CN207971967U - Robot head transmission mechanism - Google Patents
Robot head transmission mechanism Download PDFInfo
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- CN207971967U CN207971967U CN201820109930.4U CN201820109930U CN207971967U CN 207971967 U CN207971967 U CN 207971967U CN 201820109930 U CN201820109930 U CN 201820109930U CN 207971967 U CN207971967 U CN 207971967U
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- servo
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- upper pole
- transmission mechanism
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 71
- 230000007246 mechanism Effects 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 230000003028 elevating effect Effects 0.000 claims description 5
- 208000019901 Anxiety disease Diseases 0.000 abstract description 3
- 230000036506 anxiety Effects 0.000 abstract description 3
- 230000002452 interceptive effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model provides a kind of robot head transmission mechanism, including supporting rack, supporting rod, the first Servo-controller, the first transmission component, the second Servo-controller and the second transmission component, and supporting rod includes lower bar portion and upper pole part.The power of its first Servo-controller drives supporting rack to do yaw motion relative to supporting rod by the transmission of the first transmission component；And the power of the second Servo-controller drives upper pole part to be nodded movement relative to lower bar portion by the transmission of the second transmission component.In this way, supporting rack, the first Servo-controller and the first transmission component are installed on head space, supporting rod, the second Servo-controller and the second transmission component are installed in neck space, the problem of neck space placement location anxiety is alleviated, meanwhile, it avoids the problem that interfering between transmission parts, and, the degree of wear of transmission parts can be reduced, the service life of drive mechanism component is improved, ensures the normal use of intelligent robot.
Description
Technical field
The utility model belongs to technical field, is to be related to a kind of robot head transmission mechanism more specifically.
Background technology
Currently, the drive mechanism on the head of intelligent robot generally uses servo driving, and this drive mechanism compares into
Ripe, its advantage is that transmission performance is stablized, interim card is not arranged the disadvantage is that the installation position of drive mechanism is easy to be defined for action
Insufficient space.The especially neck junction of intelligent robot, drive mechanism need to realize the degree of freedom shaken the head and nodded, and
Realize that it is shaken the head, the drive mechanism for degree of freedom of nodding is both needed to be set to neck spatial position, in this way, causing the placement in neck space
Position is very nervous, moreover, the drive mechanism of neck spatial position needs to undertake the weight of entire head and neck, stress is strong
Degree is big, and fulcrum force is single, in drive mechanism after multiple stress, it may appear that fulcrum force is worn up to collapse, and most
Cause to interfere with each other between drive mechanism component eventually, mutually wear, the service life of drive mechanism component is short, influences intelligence machine
The normal use of people.
Utility model content
The purpose of this utility model is to provide, it is intended to the installation space for solving existing robot head drive mechanism is insufficient
And the problem of interfering, wearing between transmission parts.
To achieve the above object, the technical solution adopted in the utility model is：A kind of robot head transmission mechanism is provided,
Including：
Supporting rack is installed on head space and is used to support head；
Supporting rod, including be installed on neck space lower bar portion and with the lower bar portion ball-joint and extend head space
In upper pole part, the upper pole part connect with support frame as described above；
First Servo-controller is set on support frame as described above；
First transmission component is drivingly connected with support frame as described above, and is driven so that the branch by first Servo-controller
Support does yaw motion relative to the supporting rod；
Second Servo-controller is installed in neck space；And
Second transmission component is drivingly connected with the upper pole part, and is driven so that on described by second Servo-controller
Bar portion is nodded movement relative to the lower bar portion.
Further, first transmission component includes：
Driving gear is drivingly connected with the real axis steering wheel of first Servo-controller and is connect with support frame as described above；
First driven gear is engaged with the driving gear and is connect with supporting rack；And
Second driven gear engages with first driven gear and is installed on the upper pole part.
