CN209551705U - A kind of head movement structure and the robot with the structure - Google Patents
A kind of head movement structure and the robot with the structure Download PDFInfo
- Publication number
- CN209551705U CN209551705U CN201822277575.4U CN201822277575U CN209551705U CN 209551705 U CN209551705 U CN 209551705U CN 201822277575 U CN201822277575 U CN 201822277575U CN 209551705 U CN209551705 U CN 209551705U
- Authority
- CN
- China
- Prior art keywords
- head
- mounting base
- support
- bracket
- connecting bracket
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000004886 head movement Effects 0.000 title claims abstract description 46
- 238000009434 installation Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The utility model belongs to robotic technology field, it is desirable to provide a kind of head movement structure and the robot with the structure, including the first steering engine, the second steering engine, the first mounting base, the second mounting base and equipped with shake the head end and put head end switching support.Wherein, first steering engine is built in the first mounting base and is installed on head by the first mounting base, second steering engine is installed in the second mounting base and is connected to trunk body, second mounting base is connected on trunk body, the point head end of switching support is connected to the output end of the first steering engine and is rotationally connected in the first mounting base, and end of shaking the head is connected to the output end of the second steering engine and is rotationally connected in the second mounting base.The head movement structure and robot of the utility model, pass through the connection of switching support, it can use two driving devices and shake the head jointly controlling the left and right on head and/or nod up and down, each driving device need to only export rotating torque, without bearing the weight on head, overall structure is simple and compact, moves flexible and changeable.
Description
Technical field
The utility model belongs to robotic technology field, is to be related to a kind of head movement structure and have more specifically
The robot of the structure.
Background technique
Robot is the automatic installations for executing work.It can receive mankind commander, and it is good can also to run preparatory layout
Program, can also be according to principle program action formulated with artificial intelligence technology.With the continuous development of robot technology, machine
People is adapted to the living and working environment of the mankind because of it, assists or the mankind is replaced to complete various operations, gradually in service, doctor
It is widely applied in the multiple fields such as treatment, education, amusement.However currently, the head movement mode of robot is relatively simple,
It is difficult to meet the growing individual demand of people or motion structure is more complicated, manufacturing cost is higher.
Utility model content
The purpose of this utility model is to provide a kind of head movement structures, to solve machine existing in the prior art
The technical problem that the movement of head part is more single and structure is more complex.
In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of head movement structure is provided, it should
Head movement structure includes head, move the head relative to trunk body；The head movement structure further includes
One driving device, the second driving device, the first mounting base, the second mounting base and the switching branch equipped with shake the head end and point head end
Frame；
The first driving device is built in first mounting base and is installed on by first mounting base described
On head, to drive the head to nod along the vertical direction movement；
Second driving device is installed in second mounting base, and one end is connected to the trunk body, to drive
Yaw motion is done in the horizontal direction in the head；
The switching support, described head end are connected to the output end of the first driving device and are rotationally connected with described
In first mounting base, the end of shaking the head is connected to the output end of second driving device and is rotationally connected with second installation
On seat；
Second mounting base is connected on the trunk body.
Further, the switching support includes shake the head bracket, the first connecting bracket and the second connecting bracket；
The bracket of shaking the head, it is in T shape, equipped with described head end and the end of shaking the head, on the two sides of described head end minute
It is not connected with first connecting bracket and second connecting bracket, described head end drives with described first in the vertical direction
There are gaps for dynamic device；
First connecting bracket is rotationally connected on one end of first mounting base；
Second connecting bracket, it is opposite with first connecting bracket and be arranged in parallel, it is rotationally connected with described first
On the other end of mounting base.
Further, first mounting base includes fixed bracket, the first engaging lug and opposite with first engaging lug
And the second engaging lug disposed in parallel；
The fixed bracket is in Π font, is built-in with the first driving device, and both ends are connected separately with described first and connect
Lug and second engaging lug；
The turning end of first engaging lug and second engaging lug pass through respectively first bearing be rotationally connected with it is described
In first connecting bracket and second connecting bracket.
