation kit of nodding of fixed point head rotating shaft.The fixation kit of nodding include being set in it is described nod in rotating shaft, and be embedded described
The bearing group of nodding nodded in fixed cover.
In some embodiments, the rotating shaft of nodding include nodding axle stage casing, right section and away from left section of described right section,
The size in the both less than described axle stage casing of nodding of described right section and described left section of size.Axle stage casing and the right section of shape of nodding
Into there is right ladder, the axle stage casing of nodding is formed with left ladder with described left section.The robot head connecting connection parts include using
Nod the fixation kit of nodding of rotating shaft in fixation, the fixation kit of nodding include being set in it is described nod in rotating shaft, and be embedded
In the bearing group of nodding nodded in fixed cover, the bearing group of nodding includes the right bearing for being arranged on the right ladder, with
And it is arranged on the left bearing of the left ladder.The fixation kit of nodding includes being arranged on the right end cap on the right side of the right bearing,
And the left end cap being arranged on the left of the left bearing.The pallet include the right support plate on the right side of the pallet and with it is described
The opposite left support plate of right support plate, the right end cap are fixed in the right support plate, and the left end cap is fixed on the left side
In gripper shoe.
The robot of this utility model embodiment includes：Body, head and robot head connecting connection parts.
The robot of this utility model embodiment, in some embodiments, the pallet is provided with gag lever post.It is described
Head includes the limiting plate being engaged with the gag lever post, and the head is arranged on described nodding in rotating shaft.The gag lever post and
The limiting plate is used for the slewing area for limiting the rotating shaft of nodding.
The robot head connecting connection parts of this utility model embodiment, as the head of the robot sets
Put and nod in rotating shaft described, and the rotating shaft of nodding is arranged on the pallet；Therefore, the rotation of the rotating shaft of shaking the head can band
Move the pallet and be arranged on the head rotation on the pallet, so as to realize the oscillating function of the head；It is described to nod
The rotation of rotating shaft can drive the rotation of the head, so as to realize the nod of the head.
Additional aspect of the present utility model and advantage will be set forth in part in the description, partly will be from explained below
In become obvious, or by it is of the present utility model practice recognize.
Description of the drawings
Of the present utility model above-mentioned and/or additional aspect and advantage are from the description with reference to accompanying drawings below to embodiment
Will be apparent from it is easy to understand, wherein：
Fig. 1 is the schematic perspective view of the robot head connecting connection parts of this utility model embodiment.
Fig. 2 is the front view of the robot head connecting connection parts of this utility model embodiment.
Fig. 3 is the generalized section of the robot head connecting connection parts along V-V lines of Fig. 2.
Fig. 4 is the top view of the robot head connecting connection parts of this utility model embodiment.
Fig. 5 is the generalized section of the robot head connecting connection parts along W-W lines of this utility model embodiment.
Fig. 6 is the right view of the robot head connecting connection parts of this utility model embodiment.
Fig. 7 is the upward view of the robot head connecting connection parts of this utility model embodiment.
Fig. 8 be of the robot head connecting connection parts of this utility model embodiment shake the head rotation limit position signal
Figure.
Fig. 9 be two of the robot head connecting connection parts of this utility model embodiment nod rotation limit position signal
Figure.
Main element symbol is illustrated：
Robot 100, robot head connecting connection parts 10, body 12, bearing 12a, head-shaking device 14, electricity of shaking the head
Thermomechanical components 140, head-shaking motor rotating shaft 140a, driving gear 142 of shaking the head, driven gear 144 of shaking the head, gear step 144a,
Screwed hole 144b, rotating shaft 146 of shaking the head, stage casing 146a, hypomere 146b, epimere 146c, under shake the head ladder 146d, lower outer spiral shell
Stricture of vagina 146e, upper external screw thread 146f, pallet 148, stopper slot 148a, right support plate 148b, left support plate 148c, nod it is solid
Surely cover 148d, lower nut 18, lower gasket 18a, fixation kit 20 of shaking the head, fixed cover 200 of shaking the head, spacing preiection 200a,
Bearing group 202, lower bearing 202a, upper bearing (metal) 202b, abutment sleeve 204, support set 206, top nut 208, Upper gasket
208a, elevation mount 16, electric machine assembly 160 of nodding, the machine shaft 160a that nods, driving gear 162 of nodding, nod it is driven
Gear 164, rotating shaft 166 of nodding, the axle stage casing 166a that nods, right section of 166b, left section of 166c, right ladder 166d, left ladder
166e, fixation kit 30 of nodding, bearing group of nodding 302, right bearing 302a, left bearing 302b, right end cap 304, left end cap
306th, gag lever post 40,50 (not shown) of head, limiting plate 52.
