CN209440166U - A kind of robot head driving mechanism and robot - Google Patents

Abstract

The utility model discloses a kind of robot head driving mechanism and robot, the technical issues of structure is complicated for solving existing robot head driving mechanism.The enclosure interior of robot head is arranged in the robot head driving mechanism, including motor, main shaft and driving section, motor is connected with main shaft, main shaft is connected with driving section, first clutch is provided between main shaft and driving section, it is provided with second clutch between driving section and the shell of robot head, third clutch and the 4th clutch are provided between one end of main shaft and the shell of robot head；When the rotation of motor driven main shaft, first clutch and second clutch engagement, third clutch and the 4th clutch disconnect, robot head is driven to do head shaking movement or nodding action by driving section；When first clutch and second clutch disconnection, third clutch and four clutch engagements, main shaft drives machine head part does nodding action or head shaking movement.

Description

A kind of robot head driving mechanism and robot

Technical field

The utility model relates to robot fields, and in particular to a kind of robot head driving mechanism.The utility model is also It is related to a kind of robot.

Background technique

With the development of artificial intelligence, in every field intelligent robot using more and more common, can replace people Do various work.Especially anthropomorphic robot imitates humanoid appearance due to having, can make the movement for imitating the mankind, holds Easily received by user.

In addition to intelligence control system, flexible mechanical mechanism is also the important component of anthropomorphic robot, humanoid machine People makes various movements, it is necessary to be executed by robot interior and external mechanical mechanism is arranged in.Such as it simplest shakes the head And nodding action, mechanical mechanism is needed to drive robot head to realize.

It nods set by robot on the market now oscillating mechanism, usually respectively drives a set of machine by two motors Tool mechanism realizes that two electrical axis intersect at a point, the structure of the oscillating mechanism of nodding is more complex, and dismounting difficulty is big, weight Measure it is heavier, be unfavorable for robot miniaturization, light and handyization design.

Utility model content

In view of the above-mentioned problems, passing through setting the purpose of this utility model is to provide a kind of robot head driving mechanism Clutch carries out clutch to torque transmission paths, and single motor driving robot head may be implemented and nod and head shaking movement, letter The structure for oscillating mechanism of nodding is changed.

The purpose of this utility model, which also resides in, provides a kind of robot, is mounted with above-mentioned robot head driving mechanism.

To achieve the goals above, the utility model uses following technical scheme:

On the one hand the utility model provides a kind of robot head driving mechanism, be arranged in the shell of robot head Portion, including motor, main shaft and driving section, the motor are connected with the main shaft, and the main shaft is connected with the driving section, described It is provided with first clutch between main shaft and the driving section, is arranged between the driving section and the shell of the robot head Have second clutch, be provided between one end of the main shaft and the shell of the robot head third clutch and the 4th from Clutch；

The rotation of main shaft described in the motor driven, the first clutch and second clutch engagement, the third clutch When device and the 4th clutch disconnect, the robot head is driven to do head shaking movement or nodding action by the driving section；Institute When stating first clutch and second clutch disconnection, the third clutch and four clutch engagements, the main shaft drives institute It states robot head and does nodding action or head shaking movement.

Optionally, the driving section include worm screw, worm gear, first gear, second gear, among the first jackshaft and second Axis, the major axis horizontal setting, first jackshaft and the second jackshaft are vertically arranged；

The worm screw is internally provided with axis hole and is set on the main shaft with this, and the worm screw and the first clutch connect It connects, the worm gear is fixed on first jackshaft lower end and engages with the worm screw, and first jackshaft upper end is fixed with One gear, second jackshaft lower end are fixed with second gear, and the first gear is engaged with the second gear, and described Two jackshaft upper ends are connect with the second clutch.

Optionally, the first clutch include the first electromagnet base, first coil and inductive reaction powder, described first Electromagnet base is set on the main shaft and fixes with the main shaft, and the first coil is wrapped on first electromagnet base, The worm screw is set on first electromagnet base, fills institute in the gap between the worm screw and first electromagnet base Inductive reaction powder is stated, at least one end in the gap is provided with end cap seal；

When the first coil no power, the worm screw and the main shaft are relatively rotated, when the first coil is powered, institute The aggregation of inductive reaction powder is stated, the frictional resistance between the worm screw and the main shaft, the worm screw and the main shaft phase are increased To fixation.