Further, limiting device, the institute of second engaging lug are convexly equipped on the lateral wall of second connecting bracket
Turning end is stated to rotate within the preset angle range by the limit of the limiting device.
Further, the limiting device includes the limited post of two gap settings, and described turn of second engaging lug
Moved end is between two limited posts by the corresponding limited post backstop.
Further, second mounting base includes the first support and the second support；
First support is revolving body, is installed on the trunk body, offers connecting hole along the centre of gyration；
Second support has cavity, is connected on first support, is equipped with second driving device and institute
The output end for stating the second driving device is located in the cavity；
The bracket of shaking the head includes:
Rack body is connected separately with first connecting bracket and second connecting bracket on two sides；With
The body of rod passes through the connecting hole and the cavity sequentially to be connected on the output end of second driving device.
Further, second bearing is plugged in the connecting hole, the middle section tight fit of the body of rod is plugged in
On the inner ring of two bearings, in radial direction toward being convexly equipped with supporting table, second axis at center on the inner sidewall of the connecting hole
The outer ring held is connected to the supporting table on the axial direction of connecting hole.
Further, the top of the periphery of Yu Suoshu connecting hole, first support offers sliding slot；
It is convexly equipped with slide bar towards the direction of first support in first connecting bracket, the slide bar is located at the sliding slot
It is interior and can be slided in the sliding slot.
The purpose of this utility model, which also resides in, provides a kind of robot, which includes trunk, further includes being installed on institute
The above-mentioned head movement structure on trunk is stated, the trunk is the trunk body.
Further, the trunk includes the shoulder support for offering through-hole, and second mounting base is plugged in described logical
Hole is simultaneously installed on the shoulder support.
Head movement structure provided by the utility model and the robot with the structure, by be connected to head first
Driving device carrys out drive head and does to nod movement up and down, and is connected to the second driving device of trunk body and carrys out drive head and control
Yaw motion, and by increasing a switching support newly, the point head end of switching support and end of shaking the head are connected respectively to the first driving
On the output end of device and the output end of the second driving device, and the both ends are rotationally connected with the first mounting base and second respectively
In mounting base, two driving devices can be used as a result, shakes the head jointly controlling the left and right on head and/or movement of nodding up and down,
Each driving device need to only export rotating torque, and the weight without bearing head, generally, the head movement structure and have should
The robot of structure it is simple and compact for structure, move it is more flexible changeable.
Detailed description of the invention
To be illustrated more clearly that the technical scheme in the embodiment of the utility model, embodiment or the prior art will be retouched below
Attached drawing needed in stating is briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is that head movement structure is installed on the schematic perspective view on shoulder support in the utility model embodiment；
Fig. 2 is the schematic perspective view of the shoulder support of robot in the utility model embodiment；
Fig. 3 is the schematic perspective view of head movement structure in the utility model embodiment；
Fig. 4 is the exploded perspective schematic diagram of head movement structure in Fig. 3；
Fig. 5 is the schematic perspective view of bracket of shaking the head in the utility model embodiment；
Fig. 6 is the three-dimensional cutaway view of the first support of the second mounting base in the utility model embodiment；
Fig. 7 is the schematic perspective view of the first engaging lug of the first mounting base in the utility model embodiment；
Fig. 8 is the schematic perspective view of the second engaging lug of the first mounting base in the utility model embodiment.
