CN206351445U - A kind of Robot neck linkage - Google Patents
A kind of Robot neck linkage Download PDFInfo
- Publication number
- CN206351445U CN206351445U CN201621476533.8U CN201621476533U CN206351445U CN 206351445 U CN206351445 U CN 206351445U CN 201621476533 U CN201621476533 U CN 201621476533U CN 206351445 U CN206351445 U CN 206351445U
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- CN
- China
- Prior art keywords
- neck
- frame
- robot
- lifters
- gangbar
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Abstract
A kind of Robot neck linkage that the utility model is provided, it includes：The connecting neck portion rocking equipment on neck transfer, wherein the neck transfer include：Turn to fixed mount its be in top insertion column support body, steering motor is fixed in the steering fixed mount support body by installed part, and rotating device is being connected at the top of the steering fixed mount at insertion with the steering motor, and the neck rocking equipment includes：It is connected at the top of the rotating device neck frame, and lowering or hoisting gear be arranged in parallel with the neck frame, and lifters are arranged on the lowering or hoisting gear lift side, and STATEMENT OF FEDERALLY SPONSORED includes：Fix bar, its first end rotatable connection second end on the neck frame is rotatably connected with gangbar first end, and the lifters are rotatably connected with the gangbar at first end, to realize the function of nodding and shake the head of neck linkage.
Description
Technical field
The utility model is related to a kind of Robot neck linkage.
Background technology
Service humanoid robot to increase the acceptance of client, it will usually be designed using apery form, but existing skill
Robot neck in art is not truly realized the basic work nodded and shaken the head generally only as the design function of outward appearance
With, be merely possible to a kind of rigid decorative use, so even the robot head equipped with camera or display device also without
Method freely adjusts angle, so as to can not expand visual angle by the head movement of robot, can not also be provided for user
The best angle of the robot display device is viewed and admired, thus with larger defect and limitation, while can not more simulate the mankind
Some limbs voices, so as to greatly reduce Interactive Experience and affinity.
Utility model content
Main purpose of the present utility model is to provide a kind of Robot neck linkage, to solve machine in the prior art
Device person neck can not activity defect.
To achieve these goals, the utility model provides a kind of Robot neck linkage, and it includes：In neck
Connecting neck portion rocking equipment on transfer, wherein the neck transfer include：Turn to fixed mount its be in top insertion post
Shape support body, steering motor is fixed in the steering fixed mount support body by installed part, and rotating device is at the top of the steering fixed mount
It is connected at insertion with the steering motor, the neck rocking equipment includes：It is connected at the top of the rotating device neck frame, lowering or hoisting gear
It is be arranged in parallel with the neck frame, lifters are arranged on the lowering or hoisting gear lift side, STATEMENT OF FEDERALLY SPONSORED includes：Fix bar, the rotation of its first end
It is connected to the second end on the neck frame to be rotatably connected with gangbar first end, the lifters rotate with the gangbar at first end
Connection.
It is preferred that, the fix bar is shorter than the gangbar, and the gangbar has angle of bend, fix bar first end rotation
It is connected to the medium position on the neck frame length direction.
It is preferred that, the lowering or hoisting gear includes：Lead screw motor, screw mandrel, the screw mandrel and the neck frame be arranged in parallel the neck frame bottom
It is connected provided with groove with accommodating the lead screw motor in the bottom portion of groove with the screw mandrel, the lifters are enclosed on the screw mandrel.
It is preferred that, the lowering or hoisting gear includes：Pulsometer, pressure liftable bar, pressure liftable bar be arranged in parallel with the neck frame
The neck frame bottom is connected with accommodating the pulsometer provided with groove in the bottom portion of groove with the pressure liftable bar, and the lifters are enclosed on gas
Press on elevating lever.
It is preferred that, the lowering or hoisting gear includes：Hydraulic pump, hydraulic lifting arm, hydraulic lifting arm be arranged in parallel with the neck frame
The neck frame bottom is connected with accommodating the hydraulic pump provided with groove in the bottom portion of groove with the hydraulic lifting arm, and the lifters are enclosed on liquid
Press on elevating lever.
It is preferred that, the rotating device includes：Swivel bearing is seized on both sides by the arms above and below end ring is fixed on the steering fixed mount top
At portion's insertion, the steering motor is fixedly connected with the swivel bearing bottom, and connecting plate is connected to the swivel bearing top surface, with this
Neck frame bottom is connected.
It is preferred that, the Robot neck linkage also includes：Head device, it is fixed with the end of gangbar second connects
Connect, wherein the head device includes：In display device, audio collecting device, audible feedback means, video acquisition device at least
It is a kind of.