Optionally, limiting slot is provided on the cylindrical surface of first electromagnet base to install the first coil.

Optionally, the second clutch includes the second coil and the first sliding block, and second coil setting is described the The upper end of two jackshafts is correspondingly arranged on first sliding groove, the first sliding block installation in the inner walls of the robot head It is slided in the first sliding groove, and in the first sliding groove, the shell of first sliding block and the robot head Between be connected with the first spring, first sliding block and the first sliding groove are polygon, are provided on first sliding block Engaging tooth or engagement tooth socket, the upper end of second jackshaft are correspondingly arranged on engagement tooth socket or engaging tooth；

When the second coil no power, first sliding block and second jackshaft under first spring effect Upper end separation, when second coil is powered, first sliding block is moved towards second jackshaft under magnetic attraction effect It is dynamic, the upper end engaged transmission of first sliding block and second jackshaft.

Optionally, the upper end of second jackshaft is provided with limiting slot to install second coil；First bullet Spring is tension spring.

Optionally, the third clutch includes the second electromagnet base, tertiary coil, inductive reaction powder and driven set Cylinder, second electromagnet base is set on the right end of the main shaft and the main shaft is fixed, and the tertiary coil is wrapped in described On second electromagnet base, the driven socket is set on second electromagnet base, the driven socket and second electricity The inductive reaction powder is filled in gap between magnetic receiver, it is close that at least one end in the gap is provided with end cap Envelope；

When the tertiary coil no power, the driven socket and the main shaft are relatively rotated, and the tertiary coil is powered When, the inductive reaction powder aggregation increases the frictional resistance between the driven socket and the main shaft, the driven socket It is relatively fixed with the main shaft.

Optionally, limiting slot is provided on the cylindrical surface of second electromagnet base to install the tertiary coil.

Optionally, the 4th clutch includes the 4th coil and the second sliding block, the 4th coil setting it is described from The right end of moving sleeve is correspondingly arranged on second sliding slot in the inner walls of the robot head, and second sliding block is mounted on In the second sliding slot, and slided in the second sliding slot, the shell of second sliding block and the robot head it Between be connected with second spring, second sliding block and the second sliding slot are polygon, are provided with and nibble on second sliding block It closes tooth or engagement tooth socket, the right end of the driven socket is correspondingly arranged on engagement tooth socket or engaging tooth；

When the 4th coil no power, second sliding block and the driven socket under second spring effect Right end separation, when the 4th coil is powered, second sliding block is moved towards the driven socket under magnetic attraction effect, institute State the right end engaged transmission of the second sliding block and the driven socket.

Optionally, the right end of the driven socket is provided with limiting slot to install the 4th coil；The second spring For tension spring.

Optionally, the inductive reaction powder uses powdered graphite, or mixes irony powder using powdered graphite.

Optionally, the enclosure interior of the robot head is provided with fixed frame, and the main shaft is mounted on fixed frame, institute It states main shaft both ends and is provided with bearing, bearing block is correspondingly arranged on the fixed frame, the motor is mounted on the fixed frame, It is connect with the left end of the main shaft.

Optionally, first jackshaft and the second jackshaft are mounted on the fixed frame, first jackshaft and It is provided with bearing on second jackshaft, is correspondingly arranged on bearing block on the fixed frame.

Optionally, second sleeve is additionally provided on first jackshaft to limit the first gear from downside.

Optionally, the axis hole left end of the worm screw is provided with sealing ring to seal the worm screw and first electromagnet base Between gap.

Optionally, it is provided with ladder on the main shaft, first electromagnet base is limited from left side, the main shaft On be additionally provided with first sleeve first electromagnet base limited from right side.