Wherein, the label in attached drawing is as follows:
10- head movement structure, 20- shoulder support, 21- through-hole；
100- first driving device/the first steering engine, the first steering wheel of 110-, the second driving device of 200-/the second steering engine, 210-
Second steering wheel；
The first mounting base of 300-, 310- fixed bracket, the first engaging lug of 320-, the second engaging lug of 330-, 331- turning end；
The second mounting base of 400-, the first support of 410-, 411- connecting hole, 4111- supporting table, 412- sliding slot, 420- second
Support, 421- cavity；
500- switching support, 510- shake the head end, 513- rack body, the 5131- of bracket, 511- point head end, 512- that shake the head are solid
Determine platform, the 514- body of rod, 515- cable tray, the first connecting bracket of 520-, 521- slide bar, the second connecting bracket of 530-, 531- limit
Position device/limited post, 532- rubber ring；
The gap 600-, 700- first bearing, 800- second bearing.
Specific embodiment
For technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, below
In conjunction with specific drawings and the specific embodiments, further elaborate to the utility model.Wherein, the utility model is embodied
The same or similar label indicates the same or similar element or element with the same or similar functions in the attached drawing of example.
It should be understood that ground, specific embodiment disclosed below are intended for explaining the utility model, it is not used to limit originally practical new
Type.
It should be noted that when element is referred to as " being fixed on " or " being installed on " or " being set to " or " being connected to " another element
On, it, which can be, is directly or indirectly located on another element.For example, when an element referred to as " is connected to " another yuan
On part, it, which can be, is directly or indirectly connected on another element.Term " length ", " width ", "upper", "lower", " left side ",
The orientation or position of the instructions such as " right side ", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outside" are based on attached drawing
Shown in orientation or position, be only easy for describing, should not be understood as the limitation to the technical program.
In addition, term " first ", " second " only for ease of description, be not understood to indicate or imply relative importance or
Person implicitly indicates the quantity of technical characteristic.The meaning of " plurality " is two or more, unless otherwise specifically defined.
In short, for the ordinary skill in the art, can understand the concrete meaning of above-mentioned term as the case may be.
A kind of realization of head movement structure provided by the utility model is carried out in detail below in conjunction with attached drawing 1 to Fig. 8
Description.
It should be noted that the head movement structure 10, it can be move head relative to trunk body, it specifically, can
To realize the left and right yaw motion on head, or movement of nodding up and down, or carry out left and right simultaneously and shake the head and movement etc. of nodding up and down.
In addition, the head movement structure 10 can be in robot, being also used on other intellectual products.Generally, which transports
The simple and compact for structure of structure 10 is moved, movement is flexible and changeable, convenient for being widely applied.
The head movement structure 10 includes head (not shown).As shown in Figure 1, the head movement structure 10 further includes first
Driving device 100, the second driving device 200, the first mounting base 300, the second mounting base 400 and equipped with end 512 and point of shaking the head
The switching support 500 of head end 511.Wherein, first driving device 100 is mainly nodded to drive head fortune along the vertical direction
Dynamic, the second driving device 200 mainly does yaw motion to drive head in the horizontal direction.It specifically in the present embodiment, is letter
Change the head movement structure, first driving device 100 uses the first steering engine 100, and the second driving device 200 uses the second steering engine
200, certainly, in fact, other suitable driving structures can be respectively adopted in first driving device 100 and the second driving device 200
Or driving product., below will be with first driving device 100 for the first steering engine 100 for convenience of introduction, the second driving device 200 is
Second steering engine 200 is illustrated.
For convenience of the corresponding movement for realizing head, as shown in figures 1 and 3, the first steering engine 100 is built in the first mounting base
It is installed on head in 300 and by the first mounting base 300.Accordingly, the second steering engine 200 is installed in the second mounting base 400,
And second one end (specially one end opposite with its output end) of steering engine 200 be connected to trunk body (not shown).Such as Fig. 3 institute
Show, the point head end 511 of switching support 500 is connected to the output end of the first steering engine 100, and the head end 511 is rotationally connected with the
In one mounting base 300.Accordingly, the end 512 of shaking the head of switching support 500 is connected to the output end of the second steering engine 200, and the company of rotation
It is connected in the second mounting base 400, and the second mounting base 400 is connected on trunk body.
