CN207495499U - Rotation mechanism before a kind of household service robot arm - Google Patents
Rotation mechanism before a kind of household service robot arm Download PDFInfo
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- CN207495499U CN207495499U CN201721700037.0U CN201721700037U CN207495499U CN 207495499 U CN207495499 U CN 207495499U CN 201721700037 U CN201721700037 U CN 201721700037U CN 207495499 U CN207495499 U CN 207495499U
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Abstract
The utility model discloses rotation mechanisms before a kind of household service robot arm of robotic technology field,Including robot head,The bottom of the robot head is equipped with I-shaped frame,Clutch shaft bearing is equipped at left and right sides of the inner cavity top of the I-shaped frame,Motor is equipped at left and right sides of the bottom of the I-shaped frame,Harmonic speed reducer is equipped at left and right sides of the intracavity bottom of the I-shaped frame,And the power intake of harmonic speed reducer through I-shaped frame and passes through the power output end of shaft and shaft coupling and motor and connects,Robot arm can be moved up and down,It rotates on optical axis and rotation,Expand the motion range of robot arm,It can complete the action of more complexity,Two groups of robot arms are worked in coordination,It can push,It lifts and rotating object,It is easy to operate,It is simple in structure,Convenient for safeguarding,It has a vast market with prospect.
Description
Technical field
The utility model is related to robotic technology field, rotation mechanism before specially a kind of household service robot arm.
Background technology
Household service robot is the hot spot of Recent study, apish form and behavior and the robot that manufactures and designs
It is exactly household service robot, four limbs and the head generally separately or concurrently with apery.Robot is generally according to different application
Demand is designed to different shape, such as applies to the mechanical arm, wheel chair robot, walking robot of industry.And household services
Robot research integrates the multi-door science such as machinery, electronics, computer, material, sensor, control technology, represents one
The development in Hi-Tech of country is horizontal, and at present, the research of domestic household service robot is more and more deep, and application field is also increasingly
Extensively, the every profession and trades such as food and drink, medical treatment, service are gradually extended to, household service robot can not only carry out image identification, obstacle, people
Machine exchanges, the also action with the mankind.Arm such as household service robot imitates the structure manufacture of human arm, has multiple
Degree of freedom can imitate human arm action.With the gradual expansion of application field, there is an urgent need for a kind of arm degree of freedom number is more
Preceding rotation mechanism, based on this, the utility model devises rotation mechanism before a kind of household service robot arm, to solve above-mentioned ask
Topic.
Utility model content
The purpose of this utility model is to provide rotation mechanism before a kind of household service robot arm, to solve above-mentioned background
Itd is proposed in technology with the gradual expansion of application field, there is an urgent need for a kind of arm degree of freedom number, more preceding rotation mechanism is asked
Topic.
To achieve the above object, the utility model provides following technical solution：A kind of household service robot arm forward
Mechanism, including robot head, the bottom of the robot head is equipped with I-shaped frame, and the inner cavity of the I-shaped frame is pushed up
Clutch shaft bearing is equipped at left and right sides of portion, motor, the I-shaped frame are equipped at left and right sides of the bottom of the I-shaped frame
It is equipped with harmonic speed reducer at left and right sides of the intracavity bottom of frame, and the power intake of harmonic speed reducer is through I-shaped frame
And the power output end for passing through shaft and shaft coupling and motor connects, the top power output end of the harmonic speed reducer and first
Optical axis is equipped with by shaft coupling between bearing, the outer wall sliding sleeve of the optical axis is connected to can, and the surface of the can, which passes through, to be led to
Slot is embedded with transparent toughened glass plate, and the bottom of the can is equipped with electric telescopic rod, and the end of the electric telescopic rod is equipped with
Inserted sheet, the intracavity bottom left and right sides of the I-shaped frame is equipped with cone gear ring, and bores gear ring and be located at the four of harmonic speed reducer
Week, the inserted sheet extend to the tooth cavity of cone gear ring, the first cunning are embedded with respectively by sliding slot at left and right sides of the outer wall of the optical axis
The inner cavity of rail and the second sliding rail, first sliding rail and the second sliding rail is respectively equipped with the first electronic sliding block and the second electronic sliding block,
The surface of the first electronic sliding block is equipped with electromagnet, and the outer wall apex suction of electromagnet and can connects, the can
Side wall is embedded with second bearing by through-hole, and the inner cavity of the second bearing is plugged with bull stick, and the outer end of the bull stick is equipped with
Robot arm, the inner end of the bull stick are socketed with driven wheel of differential, are fixed at the top of the second electronic sliding block actively
Bevel gear, and drive bevel gear is slidably socketed the outer wall in optical axis, the drive bevel gear is engaged with driven wheel of differential, the iron
The inner wall of box is equipped with magnechuck close to the side of second bearing, and the outer wall of the bottom surface of magnechuck and bull stick overlaps.
