CN206677967U - A kind of Robot neck device - Google Patents
A kind of Robot neck device Download PDFInfo
- Publication number
- CN206677967U CN206677967U CN201720347567.5U CN201720347567U CN206677967U CN 206677967 U CN206677967 U CN 206677967U CN 201720347567 U CN201720347567 U CN 201720347567U CN 206677967 U CN206677967 U CN 206677967U
- Authority
- CN
- China
- Prior art keywords
- motor
- head
- hole
- gear
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 241000239290 Araneae Species 0.000 claims abstract description 19
- 230000007547 defect Effects 0.000 abstract 1
- 206010064950 Head titubation Diseases 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004886 head movement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The utility model belongs to robot accessory technical field, more particularly to a kind of Robot neck device, lower bearing bracket upper surface is provided with the first motor, first motor power output end is connected with first gear, half of second gear being meshed with first gear is fixed with the right side of upper spider lower surface, triangular leg is hinged by the first jointed shaft with hinged seat, upper spider lower surface is provided with the second motor, second motor power output shaft is internally connected with the 3rd motor through the second through hole and third through-hole in head, arc-shaped rack is provided with below 3rd gear, arc-shaped rack left and right ends are respectively provided with a connecting rod, 3rd motor front and back is respectively provided with a support bar, second jointed shaft is located in fourth hole, support bar both ends are connected with head inwall.The purpose is to：Robot head caused by solving existing Robot neck apparatus structure defect rotates underaction, it is impossible to while realize that robot head is nodded, shaken the head and the function of head partially, the problem of fidelity is low.
Description
Technical field
The utility model belongs to robot accessory technical field, and in particular to a kind of Robot neck device.
Background technology
With the progress of robot technology, home-services robot is more and more, progressively pursues the personification for improving robot
Degree, especially head movement.Because the head movement of people is a three freedom rotary sport under neck control, to make machine
Realize that Three Degree Of Freedom rotates freely in the head of device people, must be requested that neck mechanism, can realize that Three Degree Of Freedom rotates freely.But
The head rotation underaction of existing robot, it is impossible at the same realize robot head nod, shake the head and partially head function, force
True degree is low.
Utility model content
The purpose of this utility model is：A kind of Robot neck device is aimed to provide, for solving existing robot neck
Caused by part device fault of construction robot head rotate underaction, it is impossible to while realize robot head nod, shake the head and
The function of inclined head, the problem of fidelity is low.
To realize above-mentioned technical purpose, the technical solution adopted in the utility model is as follows：
A kind of Robot neck device, including the lower bearing bracket being connected with shoulder and the upper spider being connected with head, under described
Frame upper end face is provided with the first motor, and the first motor power output end connects towards the right side, the first motor power output end
There is first gear, half of second gear being meshed with first gear is fixed with the right side of the upper spider lower surface, under described
Frame upper end face left part is provided with triangular leg, and the triangular leg top left end face is provided with first through hole, in the first through hole
Provided with the first jointed shaft, upper bracket lower surface correspondence position at the top of triangular leg is provided with hinged seat, the triangular leg
It is hinged by the first jointed shaft with hinged seat, the upper spider lower surface is provided with the second motor, the second motor power output
Upward, the upper spider upper surface is provided with the second through hole, the head bottom surface to axle in the second motor power output shaft correspondence position
Provided with third through-hole, the second motor power output shaft is internally connected with the 3rd through the second through hole and third through-hole in head
Motor, the 3rd motor power output end is facing forward, and the 3rd motor power output end is connected with the 3rd gear, and the described 3rd
Arc-shaped rack is provided with below gear, the arc-shaped rack left and right ends are respectively provided with a connecting rod, and the connecting rod free end connects
Connector portions inwall, the 3rd motor upper surface are provided with the second jointed shaft along the 3rd motor output shaft axial direction, and the described 3rd
Motor front and back is respectively provided with a support bar, and the support bar front end face center is provided with fourth hole, and described second is be hinged
Axle is located in fourth hole, and the support bar both ends are connected with head inwall.
Using the utility model of above-mentioned technical proposal, in use, by controlling rotating and reverse for the first motor, the first tooth
Wheel drives second gear rotation, realizes the nod on head, while is hinged using triangular leg and jointed shaft, enhances machine
The steadiness of frame；By controlling rotating and reverse for the second motor, support bar is driven end rotation, realize the work(of shaking the head on head
Energy；By controlling rotating and reverse for the 3rd motor, the 3rd gear rolls on arc-shaped rack, so as to realize head deflection
Function.Such structure design, make the rotation on head more flexible, realize the nodding of head, shake the head and the function of head partially, more
Add true to nature.