It is to be appreciated that in the present embodiment, the working principle of the head movement structure 10 is approximately as the first steering engine
After 100 startings, the first mounting base 300 links the first steering engine 100 together under the drive of the first steering wheel 110 of the first steering engine 100
Point head end 511 relative to switching support 500 rotates, to realize the upper and lower movement of nodding on head.Because of the point of switching support 500
Head end 511 is rotationally connected in the first mounting base 300, and the first steering engine 100 is built in the first mounting base 300, so, first
Steering engine 100 need to export rotating torque, and the weight without bearing head.
Similarly, the second steering engine 200 starting after, switching support 500 shake the head end 512 the steering wheel of the second steering engine 200 band
Dynamic lower rotation, and then the first steering engine 100, first for driving the point head end 511 of switching support 500 and switching support 500 to connect
Mounting base 300 etc. rotates together, to realize the left and right yaw motion on head.Because 512 rotation of end of shaking the head of switching support 500 connects
It being connected in the second mounting base 400, the second mounting base 400 is connected on trunk body, so, the second steering engine 200 need to export rotation
Torque, without bearing the weight on head.
Further, a kind of specific embodiment as head movement structure 10 provided by the utility model, such as Fig. 3 and
Shown in Fig. 4, switching support 500 includes shake the head bracket 510, the first connecting bracket 520 and the second connecting bracket 530.Wherein, such as
Shown in Fig. 5, bracket 510 of shaking the head is in T shape, and bracket 510 of shaking the head is equipped with point head end 511 and end 512 of shaking the head, the second connecting bracket
530 is opposite with the first connecting bracket 520 and be arranged in parallel.It should be noted that the point head end 511 for bracket 510 of shaking the head is to transfer
The point head end 511 of bracket 500, the 512 i.e. end 512 of shaking the head of switching support 500 of end of shaking the head for bracket 510 of shaking the head.In addition, for convenience
Internal cabling, and during avoiding head movement, the bad phenomenons such as winding occur for electric wire, shake the head bracket 510 in axial direction
On offer cable tray 515.
As shown in figure 3, connecting for convenience of the rotation between point head end 511 and the first mounting base 300 for realizing switching support 500
It connects, is connected separately with the first connecting bracket 520 and the second connecting bracket 530 on the two sides of the point head end 511 for bracket 510 of shaking the head.
Wherein, the first connecting bracket 520 is rotationally connected on one end of the first mounting base 300, and the second connecting bracket 530 is rotationally connected with
On the other end of first mounting base 300.As shown in Figure 1, can swimmingly be rotated for convenience of the first steering engine 100, bracket 510 of shaking the head
There are gaps 600 with the first steering engine 100 in the vertical direction for point head end 511.
Further, a kind of specific embodiment as head movement structure 10 provided by the utility model, such as Fig. 3 and
Shown in Fig. 4, the first mounting base 300 includes fixed bracket 310, the first engaging lug 320 and opposite and parallel with the first engaging lug 320
The second engaging lug 330 being arranged.As shown in Figure 3 and Figure 4, fixed bracket 310 is in Π font, and fixed bracket 310 is built-in with first
Steering engine 100.In this way, first steering engine 100 can be not necessarily to bear the weight on head under the support protection of fixed bracket 310.For another example
Shown in Fig. 3 and Fig. 4, for the rotation connection for further realizing the first mounting base 300 and switching support 500, the two of bracket 310 are fixed
End is connected separately with the first engaging lug 320 and the second engaging lug 330, and the turning end 331 of the first engaging lug 320 passes through first bearing
700 are rotationally connected in the first connecting bracket 520.Accordingly, the turning end 331 of the second engaging lug 330 passes through first bearing 700
It is rotationally connected in the second connecting bracket 530.
Further, a kind of specific embodiment as head movement structure 10 provided by the utility model, for by head
The upper and lower of portion nods movement limitation within the preset angle range, as shown in Figure 4 and Figure 8, the lateral wall of the second connecting bracket 530
On be convexly equipped with limiting device 531, the turning end 331 of the second engaging lug 330 is by the limit of limiting device 531 in preset angle
Rotation in range.