Preferably, the housing exterior walls of the motor are equipped with sponges cover.
Preferably, the inner wall of the can is equipped with LED lamp bead.
Preferably, left and right sides outer wall is in herringbone equipped with dust-proof at the top of the open region of first sliding rail and the second sliding rail
Felt hair.
Preferably, the underrun of the magnechuck embeds the outer wall overlap joint for rolling iron ball and bull stick.
Compared with prior art, the beneficial effects of the utility model are：The utility model can make above and below robot arm
It is mobile, rotate on optical axis and rotation, the motion range of robot arm is made to expand, can complete more complicated actions, two groups
Robot arm is worked in coordination, and can be pushed, be lifted and rotating object, easy to operate, simple in structure, convenient for safeguarding, is had wide
Wealthy market uses prospect.
Description of the drawings
In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the utility model,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model can internal structure schematic diagram.
In attached drawing, parts list represented by the reference numerals are as follows：
1- robot heads, the I-shaped frames of 2-, 3- clutch shaft bearings, 4- motors, 5- harmonic speed reducers, 6- cone gear rings, 7-
Optical axis, 8- cans, 9- transparent toughened glass plates, 10- electric telescopic rods, 11- inserted sheets, 12- bull sticks, 13- robot arms, 14-
First sliding rail, the second sliding rails of 15-, the first electronic sliding blocks of 16-, the second electronic sliding blocks of 17-, 18- electromagnet, 19- drive bevel gears,
20- driven wheel of differential, 21- second bearings, 22- magnechucks.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without creative efforts
The all other embodiment obtained, shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, the utility model provides a kind of technical solution：It makes a connection before a kind of household service robot arm
Structure, including robot head 1, the bottom of robot head 1 is equipped with I-shaped frame 2, the inner cavity top of I-shaped frame 2 or so
Both sides are equipped with clutch shaft bearing 3, and motor 4, the interior bottom of chamber of I-shaped frame 2 are equipped at left and right sides of the bottom of I-shaped frame 2
Harmonic speed reducer 5 is equipped with, and the power intake of harmonic speed reducer 5 through I-shaped frame 2 and passes through at left and right sides of portion
Shaft and shaft coupling are connect with the power output end of motor 4, the top power output end of harmonic speed reducer 5 and clutch shaft bearing 3 it
Between optical axis 7 is equipped with by shaft coupling, the outer wall sliding sleeve of optical axis 7 is connected to can 8, and the surface of can 8 is embedded with by straight slot
Bright armorplate glass 9, the bottom of can 8 are equipped with electric telescopic rod 10, and the end of electric telescopic rod 10 is equipped with inserted sheet 11, I-shaped
Cone gear ring 6 is equipped at left and right sides of the intracavity bottom of frame 2, and bores the surrounding that gear ring 6 is located at harmonic speed reducer 5, inserted sheet 11 prolongs
The tooth cavity of cone gear ring 6 is reached, the first sliding rail 14 and the second sliding rail are embedded with respectively by sliding slot at left and right sides of the outer wall of optical axis 7
15, the inner cavity of the first sliding rail 14 and the second sliding rail 15 is respectively equipped with the first electronic 16 and second electronic sliding block 17 of sliding block, the first electricity
The surface of movable slider 16 is equipped with electromagnet 18, and electromagnet 18 is connect with the outer wall apex suction of can 8, and the side wall of can 8 leads to
It crosses through-hole and is embedded with second bearing 21, the inner cavity of second bearing 21 is plugged with bull stick 12, and the outer end of bull stick 12 is equipped with robot
Arm 13, the inner end of bull stick 12 are socketed with driven wheel of differential 20, and the top of the second electronic sliding block 17 is fixed with drive bevel gear
19, and drive bevel gear 19 is slidably socketed the outer wall in optical axis 7, drive bevel gear 19 is engaged with driven wheel of differential 20, can 8
Inner wall is equipped with magnechuck 22 close to the side of second bearing 21, and the bottom surface of magnechuck 22 and the outer wall of bull stick 12 overlap.