Further limit, first motor, the second motor and the 3rd motor are stepper motor.Such structure is set
Meter, control accuracy are higher.
Further limit, arc-shaped rack upper surface left and right ends are equipped with limited block.Such structure design, it can keep away
It is excessive to exempt from head deflection, the 3rd gear is rolled out arc-shaped rack.
Further limit, bearing is provided with the fourth hole, second jointed shaft is rotated by bearing and support bar
Connection.Such structure design, the second jointed shaft can be avoided directly to be contacted with fourth hole, avoid the second jointed shaft and four-way
Abrasion between hole.
Further limit, the first motor power output sleeve is provided with bearing block, and the bearing block is connected with lower bearing bracket.
Such structure design, support is established for the first motor right-hand member, enables that first gear preferably bears head and upper spider is applied
The weight added.
Brief description of the drawings
The utility model can be further illustrated by the nonlimiting examples that accompanying drawing provides；
Fig. 1 is a kind of structural representation of Robot neck device embodiment of the utility model；
Fig. 2 is a kind of cross section structure diagram of Robot neck device embodiment of the utility model；
Main element symbol description is as follows：
Lower bearing bracket 1, the first motor 11, first gear 12, triangular leg 13, head 2, upper spider 3, second gear 31, hinge
Joint chair 32, the second motor 33, the 3rd motor 4, the 3rd gear 41, arc-shaped rack 42, connecting rod 43, the second jointed shaft 44, support
Bar 45.
Embodiment
In order that the utility model may be better understood in those skilled in the art, it is right with reference to the accompanying drawings and examples
Technical solutions of the utility model further illustrate.
As depicted in figs. 1 and 2, a kind of Robot neck device of the present utility model, including the lower bearing bracket 1 being connected with shoulder
The upper spider 3 being connected with head 2, the upper surface of lower bearing bracket 1 are provided with the first motor 11, the clutch end of the first motor 11 towards the right side,
The clutch end of first motor 11 is connected with first gear 12, is fixed with and the phase of first gear 12 on the right side of the lower surface of upper spider 3
Half of second gear 31 of engagement, the upper surface left part of lower bearing bracket 1 are provided with triangular leg 13, and the top left end face of triangular leg 13 is provided with
First through hole, first through hole is interior to be provided with the first jointed shaft, and the lower surface of upper bracket 3 is provided with hinge in the top correspondence position of triangular leg 13
Joint chair 32, triangular leg 13 is be hinged by the first jointed shaft and hinged seat 32, and the lower surface of upper spider 3 is provided with the second motor 33, the
Upward, the upper surface of upper spider 3 is provided with the second through hole to the power output shaft of two motor 33 in the second motor power output shaft correspondence position,
The bottom surface of head 2 is provided with third through-hole, and the power output shaft of the second motor 33 connects through the second through hole and third through-hole inside head 2
The 3rd motor 4 is connected to, the clutch end of the 3rd motor 4 is facing forward, and the clutch end of the 3rd motor 4 is connected with the 3rd gear 41, the
The lower section of three gear 41 is provided with arc-shaped rack 42, and the left and right ends of arc-shaped rack 42 are respectively provided with a connecting rod 43, and connecting rod 43 is freely
The end connection inwall of head 2, the upper surface of the 3rd motor 4 are provided with the second jointed shaft 44 along the 3rd motor output shaft axial direction, and the 3rd
The front and back of motor 4 is respectively provided with a support bar 45, and the front end face of support bar 45 center is provided with fourth hole, the second jointed shaft 44
It is located in fourth hole, the both ends of support bar 45 are connected with head inwall.
In the present embodiment, in use, by controlling rotating and reverse for the first motor 11, first gear 12 drives the second tooth
The rotation of wheel 31, the nod on head 2 is realized, at the same it is be hinged with jointed shaft 32 using triangular leg 13, enhance upper spider 3
Steadiness；By controlling rotating and reverse for the second motor 33, make support bar 45 drive head 2 to rotate, realize shaking the head for head 2
Function；By controlling rotating and reverse for the 3rd motor 4, the 3rd gear 41 rolls on arc-shaped rack 42, so as to realize head 2
The function of deflection.Such structure design, make the rotation on head 2 more flexible, realize the nodding of head 2, shake the head and partially
The function of head, it is more life-like.