Optionally, the driving section includes first bevel gear, second bevel gear and jackshaft, and the major axis horizontal is arranged, The jackshaft is vertically arranged；

The first bevel gear is internally provided with axis hole and is set on the main shaft with this, and the second bevel gear is fixed on The jackshaft lower end is engaged with the first bevel gear, and the jackshaft upper end is connect with the second clutch.

Optionally, the first clutch include the first electromagnet base, first coil and inductive reaction powder, described first Electromagnet base is set on the main shaft, and the first coil is wrapped on first electromagnet base, the first bevel gear It is set on first electromagnet base, in the gap between the first bevel gear and first electromagnet base described in filling Inductive reaction powder is provided with end cap seal at least one end in the gap；

When the first coil no power, the first bevel gear and the main shaft are relatively rotated, and the first coil is logical When electric, inductive reaction powder aggregation increases the frictional resistance between the first bevel gear and the main shaft, and described first Bevel gear and the main shaft are relatively fixed.

On the other hand the utility model provides a kind of robot, be mounted with above-mentioned robot head driving mechanism.

Advantage possessed by the robot head driving mechanism of the utility model and beneficial effect are:

The utility model is provided with one group of motor and four groups of clutches, clutch torque transmission paths can be carried out from It closes, respectively drives robot head and nod and head shaking movement, thus realize that single motor control robot nods and oscillating function, The structure for oscillating mechanism of nodding is simplified, structure novel, easy disassembling, weight is small, is conducive to miniaturization, light and handyization of robot Design.

Advantage possessed by the robot of the utility model and beneficial effect are:

The utility model, which can be made, flexibly nods and head shaking movement, the movement for imitating the mankind are true to nature, fine and smooth.

The utility model is light-weight, and manufacturing cost is low, it is easy to accomplish miniaturization, light and handyization design.

Detailed description of the invention

Fig. 1 is exploded view (the head knot including robot of robot head driving mechanism in the utility model embodiment 1 Structure)；

Fig. 2 is the cooperation figure of the second sliding block and outer sleeve in the utility model embodiment 1；

Fig. 3 is cross-sectional view (the head knot including robot of robot head driving mechanism in the utility model embodiment 1 Structure)；

Fig. 4 is the partial enlarged view in Fig. 2；

Fig. 5 is the top view of robot head driving mechanism in the utility model embodiment 1；

Fig. 6 is the left view of robot head driving mechanism in the utility model embodiment 1；

Fig. 7 is exploded view (the head knot including robot of robot head driving mechanism in the utility model embodiment 2 Structure)；

Fig. 8 is cross-sectional view (the head knot including robot of robot head driving mechanism in the utility model embodiment 2 Structure)；

Fig. 9 is the partial enlarged view in Fig. 8；

Figure 10 is the top view of robot head driving mechanism in the utility model embodiment 2；

Figure 11 is the left view of robot head driving mechanism in the utility model embodiment 2.

In figure: 1. second coils；2. the first sliding block；3. the first spring；4. first gear；5. second sleeve；6. bearing；7. Second jackshaft；8. second gear；9. the first jackshaft；10. bearing；11. worm gear；12. second spring；13. the second sliding block； 14. the 4th coil；15. bearing；16. first sleeve；17. second end cover；18. the second electromagnet base；19. main shaft；20. first end Lid；21. motor；22. the first electromagnet base；23. first coil；24. inductive reaction powder；25. worm screw；26. tertiary coil； 27. inductive reaction powder；28. driven socket；29. fixed frame；30. machine human body；31. robot head；32. the first cone tooth Wheel；33. second bevel gear.

Specific embodiment

The design concept of the utility model is:

It nods the more complex defect of structure of oscillating mechanism for robot in the prior art, the utility model provides one Kind robot head driving mechanism carries out clutch to torque transmission paths by setting clutch, respectively drives robot head It nods and head shaking movement, to realize that single motor control robot nods and oscillating function, simplifies oscillating mechanism of nodding Structure.

It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer Type embodiment is described in further detail.

