CN206357249U - Robot head rotating structure - Google Patents

Abstract

The utility model relates to the technical field of robots, and provides a robot head rotating structure, which comprises a shell with an internal space and a fixed frame arranged in the internal space, wherein at least one group of connecting components is arranged between the shell and the fixed frame, each connecting component comprises a fixed shaft fixedly connected on the fixed frame and a flange rotatably arranged on the fixed shaft through a bearing, and the flange is fixedly connected with the shell; the inner space is also provided with a rotary driving device for rotating the flange plate by taking the fixed shaft as a center. Compared with the prior art, the utility model provides a robot head revolution mechanic adopts to be provided with coupling assembling and rotary drive device between shell and mount, can make the relative mount of shell rotate, like this, can make the robot head simulate human head swing back and forth steadily to realize the action of the new line and the low line of robot, improved the degree of automation of robot.

Description

Robot head rotational structure

Technical field

The utility model is related to the technical field of robot, more particularly, to a kind of robot head rotational structure.

Background technology

At present, the robot with general program capability and operating function, referred to as intelligent robot, it has wider Application.Traditional intelligent robot, mainly includes head and trunk, and head is typically directly anchored on trunk, Huo Zhetong Rotating disk is crossed to horizontally rotate mode on trunk, therefore, robot head can not imitate human body head swing, automation Degree is relatively low.

Utility model content

Technical problem to be solved in the utility model is to provide a kind of robot head rotational structure, it is intended to solve existing Have in technology, robot head can not imitate human body head swing, the relatively low defect of automaticity.

A kind of robot head rotational structure that the utility model is provided, including the shell with an inner space and built-in Fixed mount in the inner space, is provided with least one set of connection component between the shell and the fixed mount, described Connection component includes the fixing axle being fixedly connected on the fixed mount and is rotatably mounted to by a bearing in fixing axle Ring flange, the ring flange is fixedly connected on the shell；It is additionally provided with the inner space for making the ring flange The rotating driving device rotated centered on the fixing axle.

Further, the fixing axle includes axis body portion and is connected to axis body portion one end and is used for and the fixed mount The chassis portion being connected, the bearing holder (housing, cover) is supported in the axis body portion and by the axis body portion.

Further, the axis body portion includes the sleeve that projection deviates from a side surface of the fixed mount in the chassis portion The annular support section that part and axis of the outer face from the sleeve part along sleeve part stretch out, the sleeve Partial outer face has the first supporting surface abutted with a side end face of the bearing, and first supporting surface is surrounded on described The outside of support section；The outer peripheral face of the support section has the second supporting surface abutted with the inner peripheral surface of the bearing.

Further, the rotating driving device includes power source and is connected between the power source and the ring flange Transmission mechanism；The transmission mechanism includes the driven pulley being fixedly connected with the ring flange and for driving the driven rotation Dynamic driving wheel, the driving wheel is connected to the power source.

Further, the driven pulley is rotatably set on the bearing, to convex on the inwall of the driven pulley If being formed with the defining flange for limiting the bearing movement.

Further, the transmission mechanism also includes the transmission belt between the driven pulley and driving wheel, described Outside projection is formed with the anticreep flange for limiting the transmission Tape movement on the outer wall of driven pulley.

Further, the outer wall of the driven pulley is formed with the first teeth portion, the outer wall of the driving wheel and is formed with second The 3rd teeth portion engaged respectively with first teeth portion and the second teeth portion is formed with teeth portion, the inner peripheral surface of the transmission belt.

Further, the ring flange include be used for be fixedly connected with the shell annular flange portion, for institute State the department of assembly that defining flange is fixedly connected and the connecting portion being connected between the flange portion and the department of assembly.

Further, the quantity of the connection component is two groups, and two groups of connection components are arranged in symmetrical mode The both sides of the fixed mount.

Further, the shell is spherical in shape, including fore shell and bonnet, and the two encloses to form the inner space, described Fore shell is sealed by the ring flange and the bonnet.

It is compared with the prior art, the robot head rotational structure that the utility model is provided, using in shell and fixed mount Between be provided with connection component and rotating driving device, can make shell be relatively fixed frame rotation, in such manner, it is possible to make robot head Portion stably imitates human body head swing, with the action realized the new line of robot and bowed, improve robot from Dynamicization degree.