Further, the driving gear has teeth in active and actively outer teeth, first driven gear have
First driven interior teeth and the first driven outer teeth, teeth are engaged with the real axis steering wheel in the active, the active external tooth
Tooth is engaged with the described first driven interior teeth, and the first driven outer teeth are engaged with second driven gear.
Further, the periphery of the upper pole part is extended with for carrying first driven gear and described second driven
The carrying edge of gear.
Further, the real axis steering wheel is arranged straight down.
Further, the lower end of the upper pole part is formed with the inner cavity in interior ball-and-socket shape, and the upper end of the lower bar portion is formed
There are outer bulb, the outer bulb hinged with the inner cavity.
Further, second transmission component includes：
First drive screw is drivingly connected with second Servo-controller；
Loop bar is sheathed on first drive screw and along the first drive screw elevating movement；And
Rotating member, one end and the upper end of the loop bar are rotatablely connected, and the other end is fixedly connected with the upper pole part.
Further, the outer surface of the upper pole part is formed with sleeve part, and the second drive screw is equipped in the sleeve part,
The upper end of second drive screw is engaged with second driven gear, the lower end of second drive screw and described first
Drive screw engages, and the rotating member is connect with the sleeve part.
Further, the surface of the sleeve part is equipped with pillar, and one end of the rotating member is annulus, the pillar and institute
State the inner hole of annulus.
Further, one end of the rotating member offers turn hole, and the upper end of the loop bar opens up fluted, the groove
In be inserted with shaft, the shaft is rotatably assorted with the turn hole.
The advantageous effect of robot head transmission mechanism provided by the utility model is：Its first Servo-controller moves
Power drives supporting rack to do yaw motion relative to supporting rod by the transmission of the first transmission component, i.e. supporting rack drives entire head
Realize degree of freedom of shaking the head in portion；And the power of the second Servo-controller, by the transmission of the second transmission component, drive upper pole part relative to
Lower bar portion is nodded movement, i.e., upper pole part, which drives, supports the supporting rack realization on entire head to nod degree of freedom.Thus it is possible, on the one hand,
Supporting rack, the first Servo-controller and the first transmission component are installed on head space by it, and by supporting rod, the second Servo-controller and
Second transmission component is installed in neck space, alleviates the problem of neck space placement location anxiety, meanwhile, avoid driving section
The problem of being interfered between part, also, on the other hand, pass through the first Servo-controller, the first transmission component and support
Frame stablizes the amplitude of shaking the head on head, disperses the frictional force caused by degree of freedom of shaking the head on head；And by the second Servo-controller,
Second transmission component and supporting rod stablize the amplitude of nodding on head, disperse the frictional force caused by degree of freedom of nodding on head,
In this way, to reduce the degree of wear of transmission parts, the service life of drive mechanism component is improved, ensures the normal of intelligent robot
It uses.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new
Some embodiments of type for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram one for the robot head transmission mechanism that the utility model embodiment provides；
Fig. 2 is the structural schematic diagram two for the robot head transmission mechanism that the utility model embodiment provides；
Fig. 3 is the structural schematic diagram three for the robot head transmission mechanism that the utility model embodiment provides.
Wherein, each reference numeral in figure：
10- robot head transmission mechanisms；11- supporting racks；12- supporting rods；Bar portion under 121-；122- upper pole parts；13-
One Servo-controller；The first transmission components of 14-；The second Servo-controllers of 15-；The second transmission components of 16-；141- driving gears；142-
First driven gear；The second driven gears of 143-；Teeth in 1411- actives；The outer teeth of 1412- actives；In 1421- first is driven
Teeth；The driven outer teeth of 1422- first；131- real axis steering wheels；1221- carries edge；The outer bulbs of 1211-；161- first is driven
Screw rod；162- loop bars；163- rotating members；123- sleeve parts；The second drive screws of 164-；165- pillars；1621- grooves.