Specifically in the present embodiment, limiting device 531 includes the limited post 531 of two gaps 600 setting, the second engaging lug
330 turning end 331 is between two limited posts 531 by corresponding 531 backstop of limited post.Certainly, in fact, limiting device
531 can be used other structures also to realize limit.In addition, to reduce the turning end 331 of the second engaging lug 330 in motion process
With the collision between corresponding limited post 531, rubber ring 532 is socketed on each limited post 531.
Further, a kind of specific embodiment as head movement structure 10 provided by the utility model, such as Fig. 3 institute
Show, the second mounting base 400 includes the first support 410 and the second support 420.As shown in Figure 4 and Figure 6, the first support 410 is revolution
Body, for convenience of the rotation connection realized between the first mounting base 300 and switching support 500, the first support 410 is opened up along the centre of gyration
There is connecting hole 411.As shown in Figure 1, to make the second steering engine 200 be not subject to the weight on head, the first support 410 is installed on trunk body
On.Accordingly, as shown in Figure 3 and Figure 4, the second steering engine 200 is mounted in the second mounting base 400 for convenience, the second support 420
With cavity 421, wherein the second support 420 is connected on the first support 410 and is equipped with the second steering engine 200, specifically, the
The output end of two steering engines 200 is located in cavity 421, and it is outer to be connected to that one end opposite with its output end is located at the first support 410
On trunk body.It is to be appreciated that the second steering wheel 210 of the second steering engine 200 is located in cavity 421.
As shown in figure 5, bracket 510 of shaking the head includes rack body 513 and the body of rod 514.Wherein, as shown in figure 3, rack body
The first connecting bracket 520 and the second connecting bracket 530 are connected separately on 513 two sides.As shown in Figure 3 and Figure 4, the body of rod 514
It, as a result, can be by switching support sequentially across connecting hole 411 and cavity 421 to be connected on the output end of the second steering engine 200
500 end 512 of shaking the head is connected on the output end of the second steering engine 200.It should be noted that improve the head movement structure 10
Reliability, as shown in Figure 3 and Figure 5, towards being convexly equipped on the direction of the first mounting base 300 on the rack body 513 of switching support 500
Fixed station 5131, wherein the fixation bracket 310 of the first mounting base 300 is connected on fixed station 5131.
Further, a kind of specific embodiment as head movement structure 10 provided by the utility model, to realize
Rotation connection between switching support 500 and the second mounting base 400 is plugged with the second axis in the connecting hole 411 of the first support 410
Hold 800, wherein the middle section tight fit of the body of rod 514 is plugged on the inner ring of second bearing 800, it should be noted that, the body of rod
514 middle section is step bars (not shown), resists the inner ring of second bearing 800 by step (not shown) and limits the with this
Two bearings 800 are up moved along axial direction, as shown in fig. 6, in radial direction on the inner sidewall of the connecting hole 411 of the first support 410
It is convexly equipped with supporting table 4111 at toward center, the outer ring of second bearing 800 is connected to supporting table on the axial direction of connecting hole 411
4111 are moved down with limiting second bearing 800 along axial direction.
It is to be appreciated that adopt the structure, one can be improved the intensity of switching support 500；Two can make second
Steering engine 200 need to export rotating torque and the left and right yaw motion on head can be realized；Three can also be transferred to the weight on head
On the trunk body of second mounting base 400 or even robot, carried without the second steering engine 200.