Brief description of the drawings

Fig. 1 is the schematic perspective view for the robot head that the utility model embodiment is provided；

Fig. 2 is the decomposing schematic representation for the robot head that the utility model embodiment is provided；

Fig. 3 is the schematic perspective view for the fixed mount that the utility model embodiment is provided；

Fig. 4 is the decomposing schematic representation of fixed mount, connection component and transmission mechanism that the utility model embodiment is provided；

Fig. 5 is the enlarged drawing in A portions in Fig. 4；

Fig. 6 is the schematic side view for the robot head that the utility model embodiment is provided；

Fig. 7 is the schematic cross-sectional view in I-I faces in Fig. 6；

Fig. 8 is the enlarged drawing in B portions in Fig. 7.

Main element symbol description

100：Robot head

1：Shell 1a：Inner space

11：Fore shell 12：Bonnet

13：Cross line three-way hole 14：Locking holes

2：Fixed mount 21：Top plate

22：Lower plywood 23：Lock support

24：Side plate 25：Supporting plate

3：Connection component

3a：First connection component 3b：Second connection component

31：Fixing axle 311：Axis body portion

312：Chassis portion 313：Pilot hole

314：Locating notch 315：Sleeve part

316：Support section 317：First supporting surface

318：Second supporting surface 319：Locating dowel

32：Bearing

33：Ring flange 331：Flange portion

332：Department of assembly 333：Connecting portion

334：Lock pays hole 335：Extension

336：Jut

4：Rotating driving device 41：Power source

42：Transmission mechanism 421：Driven pulley

422：Driving wheel 423：Defining flange

424：Transmission belt 425：Anticreep flange

426：Only move flange 421a：First teeth portion

422a：Second teeth portion 424a：3rd teeth portion

Embodiment

In order that technical problem to be solved in the utility model, technical scheme and beneficial effect are more clearly understood, with Lower combination drawings and Examples, the utility model is further elaborated.It should be appreciated that described embodiment is this A part of embodiment of utility model, rather than whole embodiments.Based on described embodiment of the present utility model, ability The every other embodiment that domain those of ordinary skill is obtained on the premise of without creative work, belongs to the utility model The scope of protection.

In order that those skilled in the art more fully understands the technical solution of the utility model, with reference to specific accompanying drawing Realization of the present utility model is described in detail.

For sake of convenience, hereinafter alleged " preceding " " rear " " left side " " right side " " on " " under " and accompanying drawing in itself it is forward and backward, left, Right, upper and lower does not play restriction effect to consistent to structure of the present utility model.

Unless otherwise defined, technical term or scientific terminology used herein are should be in the utility model art The ordinary meaning that personage with general technical ability is understood.Make in the utility model patent application specification and claims " first ", " second " and similar word are not offered as any order, quantity or importance, and are used only to distinguish Different parts.Equally, the similar word such as " one " or " one " does not indicate that quantity is limited yet, but represents exist at least One.

As shown in Fig. 1 to Fig. 8 the preferred embodiment provided for the utility model.

The rotational structure of robot head 100 that the present embodiment is provided, including the shell 1 with an inner space 1a and built-in Internally the fixed mount 2 in the 1a of space, is provided with least one set of connection component 3 between shell 1 and fixed mount 2, and connection component 3 is wrapped Include the fixing axle 31 being fixedly connected on fixed mount 2 and the ring flange being rotatably mounted to by a bearing 32 in fixing axle 31 33, ring flange 33 is fixedly connected on shell 1；Inner space 1a is additionally provided with for making ring flange 33 be revolved centered on fixing axle 31 The rotating driving device 4 turned.

Above-mentioned robot head rotational structure, using be provided between shell 1 and fixed mount 2 connection component 3 and rotation Rotary driving device 4, can make shell 1 be relatively fixed frame 2 and rotate, so, in rotating driving device 4 by external electric signal control Afterwards, robot head 100 can be made stably to imitate human body head swing, with realize the new line of robot and bow it is dynamic Make, improve the automaticity of robot.

Referring to Fig. 1 and 2, the robot head 100 that the present embodiment is provided, including the shell 1 with an inner space 1a with And it is built in fixed mount 2, connection component 3 and rotating driving device 4 in the 1a of the inner space.

Referring to Fig. 1 and 2, shell 1 is substantially spherical in shape, and above-mentioned part is built in shell 1 and protected by shell 1, in this reality Apply in example, the entirety of shell 1 can be relatively fixed frame 2 and rotate, and the inwall of shell 1 can be mounted with pinboard, power panel etc., and this is outer Shell 1 includes the fore shell 11 and bonnet 12 being connected with each other, and the two encloses to form inner space 1a, and the front side of fore shell 11 is flat with one Display screen, camera can be installed in face, the plane.Fore shell 11 and bonnet 12 include the side for being used to be connected with ring flange 33 Line three-way hole 13 was provided with portion, the sidepiece of fore shell 11.