Specific embodiment
Embodiment of the present utility model is described further below in conjunction with accompanying drawing.Same or similar label in accompanying drawing
Same or similar element or the element with same or like function are represented from start to finish.
In addition, the embodiment of the present utility model for describing below in conjunction with the accompanying drawings is exemplary, it is only used for explaining this reality
With new embodiment, and it is not intended that to restriction of the present utility model.
Refer to Fig. 1-5, the robot head connecting connection parts 10 of this utility model embodiment include head-shaking device 14 and
Elevation mount 16.Head-shaking device 14 includes：The head-shaking motor component 140 that is arranged on the body 12 of robot 100, it is arranged on and shakes
Driving gear 142 of shaking the head on head electric machine assembly 140, the driven gear 144 of shaking the head being engaged with driving gear 142 of shaking the head, set
Put rotating shaft 146 and the pallet 148 shaken the head in rotating shaft 146 is arranged in shaking the head on driven gear 144 of shaking the head.Elevation mount 16 is wrapped
Include：The electric machine assembly 160 of nodding that is arranged on pallet 148, be arranged on nod on electric machine assembly 160 driving gear 162 of nodding,
Nodding for being arranged on pallet 148 and be engaged with driving gear 162 of nodding and is arranged on driven gear of nodding at driven gear 164
The rotating shaft 166 of nodding being connected on 164 and with the head 50 of robot 100.
In above-mentioned robot head connecting connection parts, body 12 is used to support robot head connecting connection parts 10, head-shaking motor
Component 140 is fixed on body 12, and provides power for head-shaking device 14；Shake the head driving gear 142 and driven gear 144 of shaking the head
For transmitting power so that rotating shaft 146 of shaking the head is rotated；Elevation mount 16 is arranged on pallet 148, and electric machine assembly 160 of nodding is to bow
Face upward device 16 power to be provided and is arranged on pallet 148；Nod driving gear 162 and driven gear 164 of nodding is used to transmit dynamic
The power rotating shaft 146 that causes to shake the head is rotated.
The robot head connecting connection parts 10 of this utility model embodiment, as the head 50 of robot 100 is arranged on
Nod in rotating shaft 166, and rotating shaft 166 of nodding is arranged on pallet 148；Therefore, the rotation of rotating shaft 146 of shaking the head can drive pallet
148 and the head 50 that is arranged on pallet 148 rotate, so as to realize the oscillating function of head 50；Nod the rotation meeting of rotating shaft 166
The rotation of head 50 is driven, so as to realize the nod of head 50.
In some embodiments, body 12 includes that bearing 12a, bearing 12a are used to support body 12, head-shaking motor component
140 are fixed on bearing 12a.
Thus, head-shaking motor component 140 can be fixed on bearing 12a.
In some embodiments, head-shaking motor component 140 is arranged on the top surface inside body 12.
It is appreciated that the fixed form of head-shaking motor component 140 is arranged also dependent on actual requirement, and it is not limited to beg for above
By embodiment.
In some embodiments, head-shaking motor component 140 includes head-shaking motor rotating shaft 140a, head-shaking motor rotating shaft 140a
Rotating shaft 146 is substantially parallel with shaking the head.Driving gear 142 of shaking the head is set on head-shaking motor rotating shaft 140a, driven gear 144 of shaking the head
It is set in rotating shaft 146 of shaking the head and engages with driving gear 142 of shaking the head.
