CN208246818U - A kind of robot head rotating mechanism - Google Patents
A kind of robot head rotating mechanism Download PDFInfo
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- CN208246818U CN208246818U CN201820764626.3U CN201820764626U CN208246818U CN 208246818 U CN208246818 U CN 208246818U CN 201820764626 U CN201820764626 U CN 201820764626U CN 208246818 U CN208246818 U CN 208246818U
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- head
- bracket
- robot
- limit switch
- driving
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Abstract
The utility model relates to a kind of robot head rotating mechanisms, including mechanism of nodding up and down, bracket, left and right oscillating mechanism, driving gear, driven gear group and the first driving mechanism, the upper end of bracket and mechanism rotation connection of nodding up and down, the lower end of bracket is connect with one end of left and right oscillating mechanism；The other end of left and right oscillating mechanism and the neck of robot connect, first driving mechanism is fixedly and coaxially connected with driving gear and driving gear is driven to rotate, driving gear is engaged with driven gear group, driven gear group is fixedly connected with left and right oscillating mechanism, the utility model head left-right rotation mechanism is conducted the driving force that the first driving mechanism exports to left and right oscillating mechanism using gear transmission mode, avoid the problem that driving force output shaft and slave unit decentraction and then and head decentraction, raising transmission efficiency.
Description
Technical field
The utility model relates to robot field more particularly to a kind of robot head rotating mechanisms.
Background technique
Domestic robot head rotation is generally divided on Vehicles Collected from Market: single-degree-of-freedom rotation can only shake the head or can only point
Head and two freedom degree rotatings, it can shake the head and nod.
The robot of two freedom degree rotatings is generally in such a way that speed reducer output shaft is directly connected to driven member, speed reducer
There is no gear or other kinds of drive excessive between driven member.It is relatively simple for structure, but be easy to cause motor output shaft and from
Moving part not concentricity problem, to influence transmission efficiency.
Utility model content
Technical problem to be solved in the utility model is in view of the deficiencies of the prior art, to provide a kind of robot head turn
Motivation structure, at least one to solve the above technical problems.
The technical solution that the utility model solves above-mentioned technical problem is as follows: a kind of robot head rotating mechanism, including
Nod mechanism, bracket, left and right oscillating mechanism, driving gear, driven gear group and the first driving mechanism up and down, the bracket it is upper
End and the mechanism rotation connection of nodding up and down, the lower end of the bracket is connect with one end of the left and right oscillating mechanism；It is described
The other end of left and right oscillating mechanism and the neck of robot connect；
First driving mechanism and the driving gear are fixedly and coaxially connected and the driving gear are driven to rotate, described
Driving gear is engaged with driven gear group, and the driven gear group is fixedly connected with the left and right oscillating mechanism.
The beneficial effects of the utility model are: nod up and down mechanism and left and right oscillating mechanism realize robot head two from
It is rotated by degree, it can shake the head and nod；The upper end of the bracket and the mechanism rotation connection of nodding up and down, realize robot
It nods on head；The lower end of the bracket is connect with one end of the left and right oscillating mechanism；The left and right oscillating mechanism it is another
End is connect with the neck of robot, realizes that the left and right of robot is shaken the head；The first driving mechanism and the driving gear are coaxial simultaneously
Be fixedly connected and the driving gear driven to rotate, the driving gear is engaged with driven gear group, the driven gear group and
The left and right oscillating mechanism connection, the driving that head left-right rotation mechanism uses gear transmission mode to export the first driving mechanism
Power is conducted the output shaft for avoiding driving force to left and right oscillating mechanism and slave unit decentraction and then is asked with head decentraction
Topic improves transmission efficiency.
Based on the above technical solution, the utility model can also do following improvement.
Further, the driven gear group includes the driven gear and at least one intermediate driven wheel successively engaged,
The intermediate driven wheel is engaged with the driving gear, and the driven gear is fixedly connected with the left and right oscillating mechanism.
Beneficial effect using above-mentioned further scheme is: can use the one of a driving gear and a driven gear
Grade gear drive can also increase intermediate driven wheel among driving gear and driven gear, realize power transmission.
Further, the driving gear is mounted on the output shaft of first driving mechanism, in the lower end of the bracket
Heart position is fixed with shaft, and the shaft is fixedly and coaxially connected with the driven gear.
