CN209190813U - The head assembly and its robot of robot - Google Patents
The head assembly and its robot of robot Download PDFInfo
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- CN209190813U CN209190813U CN201821668391.4U CN201821668391U CN209190813U CN 209190813 U CN209190813 U CN 209190813U CN 201821668391 U CN201821668391 U CN 201821668391U CN 209190813 U CN209190813 U CN 209190813U
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- head assembly
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Abstract
The utility model provides the head assembly and its robot of a kind of robot, the head assembly includes head shell, rotate control assembly and support frame, pass through support frame fixing head shell, and rotation control assembly control under can along two limiting slots can where center line rotated, to realize rotation of the robot head around X-axis, the new line of the mankind is simulated as far as possible, movement etc. of bowing moves, allow users to more smooth between robot exchange, and the head assembly of this kind of structure, its structure composition is simple, and monitoring viewing angle control on a large scale can also be realized in the course of rotation.
Description
Technical field
The utility model relates to field in intelligent robotics more particularly to the head assemblies and its robot of a kind of robot.
Background technique
As computer technology, microelectric technique, network technology etc. quickly develop, robot technology has also been obtained rapidly
Development.Other than industrial robot level is continuously improved, there has also been length by the various advanced robotic systems for service industry
The progress of foot.Control system performance further increases, and laser sensor, visual sensor and force snesor are in robot system
In successful application, so that the reliability of robot system is had large increase.The development of basic technology and device is robot
Intelligent, apery and bionical development create good condition.Currently, robot is not only applicable to industrial circle, also gradually
Close field is contacted applied to people's life.Service robot, disabled aiding robot of helping the elderly, educational robot, entertainment machines
The invention of people, production and application will offer convenience to the life of the mankind and enjoyment.
Currently, in robot, it is most of all the head position of robot to be provided with display screen or camera etc.
Component, but the structure on its head is substantially fixed, realize rotation is only camera part, that is to say head phase
Fuselage is not easy to realize relative motion, even its structure is also extremely complex, high production cost, and robot
The field range that can be monitored is smaller.
Utility model content
The utility model provides the head assembly and its robot of a kind of robot, it is intended to solve the robot of the prior art
In, realize the excessively complicated technical problem of the control structure at monitoring visual angle on a large scale.
In order to solve the above technical problems, the utility model provides a kind of head assembly of robot, comprising: head shell,
Control assembly and support frame are rotated, wherein being equipped with limiting slot on the left and right ends of the head shell；
The head shell and support frame as described above are rotatablely connected, and support frame as described above is connected on the limiting slot；
The rotation control assembly is set to the inside of the head shell, and is fixed in the head shell close to institute
It states on the side of limiting slot；Under the driving of the rotation control assembly, the limit of the head shell based on left and right ends
Center line where the slot of position is rotated.
In some embodiments of the utility model, the head shell includes being equipped with to take the photograph for installing on middle position
As the front housing of the installation region of head, and the rear shell thought and cooperated with the front housing, closed up by the front housing and the rear shell
Installation, forms an accommodating chamber between the front housing and rear shell, and the rotation control assembly is located in the accommodating chamber.
In some embodiments of the utility model, it is additionally provided on the inner surface of the rear shell for fixing the rotation
The mounting post of control assembly.
In some embodiments of the utility model, the head shell further includes scalp shell and for covering the camera shooting
The translucent cover of the installation region of head, the scalp shell are set on the connecting sewing position after the front housing and rear shell are closed up.
In some embodiments of the utility model, support frame as described above is U-bracket, at the both ends of the U-bracket
Inside be additionally provided with the lug being used in combination with the limiting slot；First through hole is equipped on the bottom surface of the lug, and
The first box dam set on the first through hole edge；
It is provided with the second through-hole on the bottom surface of the limiting slot, and is enclosed set on the second of second through-hole edge
Dam, and the overall diameter of second box dam is equal with the diameter of the first through hole；
During installation, the lug is embedded in the limiting slot, and second box dam is worn from the first through hole
It crosses, and forms an annular groove between second box dam and first box dam.
In some embodiments of the utility model, the head assembly further includes first bearing, and the first bearing is logical
It crosses baffle to be fixed in the groove, second box dam is suspended in the first through hole.
In some embodiments of the utility model, a connecting hole, the company are additionally provided in the bottom end of the U-bracket
Hole is connect for connecting with the fuselage of the robot.
In some embodiments of the utility model, the rotation control assembly includes output flange, connecting shaft, pedestal,
And it is fixed on the power plant module on the pedestal；
The output flange is installed on the bottom surface of the lug on support frame as described above；
The output axis connection of one end of the connecting shaft and the power plant module, the other end pass through in the limit groove bottom
First through hole, and connect with the output flange.