Specific implementation mode
In order to make technical problem to be solved in the utility model, technical solution and advantageous effect be more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on ... shown in the drawings or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, does not indicate or imply the indicated device or element is necessary
With specific orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
Also referring to Fig. 1 to Fig. 3, now robot head transmission mechanism 10 provided by the utility model is illustrated.
Robot head transmission mechanism 10, including：
Supporting rack 11 is installed on head space and is used to support head；
Supporting rod 12, including be installed on neck space lower bar portion 121 and with lower 121 ball-joint of bar portion and extend head
Upper pole part 122 in space, upper pole part 122 are connect with supporting rack 11；
First Servo-controller 13 is set on supporting rack 11；
First transmission component 14 is drivingly connected with supporting rack 11, and is driven so that supporting rack 11 by the first Servo-controller 13
Yaw motion is done relative to supporting rod 12；
Second Servo-controller 15, is installed in neck space；And
Second transmission component 16 is drivingly connected with upper pole part 122, and is driven so that upper pole part by the second Servo-controller 15
122 nod movement relative to lower bar portion 121.
Also referring to Fig. 1 to Fig. 3, robot head transmission mechanism 10 provided by the utility model, the first servorudder
The power of machine 13 drives supporting rack 11 to do yaw motion relative to supporting rod 12, that is, props up by the transmission of the first transmission component 14
Support 11 drives entire head to realize degree of freedom of shaking the head；And the power of the second Servo-controller 15, by the second transmission component 16
Transmission drives upper pole part 122 to be nodded movement relative to lower bar portion 121, i.e., upper pole part 122 drives the support on the entire head of support
Frame 11 realizes degree of freedom of nodding.Thus it is possible, on the one hand, it pacifies supporting rack 11, the first Servo-controller 13 and the first transmission component 14
Loaded on head space, and supporting rod 12, the second Servo-controller 15 and the second transmission component 16 are installed in neck space, are alleviated
The problem of neck space placement location anxiety, meanwhile, it avoids the problem that interfering between transmission parts, also,
On the other hand, the amplitude of shaking the head on head is stablized by the first Servo-controller 13, the first transmission component 14 and supporting rack 11, disperseed
The frictional force caused by degree of freedom of shaking the head on head；And pass through the second Servo-controller 15, the second transmission component 16 and supporting rod 12
Stablize the amplitude of nodding on head, disperses the frictional force caused by degree of freedom of nodding on head, in this way, to reduce transmission parts
The degree of wear improves the service life of drive mechanism component, ensures the normal use of intelligent robot.
It should be noted that when supporting rack 11, the first Servo-controller 13 and the transfer of the first transmission component 14 are positioned over head
Behind space, neck space will have enough spatial positions to install power cord and circuit board connecting wire, such as FPC winding displacements, PCB
Plate connecting line.And specifically, the inside of supporting rod 12 is hollow, and hollow inside can also place FPC winding displacements, pcb board connection
Line and power cord.
Also referring to Fig. 1 to Fig. 3, in order to preferably transmit the power of the first Servo-controller 13, and supporting rack 11 is driven
Relative to 12 yaw motion of supporting rod, to realize degree of freedom of shaking the head, specifically, the first transmission component 14 includes：
Driving gear 141 is drivingly connected with the real axis steering wheel 131 of the first Servo-controller 13 and is connect with supporting rack 11；
First driven gear 142 is engaged with driving gear 141 and is connect with supporting rack 11；And
Second driven gear 143 engages with the first driven gear 142 and is installed on upper pole part 122.
In this way, the power of the first Servo-controller 13 will sequentially pass through driving gear 141, the first driven gear 142 and second
The transmission of driven gear 143 so that supporting rack 11 is relative to 12 yaw motion of supporting rod, to realize degree of freedom of shaking the head.