Embodiment 1

If Fig. 1, Fig. 3, Fig. 5, Fig. 6 show the utility model embodiment 1, a kind of robot is provided in this embodiment The enclosure interior of robot head 31, including motor 21, main shaft 19 and driving section, 21 He of motor is arranged in head drive mechanism Main shaft 19 connects, and main shaft 19 is connected with driving section, and first clutch, driving section and machine are provided between main shaft 19 and driving section It is provided with second clutch between the shell of head part 31, is provided between the right end of main shaft 19 and the shell of robot head 31 Third clutch and the 4th clutch.

Robot head 31 is arranged on machine human body 30, can be in machine under the driving of robot head driving mechanism Head shaking movement and nodding action are done on device human body 30.

X is rotated and surrounded around Z axis respectively since the head shaking movement and nodding action of robot head 31 can be regarded as Axis rotation, in order not to interfere, when robot head 31 does head shaking movement, the right end of main shaft 19 must be with robot head 31 Shell disconnect, similarly, when robot head 31 does nodding action, driving section must be with the shell of robot head 31 It disconnects.

Specifically, 21 driving spindle 19 of motor rotates, first clutch and second clutch engagement, third clutch and the When four clutches disconnect, robot head 31 is driven to do head shaking movement by driving section；First clutch and second clutch are disconnected It opens, third clutch and when four clutch engagements, main shaft 19 drives robot head 31 to do nodding action.

As shown in Figure 5, Figure 6, driving section includes worm screw 25, worm gear 11, first gear 4, second gear 8, the first jackshaft 9 With the second jackshaft 7, main shaft 19 is horizontally disposed, and the first jackshaft 9 and the second jackshaft 7 are vertically arranged.

Worm screw 25 is internally provided with axis hole and is set on main shaft 19 with this, and worm screw 25 connect with first clutch, worm gear 11 It is fixed on 9 lower end of the first jackshaft to engage with worm screw 25,9 upper end of the first jackshaft is fixed with first gear 4, the second jackshaft 7 Lower end is fixed with second gear 8, and first gear 4 is engaged with second gear 8, and 7 upper end of the second jackshaft is connect with second clutch.

First clutch includes the first electromagnet base 22, first coil 23 and inductive reaction powder 24, the first electromagnet base 22 are set on main shaft 19 fixed with main shaft 19, and first coil 23 is wrapped on the first electromagnet base 22, and worm screw 25 is set on the On one electromagnet base 22, inductive reaction powder 24 is filled in the gap between worm screw 25 and the first electromagnet base 22, in gap Right part is provided with the sealing of first end cover 20, prevents inductive reaction powder 24 from leaking out.

When 23 no power of first coil, worm screw 25 and main shaft 19 are relatively rotated, and main shaft 19 cannot drive worm screw 25 when rotating Rotation, when first coil 23 is powered, inductive reaction powder 24 is assembled, and increases the frictional resistance between worm screw 25 and main shaft 19, snail Bar 25 and main shaft 19 are relatively fixed, and main shaft 19 can drive worm screw 25 to rotate when rotating.

When first coil 23 powers off, loose condition (of surface), the increased frictional resistance of institute can be presented in inductive reaction powder 24 again It can disappear.

Inductive reaction powder 24 uses powdered graphite, according to the prior art the study found that can pass through specific technique side Method makes powdered graphite have ferromagnetism, such as C, H or Ar ion injection method, and there is ferromagnetic powdered graphite can make For the use of inductive reaction powder.Meanwhile powdered graphite also has good greasy property, can satisfy 19 phase of worm screw 25 and main shaft To rotation.

Or irony powder is mixed using powdered graphite, mixing suitable irony powder can be improved inductive reaction powder 24 Ferromagnetism.

As shown in Figure 1, being provided with limiting slot on the cylindrical surface of the first electromagnet base 22 to install first coil 23.

Second clutch includes the second coil 1 and the first sliding block 2, and the upper end of the second jackshaft 7 is arranged in the second coil 1, First sliding groove is correspondingly arranged in the inner walls of robot head 31, position " D " in Fig. 3, the first sliding block 2 is mounted on first It in sliding slot, and is slided in first sliding groove, the first spring 3 is connected between the first sliding block 2 and the shell of robot head 31, First sliding block 2 and first sliding groove are polygon, such as quadrangle, and engaging tooth or engagement tooth socket are provided on the first sliding block 2, the The upper end of two jackshafts 7 is correspondingly arranged on engagement tooth socket or engaging tooth.