A kind of Robot neck linkage provided by the utility model there is provided Robot neck movable function from
And the human-computer interaction of body language is added, while camera or aobvious in the movable realization action demonstration and head by neck
Show that the sight angle of device changes so that robot there can be bigger vision and the operation free degree, while also solving due to head
Caused by the too big or external force effect of portion's weight the problems such as nose drop.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing further understanding to of the present utility model, of the present utility model
Schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model.In accompanying drawing
In：
Fig. 1 is a kind of overall structure diagram of Robot neck linkage of the present utility model；
Fig. 2 is a kind of neck transfer structural representation of Robot neck linkage of the present utility model；
Fig. 3 is a kind of neck transfer structural representation of Robot neck linkage of the present utility model；
Fig. 4 is a kind of overall structure diagram of Robot neck linkage of the present utility model；
Fig. 5 is a kind of overall structure schematic perspective view of Robot neck linkage of the present utility model.
Neck transfer 1, neck rocking equipment 2 turns to fixed mount 11, steering motor 14, installed part 9, rotating device
12, neck frame 21, lowering or hoisting gear 22, lifters 23, STATEMENT OF FEDERALLY SPONSORED 24, fix bar 241, gangbar 242, lead screw motor 221, screw mandrel
222, groove 211, swivel bearing 122, end ring 121, connecting plate 123, head device 3.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order that those skilled in the art is better understood from the utility model scheme, it is real below in conjunction with the utility model
The accompanying drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model part, rather than whole embodiments.Based on the reality in the utility model
Example is applied, the every other embodiment obtained under the premise of those of ordinary skill in the art do not make creative work all should
When belonging to protection domain of the present utility model.
It should be noted that term " first " in specification and claims of the present utility model and above-mentioned accompanying drawing,
" second " etc. is for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so
The data used can be exchanged in the appropriate case, so that embodiment of the present utility model described herein can be with except at this
In diagram or description those beyond order implement.In addition, term " comprising " and " having " and their any deformation, meaning
Figure is to cover non-exclusive include.
Fig. 1 to Fig. 5 is referred to, in order to realize Robot neck movable function, the utility model provides a kind of robot
Neck linkage, it includes：Neck transfer 1, neck rocking equipment 2, to provide the freedom of movement in both direction,
The neck rocking equipment 2 is wherein connected on the neck transfer 1, further, the neck transfer 1 includes：Turn
To fixed mount 11 its be in top insertion column support body, steering motor 14 is fixed on the frame of steering fixed mount 11 by installed part 9
In vivo, rotating device 12 is connected at the top insertion of steering fixed mount 11 with the steering motor 14, wherein the rotating device 12
Including：Swivel bearing 122 is seized on both sides by the arms by end ring about 121 to be fixed at the top insertion of steering fixed mount 11, steering electricity
Machine 14 is fixedly connected with the bottom of swivel bearing 122, and connecting plate 123 is connected to the top surface of swivel bearing 122, with the neck frame 21
Bottom is connected.
Wherein the neck rocking equipment 2 includes：It is connected to the top of rotating device 12 with neck frame 21, and lowering or hoisting gear 22 is with being somebody's turn to do
Neck frame 21 be arranged in parallel, to provide the support force of integral elevating mechanism, and lifters 23 are arranged on the lift side of lowering or hoisting gear 22, connection
Moving part 24 includes：Fix bar 241, its first end is rotatably connected on the neck frame 21, its second end and the first end of gangbar 242
Rotatable connection, the lifters 23 are rotatably connected with the gangbar 242 at first end, to provide the lifters 23 in the liter
The formation mechanism of STATEMENT OF FEDERALLY SPONSORED 24 is driven to swing under the drive of falling unit 22, wherein the fix bar 241 is shorter than the gangbar 242,
The gangbar 242 has angle of bend, to improve support force, and the first end of fix bar 241 is rotatably connected in the length of neck frame 21
Medium position on direction, so that the lowering or hoisting gear 22 drives the lifters 23 to be raised above the fix bar 241 and the neck
The link position of frame 21, and then the stroke distances of the lifters 23 are improved, increase mechanism swings the free degree.
Further, the lowering or hoisting gear 22 includes：Lead screw motor 221, screw mandrel 222, the screw mandrel 222 and the neck frame 21 are flat
Row is set, and the bottom of neck frame 21 is provided with groove 211 to accommodate the lead screw motor 221 in the bottom of groove 211 and the screw mandrel 222
Connection, and the lead screw motor 221 vacantly connection, are not contacted, wherein the lifters 23 are enclosed on screw mandrel 222 with the connecting plate 123,
The lifters 23 are driven to be lifted in the screw mandrel 222 when the lead screw motor 221 rotates.
On the other hand in the replacement embodiment of the lowering or hoisting gear 22 or including：Pulsometer, pressure liftable
Bar, the pressure liftable bar and the neck frame 21 bottom of neck frame 21 that be arranged in parallel is recessed at this to accommodate the pulsometer provided with groove 211
The bottom of groove 211 is connected with the pressure liftable bar, and the pulsometer is vacantly connected, and is not contacted with the connecting plate 123, wherein the lifting
Part 23 is enclosed on pressure liftable bar, drives pressure liftable bar lifting by the pulsometer to drive the lifters 23 lifting work
It is dynamic.