Wherein, the housing exterior walls of motor 4 are equipped with sponges cover, and sound insulation does not influence to radiate again, and the inner wall of can 8 is equipped with LED light
Pearl facilitates and observes 8 internal part working condition of can through transparent toughened glass plate 9, the first sliding rail 14 and the second sliding rail 15
Left and right sides outer wall is equipped with dust-proof felt hair in herringbone at the top of open region, reduces dust and falls on the first sliding rail 14 and the second sliding rail 15
On, the underrun of magnechuck 22 embeds the outer wall overlap joint for rolling iron ball and bull stick 12, reduces frictional resistance.
One of the present embodiment has particular application as：When robot arm 13 needs to move up and down；It is inhaled by electromagnet 18
Attached can 8, the second electronic sliding block 17 drive drive bevel gear 19 to move up and down, and the first electronic sliding block 16 pushes can be transported about 8
It moves and then robot arm 13 is made to move up and down using bull stick 12, when robot arm 13 needs to rotate around optical axis 7；Motor 4
Optical axis 7 is driven to rotate by harmonic speed reducer 5, electromagnet 18 adsorbs can 8, and the second electronic sliding block 17 drives drive bevel gear 19
It is detached with driven wheel of differential 20, magnechuck 22 adsorbs bull stick 12, and then robot arm 13 is made to be rotated around optical axis 7；Work as needs
Robot arm 13 around bull stick 12 rotate or swing certain angle when；22 dead electricity of magnechuck, the second electronic sliding block 17 drive master
Dynamic bevel gear 19 is engaged with driven wheel of differential 20, and motor 4 rotates optical axis 7 by harmonic speed reducer 5,18 dead electricity of electromagnet, electricity
The dynamic elongation of telescopic rod 10 makes inserted sheet 11 be overlapped with cone gear ring 6, and the drive of optical axis 7 drive bevel gear 19 rotates and then by from mantle tooth
Wheel 20 rotates bull stick 12, when needing to control angle, magnechuck 22 is made to adsorb bull stick 12, the second electronic sliding block 17 drives actively
Bevel gear 19 detaches with driven wheel of differential 20.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
At least one of the utility model is contained in reference to the embodiment or example particular features, structures, materials, or characteristics described
In embodiment or example.In the present specification, schematic expression of the above terms be not necessarily referring to identical embodiment or
Example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more embodiments or example
In combine in an appropriate manner.
The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, do not limit the invention to the specific embodiments described.Obviously, according to this specification
Content, can make many modifications and variations.This specification is chosen and specifically describes these embodiments, be in order to preferably explain
The principle and practical application of the utility model, so as to which skilled artisan be enable to be best understood by and utilize this practicality
It is novel.The utility model is limited only by the claims and their full scope and equivalents.