Beneficial effect using above-mentioned further scheme is: shaft is fixed with by the lower end center in bracket,
The shaft is fixedly connected with the driven gear and is fixedly and coaxially connected, and realizes the purpose rotated coaxially, avoids the occurrence of not coaxial
The problem of, and the fixation of driven gear is realized, when driving gear drives driven gear rotation, then driven gear drives shaft
Rotation realizes the rotation of bracket, and then realizes shaking the head for robot.
Further, the left and right oscillating mechanism includes neck fixed plate, and the neck fixed plate is fixed on the robot
Neck on；The neck fixed plate is set between the outside of the shaft and the neck fixed plate and the shaft and installs
There is bearing；The upside of the bearing is equipped with bearing plate, and the bearing plate is fixedly connected with the neck fixed plate.
Beneficial effect using above-mentioned further scheme is: neck fixed plate is fixed on the neck of the robot, and
The neck fixed plate is set in the outside of the shaft, realizes that bracket is rotated relative to neck fixed plate, bearing support shaft
With the rotation between neck fixed plate, and the coefficient of friction in rotation process is reduced, the position of bearing plate limited bearing is placed
Bearing deviates, and realizes the fixation of bearing and neck fixed plate, improves the stability of left and right oscillating mechanism.
Further, the left and right oscillating mechanism further includes limit switch touching axis and two the first limit switches of shaking the head, and two
A first limit switch is arranged in the neck fixed plate, and the limit switch touching axis of shaking the head is fixed on the branch
The lower end of frame, the limit switch touching axis of shaking the head touch first limit when turning to the position of first limit switch
Switch.
Beneficial effect using above-mentioned further scheme is: touching axis by limit switch of shaking the head and two first limits are opened
It closes, realizes the purpose of limitation head left-right rotation angle, limit switch touching axis turns to first limit switch when shaking the head
Position when touch first limit switch, limit switch closes the power supply of the first driving mechanism, and head stops operating, and reaches
The extreme position of setting.
Further, first driving mechanism is direct current speed reducer, and the direct current speed reducer is fixedly mounted on the neck
In fixed plate.
Beneficial effect using above-mentioned further scheme is: realizing the fixation of the first driving mechanism, guarantees power conduction
In the process, driving gear will not shift.
Further, the mechanism of nodding up and down includes head fixing seat, the head of the upper end of the bracket and the robot
Portion is connected by the head fixing seat, and the head of robot is fixed in the head fixing seat, the head fixing seat with
The holder pivots connection；Between the head fixing seat and the bracket be equipped with connecting flange, the connecting flange with it is described
Head fixing seat is fixedly connected；The connecting flange is connected with the second driving mechanism of its rotation of driving.
Beneficial effect using above-mentioned further scheme is: the second driving mechanism drives connecting flange rotation, connecting flange
Rotation drives the rotation of head fixing seat, realizes that the upper and lower of robot head nods.
Further, the both ends of the upper end of bracket are respectively equipped with tubular boss, and the inside of boss and connecting flange pass through second
Bearing connection；The outer sheath of boss is equipped with torsional spring.
Beneficial effect using above-mentioned further scheme is: mechanism of nodding up and down is guaranteed obstructed in robot using torsional spring
When electric, head keeps lifting status.
Further, the mechanism of nodding up and down further includes limit switch touching axis and two the second limit switches of nodding, and two
A second limit switch is arranged in the head fixing seat；The bracket is set close to the side of second limit switch
Limit switch of nodding touches axis, and the limit switch touching axis of nodding touches institute when turning to second limit-switch positions
State the second limit switch.
Beneficial effect using above-mentioned further scheme is: touching axis by limit switch of nodding and two second limits are opened
It closes, realizes that limitation head rotates upwardly and downwardly the purpose of angle, limit switch touching axis turns to second limit switch when nodding
Position when touch second limit switch, limit switch closes the power supply of the second driving mechanism, and head stops operating, and reaches
The extreme position of setting.
Further, second driving mechanism is direct current speed reducer, and the direct current speed reducer is fixedly mounted on the bracket
Upper end inside.