It is preferred that the first motor 11, the second motor 33 and the 3rd motor 4 are stepper motor.Such structure design, control
Precision is higher.In fact, also can be according to actual conditions, the specific tool for considering the first motor 11, the second motor 33 and the 3rd motor 4
Build number.
It is preferred that the upper surface left and right ends of arc-shaped rack 42 are equipped with limited block.Such structure design, head 2 can be avoided
Deflection is excessive, the 3rd gear 41 is rolled out arc-shaped rack 42.In fact, also can be specific to consider according to actual conditions.
It is preferred that being provided with bearing in fourth hole, the second jointed shaft 44 is rotatablely connected by bearing and support bar 45.It is such
Structure design, the second jointed shaft 44 can be avoided directly to be contacted with fourth hole, avoided between the second jointed shaft 44 and fourth hole
Abrasion.In fact, also it can consider that other can avoid what is worn between the second jointed shaft 44 and fourth hole according to actual conditions
Structure design.
It is preferred that the power output shaft of the first motor 11 is arranged with bearing block, bearing block is connected with lower bearing bracket 1.Such structure
Design, support is established for the right-hand member of the first motor 11, first gear 12 is preferably born head 2 and upper spider 3 is applied
Weight.In fact, also it can consider that other can enable first gear 12 preferably bear head 2 and upper spider 3 according to actual conditions
The structure design of the weight applied.
A kind of Robot neck device provided by the utility model is described in detail above.Specific embodiment is said
It is bright to be only intended to help and understand method and its core concept of the present utility model.It should be pointed out that for the common of the art
For technical staff, on the premise of the utility model principle is not departed from, can also to the utility model carry out it is some improvement and
Modification, these are improved and modification is also fallen into the protection domain of the utility model claims.
Claims (5)
- A kind of 1. Robot neck device, it is characterised in that：It is connected including the lower bearing bracket (1) being connected with shoulder and with head (2) Upper spider (3), lower bearing bracket (1) upper surface is provided with the first motor (11), the first motor (11) clutch end court The right side, the first motor (11) clutch end are connected with first gear (12), and upper spider (3) lower surface right side fixation is set There is half of the second gear (31) being meshed with first gear (12), lower bearing bracket (1) upper surface left part is provided with triangular leg (13), triangular leg (13) the top left end face is provided with first through hole, and the first jointed shaft is provided with the first through hole, described Upper bracket (3) lower surface correspondence position at the top of triangular leg (13) is provided with hinged seat (32), and the triangular leg (13) passes through First jointed shaft is be hinged with hinged seat (32), and upper spider (3) lower surface is provided with the second motor (33), second motor (33) upward, upper spider (3) upper surface is provided with second in the second motor power output shaft correspondence position and led to power output shaft Hole, head (2) bottom surface are provided with third through-hole, and the second motor (33) power output shaft passes through the second through hole and threeway Hole is internally connected with the 3rd motor (4) in head (2), and the 3rd motor (4) clutch end is facing forward, the 3rd motor (4) clutch end is connected with the 3rd gear (41), and arc-shaped rack (42), the arc are provided with below the 3rd gear (41) Rack (42) left and right ends are respectively provided with a connecting rod (43), and connecting rod (43) free end connects head (2) inwall, described 3rd motor (4) upper surface is provided with the second jointed shaft (44) along the 3rd motor output shaft axial direction, before the 3rd motor (4) Side and rear are respectively provided with a support bar (45）, the support bar (45）Front end face center is provided with fourth hole, second hinge Spindle (44) is located in fourth hole, the support bar (45）Both ends are connected with head inwall.
- A kind of 2. Robot neck device according to claim 1, it is characterised in that：First motor (11), second Motor (33) and the 3rd motor (4) are stepper motor.
- A kind of 3. Robot neck device according to claim 2, it is characterised in that：Arc-shaped rack (42) upper surface Left and right ends are equipped with limited block.
- A kind of 4. Robot neck device according to claim 3, it is characterised in that：Axle is provided with the fourth hole Hold, second jointed shaft (44) passes through bearing and support bar (45）Rotation connection.