Referring to Fig. 2 to 4, fixed mount 2, one as the rotational support structure of shell 1, fixed mount 2 and outside shell 1 Support member (not shown) is fixedly connected, in the present embodiment, and fixed mount 2 is but is not limited to the quadra of two-layer stratigraphic structure, The fixed mount 2 includes a top plate 21, the lower plywood 22 positioned at the lower section of top plate 21, locks support 23 and positioned at laminate two Can be set on the side plate 24 of side, upper and lower laminate 21,22 has supporting plate 25, and to place electrical equipment, locking support 23 is connected Between the rear side of upper and lower laminate 21,22, for being fixed with support member.

Referring to Fig. 2 to 4, connection component 3 includes fixing axle 31, bearing to Connection Bracket 2 and shell 1, connection component 3 32 and ring flange 33, fixing axle 31 is fixedly connected on the side plate 24 of fixed mount 2, and bearing 32 can be rolling bearing, and bearing 32 is pacified In the fixing axle 31, ring flange 33 is arranged over bearings 32, and ring flange 33 is fixedly connected with shell 1, and shell 1 is by flange Rotation of the disk 33 in fixing axle 31 is rotated with being relatively fixed frame 2.In the present embodiment, the quantity of connection component 3 is but not office It is limited to two groups, two groups of connection components 3 are symmetrical using the center line perpendicular to upper and lower laminate 21,22 of fixed mount 2 as axle Mode is arranged at the both sides of the fixed mount 2, and the bearing 32 of the left and right sides is coaxially disposed.So, the left and right sides of fixed mount 2 is made For the articulated section being pivotally connected with shell 1, shell 1 is relatively fixed frame 2 and rotates more steady, and rotational structure is more firm.

For the ease of narration, two connection components are respectively the first connection component 3a and the second connection component 3b, and first connects Connected components 3a and the second connection component 3b are symmetrically arranged at the both sides of the fixed mount 2, the first connection component 3a and second Connection component 3b is coaxially disposed.First connection component 3a and the second connection component 3b structure can be with same or similar.Below with Briefly explained exemplified by first connection component 3a.First connection component 3a and the second connection component 3b structure.

Referring to Fig. 4 to 8, the first connection component 3a fixing axle 31 includes horizontal-extending and cylindrical axis body portion 311 With the chassis portion 312 for being connected to the side of axis body portion 311, in the present embodiment, circumferentially-spaced offered along its in chassis portion 312 Offered on multiple pilot holes 313, side plate 24 with the corresponding screw of pilot hole 313, by screw pass through pilot hole 313, Screw is so that fixing axle 31 to be fixed on to the outside of fixed mount 2, and chassis portion 312 has a locating notch 314, and chassis portion 312 is convex Provided with locating dowel, so as to the quick connection of fixing axle 31 and fixed mount 2.Specifically, axis body portion 311 includes projection in chassis portion 312 axle of the outer face along sleeve part 315 away from the sleeve part 315 of a side surface of fixed mount 2 and from sleeve part 315 The annular support section 316 that line stretches out, the outer face of sleeve part 315 has the outside for being looped around support section 316 The first supporting surface 317, the outer peripheral face of support section 316 has the second supporting surface 318, and bearing 32 can pass through tight fit mode set It is located on support section 316, and the second supporting surface 318 is abutted with the inner peripheral surface of bearing 32, while the first supporting surface 317 and bearing 32 abut close to a side end face of fixed mount 2, are moved with limiting bearing 32 to the direction of chassis portion 312.

Referring to Fig. 4 to 8, the first connection component 3a ring flange 33 includes the flange portion for being used to be fixedly connected with shell 1 331st, department of assembly 332 and the connecting portion 333 being connected between flange portion 331 and department of assembly 332.In the present embodiment, flange Portion 331 is substantially in annular, and connecting portion 333 is from the inner edge of flange portion 331 along the axially extending of flange portion 331, and department of assembly 332 is certainly Along between its circumference in one end inner edge radially extending along connecting portion 333 of the remote flange portion 331 of connecting portion 333, flange portion 331 Opened up every being provided with multiple lock pair holes 334, the sidepiece of fore shell 11 and the sidepiece of bonnet 12 because lock pays the corresponding lock in hole 334 Hole 14 is closed, hole 334 is paid and through the He of 12 locking holes of bonnet 14 by the locking holes 14 and corresponding lock of screw through fore shell 11 Corresponding lock is paid behind hole 334, by the outside of fore shell 11 and the fixed flange 33 of bonnet 12, and connects fore shell 11, bonnet 12 It is fixed.