Beneficial effect using above-mentioned further scheme is: realizing the fixation of the second driving mechanism.
Detailed description of the invention
Fig. 1 is a kind of robot head rotating mechanism schematic diagram of the utility model；
Fig. 2 is a kind of robot head rotating mechanism sectional view of the utility model；
Fig. 3 is a kind of another angular profile of robot head rotating mechanism of the utility model；
Fig. 4 is the first limit switch of the utility model operation schematic diagram.
In attached drawing, parts list represented by the reference numerals are as follows:
The head 1- fixing seat；The first limit switch of 21-；The second limit switch of 22-；3- torsional spring；4- bracket；41- boss；
5- neck fixed plate；The first driving mechanism of 61-；The second driving mechanism of 62-；7- driving gear；8- driven gear；9- bearing；10-
Limit switch of shaking the head touches axis；11- bearing plate；12- nod limit switch touching axis；13- connecting flange.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
Embodiment 1:
As shown in Figs 1-4, a kind of robot head rotating mechanism, including mechanism of nodding up and down, bracket 4, left and right head-shaking machine
Structure, driving gear 7, driven gear group and the first driving mechanism 61, the upper end of the bracket 4 and the mechanism rotation of nodding up and down
Connection, the lower end of the bracket 4 is connect with one end of the left and right oscillating mechanism；The other end and machine of the left and right oscillating mechanism
The neck of device people connects；
First driving mechanism 61 is fixedly and coaxially connected with the driving gear 7 and the driving gear 7 is driven to rotate,
The driving gear 7 is engaged with driven gear group, and the driven gear group is fixedly connected with the left and right oscillating mechanism.
The beneficial effect of the present embodiment is: mechanism of nodding up and down and left and right oscillating mechanism realize two freedom of robot head
Degree rotation, it can shake the head and nod；The upper end of the bracket 4 and the mechanism rotation connection of nodding up and down, realize robot
It nods on head；The lower end of the bracket 4 is connect with one end of the left and right oscillating mechanism；The left and right oscillating mechanism it is another
End is connect with the neck of robot, realizes that the left and right of robot is shaken the head；The first driving mechanism 61 and the driving gear 7 are same simultaneously
Axis is fixedly connected and the driving gear 7 is driven to rotate, and the driving gear 7 is engaged with driven gear group, the driven gear
Group is connect with the left and right oscillating mechanism, and head left-right rotation mechanism is exported the first driving mechanism 61 using gear transmission mode
Driving force conduct the output shaft that driving force is avoided to left and right oscillating mechanism and slave unit decentraction and then and head decentraction
The problem of, improve transmission efficiency.
Embodiment 2:
As shown in Figs 1-4, a kind of robot head rotating mechanism, including mechanism of nodding up and down, bracket 4, left and right head-shaking machine
Structure, driving gear 7, driven gear group and the first driving mechanism 61, the upper end of the bracket 4 and the mechanism rotation of nodding up and down
Connection, the lower end of the bracket 4 is connect with one end of the left and right oscillating mechanism；The other end and machine of the left and right oscillating mechanism
The neck of device people connects；In the present embodiment, bracket 4 is T-type structure, and 4 upper end of bracket is horizontally disposed cylinder-like structure.
First driving mechanism 61 is fixedly and coaxially connected with the driving gear 7 and the driving gear 7 is driven to rotate,
The driving gear 7 is engaged with driven gear group, and the driven gear group is fixedly connected with the left and right oscillating mechanism.
First driving mechanism 61 is direct current speed reducer, and the direct current speed reducer is fixedly mounted on the neck fixed plate
On 5, the fixation of the first driving mechanism 61 is realized, during guaranteeing power conduction, driving gear 7 will not shift.
It is understood that nod up and down mechanism and left and right oscillating mechanism realization two freedom degree rotatings of robot head,
It can shake the head and nod；The upper end of the bracket 4 and the mechanism rotation connection of nodding up and down, realize the point of robot head
Head；The lower end of the bracket 4 is connect with one end of the left and right oscillating mechanism；The other end and machine of the left and right oscillating mechanism
The neck of people connects, and realizes that the left and right of robot is shaken the head；First driving mechanism 61 and the coaxial fixed company of the driving gear 7 simultaneously
Connect and the driving gear 7 driven to rotate, the driving gear 7 is engaged with driven gear group, the driven gear group with it is described
The connection of left and right oscillating mechanism, the driving that head left-right rotation mechanism uses gear transmission mode to export the first driving mechanism 61
Power is conducted the output shaft for avoiding driving force to left and right oscillating mechanism and slave unit decentraction and then is asked with head decentraction
Topic improves transmission efficiency.