The upper end of second jackshaft 7 is the position " B " in Fig. 1.

As shown in Figure 1, Figure 3, the first sliding block 2 is internally provided with axis hole, and engaging tooth, the second jackshaft 7 are provided in axis hole Upper end be correspondingly arranged on engagement tooth socket.

Preferably, internal spline can be set in the axis hole of the first sliding block 2, the upper end of the second jackshaft 7 is correspondingly arranged on outer Spline is so that it is convenient to engage.

End-tooth or end face tooth socket can also be arranged in the upper end of first sliding block 2 and the second jackshaft 7, more convenient in this way to nibble It closes.

First sliding block 2 uses irony sliding block, can be attracted by electromagnet.

First spring 3 uses tension spring, and lower end is connect with the first sliding block 2, and upper end is connect with the shell of robot head 31.

Preferably, first sliding groove can be made into integration with the shell of robot head 31.

When the second 1 no power of coil, the upper end of first sliding block 2 and the second jackshaft 7 is separated under the effect of the first spring 3, When second coil 1 is powered, the first sliding block 2 is mobile towards the second jackshaft 7 under magnetic attraction effect, in the first sliding block 2 and second Between axis 7 upper end engaged transmission.

As shown in figure 3, the upper end of the second jackshaft 7 is provided with limiting slot to install the second coil 1.

Third clutch includes the second electromagnet base 18, tertiary coil 26, inductive reaction powder 27 and driven socket 28, the Two electromagnet bases 18 are set on the right end of main shaft 19 and main shaft 19 is fixed, and tertiary coil 26 is wrapped on the second electromagnet base 18, Driven socket 28 is set on the second electromagnet base 18, and electricity is filled in the gap between driven socket 28 and the second electromagnet base 18 Magnetic response powder 27 is provided with second end cover 17 in the right part in gap and seals, prevents inductive reaction powder 27 from leaking out.

Inductive reaction powder 27 uses powdered graphite, or mixes irony powder using powdered graphite.

When 26 no power of tertiary coil, driven socket 28 and main shaft 19 are relatively rotated, main shaft 19 cannot be driven when rotating from Moving sleeve 28 rotates, and when tertiary coil 26 is powered, the 27 end aggregation of inductive reaction powder increases between driven socket 28 and main shaft 19 Frictional resistance, driven socket 28 and main shaft 19 are relatively fixed, and main shaft 19 can drive driven socket 28 to rotate when rotating.

As shown in Figure 1, being provided with limiting slot on the cylindrical surface of the second electromagnet base 18 to install tertiary coil 26.

4th clutch includes the 4th coil 14 and the second sliding block 13, and the right side of driven socket 28 is arranged in the 4th coil 14 It holds, is correspondingly arranged on second sliding slot in the inner walls of robot head 31, position " C " in Fig. 3, the second sliding block 13 is mounted on It in second sliding slot, and is slided in second sliding slot, is connected with second between the second sliding block 13 and the shell of robot head 31 Spring 12, the second sliding block 13 and second sliding slot are polygon, such as quadrangle, are provided with engaging tooth on the second sliding block 12 or nibble Tooth socket is closed, the right end of driven socket 28 is correspondingly arranged on engagement tooth socket or engaging tooth.

The right end of driven socket 28 is the position " A " in Fig. 1.

As shown in Figure 1 and Figure 2, the second sliding block 13 is internally provided with axis hole, and engagement tooth socket, driven socket are provided in axis hole 28 right end is correspondingly arranged on engaging tooth.The length of engaging tooth is equal with the axial length of driven socket 28 in attached drawing, sets in this way The intensity of engaging tooth can be improved in meter.

Preferably, internal spline can be set in the axis hole of the second sliding block 13, the right end of driven socket 28 is correspondingly arranged on outer Spline is so that it is convenient to engage.