In some embodiments of the utility model, the power plant module is one of steering engine, motor.
In order to solve the above-mentioned technical problem, the utility model additionally provides a kind of robot, including machine as described above
The head assembly of people.
Beneficial effect
The utility model provides the head assembly and its robot of a kind of robot, which includes head shell
Body, rotation control assembly and support frame, by support frame fixing head shell, and can be under the control of rotation control assembly
Along two limiting slots can where center line rotated, to realize rotation of the robot head around X-axis, simulate as far as possible
The new line of the mankind, the movement such as movement of bowing, allow users to it is more smooth between robot exchange, and this kind is tied
The head assembly of structure, structure composition is simple, and can also realize monitoring viewing angle control on a large scale in the course of rotation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of head assembly provided by the utility model；
Fig. 2 is the structural schematic diagram at another visual angle of head assembly provided by the utility model；
Fig. 3 is the explosive view of the structure of head assembly provided by the utility model；
Fig. 4 is the cross-sectional view of head assembly provided by the utility model；
Fig. 5 is the portion A enlarged drawing in Fig. 3；
Fig. 6 is the perspective view of the explosion of rotation control control assembly.
Specific embodiment
In order to be more easily understood the content of the utility model, below by specific embodiment combination attached drawing to this reality
It is described in further detail with novel.It should be appreciated that specific embodiment described herein is only used to explain the utility model,
It is not used to limit the utility model.
Embodiment one:
Referring to FIG. 1, Fig. 1 is the structural schematic diagram of the head assembly of robot provided in this embodiment, the knot in the figure
For the head assembly of structure in the configuration state figure being completed, which includes head shell 11, rotation 12 and of control assembly
Support frame 13, wherein head shell 11 is mounted on support frame as described above 13, and is rotation connection, that is to say head shell 11
After being installed on support frame 13, it can freely be rotated on support frame as described above 13, and the head shell 11
Rotation is controlled by the rotation control assembly 12, which is specifically to be arranged in the head shell
In the inside of body 11, and it is fixed on the inner surface of head shell 11；When the rotation control assembly 12 in the operating condition, meeting
Rotating torque is exported, by the driving of the rotating torque, so that the head shell 11 rotates on support frame as described above 13.
In the present embodiment, for the ease of the installation between head shell 11 and support frame 13, in the head shell 11
Left and right end on be respectively arranged with a limiting slot 111 limiting slot 111 be the appearance based on the head shell 11 it is inward-facing
Surface direction is recessed to be formed, and the specific movement convenient for rotation, the limiting slot 111 is circular groove, and in assembling, it will be described
Support frame 13 is connected to the position of limiting slot 111.
In practical applications, the limiting slot 111 can be integrally formed with head shell 11, be also possible to individually
One accessory, and corresponding empty avoiding is provided on the position of head shell 11, then in assembling, by limiting slot 111
It is installed to corresponding empty avoiding position.
At this moment the rotation control assembly 12 should be fixed on close to 111 side of limiting slot, in practical applications,
Perforation is additionally provided on the bottom surface of the limiting slot 111, the rotation control assembly 12 is fixed in the head shell 11
It is also pierced by from the perforation while portion and is connect with support frame as described above 13, to realize the transmission connection of rotation control.
In the present embodiment, as shown in Figures 2 and 3, the head shell 11 includes front housing 112 and rear shell 113, wherein in institute
It states and is additionally provided with one on front housing 112 for installing the installation region 11a of camera, installation region 11a can be a peace
Through-hole is filled, the region of a recess is also possible to, is worn out as long as being specifically able to achieve camera from the inside of head shell 11
Region or structure can be with.
In the present embodiment, the front housing 112 and rear shell 113 are disposed as the shape of hemisphere, and meeting exists after the two is closed up
A spherical accommodating chamber is formed between the two, and the rotation control assembly 12 is hidden in the accommodating chamber.
In the present embodiment, it is additionally provided with mounting post 114 in the rear shell 113, which includes at least two
A, the rotation control assembly 12 is then mounted in mounting post 114, it is preferred that the mounting post 114 is also provided at the front housing
112 or rear shell 113 peripheral regions on, for realizing the two close up installation fix.
In practical applications, other auxiliary spare parts and region, such as heat release hole are additionally provided in the rear shell, such as
Shown in Fig. 2, mesh area 115 is provided in rear shell 113, the region can be used for radiating it is ventilative, can be used for installation raise
Sound device etc..
In the present embodiment, the head shell 11 further includes scalp shell 116 and the installation for covering the camera
The translucent cover 117 in region, the scalp shell 116 are set on the connecting sewing position after the front housing 112 and rear shell 113 are closed up.