Thus, the rotation that head-shaking motor component 140 is produced can be delivered to driven tooth of shaking the head by driving gear 142 of shaking the head
Wheel 144.
In some embodiments, shake the head driving gear 142 and driven gear 144 of shaking the head can be spur gear, helical gear
Or herringbone bear etc., the power that head-shaking motor component 140 is produced can also be delivered to rotating shaft of shaking the head by V belt translation or Chain conveyer
On 146.
It is appreciated that in other embodiments, the gear-type of shake the head driving gear 142 and driven gear 144 of shaking the head
Can be arranged according to actual requirement, and be not limited to embodiments discussed above；Certainly the kind of drive of power can also basis
Actual requirement is arranged, and is not limited to embodiments discussed above.
In some embodiments, driven gear 144 of shaking the head is provided with gear step 144a, and gear step 144a is formed with
Screwed hole 144b.Driven gear 144 of shaking the head coordinates to be fixed on screwed hole 144b by securing member shakes the head in rotating shaft 146.
Thus, driven gear 144 of shaking the head can be fixed in rotating shaft 146 of shaking the head and provide what is rotated for rotating shaft 146 of shaking the head
Moment of torsion.
In some embodiments, shake the head driven gear 144 and the fixed form shaken the head between rotating shaft 146 can also pass through
The connection of bonded or pin.
It is appreciated that in other embodiments, shake the head driven gear 144 and the connected mode shaken the head between rotating shaft 146
Can also be arranged according to actual requirement, and be not limited to embodiments discussed above.
In some embodiments, rotating shaft 146 of shaking the head includes stage casing 146a and hypomere 146b, and hypomere 146b's is smaller in size than
The size of stage casing 146a.The ladder 146d that shakes the head is formed with down between stage casing 146a and hypomere 146b.Hypomere 146b is formed with lower outer
Screw thread 146e.Robot head connecting connection parts 10 also include the lower nut 18 coordinated with lower external screw thread 146e with driven tooth of shaking the head
Wheel 144 is fixed on down shakes the head between ladder 146d and lower nut 18.
So, it is possible to achieve the axial restraint of driven gear 144 of shaking the head, so as to the driven gear 144 that prevents from shaking the head is along shaking the head
The axial float of rotating shaft 146.
In some embodiments, for preferably fixed driven gear 144 of shaking the head, shake the head driven gear 144 and lower spiral shell
Lower gasket 18a is provided between female 18, preferably to fix driven gear 144 of shaking the head.
It is appreciated that in other embodiments, the axial restraint mode of driven gear 144 of shaking the head is also dependent on being actually subjected to
Setting is asked, and is not limited to embodiments discussed above.
In some embodiments, robot head connecting connection parts 10 include the fixation kit of shaking the head being arranged on body 12
20.Fixation kit 20 of shaking the head includes the fixed cover 200 of shaking the head being arranged on body 12, and rotating shaft 146 of shaking the head is arranged on fixation of shaking the head
Inside set 200.Fixation kit 20 of shaking the head includes being set in shakes the head in rotating shaft 146, and is embedded the bearing group shaken the head in fixed cover 200
202.Fixation kit 20 of shaking the head includes the abutment sleeve 204 being arranged between bearing group 202, and abutment sleeve 204 is used for locating shaft
Hold group 202.
Thus, rotating shaft 146 of shaking the head can be fixed on and shake the head in fixed cover 200, and rotating shaft 146 of shaking the head can not move can only
Rotate.
In some embodiments, fixed cover 200 of shaking the head is circular sleeve, and 200 bottom of fixed cover of shaking the head is provided with to be located at and shakes
Ring-shaped step outside head fixed cover 200, is formed with hole on step, to shake the head, fixed cover 200 is fixed on body 12.
It is appreciated that in other embodiments, the fixed form of rotating shaft 146 of shaking the head is arranged also dependent on actual requirement,
And it is not limited to embodiments discussed above.