Further, a kind of specific embodiment as head movement structure 10 provided by the utility model, to improve
The stability and reliability of head or so yaw motion, as shown in Figure 3 and Figure 6, in the first support 410 connecting hole 411 it is outer
It encloses, the top of the first support 410 offers sliding slot 412.Accordingly, as shown in Fig. 3, Fig. 4 and Fig. 7, the first of switching support 500
Slide bar 521 is convexly equipped with towards the direction of the first support 410 in connecting bracket 520, wherein slide bar 521 is located in sliding slot 412 and can be
It is slided in sliding slot 412.It should be noted that ensure the smoothness slided in sliding slot 412, the end of slide bar 521 and sliding slot 412
Slot shape adaptation, usually brachycephalic.
The utility model also provides a kind of robot, and it further includes being installed on trunk which, which includes trunk (not shown),
On above-mentioned head movement structure 10, wherein trunk is above-mentioned trunk body.Specifically in the present embodiment, such as Fig. 2 institute
Show, trunk (not shown) includes the shoulder support 20 for offering through-hole 21.As shown in Figure 1, for convenience by above-mentioned head movement knot
Structure 10 is installed on trunk, and the second mounting base 400 is plugged in through-hole 21 and is installed on shoulder support 20.
It should be noted that the head movement structure 10 is identical as the above-mentioned structure of head movement structure 10, also phase is acted on
Together, details are not described herein.
Generally, which need to only increase a switching newly by using the motion structure on the head of above-mentioned robot
Bracket 500 and multiple bearings can realize that the upper and lower of head nods and/or left and right yaw motion by two steering engines, and each rudder
Machine need to only export rotating torque, without bearing the weight on head, so, the robot it is simple and compact for structure, energy consumption is few, production
At low cost, movement is flexible and changeable, conducive to widely promoting and applying.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model.For this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of the claims of the utility model.
Claims (10)
1. a kind of head movement structure, including head, move the head relative to trunk body, which is characterized in that institute
Stating head movement structure further includes first driving device, the second driving device, the first mounting base, the second mounting base and equipped with shaking
Head end and the switching support for putting head end；
The first driving device is built in first mounting base and is installed on the head by first mounting base
On, to drive the head to nod along the vertical direction movement；
Second driving device is installed in second mounting base, and one end is connected to the trunk body, described to drive
Yaw motion is done in the horizontal direction in head；
The switching support, described head end are connected to the output end of the first driving device and are rotationally connected with described first
In mounting base, the end of shaking the head is connected to the output end of second driving device and is rotationally connected with second mounting base
On；
Second mounting base is connected on the trunk body.
2. head movement structure according to claim 1, which is characterized in that the switching support includes shake the head bracket, the
One connecting bracket and the second connecting bracket；
The bracket of shaking the head, it is in T shape, equipped with described head end and the end of shaking the head, connect respectively on the two sides of described head end
It is connected to first connecting bracket and second connecting bracket, described head end is filled with first driving in the vertical direction
Set that there are gaps；
First connecting bracket is rotationally connected on one end of first mounting base；
Second connecting bracket, it is opposite with first connecting bracket and be arranged in parallel, it is rotationally connected with first installation
On the other end of seat.
3. head movement structure according to claim 2, which is characterized in that first mounting base include fixed bracket,
First engaging lug and second engaging lug opposite and disposed in parallel with first engaging lug；
The fixed bracket is in Π font, is built-in with the first driving device, both ends are connected separately with first engaging lug
With second engaging lug；
The turning end of first engaging lug and second engaging lug passes through first bearing respectively and is rotationally connected with described first
In connecting bracket and second connecting bracket.
4. head movement structure according to claim 3, which is characterized in that the lateral wall of second connecting bracket is convex
Equipped with limiting device, the turning end of second engaging lug is by the limit of the limiting device in preset angular range
Interior rotation.
5. head movement structure according to claim 4, which is characterized in that the limiting device includes two gap settings
Limited post, the turning end of second engaging lug stopped between two limited posts by the corresponding limited post
Gear.