For, a large-scale sunk area, the region and the translucent cover are additionally provided on the front housing 112
117 shapes and sizes, and the translucent cover 117 installation on the area, by the installation region 11a of the camera
Covering, to realize the protective effect to camera, while camera can also obtain video image through the translucent cover 117
Data.
In this present embodiment, support frame as described above 13 is U-shape bracket, the shape of the U-shaped and the head shell 11
Shape matches, and the lug being used in combination with the limiting slot is additionally provided on the inside of the both ends of the U-bracket
131。
In practical applications, the shape of the lug 131 and the limiting slot 111 be to cooperation, preferably cylindrical
Protrusion, and the protrusion is provided only with a bottom surface and a side, and side is connect with the ontology 132 of support frame 13, bottom surface
It is contacted with the bottom surface of limiting slot 111.
Further, it is additionally provided with first through hole on the bottom surface of the lug 131, and is set to the first through hole edge
The first box dam, the edge of first box dam and first through hole that is to say that the interior diameter of the first box dam is wanted there are a certain distance
Greater than the diameter of first through hole；
It is corresponding, it is also equipped with the structure cooperated with lug 131 on the limiting slot 111 cooperated with the lug 131, is
The second through-hole, and the second box dam set on second through-hole edge, and institute are provided on the bottom surface of the limiting slot 111
The overall diameter for stating the second box dam is equal with the diameter of the first through hole, in practical applications, the overall diameter of second box dam
It is usually disposed as the diameter slightly larger than the first through hole, certain displacement can be vacated in this way, so that being driven more smooth.
In assembling, the lug 131 is embedded in the limiting slot 111, and second box dam is from described first
Through-hole passes through, and an annular groove is formed between second box dam and first box dam.
In order to improve the fluency of rotation, the head assembly is additionally provided with first bearing 14, and the first bearing passes through
Baffle is fixed in the groove, and second box dam is suspended in the first through hole, and optionally, which is card
Spring coil 15, as shown in Figure 4.
In practical applications, for the ease of processing, the limiting slot 111 is set individual accessory by preferred selection,
And be fixed in rear shell 113 by screw, and limiting slot 111 can pass through the phase interworking of first bearing 14 and circlip circle 15
Conjunction is individually fixed on support frame 13, and such structure does not need to dismount Shi Douxu every time so that its installation process is simpler
First bearing is dismantled, the efficiency of maintenance is substantially increased.
In the present embodiment, be additionally provided with a connecting hole 133 in the bottom end of the U-bracket, the connecting hole be used for
The fuselage of the robot connects.
In the present embodiment, as it can be seen in figures 5 and 6, the rotation control assembly 12 includes output flange 121, connecting shaft
122, pedestal 123, and the power plant module 124 being fixed on the pedestal 123；
The output flange 121 is installed on the bottom surface of the lug 131 on support frame as described above 13；
One end of the connecting shaft 122 is connect with the output shaft 125 of the power plant module 124, and the other end passes through the limit
First through hole on 111 bottom surface of slot of position, and connect with the output flange 121.
As shown in figure 5, the output flange 121 is fixed on the face of the lug 131 especially by screw, and it is corresponding
Corresponding screw thread mounting post for fixing is additionally provided on the bottom surface of the lug 131, it is preferred that in the present embodiment, use
121 shape of output flange be triangle ring flange, and be additionally provided with via hole on 121 middle position of output flange
The shape of 121a, via hole 121a are " ten " font, and via hole 121a is used to be used in conjunction with each other with the connecting shaft 122,
I other words the shape of connecting shaft 122 is identical as the shape of the via hole 121a, and connecting shaft 122 is during installation in addition to being fixed on
On the output shaft 125 of the power plant module 124, and will be after entire rotation control assembly 12 is fixed in mounting post 114, connection
Axis 122 is just passed through the second through-hole and extends on via hole 121a, to realize the limit to connecting shaft 122.
In practical applications, steering engine specifically can be used, in motor in the power plant module 124 in the rotation control assembly 12
One kind realize that preferred that steering engine is selected to realize, the control precision of steering engine is higher, and may be implemented to control at any angle
System.
In the present embodiment, the head assembly further includes the second rotation control assembly, this second rotation control assembly with
Support frame as described above 13 connects, for realizing the rotation control of the other direction of the head shell 11, in other words, if rotation
Control assembly 12 is accomplished that upper and lower rotation control, then the second rotation control group is then accomplished that the rotation control of left and right,
The multi-faceted rotation in the same plane of head shell 11 has may be implemented in the mutual cooperation for rotating control assembly by two,
To increase the monitoring visual angle of camera.