End-tooth or end face tooth socket can also be arranged in the right end of second sliding block 13 and driven socket 28, more convenient in this way to nibble It closes.

Second sliding block 13 uses irony sliding block, can be attracted by electromagnet.

Second spring 12 uses tension spring, and left end is connect with the second sliding block 13, and right end is connect with the shell of robot head 31.

Preferably, second sliding slot can be made into integration with the shell of robot head 31.

When the 4th 14 no power of coil, the right end of second sliding block 13 and driven socket 28 point under the effect of second spring 12 When being powered from, the 4th coil 14, the second sliding block 13 is mobile towards driven socket 28 under magnetic attraction effect, the second sliding block 13 and from The right end engaged transmission of moving sleeve 28.

As shown in figure 3, the right end of driven socket 28 is provided with limiting slot to install the 4th coil 14.

The enclosure interior of robot head 31 is provided with fixed frame 29, and main shaft 19 is mounted on fixed frame 29, and 19 liang of main shaft End is provided with bearing 15, bearing block is correspondingly arranged on fixed frame 29, motor 21 is mounted on fixed frame 29, the left side with main shaft 19 End connection.

The lower end of fixed frame 29 needs to be fixed on machine human body 30, is formed surely to robot head driving mechanism Clamped support.

First jackshaft 9 and the second jackshaft 7 are mounted on fixed frame 29, on the first jackshaft 9 and the second jackshaft 7 It is provided with bearing, is correspondingly arranged on bearing block on fixed frame 29.First jackshaft 9 is fixed on fixed frame 29 by bearing 10 On, the second jackshaft 7 is fixed on fixed frame 29 by bearing 6.

Fixed frame 29 shown in attached drawing be it is schematical, can allow fixed frame 29 by rationally designing while supporting master Axis 19, the first jackshaft 9 and the second jackshaft 7.

It is additionally provided with second sleeve 5 on first jackshaft 9, first gear 4 is limited from downside.

As shown in Figure 3, Figure 4, the axis hole left end of worm screw 25 is provided with sealing ring to seal worm screw 25 and the first electromagnet base Gap between 22 prevents inductive reaction powder 24 from leaking out.

It is provided with ladder on main shaft 19, the first electromagnet base 22 is limited from left side, is additionally provided with first sleeve on main shaft 19 16 limit the first electromagnet base 22 from right side.

Similarly, the axis hole left end of driven socket 28 is provided with sealing ring to seal driven socket 28 and the second electromagnet base Gap between 18 prevents inductive reaction powder 27 from leaking out.

Robot head driving mechanism in the present embodiment, structure novel, easy disassembling, weight is small, is conducive to robot Miniaturization, light and handyization design.

Embodiment 2

If Fig. 7, Fig. 8, Figure 10, Figure 11 show the utility model embodiment 2, with embodiment 1 the difference is that in this reality It applies in example, driving section includes first bevel gear 32, second bevel gear 33 and the second jackshaft 7, and main shaft 19 is horizontally disposed, in second Between axis 7 be vertically arranged.

First bevel gear 32 is internally provided with axis hole and is set on main shaft 19 with this, and second bevel gear 33 is fixed in second Between 7 lower end of axis engaged with first bevel gear 32,7 upper end of the second jackshaft is connect with second clutch.

First clutch in the present embodiment is identical with the structure in embodiment 1, and first clutch includes the first electromagnet Seat 22, first coil 23 and inductive reaction powder 24, the first electromagnet base 22 is set on main shaft 19 to be fixed with main shaft 19, and first Coil 23 is wrapped on the first electromagnet base 22, and first bevel gear 32 is set on the first electromagnet base 22, first bevel gear 32 And inductive reaction powder 24 is filled in the first gap between electromagnet base 22, the right part in gap is provided with first end cover 20 Sealing prevents inductive reaction powder 24 from leaking out.

When 23 no power of first coil, first bevel gear 32 and main shaft 19 are relatively rotated, and main shaft 19 cannot drive when rotating First bevel gear 32 rotates, and when first coil 23 is powered, inductive reaction powder 24 is assembled, and increases first bevel gear 32 and main shaft 19 Between frictional resistance, first bevel gear 32 and main shaft 19 are relatively fixed, main shaft 19 rotate when can drive first bevel gear 32 revolve Turn.

