CN209850939U - Connecting rod head shaking mechanism of service robot - Google Patents
Connecting rod head shaking mechanism of service robot Download PDFInfo
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- CN209850939U CN209850939U CN201920391249.8U CN201920391249U CN209850939U CN 209850939 U CN209850939 U CN 209850939U CN 201920391249 U CN201920391249 U CN 201920391249U CN 209850939 U CN209850939 U CN 209850939U
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Abstract
The utility model discloses a connecting rod oscillating mechanism of a service robot, which comprises a rotating seat, a base, a steering engine bearing, a steering engine, a turntable, a rotating shaft, a connecting rod, a bearing cover, a steering engine disc and a rotating bearing; the upper part of the rotating seat is connected with the head of the robot; the base is used as the foundation of the head shaking mechanism; the steering engine and the bearing cover are installed on the base, the output end of a steering engine bearing is connected with a steering engine disc, the steering engine disc is matched with a turntable, the rotation of the steering engine disc drives the rotation of the turntable, a shaft connected with the steering engine bearing is arranged on the turntable, the turntable is assembled with a connecting rod through the steering engine bearing, the other end of the connecting rod is matched with a rotating shaft through the steering engine bearing, the rotating shaft extends into the rotating shaft, and the rotation of the rotating shaft drives the rotation of the rotating seat; during operation, the steering wheel rotates, drives the steering wheel dish rotatory, and then drives the connecting rod, and the connecting rod rotation drives the axis of rotation, and the axis of rotation drives the roating seat rotatory, realizes the action of shaking the head of robot. The problem of current mechanism of shaking the head wear easily or inconvenient line is crossed is solved.
Description
Technical Field
The utility model relates to a bionic robot's mechanism of shaking head, concretely relates to service robot connecting rod mechanism of shaking head.
Background
Nowadays, with the continuous improvement of the education level of people, fewer people are willing to engage in service industries with low technical requirements and low added values, such as welcome, consultation, reception and other work contents. With the increasing maturity of the robot technology, especially the development and application of the technologies of motion control, voice semantic recognition, image recognition, intelligent interaction and the like in the field of humanoid robots, the humanoid robot can be more vivid and more prominent, and meanwhile, the prospect of the future market of the humanoid service robot is more extensive, and the head of the humanoid robot needs to complete a series of actions such as head shaking and the like. However, in the robot oscillating mechanism in the prior art, a gear transmission mode is adopted, or a mode that an output shaft of a steering engine and a motor are directly connected and driven, and a gap is generated between gears due to the abrasion of the motion between the gears in the gear transmission mode; the mode that steering wheel, motor output shaft lug connection drive are adopted, and the inconvenient head of line crossing, and the equipment is very troublesome again.
Therefore, the existing oscillating mechanism needs to be optimized to be better applied to the bionic robot, so that better using effect and better practicability are obtained.
Disclosure of Invention
An object of the utility model is to provide a service robot connecting rod mechanism of shaking head for solve the current easy wearing and tearing of mechanism of shaking head or the inconvenient problem of crossing the line.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a connecting rod oscillating mechanism of a service robot comprises a rotating seat, a base, a steering engine bearing, a steering engine, a rotating disc, a rotating shaft, a connecting rod, a bearing cover, a steering engine disc and a rotating bearing; the robot head is connected above the rotating seat, and the rotating seat drives the robot head to rotate; the base is connected with a fixed point or a robot body and serves as a foundation of the oscillating mechanism; the steering engine and the bearing cover are mounted on the base, the output end of the steering engine bearing is connected with a steering engine disc, the steering engine disc is matched with a rotary disc, the rotary disc is driven to rotate by the rotation of the steering engine disc, a shaft connected with the steering engine bearing is arranged on the rotary disc, the rotary disc is assembled with a connecting rod through the steering engine bearing, the other end of the connecting rod is matched with a rotating shaft through the steering engine bearing, the rotating shaft extends into the rotating shaft, and the rotating shaft rotates to drive the rotating seat to rotate; during operation, the base is fixed, the steering wheel is installed on the base, the steering wheel rotates to drive the steering wheel disc to rotate, the connecting rod is further driven, the connecting rod rotates to drive the rotating shaft to rotate, the rotating shaft rotates to drive the rotating seat to rotate, and the robot swings.