It is corresponding, a kind of robot is additionally provided in the present invention, which includes above-mentioned head assembly, because
This, when realizing the purposes such as monitoring using this kind of robot, monitoring visual angle is enough big, and the control structure of head rotation is also simple
It is single, so that greatly reducing its production cost.
In conclusion the head assembly and its robot of robot provided by the embodiment of the utility model, the head assembly
Including head shell, rotation control assembly and support frame, by support frame fixing head shell, and in rotation control assembly
Control it is lower can along two limiting slots can where center line rotated, to realize rotation of the robot head around X-axis, to the greatest extent
The possible new line for simulating the mankind, bow movement etc. movement, allow users to it is more smooth between robot exchange,
And the head assembly of this kind of structure, structure composition is simple, and can also realize large-scale monitoring in the course of rotation
Viewing angle control.
Further, the utility model realizes that robot head is turned about the X axis as control device for pivoting using steering engine
Power provide, the precision of steering engine is high, and noise is small, improves user satisfaction.
The embodiments of the present invention are described above in conjunction with attached drawing, but the utility model is not limited to
The specific embodiment stated, the above mentioned embodiment is only schematical, rather than restrictive, this field it is common
Technical staff is not departing from the utility model aims and scope of the claimed protection situation under the enlightenment of the utility model
Under, many forms can be also made, these are belonged within the protection of the utility model.
Claims (10)
1. a kind of head assembly of robot characterized by comprising head shell, rotation control assembly and support frame, wherein
Limiting slot is equipped on the left and right ends of the head shell；
The head shell and support frame as described above are rotatablely connected, and support frame as described above is connected on the limiting slot；
The rotation control assembly is set to the inside of the head shell, and is fixed in the head shell close to the limit
On the side of position slot；Under the driving of the rotation control assembly, the limiting slot of the head shell based on left and right ends
The center line at place is rotated.
2. the head assembly of robot as described in claim 1, which is characterized in that the head shell is included in middle position
It is equipped with the front housing for installing the installation region of camera, and the rear shell thought and cooperated with the front housing, before described
Shell and the rear shell close up installation, and an accommodating chamber is formed between the front housing and rear shell, and the rotation control assembly is located at
In the accommodating chamber.
3. the head assembly of robot as claimed in claim 2, which is characterized in that be additionally provided on the inner surface of the rear shell
For fixing the mounting post of the rotation control assembly.
4. the head assembly of robot as claimed in claim 3, which is characterized in that the head shell further include scalp shell and
For covering the translucent cover of the installation region of the camera, the scalp shell is set to the front housing and rear shell close up after connection
It stitches on position.
5. the head assembly of robot as described in claim 1, which is characterized in that support frame as described above is U-bracket, described
The lug being used in combination with the limiting slot is additionally provided on the inside of the both ends of U-bracket；It is set on the bottom surface of the lug
There are first through hole, and the first box dam set on the first through hole edge；
The second through-hole, and the second box dam set on second through-hole edge are provided on the bottom surface of the limiting slot, and
The overall diameter of second box dam is equal with the diameter of the first through hole；
During installation, the lug is embedded in the limiting slot, and second box dam is passed through from the first through hole, and
An annular groove is formed between second box dam and first box dam.
6. the head assembly of robot as claimed in claim 5, which is characterized in that the head assembly further includes first axle
It holds, the first bearing is fixed in the groove by baffle, and second box dam is suspended in the first through hole
It is interior.
7. the head assembly of robot as claimed in claim 6, which is characterized in that be additionally provided in the bottom end of the U-bracket
One connecting hole, the connecting hole with the fuselage of the robot for connecting.
8. such as the head assembly of the described in any item robots of claim 1-7, which is characterized in that the rotation control assembly packet
Output flange, connecting shaft, pedestal are included, and the power plant module being fixed on the pedestal；
The output flange is installed on the bottom surface of the lug on support frame as described above；
The output axis connection of one end of the connecting shaft and the power plant module, the other end pass through the in the limit groove bottom
One through-hole, and connect with the output flange.
9. the head assembly of the robot, which is characterized in that the power plant module be steering engine,
One of motor.
10. a kind of robot, which is characterized in that the head assembly including such as described in any item robots of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821668391.4U CN209190813U (en) | 2018-10-15 | 2018-10-15 | The head assembly and its robot of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821668391.4U CN209190813U (en) | 2018-10-15 | 2018-10-15 | The head assembly and its robot of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209190813U true CN209190813U (en) | 2019-08-02 |
Family
ID=67407958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821668391.4U Active CN209190813U (en) | 2018-10-15 | 2018-10-15 | The head assembly and its robot of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209190813U (en) |
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2018
- 2018-10-15 CN CN201821668391.4U patent/CN209190813U/en active Active
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