- A kind of 5. Robot neck device according to claim 4, it is characterised in that：First motor (11) power is defeated Shaft is arranged with bearing block, and the bearing block is connected with lower bearing bracket (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720347567.5U CN206677967U (en) | 2017-04-05 | 2017-04-05 | A kind of Robot neck device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720347567.5U CN206677967U (en) | 2017-04-05 | 2017-04-05 | A kind of Robot neck device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206677967U true CN206677967U (en) | 2017-11-28 |
Family
ID=60399262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720347567.5U Active CN206677967U (en) | 2017-04-05 | 2017-04-05 | A kind of Robot neck device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206677967U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109992010A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | Multifreedom motion device |
| CN110340871A (en) * | 2019-07-12 | 2019-10-18 | 江苏科技大学 | A kind of head multi-angle rotation structure of artificial intelligence robot |
| CN111529309A (en) * | 2020-04-24 | 2020-08-14 | 蔡桂平 | Medical neck joint rehabilitation training device |
| CN111529310A (en) * | 2020-04-24 | 2020-08-14 | 蔡桂平 | Medical neck joint rehabilitation training method and device |
-
2017
- 2017-04-05 CN CN201720347567.5U patent/CN206677967U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109992010A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | Multifreedom motion device |
| CN109992010B (en) * | 2017-12-29 | 2022-02-11 | 沈阳新松机器人自动化股份有限公司 | Multi-degree-of-freedom movement device |
| CN110340871A (en) * | 2019-07-12 | 2019-10-18 | 江苏科技大学 | A kind of head multi-angle rotation structure of artificial intelligence robot |
| CN111529309A (en) * | 2020-04-24 | 2020-08-14 | 蔡桂平 | Medical neck joint rehabilitation training device |
| CN111529310A (en) * | 2020-04-24 | 2020-08-14 | 蔡桂平 | Medical neck joint rehabilitation training method and device |
| CN111529310B (en) * | 2020-04-24 | 2022-05-27 | 蔡桂平 | Medical neck joint rehabilitation training device |
| CN111529309B (en) * | 2020-04-24 | 2022-05-27 | 蔡桂平 | Medical neck joint rehabilitation training device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103465633A (en) | Single-motor double printer head 3D printer head mechanism | |
| CN107054495A (en) | A kind of town road robot | |
| CN203528092U (en) | Single-motor double printer head 3D printer head mechanism | |
| CN211157149U (en) | 3D type impulse type rhythm massage core and rhythm dormancy promotion type health preserving massage machine | |
| CN105619422B (en) | A kind of guest-greeting machine human arm analogue experiment installation | |
| CN210992946U (en) | Three-degree-of-freedom rotating VR experience equipment | |
| CN206355589U (en) | A kind of bionic animal eyes drive mechanism | |
| CN202077958U (en) | Rocking chair for babies | |
| CN204209350U (en) | Horizontal rotary welding stage | |
| CN203401369U (en) | Beveling machine swing frame swing angle mechanism | |
| CN205549534U (en) | Multifunctional swinging machine for children | |
| CN206814977U (en) | The material feeding driving mechanism and sewing machine of sewing machine | |
| CN108412794A (en) | A kind of left-right rotation structure of stand fan | |
| CN105817035B (en) | A kind of solar differential steering three-wheel toy car | |
| CN212763477U (en) | Electric wax figure robot | |
| CN203958269U (en) | A kind of steering hardware | |
| CN204293779U (en) | Worm and gear hand upside down machine | |
| CN106835513A (en) | The material feeding driving mechanism and sewing machine of sewing machine | |
| CN202038357U (en) | Tricycle steering mechanism | |
| CN203110870U (en) | Wheel height regulating device and wheel chair using same | |
| CN210133211U (en) | Differential driving device | |
| CN114427642A (en) | Automatic parallel intelligent support of transferring appearance | |
| CN206717906U (en) | A kind of end rotation device and the robot head in central rotation | |
| CN218001010U (en) | Display support capable of rotating with multiple degrees of freedom | |
| CN219039895U (en) | A VR collaborative assembly training equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220705 Address after: 314000 room 703, building 8, No. 36, Changsheng South Road, Jiaxing Economic and Technological Development Zone, Zhejiang Province Patentee after: Haifeng Intelligent Technology (Zhejiang) Co.,Ltd. Address before: Room 3020, floor 3, No. 11, Shixing East Street, Shijingshan District, Beijing 100043 Patentee before: BEIJING SEA BREEZE INTELLIGENT TECHNOLOGY LLC |
|
| TR01 | Transfer of patent right |