The driven gear group includes the driven gear 8 and at least one intermediate driven wheel 8 successively engaged, wherein
One intermediate driven wheel 8 is engaged with the driving gear 7, the driven gear 8 and the fixed company of the left and right oscillating mechanism
It connects.
Preferably, it in the present embodiment, is driven using the one-stage gear of a driving gear 7 and a driven gear 8,
Intermediate driven wheel 8 can also be increased among driving gear 7 and driven gear 8 in other specific embodiments, realize power
Transmission.Simple using one-stage gear drive mechanism in the present embodiment, cost control is reasonable.
The driving gear 7 is mounted on the output shaft of first driving mechanism 61, the lower end center of the bracket 4
Position is fixed with shaft, and the shaft is fixedly and coaxially connected with the driven gear 8.
It is understood that be fixed with shaft by the lower end center in bracket 4, the shaft with it is described driven
Gear 8, which is fixedly connected, to be fixedly and coaxially connected, and realizes the purpose rotated coaxially, avoids the occurrence of out-of-alignment problem, and realize from
The fixation of moving gear 8, when driving gear 7 drives driven gear 8 to rotate, then driven gear 8 drives shaft rotation, realizes branch
The rotation of frame 4, and then realize shaking the head for robot.
The left and right oscillating mechanism includes neck fixed plate 5, and the neck fixed plate 5 is fixed on the neck of the robot
On；The neck fixed plate 5 is set between the outside of the shaft and the neck fixed plate 5 and the shaft and is equipped with
Bearing 9；The upside of the bearing 9 is equipped with bearing plate 11, and the bearing plate 11 is fixedly connected with the neck fixed plate 5.
It is understood that neck fixed plate 5 is fixed on the neck of the robot, and 5 sets of the neck fixed plate
It is located at the outside of the shaft, realizes that bracket 4 is rotated relative to neck fixed plate 5, bearing 9 supports shaft and neck fixed plate 5
Between rotation, and reduce the coefficient of friction in rotation process, the position of 11 limited bearing 9 of bearing plate is placed bearing 9 and occurred
Offset, and realize the fixation of bearing 9 and neck fixed plate 5, improve the stability of left and right oscillating mechanism.
The left and right oscillating mechanism further includes limit switch touching axis 10 and two the first limit switches 21 of shaking the head, and two
First limit switch 21 is arranged in the neck fixed plate 5, and the limit switch touching axis 10 of shaking the head is fixed on institute
The lower end of bracket 4 is stated, the limit switch touching axis 10 of shaking the head touches institute when turning to the position of first limit switch 21
State the first limit switch 21.
It is understood that touching axis 10 and two the first limit switches 21 by limit switch of shaking the head, limitation head is realized
The purpose of portion's left-right rotation angle, the touching when limit switch touching axis 10 of shaking the head turns to the position of first limit switch 21
First limit switch 21 is touched, limit switch closes the power supply of the first driving mechanism 61, and head stops operating, and reaches setting
Extreme position.
In the present embodiment, limit switch of shaking the head touches position of the axis 10 in bracket 4 in front of robot, two first limits
Neck fixed plate 5 is arranged in close to the position at robot rear in position.
The mechanism of nodding up and down includes head fixing seat 1, and the upper end of the bracket 4 and the head of the robot pass through
The head fixing seat 1 connects, and the head of robot is fixed in the head fixing seat 1, the head fixing seat 1 and institute
State the rotation connection of bracket 4；Be equipped with connecting flange 13 between the head fixing seat 1 and the bracket 4, the connecting flange 13 with
The head fixing seat 1 is fixedly connected；The connecting flange 13 is connected with the second driving mechanism 62 of its rotation of driving.Described
Two driving mechanisms 62 are direct current speed reducer, and the direct current speed reducer is fixedly mounted on the inside of the upper end of the bracket 4, are realized
The fixation of second driving mechanism 62
It is understood that the second driving mechanism 62 drives connecting flange 13 to rotate, the rotation of connecting flange 13 drives head
Fixing seat 1 rotates, and realizes that the upper and lower of robot head nods.