6. according to the described in any item head movement structures of claim 3 to 5, which is characterized in that second mounting base includes
First support and the second support；
First support is revolving body, is installed on the trunk body, offers connecting hole along the centre of gyration；
Second support has cavity, is connected on first support, is equipped with second driving device and described the
The output end of two driving devices is located in the cavity；
The bracket of shaking the head includes:
Rack body is connected separately with first connecting bracket and second connecting bracket on two sides；With
The body of rod passes through the connecting hole and the cavity sequentially to be connected on the output end of second driving device.
7. head movement structure according to claim 6, which is characterized in that it is plugged with second bearing in the connecting hole,
The middle section tight fit of the body of rod is plugged on the inner ring of second bearing, in radial direction on the inner sidewall of the connecting hole
It is convexly equipped with supporting table at toward center, the outer ring of the second bearing is connected to the supporting table on the axial direction of connecting hole.
8. head movement structure according to claim 6, which is characterized in that the periphery of Yu Suoshu connecting hole, described first
The top of support offers sliding slot；
It is convexly equipped with slide bar towards the direction of first support in first connecting bracket, the slide bar is positioned in the chute simultaneously
It can be slided in the sliding slot.
9. a kind of robot, including trunk, which is characterized in that the robot further include be installed on the trunk according to power
Benefit requires 1 to 8 described in any item head movement structures, and the trunk is the trunk body.
10. robot according to claim 9, which is characterized in that the trunk includes the shoulder support for offering through-hole,
Second mounting base is plugged in the through-hole and is installed on the shoulder support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822277575.4U CN209551705U (en) | 2018-12-29 | 2018-12-29 | A kind of head movement structure and the robot with the structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822277575.4U CN209551705U (en) | 2018-12-29 | 2018-12-29 | A kind of head movement structure and the robot with the structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209551705U true CN209551705U (en) | 2019-10-29 |
Family
ID=68306871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822277575.4U Active CN209551705U (en) | 2018-12-29 | 2018-12-29 | A kind of head movement structure and the robot with the structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209551705U (en) |
-
2018
- 2018-12-29 CN CN201822277575.4U patent/CN209551705U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109571454A (en) | Robot and its head movement structure | |
| CN206066467U (en) | A kind of robot head and neck motion | |
| CN105437247A (en) | Expression robot | |
| CN106272459A (en) | A kind of anthropomorphic robot | |
| CN101786275B (en) | Thirteen-degree-of-freedom head mechanism of humanoid robot | |
| CN105962876A (en) | Capsule controller of endoscope | |
| CN206883651U (en) | Robot and its Rotation of eyeball device | |
| CN206123670U (en) | Humanoid robot | |
| CN204295698U (en) | Anthropomorphic robot shoulder joint kinesitherapy control device | |
| CN106217354B (en) | A kind of bionical multiple degrees of freedom spinal structure of anthropomorphic robot multi-segmental | |
| CN206296909U (en) | The wing motion and the robot with it of robot | |
| CN209551705U (en) | A kind of head movement structure and the robot with the structure | |
| CN202263309U (en) | Medical electronic linear accelerator rack | |
| CN208248333U (en) | A kind of Doraemon | |
| CN217597095U (en) | Bionic neck of silence modularization intelligence based on step-by-step servo motor drive | |
| CN203380887U (en) | Multiple-joint bionic machine insect | |
| CN207173468U (en) | Height-adjustable chain footstep | |
| CN205950740U (en) | A two actuating mechanism for realizing robot shakes head and nods | |
| CN205900013U (en) | Advertisement magic cube of integral rotary tray | |
| CN206717906U (en) | A kind of end rotation device and the robot head in central rotation | |
| CN109896005B (en) | Four rotor crafts of improvement structure | |
| CN104626189B (en) | Amusement robot spherical three-degree-of-freedom parallel mechanism | |
| CN207359119U (en) | A kind of machine for realizing human facial expressions | |
| CN206170070U (en) | A single motor drives a plurality of articular robots motion structure | |
| CN206342252U (en) | A kind of joint rotates model automatically |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231214 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |