CN206287153U - A kind of robot - Google Patents
A kind of robot Download PDFInfo
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- CN206287153U CN206287153U CN201621465517.9U CN201621465517U CN206287153U CN 206287153 U CN206287153 U CN 206287153U CN 201621465517 U CN201621465517 U CN 201621465517U CN 206287153 U CN206287153 U CN 206287153U
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- head
- lifting
- unit
- lifting unit
- fuselage
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Abstract
The utility model provides a kind of robot, including head, fuselage, rotating unit and three lifting units：The rotating unit is fixedly connected on the head, rotation for driving the head, the lifting unit is rotationally connected with the fuselage and ball pivot is connected to the rotating unit, the lifting for driving the head, wherein, three lifting unit layings triangular in shape.The setting that the utility model passes through rotating unit and lifting unit, the lifting for realizing head, the action nodded, shake the head effectively improve the flexibility ratio of robot head motion, improve Consumer's Experience.
Description
Technical field
The utility model is related to technical field of mechanical automation, it particularly relates to a kind of robot head lifting and
The structure design nod, shaken the head.
Background technology
As scientific and technical constantly development, the species of robot become more diverse, robot is gradually dissolved into
In daily life and production, accordingly, research staff and user also get over for the action request that robot can be realized
Come higher, enable its action that the model mankind are carried out as far as possible, for example, leg can be realized walking about.
But the head majority of the robot of existing design is maintained static, or can only do the action of the single free degree.Head
Flexibility ratio it is poor, have impact on the application of Consumer's Experience and robot.
The content of the invention
The purpose of this utility model is to provide a kind of robot, and its head not only realizes lifting action, additionally it is possible to realize
Nod, head shaking movement, effectively improve robot head motion flexibility ratio, improve Consumer's Experience.
To reach above-mentioned purpose, the utility model is achieved using following technical scheme：
A kind of robot, including head, fuselage, rotating unit and three lifting units：The rotating unit is fixed and connected
The head is connected to, the rotation for driving the head, the lifting unit is rotationally connected with the fuselage and ball pivot is connected to
The rotating unit, the lifting for driving the head, wherein, three lifting unit layings triangular in shape.
Further, the fuselage is the first box body for being provided with the first box plate, and the lifting unit is located at the fuselage
Inside is simultaneously hinged with first box plate.
Further, the lifting unit is provided with hinge hole, and first box plate is provided with three fixed-hinged supports, institute
Lifting unit is stated to be hinged with first box plate by bearing pin, the fixed-hinged support and the hinge hole.
Further, three fixed-hinged support circular arrays distribution.
Further, the rotating unit includes the steering wheel and support that are fixedly connected, and the output shaft of the steering wheel is fixed and connected
The head is connected to, the support ball pivot is connected to the lifting unit.
Further, the head is hemispherical shell of the opening towards the fuselage, and the head has been internally formed peace
Dress portion, the output shaft is plugged in and is held out against by fastener and is connected to the installation portion, and relative both sides are opened on the head
It is provided with the installing port passed through for the fastener.
Further, the support is the second box body for being provided with the second box plate, and the steering wheel is located at internal stent.
Further, the rotating unit also include connecting plate, the connecting plate mode connects for screw in the steering wheel with it is described
Between support.
Further, the lifting unit is electric cylinders, and the expansion link top of the electric cylinders is fixedly connected with bulb, described the
Two box plates are fixedly connected with the ball cup into spherical hinge structure with the bulb-type.
Compared with prior art, advantage of the present utility model and beneficial effect are：The robot that the utility model is provided leads to
Crossing rotating unit drives head reciprocating rotation to realize the head shaking movement of head, and three lifting units when elevating movement is carried out in the same direction
The lifting action of head can effectively be realized.Further, since three lifting unit layings triangular in shape, i.e., three lifting units are not in
Straight line is laid, the support rotating unit and head that can not only stablize, and three lifting units can realize it is various
Nodding action, for example, when one of lifting unit drives head side to decline, two other lifting unit drives head side
During rising, the nodding action of head just can be realized；After head is driven by three lifting units rises to higher point, one of them
Lifting unit drives head side to decline, and can also realize the nodding action of head.Robot architecture's letter that the utility model is provided
It is single, convenient to carry out, not only improve the flexibility ratio of robot head motion, increased the alternative of headwork, also effectively
Improve Consumer's Experience.