In some embodiments, bearing group 202 includes the upper bearing (metal) 202b near pallet 148.Shake the head fixation kit 20
Including the support set 206 being arranged between upper bearing (metal) 202b and pallet 148, support set 206 is arranged shakes the head in rotating shaft 146.Shake the head
Rotating shaft 146 includes that epimere 146c and hypomere 146b, epimere 146c and hypomere 146b are located at opposite two of rotating shaft 146 of shaking the head respectively
End, epimere 146c are formed with external screw thread 146f.Robot head connecting connection parts also include upper with what upper external screw thread 146f coordinated
Nut 208 is so that pallet 148 is fixed between support set 206 and top nut 208.
Thus, pallet 148 can be fixed on shake the head in rotating shaft 146, and pallet 148 can be with 146 turns of rotating shaft of shaking the head
It is dynamic.
In some embodiments, for preferably fixed tray 148, it is provided between pallet 148 and top nut 208
Upper gasket 208a is so as to can preferably fixed tray 148.
It is appreciated that in other embodiments, the fixed form of pallet 148 is arranged also dependent on actual requirement, and not
It is limited to embodiments discussed above.
Fig. 8 is seen also, in some embodiments, pallet 148 is formed with circular arc stopper slot 148a, fixation of shaking the head
The spacing preiection 200a, spacing preiection 200a and stopper slot 148a that coordinate with stopper slot 148a are provided with the top of set 200 with sharing
In the slewing area for limiting pallet 148.
Thus, shaking the head rotating shaft 146 and the rotation of pallet 148 is limited in certain limit.
In some embodiments, the slewing area of rotating shaft 146 of shaking the head is realizing by controlling head-shaking motor component 140
, and stopper slot 148a plays second layer protective effect with the position-limiting action with spacing preiection 200a.
It is appreciated that the spacing of rotating shaft 146 of shaking the head is arranged also dependent on actual requirement, and it is not limited to enforcement discussed above
Mode.
In some embodiments, pallet 148 includes right support plate 148b and and right support plate on the right side of pallet 148
148b opposite left support plate 148c, electric machine assembly 160 of nodding are fixed in right support plate 148b.
Thus, electric machine assembly 160 of nodding can be fixed on pallet 148, and can rotate with pallet 148.
It is appreciated that the fixed form of electric machine assembly 160 of nodding is arranged also dependent on actual requirement, and it is not limited to beg for above
By embodiment.
In some embodiments, electric machine assembly 160 of nodding includes the machine shaft 160a that nods, and nod machine shaft 160a
Rotating shaft 166 is substantially parallel with nodding.Driving gear 162 of nodding is set in nods on machine shaft 160a, driven gear 164 of nodding
It is set in rotating shaft 166 of nodding and engages with driving gear 162 of nodding.
Thus, the rotation of the generation of electric machine assembly 160 of nodding can be delivered to driven tooth of nodding by driving gear 162 of nodding
Wheel 164.
In some embodiments, nod driving gear 162 and driven gear 144 of shaking the head can be spur gear, helical gear
Or herringbone bear etc., the power that electric machine assembly 160 of nodding is produced can also be delivered to rotating shaft of nodding by V belt translation or Chain conveyer
On 166.
It is appreciated that in other embodiments, the gear-type of nod driving gear 162 and driven gear 164 of nodding
Can be arranged according to actual requirement, and be not limited to embodiments discussed above；Certainly, the kind of drive of power can also basis
Actual requirement is arranged, and is not limited to embodiments discussed above.
In some embodiments, pallet 148 includes the point being arranged between left support plate 148c and right support plate 148b
Head fixed cover 148d.Rotating shaft 166 of nodding is arranged on nods in fixed cover 148d.Robot head connecting connection parts 10 are included for solid
The fixation kit 30 of nodding of fixed point head rotating shaft 166.Fixation kit 30 of nodding includes being set in nods in rotating shaft 166, and is embedded a little
Bearing group 302 of nodding in head fixed cover 148d.
Thus, rotating shaft 166 of nodding can be fixed on and nod in fixed cover 148d, and rotating shaft 166 of nodding can be with nodding
Driven gear 164 is rotated.