In the present embodiment, the two sides of 4 upper end of bracket are equipped with connecting flange 13, and one of connecting flange 13 and second drives
Motivation structure 62 connects.
It can be understood that the both ends of connecting flange and bracket connect, in the present embodiment, the both ends of bracket are respectively equipped with cylinder
The inside of shape boss 41, boss 41 is connect with connecting flange by bearing.
The outer sheath of the connecting flange 13 is equipped with torsional spring 3, and in the present embodiment, the outside of two boss 41 is arranged with torsion
Spring 3, the upper end of torsional spring 3 are connected in the fixing seat of head, realize the fixation of torsional spring, while branch is provided when torsional spring generates torsion
Support, mechanism of nodding up and down use torsional spring 3, guarantee in robot no power, and head keeps lifting status.
The mechanism of nodding up and down further includes limit switch touching axis 12 and two the second limit switches 22 of nodding, and two
Second limit switch 22 is arranged in the head fixing seat 1；The bracket 4 close to second limit switch 22 one
Side is equipped with limit switch touching axis 12 of nodding, and the limit switch touching axis 12 of nodding turns to second limit switch 22
Second limit switch 22 is touched when setting.
It is understood that touching axis 12 and two the second limit switches 22 by limit switch of nodding, limitation head is realized
Portion rotates upwardly and downwardly the purpose of angle, the touching when limit switch touching axis 12 of nodding turns to the position of second limit switch 22
Second limit switch 22 is touched, limit switch closes the power supply of the second driving mechanism 62, and head stops operating, and reaches setting
Extreme position.
The same of bracket 4 is arranged in limit switch of nodding in the present embodiment touching axis 12 and two the second limit switches 22
In another embodiment limit switch touching axis 12 of nodding can be all arranged in the two sides of bracket 4, two second limits are opened in side
Close 22 insides for being separately fixed at 1 both sides of head fixing seat.
The work process of the present embodiment are as follows: when no power, torsional spring 3 guarantees that head keeps lifting status, the first driving mechanism
When 61 energization, the first driving mechanism 61 drives driving gear 7 to rotate, and driving gear 7 drives driven gear 8 to rotate, driven gear
8 drive the rotation of 4 shaft of bracket to drive 4 left-right rotation of bracket, realize that the left and right of robot head is shaken the head, the first limit switch 21
Limit the angle that left and right is shaken the head；When second driving mechanism 62 is powered, the second driving mechanism 62 drives connecting flange 13 to rotate, even
The rotation of acting flange 13 drives head fixing seat 1 to rotate, and realizes that the upper and lower of robot head nods, the second limit switch 22 limits
The angle that front and back is nodded.
In the description of this specification, reference term " embodiment one ", " embodiment two ", " example ", " specific example " or
The description of " some examples " etc. means that specific method, device or feature described in conjunction with this embodiment or example are contained in this reality
With at least one novel embodiment or example.In the present specification, schematic expression of the above terms are necessarily directed to
Be identical embodiment or example.Moreover, description specific features, method, apparatus or feature can any one or it is more
It can be combined in any suitable manner in a embodiment or example.In addition, without conflicting with each other, those skilled in the art can
The feature of different embodiments or examples described in this specification and different embodiments or examples to be combined.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of robot head rotating mechanism, which is characterized in that including mechanism of nodding up and down, bracket, left and right oscillating mechanism, master
Moving gear, driven gear group and the first driving mechanism, the upper end of the bracket and the mechanism rotation connection of nodding up and down, it is described
The lower end of bracket is connect with one end of the left and right oscillating mechanism；The other end of the left and right oscillating mechanism and the neck of robot
Connection；
First driving mechanism and the driving gear are fixedly and coaxially connected and the driving gear are driven to rotate, the active
Gear is engaged with driven gear group, and the driven gear group is fixedly connected with the left and right oscillating mechanism.