The other structures of robot head driving mechanism are in the same manner as in Example 1 in the present embodiment, are not repeated to retouch herein It states.

Embodiment 3

As the embodiments of the present invention 3, with embodiment 1 the difference is that in the present embodiment, the driving of motor 21 is led Axis 19 rotates, and when first clutch and second clutch engagement, third clutch and the 4th clutch disconnect, is driven by driving section Do nodding action in mobile robot head 31；First clutch and second clutch disconnect, third clutch and the 4th clutch are nibbled When conjunction, main shaft 19 drives robot head 31 to do head shaking movement.

For this reason, it may be necessary to which main shaft 19 is vertically arranged, among first by robot head driving mechanism along being rotated by 90 ° counterclockwise Axis 9 and the second jackshaft 7 are horizontally disposed.Correspondingly, second clutch setting is set in left side, third clutch and the 4th clutch It sets in the upper end of main shaft 19, the lower end of main shaft 19 is arranged in motor 21.

The other structures of robot head driving mechanism are in the same manner as in Example 1 in the present embodiment, are not repeated to retouch herein It states.

Embodiment 4

As the embodiments of the present invention 4, a kind of robot, including robot head 31 and machine human body are provided 30, robot head 31 is arranged on machine human body 30, can be in robot under the driving of robot head driving mechanism Head shaking movement and nodding action are done on body 30.

The enclosure interior of robot head 31 is mounted with any of the above-described robot head driving mechanism as described in the examples.

Robot in the present embodiment nods and independently carries out with head shaking movement, and robot head 31 needs to reach just Beginning position realized later nods and oscillating function switching, the initial position can be set into robot head 31 towards front, The position of sight level.

The foregoing is merely the embodiments of the present invention, are not intended to limit the protection scope of the utility model.It is all Any modification, equivalent substitution and improvement made within spirit of the present utility model and principle, extension etc., are all contained in this reality With in novel protection scope.

Claims (10)

1. a kind of robot head driving mechanism, is arranged in the enclosure interior of robot head, which is characterized in that including motor, Main shaft and driving section, the motor are connected with the main shaft, and the main shaft is connected with the driving section, the main shaft and the biography It is provided with first clutch between dynamic portion, the second clutch is provided between the driving section and the shell of the robot head Device is provided with third clutch and the 4th clutch between one end of the main shaft and the shell of the robot head；

Main shaft described in the motor driven rotation, the first clutch and second clutch engagement, the third clutch and When 4th clutch disconnects, the robot head is driven to do head shaking movement or nodding action by the driving section；Described When one clutch and second clutch disconnection, the third clutch and four clutch engagements, machine described in the main shaft drives Device head part does nodding action or head shaking movement.

2. robot head driving mechanism according to claim 1, which is characterized in that the driving section includes worm screw, snail Wheel, first gear, second gear, the first jackshaft and the second jackshaft, major axis horizontal setting, first jackshaft and Second jackshaft is vertically arranged；

The worm screw is internally provided with axis hole and is set on the main shaft with this, and the worm screw connect with the first clutch, The worm gear is fixed on first jackshaft lower end and engages with the worm screw, and first jackshaft upper end is fixed with the first tooth Wheel, second jackshaft lower end are fixed with second gear, and the first gear is engaged with the second gear, in described second Between axis upper end connect with the second clutch.

3. robot head driving mechanism according to claim 2, which is characterized in that the first clutch includes first Electromagnet base, first coil and inductive reaction powder, first electromagnet base are set on the main shaft solid with the main shaft Fixed, the first coil is wrapped on first electromagnet base, and the worm screw is set on first electromagnet base, described The inductive reaction powder is filled in gap between worm screw and first electromagnet base, at least one end in the gap Portion is provided with end cap seal；

When the first coil no power, the worm screw and the main shaft are relatively rotated, when the first coil is powered, the electricity The aggregation of magnetic response powder, increases the frictional resistance between the worm screw and the main shaft, the worm screw and the main shaft are relatively solid It is fixed.