After the detailed description of the utility model implementation method is read in conjunction with the figure, other features of the present utility model and advantage
Will become clearer.
Brief description of the drawings
Fig. 1 is the decomposing schematic representation of the utility model specific embodiment robot；
Fig. 2 is the front view of the utility model specific embodiment robot；
Fig. 3 is the schematic cross-sectional view of the utility model specific embodiment robot；
Fig. 4 is the front view after the utility model specific embodiment robot removes fuselage；
Fig. 5 is that the utility model specific embodiment robot removes the front view after fuselage occiput rises；
Fig. 6 is that the utility model specific embodiment robot removes the side view after fuselage occiput rises；
Fig. 7 is that the utility model specific embodiment robot removes the side view after fuselage occiput is nodded.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described to the technical scheme in the utility model embodiment, new in this practicality
In the description of type, it is to be understood that term " ", " two " are only used for describing purpose, and it is not intended that indicating or implying phase
To importance.
As shown in Figures 1 to 7, the present embodiment propose a kind of robot, including head 10, fuselage 20, rotating unit with
And three lifting units, for the ease of description the utility model and simplified description, three lifting units are specifically respectively left side and rise
Drop unit 31, right side lifting unit 32, intermediate lift unit 33, and term "left", "right", " in " it is based on shown in Fig. 1, Fig. 2
Orientation or position relationship, rather than indicate imply signified device or element must have specific orientation, with specific
Azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.Wherein, rotating unit and head in the utility model
Portion 10 is fixedly connected, for the rotation of drive head 10, to realize the head shaking movement of robot head 10.Left side lifting unit
31st, right side lifting unit 32 and intermediate lift unit 33 are rotationally connected with fuselage 20, in order to the lifting of drive head 10,
The lifting action of head 10 is realized, and three also equal ball pivots of lifting unit are connected to rotating unit, to facilitate realization and rotating unit
The banking motion of the head 10 being fixedly connected, so as to realize the nodding action of head 10.Implement to pass through three lifting units
Stabilization, reliable support rotating unit and head 10, the present embodiment are specifically designed three lifting unit layings triangular in shape.
When needing to implement 10 lifting action of head, it is only necessary to while starting three lifting units, it is driven rotating unit
And head 10 is risen or fallen, to realize the lifting action of head 10, as shown in Figure 4, Figure 5.
When needing to implement 10 head shaking movement of head, three lifting units can have both been made to be in initial off position,
Also after head 10 is risen to peak by three lifting units it can be made to drive head 10 reciprocal while starting rotating unit
Rotate, to realize the head shaking movement of head 10.
When needing to implement 10 nodding action of head, rotating unit can be made to be in initial off position, particularly, had
Following two schemes：Scheme 1, intermediate lift unit 33 is not started, and only order left side lifting unit 31, right side lifting unit 32 drive
Rotating unit and head 10 rise, because three equal ball pivots of lifting unit are connected to rotating unit, therefore rotating unit and head
Portion 10 can realize flexibly under three drives of lifting unit to direction banking motion residing for intermediate lift unit 33
The nodding action of head 10；Scheme 2, higher point is risen to by three lifting units by head 10（Such as peak）Afterwards, make
Intermediate lift unit 33 drives rotating unit and head 10 to decline, and keeps left side lifting unit 31, right side lifting unit 32
Lifting moving is not performed, can equally make rotating unit and head 10 under three drives of lifting unit to intermediate lift unit
Direction banking motion residing for 33, that is, realize the nodding action of head 10, as shown in Figure 7.
Due to non-interference between rotating unit and lifting unit in said structure design, further, can also be in head 10
Implement to implement head shaking movement while lifting action.Or, when middle lifting unit 33 and left side lifting unit 31, right side are lifted
When the rising or falling speed of unit 32 is inconsistent, specifically, the rate of climb of intermediate lift unit 33 less than left side lifting unit 31,
During the rate of climb of right side lifting unit 32, can also implement nodding action while head 10 implements vertical motion；Centre rises
When the decrease speed for dropping unit 33 is more than left side lifting unit 31, the decrease speed of right side lifting unit 32, can also be in head 10
Implement to implement nodding action while down maneuver.Or, implementation is nodded dynamic while implementing head shaking movement by rotating unit
Make, certainly, to occur colliding with fuselage 20 when avoiding head 10 from moving, can rise to head 10 first with three lifting units
Higher point, then implement to shake the head and nodding action simultaneously.Above-mentioned several situations effectively increase the flexibility ratio of the motion of head 10, increase
Head 10 has been added to move alternative.