2. a kind of robot head rotating mechanism according to claim 1, which is characterized in that the driven gear group include according to
A driven gear and at least one intermediate driven wheel for secondary engagement, the intermediate driven wheel are engaged with the driving gear, institute
Driven gear is stated to be fixedly connected with the left and right oscillating mechanism.
3. a kind of robot head rotating mechanism according to claim 2, which is characterized in that the driving gear is mounted on institute
On the output shaft for stating the first driving mechanism, the lower end center of the bracket is fixed with shaft, the shaft and it is described from
Moving gear is fixedly and coaxially connected.
4. a kind of robot head rotating mechanism according to claim 3, which is characterized in that the left and right oscillating mechanism includes
Neck fixed plate, the neck fixed plate are fixed on the neck of the robot；The neck fixed plate is set in described turn
Bearing is installed between the outside of axis and the neck fixed plate and the shaft；The upside of the bearing is equipped with bearing plate,
The bearing plate is fixedly connected with the neck fixed plate.
5. a kind of robot head rotating mechanism according to claim 4, which is characterized in that the left and right oscillating mechanism also wraps
Shake the head limit switch touching axis and two the first limit switches are included, it is solid that two first limit switches are arranged at the neck
On fixed board, the limit switch touching axis of shaking the head is fixed on the lower end of the bracket, the limit switch touching axis rotation of shaking the head
First limit switch is touched when to the position of first limit switch.
6. a kind of robot head rotating mechanism according to claim 4 or 5, which is characterized in that first driving mechanism
For direct current speed reducer, the direct current speed reducer is fixedly mounted in the neck fixed plate.
7. a kind of robot head rotating mechanism according to claim 1, which is characterized in that the mechanism of nodding up and down includes
Head fixing seat, the upper end of the bracket are connect with the head of the robot by the head fixing seat, the head of robot
Portion is fixed in the head fixing seat, and the head fixing seat is connect with the holder pivots；The head fixing seat and institute
It states and is equipped with connecting flange between bracket, the connecting flange is fixedly connected with the head fixing seat；The connecting flange connection
There is the second driving mechanism of its rotation of driving.
8. a kind of robot head rotating mechanism according to claim 7, which is characterized in that the both ends of the upper end of the bracket
It is respectively equipped with the boss of tubular, the inside of the boss is connect with the connecting flange by second bearing；Outside the boss
Side is arranged with torsional spring.
9. a kind of robot head rotating mechanism according to claim 7, which is characterized in that the mechanism of nodding up and down is also wrapped
Nod limit switch touching axis and two the second limit switches are included, two the second limit switch settings are fixed on the head
On seat；The bracket is equipped with limit switch touching axis of nodding close to the side of second limit switch, and the limit of nodding is opened
It closes when touching axis turns to second limit-switch positions and touches second limit switch.
10. according to a kind of any one of claim 7-9 robot head rotating mechanism, which is characterized in that described second drives
Motivation structure is direct current speed reducer, and the direct current speed reducer is fixedly mounted on the inside of the upper end of the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820764626.3U CN208246818U (en) | 2018-05-22 | 2018-05-22 | A kind of robot head rotating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820764626.3U CN208246818U (en) | 2018-05-22 | 2018-05-22 | A kind of robot head rotating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208246818U true CN208246818U (en) | 2018-12-18 |
Family
ID=66480973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820764626.3U Expired - Fee Related CN208246818U (en) | 2018-05-22 | 2018-05-22 | A kind of robot head rotating mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208246818U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807878A (en) * | 2019-03-21 | 2019-05-28 | 广州映博智能科技有限公司 | A kind of head movement device and robot |
| CN109895111A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot neck component and robot |
| CN111673727A (en) * | 2020-05-21 | 2020-09-18 | 深圳市三宝创新智能有限公司 | Robot neck torsional spring buffer structure |
-
2018
- 2018-05-22 CN CN201820764626.3U patent/CN208246818U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895111A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot neck component and robot |
| CN109807878A (en) * | 2019-03-21 | 2019-05-28 | 广州映博智能科技有限公司 | A kind of head movement device and robot |
| CN111673727A (en) * | 2020-05-21 | 2020-09-18 | 深圳市三宝创新智能有限公司 | Robot neck torsional spring buffer structure |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181218 Termination date: 20190522 |