In some embodiments, the fixed cover 148d that nods is cylindrical, and the fixed cover 148d that nods is near rotating shaft 146 of shaking the head
Side is provided with hole, so as to the installation of top nut 208.
It is appreciated that in other embodiments, the fixed form of rotating shaft 166 of nodding can also be set according to actual requirement
Put, and be not limited to embodiments discussed above.
In some embodiments, rotating shaft 166 of nodding includes nodding axle stage casing 166a, right section of 166b and away from right section of 166b
Left section of 166c, the size of right section of 166b and left section of 166c both less than nods the size of axle stage casing 166a.Nod axle stage casing 166a
Right ladder 166d is formed with right section of 166b, the axle stage casing 166a and left section of 166c that nod is formed with left ladder 166e.Robot head
Connecting connection parts 10 include the fixation kit 30 of nodding for fixed rotating shaft 166 of nodding, and fixation kit 30 of nodding includes being set in
Nod in rotating shaft 166, and be embedded the bearing group 302 of nodding in the fixed cover 148d that nods, bearing group of nodding 302 includes being arranged on
The right bearing 302a of right ladder 166d, and it is arranged on the left bearing 302b of left ladder 166e.Fixation kit 30 of nodding includes setting
Put the right end cap 304 on the right side of right bearing 302a, and the left end cap 306 being arranged on the left of left bearing 302b.Pallet 148 includes position
Right support plate 148b and left support plate 148c opposite with right support plate 148b on the right side of the pallet 148, right end cap 304 are fixed on
In right support plate 148b, left end cap 306 is fixed in left support plate 148c.
Thus, the axial direction of rotating shaft 166 of nodding is fixed, the generation axial float of rotating shaft 166 of nodding is prevented.
In some embodiments, installing hole is formed with right support plate 148b and left support plate 148c, so as to right end cap
304 and the installation of left end cap 306 fix.
It is appreciated that in other embodiments, the axial restraint mode of rotating shaft 166 of nodding can also be according to actual requirement
Arrange, and be not limited to embodiments discussed above；
Fig. 9 is seen also, the robot head connecting connection parts 10 of this utility model embodiment can apply to this reality
With the robot 100 of new embodiment.Robot 100 includes body 12, head 50 and robot head connecting connection parts 10.
In some embodiments, pallet 148 is provided with gag lever post 40.Head 50 includes the limit being engaged with gag lever post 40
Position plate 52, head 50 is arranged on nods in rotating shaft 166.Gag lever post 40 and limiting plate 52 are for limiting the rotation of rotating shaft 166 of nodding
Scope.
Thus, the rotation of rotating shaft 166 of nodding is limited in certain limit.
In some embodiments, the slewing area of rotating shaft 166 of nodding is to nod electric machine assembly 160 realizing by control
, and the position-limiting action of gag lever post 40 and limiting plate 52 plays second layer protective effect.
It is appreciated that the spacing of rotating shaft 166 of nodding is arranged also dependent on actual requirement, and it is not limited to enforcement discussed above
Mode.
In this utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score
Can be the first and second feature directly contacts, or the first and second features are by intermediary mediate contact.And, first is special
Levy second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only
Represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be with
Be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
Example ", or the description of " some examples " etc. mean specific features with reference to the embodiment or example description, structure, material or spy
Point is contained at least one embodiment of the present utility model or example.In this manual, the schematic table to above-mentioned term
State.And, the specific features of description, structure, material or feature can be with
Combined in any one or more embodiments or example in an appropriate manner.Additionally, in the case of not conflicting, this area
Technical staff the feature of the different embodiments or example described in this specification and different embodiment or example can be entered
Row is combined and is combined.
Although embodiment of the present utility model has been shown and described above, it is to be understood that above-described embodiment is
Exemplary, it is impossible to it is interpreted as to restriction of the present utility model, one of ordinary skill in the art is in scope of the present utility model
It is interior above-described embodiment to be changed, be changed, being replaced and modification.