Specifically, in order to hide left side lifting unit 31, right side lifting unit 32 and intermediate lift unit 33 to carry
The aesthetics of robot high, the present embodiment middle fuselage 20 uses the first box body for being provided with the first box plate, such as Fig. 1 to Fig. 3 institutes
Show, and design lifting unit is located at the inside of fuselage 20 and is hinged with the first box plate.The profile of the first box body in the utility model
Structure is not construed as limiting, for example trapezoidal box body, rectangle box body or cylindrical box body, and the first box body is specifically set in the present embodiment
It is cylindrical box body.
To realize being hinged for lifting unit and the first box plate, hinge hole is offered in the present embodiment on lifting unit,
And on the first box plate be provided with three fixed-hinged supports 40 corresponding with hinge hole, the manufacture of fixed-hinged support 40 and consolidate
Dingan County's dress is prior art, is not described further herein.Lifting unit can be by bearing pin, fixed-hinged support 40 and lifting unit
Hinge hole realize being articulated and connected with first box plate.Additionally, the use longevity in order to improve fixed-hinged support 40 and bearing pin
Life, and also to pass through the integrally-built stability of robot, three fixed-hinged supports 40 are specifically designed in the present embodiment is in
Annular array is distributed, i.e., angle is 120 degree between any two fixed-hinged support 40.
Rotating unit can be realized using different classes of motor in the utility model, for example, steering wheel, stepper motor, watching
Take motor etc., and due to steering wheel have low cost, compact conformation, be easily installed, control it is simple and suitable for rotational angle not
The advantages of in the middle of disconnected change and the driving that can be kept, therefore, rotating unit includes steering wheel 51 in the present embodiment, and designs rudder
The output shaft of machine 51 is fixedly connected with head 10, is driven by output shaft in order to head 10 and realizes head shaking movement, and for side
Just steering wheel 51 and three realizations of lifting unit ball-joint, rotating unit also includes what is be fixedly connected with steering wheel 51 in the present embodiment
Support 52, wherein, support 52 can think platy structure or frame structure, or box body structure, specific in the present embodiment
Using the second box body of the second box plate is provided with as support 52, while design steering wheel 51 being located inside support 52, and pass through
The ball-joint of rotating unit and lifting unit is realized in ball-joint between support 52 and lifting unit.Because the structure of steering wheel 51 is tight
Gather, for convenience the assembling between steering wheel 51 and support 52, rotating unit also includes mode connects for screw in steering wheel 51 in the present embodiment
With the connecting plate 53 between support 52, in assembling, first by steering wheel 51 and the mode connects for screw of connecting plate 53, then steering wheel can will be fixed with
51 connecting plate 53 and the second box plate mode connects for screw of support 52.
Lifting unit has various selectable scheme in the utility model, for example, electric pushrod, electric cylinders, Pneumatic slid platform, hydraulic pressure
Push rod, specifically, because electric cylinders are easy to the connection of PLC dispatch control systems, and with noise is low, energy-conservation, safeguard that simple, operation is flat
Surely, the advantages of flexible configuration, three lifting units are specifically configured to a kind of existing electric cylinders in the present embodiment, and it has and passes through
Motor drives and is moved linearly to realize the expansion link of telescopic effect up and down.In order to realize above-mentioned ball-joint, can be in electric cylinders
On expansion link top be connected through a screw thread, insert connection, weld and bonding etc. mode be fixedly connected with bulb 61, Huo Zhe
Expansion link top is integrally formed and processes bulb 61, and is fixedly connected with and the formation ball pivot of bulb 61 in the bottom of the second box plate
The ball cup 62 of structure 60, the ball-joint of rotating unit and lifting unit is realized by spherical hinge structure 60, accordingly, due to lifting
Unit is provided with three, and the spherical hinge structure 60 of setting also has three.