4. robot head driving mechanism according to claim 2, which is characterized in that the second clutch includes second Coil and the first sliding block, second coil are arranged in the upper end of second jackshaft, in the shell of the robot head First sliding groove is correspondingly arranged on wall, first sliding block is mounted in the first sliding groove, and in the first sliding groove Sliding, is connected with the first spring between first sliding block and the shell of the robot head, first sliding block and described First sliding groove is polygon, and engaging tooth or engagement tooth socket, the upper end of second jackshaft are provided on first sliding block It is correspondingly arranged on engagement tooth socket or engaging tooth；

When the second coil no power, first sliding block and second jackshaft is upper under first spring effect End separation, when second coil is powered, under magnetic attraction effect first sliding block towards second jackshaft mobile, institute State the upper end engaged transmission of the first sliding block and second jackshaft.

5. robot head driving mechanism according to claim 1, which is characterized in that the third clutch includes second Electromagnet base, tertiary coil, inductive reaction powder and driven socket, second electromagnet base are set on the right end of the main shaft It is fixed with the main shaft, the tertiary coil is wrapped on second electromagnet base, and the driven socket is set on described On two electromagnet bases, the inductive reaction powder is filled in the gap between the driven socket and second electromagnet base, At least one end in the gap is provided with end cap seal；

When the tertiary coil no power, the driven socket and the main shaft are relatively rotated, when the tertiary coil is powered, institute The aggregation of inductive reaction powder is stated, the frictional resistance between the driven socket and the main shaft, the driven socket and institute are increased It is relatively fixed to state main shaft.

6. robot head driving mechanism according to claim 5, which is characterized in that the 4th clutch includes the 4th The right end of the driven socket, the inner walls of the robot head are arranged in coil and the second sliding block, the 4th coil On be correspondingly arranged on second sliding slot, second sliding block is mounted in the second sliding slot, and sliding in the second sliding slot It is dynamic, it is connected with second spring between second sliding block and the shell of the robot head, second sliding block and described the Two sliding slots are polygon, and engaging tooth or engagement tooth socket are provided on second sliding block, and the right end of the driven socket is corresponding It is provided with engagement tooth socket or engaging tooth；

When the 4th coil no power, the right end of second sliding block and the driven socket under second spring effect Separation, when the 4th coil is powered, second sliding block is mobile towards the driven socket under magnetic attraction effect, and described the The right end of two sliding blocks and driven socket engaged transmission.

7. the robot head driving mechanism according to claim 3 or 5, which is characterized in that the inductive reaction powder is adopted Irony powder is mixed with powdered graphite, or use powdered graphite.

8. robot head driving mechanism according to claim 3, which is characterized in that in the shell of the robot head Portion is provided with fixed frame, and the main shaft is mounted on fixed frame, and the main shaft both ends are provided with bearing, corresponds on the fixed frame It is provided with bearing block, the motor is mounted on the fixed frame, is connect with the left end of the main shaft；

First jackshaft and the second jackshaft are mounted on the fixed frame, on first jackshaft and the second jackshaft It is provided with bearing, is correspondingly arranged on bearing block on the fixed frame；

The axis hole left end of the worm screw is provided with sealing ring to seal the gap between the worm screw and first electromagnet base；

It is provided with ladder on the main shaft, first electromagnet base is limited from left side, is additionally provided with first set on the main shaft Cylinder limits first electromagnet base from right side.

9. robot head driving mechanism according to claim 1, which is characterized in that the driving section includes the first cone tooth Wheel, second bevel gear and jackshaft, the major axis horizontal setting, the jackshaft are vertically arranged；

The first bevel gear is internally provided with axis hole and is set on the main shaft with this, and the second bevel gear is fixed on described Jackshaft lower end is engaged with the first bevel gear, and the jackshaft upper end is connect with the second clutch.

10. a kind of robot, which is characterized in that including the described in any item robot head driving mechanisms of claim 1-9.