Also referring to Fig. 1 to Fig. 3, refinement ground, in order to which driving gear 141,142 and of the first driven gear is better achieved
It is driven and coordinates between second driven gear 143, the outer teeth 1412 with teeth 1411 in active and actively of driving gear 141, the
One driven gear 142 has 1421 and first driven outer teeth 1422 of the first driven interior teeth, teeth 1411 and real axis in active
Steering wheel 131 engages, and actively outer teeth 1412 are engaged with the first driven interior teeth 1421, the first driven outer teeth 1422 and second from
Moving gear 143 engages.
The first driven gear 142 and the second driven gear 143 are fixed in order to preferably install, the periphery of upper pole part 122 is prolonged
Stretch the carrying edge 1221 for being useful for carrying the first driven gear 142 and the second driven gear 143.
Also referring to Fig. 1 to Fig. 3, in order to alleviate neck space, the first Servo-controller 13 is positioned in head space,
And in order to enable the first Servo-controller 13 better adapts to head space, real axis steering wheel 131 is arranged straight down.
In order to enable upper pole part 122 can descend bar portion 121 to realize yaw motion, movement of nodding relatively, under upper pole part 122
End is formed with the inner cavity in interior ball-and-socket shape, and the upper end of lower bar portion 121 is formed with outer bulb 1211, and outer bulb 1211 is cut with scissors with inner cavity
It connects.
Also referring to Fig. 1 to Fig. 3, in order to preferably transmit the power of the second Servo-controller 15, and lower bar portion 121 is driven
It nods movement relative to upper pole part 122, to realize degree of freedom of nodding, specifically, the second transmission component 16 includes：
First drive screw 161 is drivingly connected with the second Servo-controller 15；
Loop bar 162 is sheathed on the first drive screw 161 and along 161 elevating movement of the first drive screw；And
Rotating member 163, one end and the upper end of loop bar 162 are rotatablely connected, and the other end is fixedly connected with upper pole part 122.
In this way, the power of the second Servo-controller 15 will be sequentially driven by the first drive screw 161,162 liters of loop bar is driven
Drop movement, loop bar 162 convert its elevating movement to rotation of the rotating member 163 around trunnion axis, with this, realize lower 121 phase of bar portion
It nods movement for upper pole part 122, realization is nodded degree of freedom.
Further refinement ground, also referring to Fig. 1 to Fig. 3, the outer surface of upper pole part 122 is formed with sleeve part 123, sleeve
The second drive screw 164 is equipped in portion 123, the upper end of the second drive screw 164 is engaged with the second driven gear 143, and second passes
The lower end of dynamic screw rod 164 is engaged with the first drive screw 161, and rotating member 163 is connect with sleeve part 123.In this way, the first transmission spiral shell
The power of bar 161 can also pass to the second driven gear 143 by the second drive screw 164, to drive the second driven gear
143 rotations, drive supporting rack 11 to do yaw motion relative to supporting rod 12, play the work for assisting realization head to shake the head degree of freedom
With.
Also referring to Fig. 1 to Fig. 3, in order to enable rotating member 163 is preferably connected and fixed with upper pole part 122, sleeve part
123 surface is equipped with pillar 165, and one end of rotating member 163 is annulus, the inner hole of pillar 165 and annulus.
It converts the elevating movement of loop bar 162 to rotation of the rotating member 163 around trunnion axis to be better achieved, to realize
Nod movement of the upper pole part 122 relative to lower bar portion 121 realizes that degree of freedom of nodding, one end of rotating member 163 offer turn hole,
The upper end of loop bar 162 opens up fluted 1621, and shaft is inserted in groove 1621, and shaft is rotatably assorted with turn hole.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
All any modification, equivalent and improvement etc., should be included in the guarantor of the utility model made by within novel spirit and principle
Within the scope of shield.