On the other hand in the replacement embodiment of the lowering or hoisting gear 22 or including：Hydraulic pump, hydraulic lifting
Bar, the hydraulic lifting arm and the neck frame 21 bottom of neck frame 21 that be arranged in parallel is recessed at this to accommodate the hydraulic pump provided with groove 211
The bottom of groove 211 is connected with the hydraulic lifting arm, and the hydraulic lifting arm is vacantly connected, and is not contacted with the connecting plate 123, wherein should
Lifters 23 are enclosed on hydraulic lifting arm, drive hydraulic lifting arm lifting to drive the lifters 23 to lift by the hydraulic pump
Activity.
Further, the Robot neck linkage, in addition to：Head device 3, itself and the end of gangbar 242 second
It is fixedly connected, wherein the head device 3 includes：Display device, audio collecting device, audible feedback means, video acquisition device
At least one of, so that in the neck transfer 1, the function of nodding and shake the head is realized under the drive of the neck rocking equipment 2,
With the free degree for the displaying/collection for increasing header functionality equipment, service efficiency is improved, the one kind provided by the utility model
Robot neck linkage is there is provided Robot neck movable function so as to add the human-computer interaction of body language, together
When changed by the sight angle of camera or display on the movable realization of neck action demonstration and head so that robot energy
With bigger vision and the operation free degree, while also solving due to head caused by the head weight too effect of big or external force
Sagging the problems such as.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (7)
1. a kind of Robot neck linkage, it is characterised in that including：Connecting neck portion waves dress on neck transfer (1)
(2) are put, wherein the neck transfer (1) includes：Turn to fixed mount (11) its be in top insertion column support body, turn to electricity
Machine (14) is fixed in described steering fixed mount (11) support body by installed part (9), and rotating device (12) is fixed in described turn to
It is connected at the top of frame (11) at insertion with the steering motor (14), the neck rocking equipment (2) includes：Its connection of neck frame (21)
At the top of the rotating device (12), lowering or hoisting gear (22) be arranged in parallel with the neck frame (21), and lifters (23) are arranged on institute
Lowering or hoisting gear (22) lift side is stated, STATEMENT OF FEDERALLY SPONSORED (24) includes：Fix bar (241), its first end is rotatably connected in the neck frame
(21) the second end is rotatably connected with gangbar (242) first end on, and the lifters (23) and the gangbar (242) are close to the
End is rotatably connected.
2. a kind of Robot neck linkage according to claim 1, it is characterised in that：The fix bar (241) compared with
It is shorter than the gangbar (242), the gangbar (242) has angle of bend, fix bar (241) the first end rotatable connection
Medium position on neck frame (21) length direction.
3. a kind of Robot neck linkage according to claim 1, it is characterised in that：Lowering or hoisting gear (22) bag
Include：Lead screw motor (221), screw mandrel (222), the screw mandrel (222) and the neck frame (21) be arranged in parallel neck frame (21) bottom
Portion is connected with accommodating the lead screw motor (221) provided with groove (211) in the groove (211) bottom with the screw mandrel (222),
The lifters (23) are enclosed on the screw mandrel (222).
4. a kind of Robot neck linkage according to claim 1, it is characterised in that：Lowering or hoisting gear (22) bag
Include：Pulsometer, pressure liftable bar, the pressure liftable bar and the neck frame (21) neck frame (21) bottom that be arranged in parallel is provided with
Groove (211) is connected with accommodating the pulsometer in the groove (211) bottom with the pressure liftable bar, the lifters
(23) it is enclosed on pressure liftable bar.
5. a kind of Robot neck linkage according to claim 1, it is characterised in that：Lowering or hoisting gear (22) bag
Include：Hydraulic pump, hydraulic lifting arm, the hydraulic lifting arm and the neck frame (21) neck frame (21) bottom that be arranged in parallel is provided with
Groove (211) is connected with accommodating the hydraulic pump in the groove (211) bottom with the hydraulic lifting arm, the lifters
(23) it is enclosed on hydraulic lifting arm.
6. a kind of Robot neck linkage according to claim 1, it is characterised in that：Rotating device (12) bag
Include：Swivel bearing (122) is seized on both sides by the arms up and down by end ring (121) to be fixed at the top of the steering fixed mount (11) at insertion, institute
State steering motor (14) to be fixedly connected with the swivel bearing (122) bottom, connecting plate (123) is connected to the swivel bearing
(122) top surface, to be connected with neck frame (21) bottom.
7. a kind of Robot neck linkage according to claim 1, it is characterised in that also include：Head device
(3), it is fixedly connected with the end of gangbar (242) second, wherein the head device (3) includes：Display device, audio is adopted
At least one of acquisition means, audible feedback means, video acquisition device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621476533.8U CN206351445U (en) | 2016-12-30 | 2016-12-30 | A kind of Robot neck linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621476533.8U CN206351445U (en) | 2016-12-30 | 2016-12-30 | A kind of Robot neck linkage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206351445U true CN206351445U (en) | 2017-07-25 |
Family
ID=59349160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621476533.8U Active CN206351445U (en) | 2016-12-30 | 2016-12-30 | A kind of Robot neck linkage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206351445U (en) |
-
2016
- 2016-12-30 CN CN201621476533.8U patent/CN206351445U/en active Active
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