Referring to Fig. 4 to 8, rotating driving device 4, for making the first connection component 3a ring flange 33 rotate to drive shell 1, which is relatively fixed frame 2, rotates.In the present embodiment, the quantity of rotating driving device 4 is but is not limited to one, rotation driving dress Putting 4 includes power source 41 and the transmission mechanism 42 being connected between power source 41 and ring flange 33.Power source 41 can be but not office It is limited to steering wheel, above-mentioned transmission mechanism 42 includes the driven pulley 421 being fixedly connected with ring flange 33 and for driving 421 turns of driven pulley Dynamic driving wheel 422, driving wheel 422 is connected on the output shaft of power source 41, and is coaxially disposed with the output shaft, and then is driven Wheel 422 is driven when power source 41 works by output shaft to be rotated.Shell 1 is set to be relatively fixed 2 turns of frame by rotating driving device 4 It is dynamic, so that the swing of robot head 100, realizes leaning forward and backward wing for head.

Certainly, steering wheel is also equipped with the output shaft of power source 41, driving wheel 422 can be arranged on steering wheel, power The driving steering wheel of source 41 rotates driving wheel 422.

Specifically, referring to Fig. 4 to 8, a side end face of driven pulley 421 passes through ring flange in screw and the first connection component 3a 33 department of assembly 332, which mutually locks to pay, to be fixed, and driven pulley 421 is rotatably arranged over bearings 32, and the inwall of driven pulley 421 is (in i.e. Side face) on inwardly projection be formed with for limit bearing 32 movement defining flange 423.It is noted that 421 sets of driven pulley After being located in the axis body portion 311 of fixing axle 31, the outer peripheral face of the inwall of driven pulley 421 and the first connection component 3a middle (center) bearings 32 is supported Connect, the outer face (close to a side end face of fixed mount 2) of defining flange 423 is supported with a side end face of the bearing 32 away from fixed mount 2 Connect, define the spacing space of an accommodating bearing 32 between driven pulley 421 and axis body portion 311 jointly, the first supporting surface 317, Second supporting surface 318, the outer face of defining flange 423 are respectively positioned in the spacing space, and then the position of bearing 32 is locked, Bearing 32 will not be moved when shell 1 is rotated, and shell 1 will not also be relatively moved with fixed mount 2, so that with preferably rotation Stationarity.

It is pointed out that due in the present embodiment only with a rotating driving device 4, rotating driving device 4 and One connection component 3a connections, and be arranged on the second connection component 3b of the opposite side of fixed mount 2 then not with rotating driving device 4, because And it is the structure of ring flange 33 in place of the first connection component 3a and the second connection component 3b main difference, the first connection component 3a ring flange 33 is assemblied in by driven pulley 421 on first connection component 3a bearing 32.From figure 7 it can be seen that second connects Connected components 3b ring flange 33 is fit directly on the second connection component 3b bearing 32, the second connection component 3b include be used for Flange portion 331 that shell 1 is fixedly connected, department of assembly 332, the connecting portion 333 being connected between flange portion 331 and department of assembly 332, The projection of axially extending extension 335 and projection on the inwall of the extension 335 from department of assembly along flange portion 331 Portion 336, after ring flange 33 is set in the axis body portion 311 of fixing axle 31, the outer peripheral face of the inwall and bearing 32 of extension 335 is supported Connect, the outer face (close to a side end face of fixed mount 2) of jut 336 is abutted with a side end face of the bearing 32 away from fixed mount 2.

Certainly, when using two rotating driving devices 4, the first connection component 3a and the second connection component 3b with it is corresponding Rotating driving device 4 connect, the first connection component 3a is identical with the second connection component 3b structure.

