CN209350240U - A kind of robot head device - Google Patents
A kind of robot head device Download PDFInfo
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- CN209350240U CN209350240U CN201821462983.0U CN201821462983U CN209350240U CN 209350240 U CN209350240 U CN 209350240U CN 201821462983 U CN201821462983 U CN 201821462983U CN 209350240 U CN209350240 U CN 209350240U
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- connecting rod
- runing rest
- support plate
- bracket
- bearing block
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Abstract
The utility model discloses a kind of robot head devices, two parts i.e. neck bottom and head can be divided into, it include support plate, bearing block, angular wheel, runing rest, buffer gear, synchronous pulley, synchronous tension mechanism, extension bar and bracket, the support plate includes bottom support plate and upper support board, bottom support plate lower surface is equipped with sensor, and upper surface connects bearing block；Upper support board upper surface is equipped with sensor, and lower surface connects bearing block, and the utility model is a kind of robot head device, by robot head split into can self-movement two parts；The arrangement of head construction and multisensor is considered in design emphatically, while also contemplating rotation and the setting of pitch angle, the multivariant rotation of robot head is able to achieve, keeps the head movement of robot more flexible.
Description
Technical field
The utility model relates to robot device's technical field, specifically a kind of robot head device.
Background technique
With the development of science and technology robot more tends to personalize.The progress of robot is be unable to do without to bionics and mechanic
The analysis of journey technology, advanced robot technology can imitate the motor function of human body, and the head movement control of robot is machine
A major challenge of device people's research field, meanwhile, head movement control is also that a kind of friendly mode is interacted with people.
Currently, the freedom degree of robot is determined by the structure of robot, it directly affects the mobility of robot,
But end rotation and the angle of pitching are little in existing robot, and flexibility ratio is not high.And the transmission device on head is more, head
Structure is not compact complex enough, and reliability is not high.
For this problem, a kind of robot head device there is presently provided.
Utility model content
The purpose of this utility model is to provide a kind of robot head devices, mentioned above in the background art to solve
Problem.
To achieve the above object, the utility model provides the following technical solutions:
A kind of robot head device can be divided into two parts i.e. neck bottom and head, include support plate, bearing
Seat, angular wheel, runing rest, buffer gear, synchronous pulley, synchronous tension mechanism, extension bar and bracket；
The support plate includes bottom support plate and upper support board, and bottom support plate lower surface is equipped with sensor, on
Surface connects bearing block；Upper support board upper surface is equipped with sensor, and lower surface connects bearing block；
The bearing block upper surface is connected with bevel gear wheel, and two bevel pinions, auger tooth are symmetrically connected on bevel gear wheel
Wheel is engaged with bevel pinion；Runing rest is connected on bevel gear wheel；
The runing rest includes bottom runing rest and top runing rest, and runing rest passes through bevel gear wheel, bearing
Seat and support plate, reach the outer surface of support plate；It reaches and optocoupler baffle has been fixedly installed on the runing rest of support plate outer surface；
Optocoupler baffle on the bottom runing rest can make robot neck bottom carry out 310 ° of rotations；Top rotation
Optocoupler baffle on bracket can also realize 310 ° of rotations on the head of robot；
The buffer gear of the pitch angle on neck bottom and head, bottom runing rest are realized in connection on the runing rest
On buffer gear be provided with lower buffer seat, two protrusions of lower buffer seat two sides symmetric design, two protrusions respectively with
Bottom rotating mechanism is connected with runing rest pressing plate；Buffer gear is provided with buffering guide shaft on the runing rest of top, buffers guide shaft
It is connected across buffing pad and buffer shaft with top runing rest；
The buffer gear mainly realizes that the pitch angle on neck bottom and head, the pitch angle on neck bottom are
48°；The pitch angle on head is 58 °；Two extreme position height changes of pitching are up to 55mm；
The synchronous pulley includes big synchronous pulley and small synchronous pulley, and synchronous pulley is arranged on bracket, big synchronous belt
Belt wheel pressing plate is provided on wheel, big synchronous pulley is connected by bevel gear shaft with bevel pinion, and big synchronous pulley passes through synchronous belt
It is connected with small synchronous pulley, synchronous belt strainer is provided on bracket, synchronous tension mechanism is connected with synchronous belt；
The bracket includes lower part left support, lower part right support, top left support and top right support；Left support and right branch
Frame is symmetric, and connecting rod is provided between upper bracket and lower bracket.
As a further solution of the present invention: the connecting rod includes left connecting rod and right connecting rod, left connecting rod
Reinforcing rod is provided between right connecting rod, left connecting rod and right connecting rod are symmetric, connecting rod by connecting shaft with it is upper
Portion's bracket is connected.
As a further solution of the present invention: the upper bracket is connected by pitman shaft with connecting rod, connecting rod packet
Left connecting rod and right connecting rod are included, three reinforcing rods are provided between left connecting rod and right connecting rod, left connecting rod is symmetric with right connecting rod,
The other end of connecting rod is connected by pitman shaft with bottom runing rest and runing rest pressing plate.
As a further solution of the present invention: the bearing block is trapezoidal.
Compared with prior art, the utility model has the beneficial effects that the utility model is a kind of robot head device,
By robot head split into can self-movement two parts；The cloth of head construction and multisensor is considered in design emphatically
It sets, while also contemplating rotation and the setting of pitch angle, be able to achieve the multivariant rotation of robot head, make robot
Head movement is more flexible.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of the utility model middle and upper part runing rest.
Wherein: 1 bottom support plate, 2 upper support boards, 3 support plates, 4 big vertebra gears, 5 bevel pinions, 6 left connecting rods, 7 right sides
Connecting rod, 8 buffer gears, 9 motor shaft fixing seats, 10 big synchronous pulleys, 11 small synchronous pulleys, 12 bottom runing rests, 13 tops
Runing rest, 14 runing rest pressing plates, 15 lower part left supports, 16 lower part right supports, 17 left connecting rods, 18 right connecting rods, on 19
Portion's left support, 20 top right supports, 21 connecting shafts, 22 reinforcing rods, 23 synchronous tension mechanisms, 24 optocoupler baffles, 25 sensors.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, 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 embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment 1
Please refer to Fig. 1~2, in the utility model embodiment, a kind of robot head device can be divided into two parts i.e. neck
Sub- bottom and head include support plate 3, bearing block, angular wheel, runing rest, buffer gear 8, synchronous pulley, synchronous
Tight mechanism 23, extension bar and bracket；
The support plate includes bottom support plate 1 and upper support board 2, and 1 lower surface of bottom support plate is equipped with sensor
25, upper surface connects bearing block；2 upper surface of upper support board is equipped with sensor 25, and lower surface connects bearing block；
The bearing block be it is trapezoidal, bearing block upper surface is connected with bevel gear wheel 4, symmetrically connects two on bevel gear wheel 4
Bevel pinion 5, bevel gear wheel 4 are engaged with bevel pinion 5；Runing rest is connected on bevel gear wheel 4；
The runing rest includes bottom runing rest 12 and top runing rest 13, runing rest pass through bevel gear wheel 4,
Bearing block and support plate 3, reach the outer surface of support plate 3；It reaches and light has been fixedly installed on the runing rest of 3 outer surface of support plate
Coupling baffle 24；
Optocoupler baffle 24 on the bottom runing rest can make robot neck bottom carry out 310 ° of rotations；Top rotation
310 ° of rotations on head of robot can also be realized by turning the optocoupler baffle 24 on bracket；
The buffer gear 8 of the pitch angle on neck bottom and head, bottom rotation branch are realized in connection on the runing rest
Buffer gear on frame 12 is provided with lower buffer seat, two protrusions of lower buffer seat two sides symmetric design, two protrusions point
It is not connected with bottom rotating mechanism and runing rest pressing plate；Buffer gear 8 is provided with buffering guide shaft on top runing rest 13, delays
Guide shaft is rushed to be connected across buffing pad and buffer shaft with top runing rest 13；
The buffer gear mainly realizes that the pitch angle on neck bottom and head, the pitch angle on neck bottom are
48°；The pitch angle on head is 58 °；Two extreme position height changes of pitching are up to 55mm；
The synchronous pulley includes big synchronous pulley 10 and small synchronous pulley 11, and synchronous pulley is arranged on bracket, Datong District
Belt wheel pressing plate is provided on step belt wheel 10, big synchronous pulley 10 is connected by bevel gear shaft with bevel pinion 5, big synchronous pulley
10 are connected by synchronous belt with small synchronous pulley, and synchronous belt strainer, synchronous tension mechanism and synchronous belt are provided on bracket
It is connected；
The bracket includes lower part left support 15, lower part right support 16, top left support 19 and top right support 20；Left branch
Frame is symmetric with right support, and connecting rod is provided between upper bracket and lower bracket；
The connecting rod includes left connecting rod 17 and right connecting rod 18, is provided between left connecting rod 17 and right connecting rod 18
Reinforcing rod, left connecting rod 17 and right connecting rod 18 are symmetric, and connecting rod is connected by connecting shaft with upper bracket.
Embodiment 2
Distinguish with embodiment 1: the upper bracket is connected by pitman shaft with connecting rod, and connecting rod includes left connecting rod
And right connecting rod, three reinforcing rods are provided between left connecting rod and right connecting rod, left connecting rod is symmetric with right connecting rod, connecting rod it is another
One end is connected by pitman shaft with bottom runing rest and runing rest pressing plate 14.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of robot head device, which is characterized in that include support plate (3), bearing block, angular wheel, runing rest,
Buffer gear (8) and extension bar；
The support plate includes bottom support plate (1) and upper support board (2), and bottom support plate (1) lower surface is equipped with sensing
Device (25), upper surface connect bearing block；Upper support board (2) upper surface is equipped with sensor (25), and lower surface connects bearing block；
The bearing block upper surface is connected with bevel gear wheel (4), two bevel pinions (5) is symmetrically connected on bevel gear wheel (4), greatly
Bevel gear (4) engages with bevel pinion (5)；Bevel gear wheel connects runing rest on (4)；
The runing rest includes bottom runing rest (12) and top runing rest (13), and runing rest passes through bevel gear wheel
(4), bearing block and support plate (3), reach the outer surface of support plate (3)；It reaches solid on the runing rest of support plate (3) outer surface
Surely optocoupler baffle (24) are provided with；
The buffer gear (8) of the pitch angle on neck bottom and head, bottom runing rest are realized in connection on the runing rest
(12) buffer gear on is provided with lower buffer seat, two protrusions of lower buffer seat two sides symmetric design, two protrusions point
It is not connected with bottom rotating mechanism and runing rest pressing plate；Buffer gear (8) is provided with buffering and leads on top runing rest (13)
Axis, buffering guide shaft passes through buffing pad and buffer shaft is connected with top runing rest (13).
2. robot head device according to claim 1, which is characterized in that it further include synchronous pulley, the synchronous belt
Wheel includes big synchronous pulley (10) and small synchronous pulley (11), and synchronous pulley is arranged on bracket, sets on big synchronous pulley (10)
It is equipped with belt wheel pressing plate, big synchronous pulley (10) is connected by bevel gear shaft with bevel pinion (5), and big synchronous pulley (10) passes through same
Step band is connected with small synchronous pulley, synchronous belt strainer is provided on bracket, synchronous tension mechanism is connected with synchronous belt.
3. robot head device according to claim 2, which is characterized in that further include bracket, under the bracket includes
Portion's left support (15), lower part right support (16), top left support (19) and top right support (20)；Left support and right support are in pair
Claim distribution, connecting rod is provided between upper bracket and lower bracket.
4. robot head device according to claim 3, which is characterized in that the connecting rod includes left connecting rod (17)
With right connecting rod (18), be provided with reinforcing rod between left connecting rod (17) and right connecting rod (18), connecting rod by connecting shaft with
Upper bracket is connected.
5. robot head device according to claim 4, which is characterized in that the left connecting rod (17) and right connecting rod
(18) it is symmetric.
6. robot head device according to claim 4 or 5, which is characterized in that the upper bracket passes through connecting rod
Axis is connected with connecting rod, and connecting rod includes left connecting rod and right connecting rod, and three reinforcing rods, left connecting rod are provided between left connecting rod and right connecting rod
It is symmetric with right connecting rod, the other end of connecting rod passes through pitman shaft and bottom runing rest and runing rest pressing plate (14) phase
Even.
7. robot head device according to claim 1, which is characterized in that the bearing block is trapezoidal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821462983.0U CN209350240U (en) | 2018-09-05 | 2018-09-05 | A kind of robot head device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821462983.0U CN209350240U (en) | 2018-09-05 | 2018-09-05 | A kind of robot head device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209350240U true CN209350240U (en) | 2019-09-06 |
Family
ID=67778451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821462983.0U Active CN209350240U (en) | 2018-09-05 | 2018-09-05 | A kind of robot head device |
Country Status (1)
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|---|---|
| CN (1) | CN209350240U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858157A (en) * | 2018-09-05 | 2018-11-23 | 深圳市三宝创新智能有限公司 | A kind of robot head device and machine construction |
-
2018
- 2018-09-05 CN CN201821462983.0U patent/CN209350240U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858157A (en) * | 2018-09-05 | 2018-11-23 | 深圳市三宝创新智能有限公司 | A kind of robot head device and machine construction |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200529 Address after: Room 2803, building T2, Shenye Shangcheng (South District), No. 5001, Huanggang Road, Lianhua village, Huafu street, Futian District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Sanbao innovation robot Co.,Ltd. Address before: 518055 Guangdong 28, Shenzhen, Futian District, Huafu street, No. 5001 Huanggang Road, Shenzhen Industrial upper city (two phase of the Southern District) Patentee before: Qihan Technology Co.,Ltd. |
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| PP01 | Preservation of patent right |
Effective date of registration: 20211119 Granted publication date: 20190906 |