In order that obtaining robot has warm lovely moulding, its sight, robot head 10 in the present embodiment is improved
It is opening towards the hemispherical shell of fuselage 20, is integrally formed in the outer surface of head 10 and is formed with the convex of similar eyes and face
Rise, in order to realize being fixedly connected between head 10 and steering wheel 51, the present embodiment is integrally formed or fixed company inside head 10
It is connected to installation portion 11.
As shown in figure 3, after the output shaft of steering wheel 51 is plugged in installation portion 11, being threadedly coupled with installation portion 11 by fastener
And after making fastener pass through installation portion 11, held out against output shaft to realize that installation portion 11 is connected with holding out against for output shaft.Due to
Steering wheel 51 is located at robot interior, for the ease of installing simultaneously to improve the fastness that steering wheel 51 is connected with head 10, this reality
Apply example and be equipped with fastener in the opposite sides of output shaft, and also design relative both sides on head 10 and offer for fastening
The installing port 12 that part is passed through, by steering wheel 51 and head 10 it is firm be connected after, the settable mode connects for screw of installing plate 13 is in head
At 10 installing port 12, to realize closing installing port 12, prevent dust, debris from entering robot interior by installing port 12,
The normal of influence robot is used.
The above, is only preferred embodiment of the present utility model, is not the limit for making other forms to the utility model
System, any those skilled in the art are changed or are modified as equivalent variations possibly also with the technology contents of the disclosure above
Equivalent embodiments.But it is every without departing from technical solutions of the utility model content, according to technical spirit pair of the present utility model
Any simple modification, equivalent variations and remodeling that above example is made, still fall within the protection model of technical solutions of the utility model
Enclose.
Claims (9)
1. a kind of robot, including head, fuselage, it is characterised in that also including rotating unit and three lifting units：
The rotating unit is fixedly connected on the head, the rotation for driving the head,
The lifting unit is rotationally connected with the fuselage and ball pivot is connected to the rotating unit, the liter for driving the head
Drop,
Wherein, three lifting unit layings triangular in shape.
2. robot according to claim 1, it is characterised in that the fuselage is the first box for being provided with the first box plate
Body, the lifting unit is located at the fuselage interior and is hinged with first box plate.
3. robot according to claim 2, it is characterised in that the lifting unit is provided with hinge hole, first box
Base plate is provided with three fixed-hinged supports, the lifting unit by bearing pin, the fixed-hinged support and the hinge hole with
First box plate is hinged.
4. robot according to claim 3, it is characterised in that three fixed-hinged support circular arrays distribution.
5. robot according to any one of claim 1 to 4, it is characterised in that the rotating unit includes fixed company
The steering wheel and support for connecing, the output shaft of the steering wheel are fixedly connected on the head, and it is single that the support ball pivot is connected to the lifting
Unit.
6. robot according to claim 5, it is characterised in that the head is hemispherical of the opening towards the fuselage
Housing, the head has been internally formed installation portion, and the output shaft is plugged in and is held out against by fastener and is connected to the installation
Portion, relative both sides offer the installing port passed through for the fastener on the head.
7. robot according to claim 5, it is characterised in that the support is the second box for being provided with the second box plate
Body, the steering wheel is located at internal stent.
8. robot according to claim 7, it is characterised in that the rotating unit also includes connecting plate, the connection
Plate bolt is connected between the steering wheel and the support.
9. robot according to claim 7, it is characterised in that the lifting unit is electric cylinders, the electric cylinders it is flexible
Bar top is fixedly connected with bulb, and second box plate is fixedly connected with the ball cup into spherical hinge structure with the bulb-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621465517.9U CN206287153U (en) | 2016-12-29 | 2016-12-29 | A kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621465517.9U CN206287153U (en) | 2016-12-29 | 2016-12-29 | A kind of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206287153U true CN206287153U (en) | 2017-06-30 |
Family
ID=59155301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621465517.9U Active CN206287153U (en) | 2016-12-29 | 2016-12-29 | A kind of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206287153U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625710A (en) * | 2016-12-29 | 2017-05-10 | 歌尔科技有限公司 | Robot |
-
2016
- 2016-12-29 CN CN201621465517.9U patent/CN206287153U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625710A (en) * | 2016-12-29 | 2017-05-10 | 歌尔科技有限公司 | Robot |
| CN106625710B (en) * | 2016-12-29 | 2023-10-13 | 歌尔科技有限公司 | Robot |
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