Referring to Fig. 4 to 8, the transmission mechanism 42 of the present embodiment is belt wheel transmission mechanism, and driven pulley 421 and driving wheel 422 are equal For belt wheel, the transmission mechanism 42 also includes the transmission belt 424 between driven pulley 421 and driving wheel 422, driven pulley 421 Outer wall (i.e. outer peripheral face) on outwards projection be formed with for limit transmission belt 424 movement anticreep flange 425, transmission belt 424 Upper part be clamped between anticreep flange 425 and department of assembly 332, with avoid transmission belt 424 depart from driven pulley 421.Need Illustrate, driving wheel 422 also has the disconnecting prevention structure that limitation transmission belt 424 is moved, disconnecting prevention structure is to be formed in driving wheel 422 Two on outer wall (i.e. outer peripheral face) only move flange 426, and two only move flange 426 is spaced on the axis of driving wheel 422, transmission belt 424 end portion is clamped in two and only moved between flange 426, to avoid transmission belt 424 from departing from driving wheel 422.

Certainly, transmission mechanism 42 can also be gear drive, and driven pulley 421 and driving wheel 422 are gear, can be led to Driven pulley 421 is crossed to be meshed with driving wheel 422 so that driven pulley 421 is rotated, or is set between driven pulley 421 and driving wheel 422 It is equipped with the gear train for transmission.

Referring to Fig. 4 to 8, the outer wall of driven pulley 421, which is formed with the first teeth portion 421a, the outer wall of driving wheel 422, to be formed with Second teeth portion 422a, transmission belt 424 is single cog band, and inner circumferential surface is shape on rubber contact face, the inner peripheral surface of the transmission belt 424 Into there is the 3rd teeth portion 424a that is engaged respectively with the first teeth portion 421a and the second teeth portion 422a, so, transmission belt 424 dozens can be avoided It is sliding, it is easy to control upset before and after shell 1.

Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model Any modification, equivalent substitution or improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (10)

1. a kind of robot head rotational structure, including the shell with an inner space and it is built in the inner space Fixed mount, it is characterised in that at least one set of connection component, the connection component are provided between the shell and the fixed mount The ring flange in fixing axle is rotatably mounted to including the fixing axle being fixedly connected on the fixed mount and by a bearing, The ring flange is fixedly connected on the shell；It is additionally provided with the inner space for making the ring flange with the fixation The rotating driving device rotated centered on axle.

2. robot head rotational structure according to claim 1, it is characterised in that the fixing axle include axis body portion and Axis body portion one end and the chassis portion for being connected with the fixed mount are connected to, the bearing holder (housing, cover) is located at the axis body Supported in portion and by the axis body portion.

3. robot head rotational structure according to claim 2, it is characterised in that the axis body portion includes projection in institute Chassis portion is stated away from the sleeve part of a side surface of the fixed mount and from the outer face of the sleeve part along sleeve part The annular support section that stretches out of axis, there is the side end face with the bearing to support for the outer face of the sleeve part The first supporting surface connect, first supporting surface is surrounded on the outside of the support section；The periphery mask of the support section There is the second supporting surface that the inner peripheral surface with the bearing is abutted.

4. robot head rotational structure according to any one of claim 1 to 3, it is characterised in that the rotation is driven Dynamic device includes power source and the transmission mechanism being connected between the power source and the ring flange；The transmission mechanism includes The driven pulley being fixedly connected with the ring flange and the driving wheel for driving the driven pulley to rotate, the driving wheel are connected to The power source.

5. robot head rotational structure according to claim 4, it is characterised in that the driven pulley is rotatably arranged On the bearing, inside projection is formed with the defining flange for limiting the bearing movement on the inwall of the driven pulley.

6. robot head rotational structure according to claim 4, it is characterised in that the transmission mechanism also includes winding Outside projection is formed with described for limiting on transmission belt between the driven pulley and driving wheel, the outer wall of the driven pulley It is driven the anticreep flange of Tape movement.

7. robot head rotational structure according to claim 6, it is characterised in that the outer wall of the driven pulley is formed with Be formed with first teeth portion, the outer wall of the driving wheel on the second teeth portion, the inner peripheral surface of the transmission belt be formed with respectively with institute State the 3rd teeth portion of the first teeth portion and the engagement of the second teeth portion.

8. robot head rotational structure according to claim 5, it is characterised in that the ring flange includes being used for and institute State annular flange portion that shell is fixedly connected, for the department of assembly that is fixedly connected with the defining flange and be connected to described Connecting portion between flange portion and the department of assembly.

9. robot head rotational structure according to any one of claim 1 to 3, it is characterised in that the connection group The quantity of part is two groups, and two groups of connection components are arranged at the both sides of the fixed mount in symmetrical mode.

10. robot head rotational structure according to any one of claim 1 to 3, it is characterised in that the shell is in It is spherical, including fore shell and bonnet, the two encloses to form the inner space, and the fore shell passes through the ring flange and the bonnet It is sealed.