Claims (5)
1. a kind of rotation mechanism before household service robot arm, including robot head (1), it is characterised in that：The robot
The bottom on head (1) is equipped with I-shaped frame (2), and first is equipped at left and right sides of the inner cavity top of the I-shaped frame (2)
Bearing (3), the bottom left and right sides of the I-shaped frame (2) are equipped with motor (4), the inner cavity of the I-shaped frame (2)
It is equipped with harmonic speed reducer (5) at left and right sides of bottom, and the power intake of harmonic speed reducer (5) is through I-shaped frame
(2) and pass through shaft and shaft coupling and connect with the power output end of motor (4), the top power of the harmonic speed reducer (5) is defeated
Optical axis (7) is equipped with by shaft coupling between outlet and clutch shaft bearing (3), the outer wall sliding sleeve of the optical axis (7) is connected to can
(8), the surface of the can (8) is embedded with transparent toughened glass plate (9) by straight slot, and the bottom of the can (8) is equipped with electricity
Dynamic telescopic rod (10), the end of the electric telescopic rod (10) are equipped with inserted sheet (11), the intracavity bottom of the I-shaped frame (2)
The left and right sides is equipped with cone gear ring (6), and bores surrounding of the gear ring (6) positioned at harmonic speed reducer (5), and the inserted sheet (11) extends to
The tooth cavity of gear ring (6) is bored, the first sliding rail (14) and second are embedded with respectively by sliding slot at left and right sides of the outer wall of the optical axis (7)
The inner cavity of sliding rail (15), first sliding rail (14) and the second sliding rail (15) is respectively equipped with the first electronic sliding block (16) and the second electricity
Movable slider (17), the surface of the first electronic sliding block (16) are equipped with electromagnet (18), and electromagnet (18) and can (8) is outer
Wall apex suction connects, and the side wall of the can (8) is embedded with second bearing (21) by through-hole, the second bearing (21)
Inner cavity is plugged with bull stick (12), and the outer end of the bull stick (12) is equipped with robot arm (13), the inner end of the bull stick (12)
Portion is socketed with driven wheel of differential (20), drive bevel gear (19) is fixed at the top of the second electronic sliding block (17), and actively
Bevel gear (19) is slidably socketed the outer wall in optical axis (7), and the drive bevel gear (19) is engaged with driven wheel of differential (20), described
The inner wall of can (8) is equipped with magnechuck (22) close to the side of second bearing (21), and the bottom surface of magnechuck (22) is with turning
The outer wall overlap joint of bar (12).
2. rotation mechanism before a kind of household service robot arm according to claim 1, it is characterised in that：The motor
(4) housing exterior walls are equipped with sponges cover.
3. rotation mechanism before a kind of household service robot arm according to claim 1, it is characterised in that：The can
(8) inner wall is equipped with LED lamp bead.
4. rotation mechanism before a kind of household service robot arm according to claim 1, it is characterised in that：Described first slides
Left and right sides outer wall is equipped with dust-proof felt hair in herringbone at the top of the open region of rail (14) and the second sliding rail (15).
5. rotation mechanism before a kind of household service robot arm according to claim 1, it is characterised in that：The electromagnetism is inhaled
The underrun of disk (22) embeds the outer wall overlap joint for rolling iron ball and bull stick (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721700037.0U CN207495499U (en) | 2017-12-08 | 2017-12-08 | Rotation mechanism before a kind of household service robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721700037.0U CN207495499U (en) | 2017-12-08 | 2017-12-08 | Rotation mechanism before a kind of household service robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207495499U true CN207495499U (en) | 2018-06-15 |
Family
ID=62509339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721700037.0U Active CN207495499U (en) | 2017-12-08 | 2017-12-08 | Rotation mechanism before a kind of household service robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207495499U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745659A (en) * | 2020-06-03 | 2020-10-09 | 陈曦 | More humanized usher robot |
-
2017
- 2017-12-08 CN CN201721700037.0U patent/CN207495499U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745659A (en) * | 2020-06-03 | 2020-10-09 | 陈曦 | More humanized usher robot |
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