Claims (14)
1. a kind of robot head connecting connection parts, it is characterised in that include：
Head-shaking device, the head-shaking device include：
The head-shaking motor component being arranged on the body of the robot；
The driving gear of shaking the head being arranged on the head-shaking motor component；
The driven gear of shaking the head being engaged with the driving gear of shaking the head；
It is arranged on the rotating shaft of shaking the head shaken the head on driven gear；And
It is arranged on the pallet shaken the head in rotating shaft；And
Elevation mount, the elevation mount include：
The electric machine assembly of nodding being arranged on the pallet；
It is arranged on the driving gear of nodding nodded on electric machine assembly；
The driven gear of nodding for being arranged on the pallet and being engaged with the driving gear of nodding；And
It is arranged on the rotating shaft of nodding being connected on the driven gear of nodding and with the head of the robot.
2. robot head connecting connection parts as claimed in claim 1, it is characterised in that the body includes bearing, described
Seat is used to support the body, the head-shaking motor component to be fixed on the bearing.
3. robot head connecting connection parts as claimed in claim 2, it is characterised in that the head-shaking motor component includes shaking the head
Machine shaft, the head-shaking motor rotating shaft are substantially parallel with the rotating shaft of shaking the head；
The driving gear of shaking the head is set in the head-shaking motor rotating shaft, and the driven gear of shaking the head is set in described shaking the head and turns
Engage on axle and with the driving gear of shaking the head.
4. robot head connecting connection parts as claimed in claim 3, it is characterised in that the driven gear of shaking the head arranges with teeth
Wheel step, the gear step are formed with screwed hole；
The driven gear of shaking the head is fixed on described shaking the head in rotating shaft by securing member and screwed hole cooperation.
5. robot head connecting connection parts as claimed in claim 1, it is characterised in that the rotating shaft of shaking the head include stage casing and under
Section, the size for being smaller in size than the stage casing of the hypomere；
Ladder of shaking the head is formed with down between the stage casing and the hypomere；
The hypomere is formed with lower external screw thread；
The robot head connecting connection parts also include the lower nut that coordinates with the lower external screw thread with by the driven tooth of shaking the head
Wheel be fixed on it is described under shake the head between ladder and the lower nut.
6. robot head connecting connection parts as claimed in claim 2, it is characterised in that the robot head connecting connection parts bag
Include the fixation kit of shaking the head for arranging on the body；
The fixation kit of shaking the head includes arranging fixed cover of shaking the head on the body, and the rotating shaft of shaking the head is arranged on described shaking
Inside head fixed cover；
The fixation kit of shaking the head include being set in it is described shake the head in rotating shaft, and be embedded the bearing group shaken the head in fixed cover；
The fixation kit of shaking the head includes the abutment sleeve being arranged between the bearing group, and the abutment sleeve is used to position institute
State bearing group.
7. robot head connecting connection parts as claimed in claim 6, it is characterised in that the bearing group is included near the support
The upper bearing (metal) of disk；
The fixation kit of shaking the head includes the support set being arranged between the upper bearing (metal) and the pallet, and the support set is arranged
It is described to shake the head in rotating shaft；
The rotating shaft of shaking the head includes that epimere and hypomere, the epimere and the hypomere are located at opposite two of the rotating shaft of shaking the head respectively
End, the epimere are formed with external screw thread；
The robot head connecting connection parts also include the top nut coordinated with the upper external screw thread so that the pallet to be fixed on
Between the support set and the top nut.
8. robot head connecting connection parts as claimed in claim 7, it is characterised in that it is spacing that the pallet is formed with circular arc
Groove, is provided with the spacing preiection coordinated with the stopper slot, the spacing preiection and described spacing at the top of the fixed cover of shaking the head
Groove coordinates for limiting the slewing area of the pallet.
9. robot head connecting connection parts as claimed in claim 8, it is characterised in that the pallet is included positioned at the pallet
The right support plate and the left support plate opposite with the right support plate on right side, the electric machine assembly of nodding are fixed on the right support
On plate.