Claims (10)
1. robot head transmission mechanism, which is characterized in that including：
Supporting rack is installed on head space and is used to support head；
Supporting rod, including be installed on neck space lower bar portion and with the lower bar portion ball-joint and extend in head space
Upper pole part, the upper pole part are connect with support frame as described above；
First Servo-controller is set on support frame as described above；
First transmission component is drivingly connected with support frame as described above, and is driven so that support frame as described above by first Servo-controller
Yaw motion is done relative to the supporting rod；
Second Servo-controller is installed in neck space；And
Second transmission component is drivingly connected with the upper pole part, and is driven so that the upper pole part by second Servo-controller
It nods movement relative to the lower bar portion.
2. robot head transmission mechanism as described in claim 1, which is characterized in that first transmission component includes：
Driving gear is drivingly connected with the real axis steering wheel of first Servo-controller and is connect with support frame as described above；
First driven gear is engaged with the driving gear and is connect with supporting rack；And
Second driven gear engages with first driven gear and is installed on the upper pole part.
3. robot head transmission mechanism as claimed in claim 2, which is characterized in that the driving gear has active internal tooth
Tooth and actively outer teeth, first driven gear is with the first driven interior teeth and the first driven outer teeth, in the active
Teeth are engaged with the real axis steering wheel, and the outer teeth of the active are engaged with the described first driven interior teeth, and described first is driven outer
Teeth are engaged with second driven gear.
4. robot head transmission mechanism as claimed in claim 2, which is characterized in that the periphery of the upper pole part extends useful
In the carrying edge for carrying first driven gear and second driven gear.
5. robot head transmission mechanism as claimed in claim 2, which is characterized in that the real axis steering wheel is set straight down
It sets.
6. such as Claims 1 to 5 any one of them robot head transmission mechanism, which is characterized in that under the upper pole part
End is formed with the inner cavity in interior ball-and-socket shape, and the upper end of the lower bar portion is formed with outer bulb, and the outer bulb is cut with scissors with the inner cavity
It connects.
7. such as claim 2~5 any one of them robot head transmission mechanism, which is characterized in that second transmission group
Part includes：
First drive screw is drivingly connected with second Servo-controller；
Loop bar is sheathed on first drive screw and along the first drive screw elevating movement；And
Rotating member, one end and the upper end of the loop bar are rotatablely connected, and the other end is fixedly connected with the upper pole part.
8. robot head transmission mechanism as claimed in claim 7, which is characterized in that the outer surface of the upper pole part is formed with
Sleeve part is equipped with the second drive screw, the upper end of second drive screw and second driven gear in the sleeve part
Engagement, the lower end of second drive screw are engaged with first drive screw, and the rotating member is connect with the sleeve part.
9. robot head transmission mechanism as claimed in claim 8, which is characterized in that the surface of the sleeve part is equipped with convex
One end of column, the rotating member is annulus, the inner hole of the pillar and the annulus.
10. robot head transmission mechanism as claimed in claim 8, which is characterized in that one end of the rotating member offers
Turn hole, the upper end of the loop bar open up fluted, shaft are inserted in the groove, the shaft is matched with turn hole rotation
It closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820109930.4U CN207971967U (en) | 2018-01-22 | 2018-01-22 | Robot head transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820109930.4U CN207971967U (en) | 2018-01-22 | 2018-01-22 | Robot head transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207971967U true CN207971967U (en) | 2018-10-16 |
Family
ID=63770023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820109930.4U Expired - Fee Related CN207971967U (en) | 2018-01-22 | 2018-01-22 | Robot head transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207971967U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113035041A (en) * | 2021-04-16 | 2021-06-25 | 西安建筑科技大学 | Body warming dummy simulating dynamic release of exhaled droplets and simulation method thereof |
-
2018
- 2018-01-22 CN CN201820109930.4U patent/CN207971967U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113035041A (en) * | 2021-04-16 | 2021-06-25 | 西安建筑科技大学 | Body warming dummy simulating dynamic release of exhaled droplets and simulation method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181016 Termination date: 20190122 |
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| CF01 | Termination of patent right due to non-payment of annual fee |