10. robot head connecting connection parts as claimed in claim 9, it is characterised in that the electric machine assembly of nodding is included a little
Head machine shaft, the machine shaft of nodding are substantially parallel with the rotating shaft of nodding；
The driving gear of nodding is nodded on machine shaft described in being set in, and the driven gear of nodding is set in described nodding and turns
Engage on axle and with the driving gear of nodding.
11. robot head connecting connection parts as claimed in claim 9, it is characterised in that the pallet includes being arranged on described
Fixed cover of nodding between left support plate and the right support plate；
The rotating shaft of nodding is arranged on described nodding in fixed cover；
The robot head connecting connection parts include the fixation kit of nodding for fixed rotating shaft of nodding；
The fixation kit of nodding include being set in it is described nod in rotating shaft, and be embedded the bearing of nodding nodded in fixed cover
Group.
12. robot head connecting connection parts as claimed in claim 1, it is characterised in that the rotating shaft of nodding includes axle of nodding
Stage casing, right section and away from the both less than described axle stage casing of nodding of size of left section, described right section and described left section of described right section
Size；
The axle stage casing of nodding is formed with right ladder with described right section, and the axle stage casing of nodding is formed with left rank with described left section
Ladder；
The robot head connecting connection parts include the fixation kit of nodding for fixed rotating shaft of nodding, the fixation kit of nodding
Including be set in it is described nod in rotating shaft, and be embedded in the bearing group of nodding nodded in fixed cover, the bearing group of nodding
Including the right bearing for being arranged on the right ladder, and the left bearing for being arranged on the left ladder；
The fixation kit of nodding includes being arranged on the right end cap on the right side of the right bearing, and is arranged on the left of the left bearing
Left end cap；
The pallet includes the right support plate on the right side of the pallet and the left support plate opposite with the right support plate, described
Right end cap is fixed in the right support plate, and the left end cap is fixed in the left support plate.
13. a kind of robots, it is characterised in that include：
Body；
Head；And
Robot head connecting connection parts as described in claim 1-12 any one.
14. robots as claimed in claim 13, it is characterised in that
The pallet is provided with gag lever post；
The head includes the limiting plate being engaged with the gag lever post, and the head is arranged on described nodding in rotating shaft；
The gag lever post and the limiting plate are used for the slewing area for limiting the rotating shaft of nodding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620761897.4U CN206066465U (en) | 2016-07-18 | 2016-07-18 | Robot head connecting connection parts and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620761897.4U CN206066465U (en) | 2016-07-18 | 2016-07-18 | Robot head connecting connection parts and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066465U true CN206066465U (en) | 2017-04-05 |
Family
ID=58425609
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620761897.4U Active CN206066465U (en) | 2016-07-18 | 2016-07-18 | Robot head connecting connection parts and robot |
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| Country | Link |
|---|---|
| CN (1) | CN206066465U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003094A (en) * | 2016-07-18 | 2016-10-12 | 美的集团股份有限公司 | Robot head connecting device and robot |
-
2016
- 2016-07-18 CN CN201620761897.4U patent/CN206066465U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003094A (en) * | 2016-07-18 | 2016-10-12 | 美的集团股份有限公司 | Robot head connecting device and robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200224 Address after: 528311 Three Global Innovation Centers of Penglai Road Industrial Avenue Mei, Beijiao Town, Foshan City, Guangdong Province Patentee after: Guangdong Midea intelligent robot Co., Ltd. Address before: 528311, Guangdong, Foshan Town, Shunde District, Beijiao, 6 beautiful avenue, beautiful headquarters building, B District, 26-28 floor Patentee before: MIDEA GROUP Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200401 Address after: 528311 North Jiao Community Resident Committee, Beijiao Town, Shunde District, Foshan City, Guangdong Province Patentee after: KUKA ROBOT (GUANGDONG) Co.,Ltd. Address before: 528311 Three Global Innovation Centers of Penglai Road Industrial Avenue Mei, Beijiao Town, Foshan City, Guangdong Province Patentee before: GUANGDONG MIDEA INTELLIGENT ROBOT Co.,Ltd. |