Preferably, there is the installing port of being connected with the robot head in above-mentioned roating seat upper end, and the roating seat centre is hollow, and the roating seat bottom is cylindric, and the external diameter of cylindric appearance cooperatees with rolling bearing's internal diameter, realizes that the roating seat rotates under rolling bearing's restraint.
Preferably, the bottom of the base is provided with an interface connected with a robot body or a fixed base, the base is internally provided with an installation interface of a bearing cover, and the base is connected with an outer ring of the rotating bearing through the matching of the base and the bearing cover, so that the relative rotation of the rotating seat and the base is realized.
Preferably, the outer diameter of the rotary table is matched with the inner diameter of the steering engine disc, so that the rotary table is connected with the steering engine disc.
Preferably, the output end of the rotating shaft is fixedly connected with the rotating base.
Preferably, the bottom of the rotating shaft is provided with a shaft connected with a steering engine bearing.
Preferably, the inner diameter of the bearing cap is larger than the outer diameter of the output end of the rotating shaft.
The utility model has the advantages of as follows:
the utility model discloses a gear drive's wearing and tearing problem has been eliminated in the connecting rod design, has solved the line problem of walking of directly linking the mode for bionic robot's design has obtained bigger practicality and reliability.
Drawings
Fig. 1 is a perspective view of the connecting rod head shaking mechanism of the service robot and the head assembly.
Fig. 2 is a perspective view of the connecting rod head shaking mechanism of the service robot of the present invention.
Fig. 3 is a perspective view of a second view angle of the link tilting head mechanism of the service robot of the present invention.
Fig. 4 is a perspective view of a third viewing angle of the connecting rod head-shaking mechanism of the service robot of the present invention.
Fig. 5 is a perspective view of the link tilting head mechanism of the service robot with the omitted base.
In the figure: 1. a rotating base; 2. a base; 3. a steering engine bearing; 4. a steering engine; 5. a turntable; 6. a rotating shaft; 7. a connecting rod; 8. a bearing cap; 9. a steering engine disc; 10. and rotating the bearing.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle", and the like used in the present specification are for the sake of clarity only, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof are also considered to be the scope of the present invention without substantial changes in the technical content.
Example 1
Referring to fig. 1-5, a connecting rod head shaking mechanism of a service robot comprises a rotating seat 1, a base 2, a steering gear bearing 3, a steering gear 4, a turntable 5, a rotating shaft 6, a connecting rod 7, a bearing cover 8, a steering gear disk 9 and a rotating bearing 10; the robot head is connected above the rotating seat 1, and the rotating seat 1 rotates to drive the robot head to rotate; the base 2 is connected with a fixed point or a robot body and used as a foundation of the oscillating mechanism; the steering engine 4 and the bearing cover 8 are installed on the base 2, the bearing output end of the steering engine 4 is connected with a steering engine disc 9, the steering engine disc 9 is matched with the rotary disc 5, the rotary disc 5 is driven to rotate by rotation of the steering engine disc 9, a shaft connected with the steering engine bearing 3 is arranged on the rotary disc 5, the rotary disc 5 is assembled with the connecting rod 7 through the steering engine bearing 3, the other end of the connecting rod 7 is matched with the rotating shaft 6 through the steering engine bearing 3, the rotating shaft 6 extends into the rotating shaft, and rotation of the rotating shaft 6 drives the rotating seat 1 to rotate; during operation, base 2 is fixed, and steering wheel 4 is installed on base 2, and steering wheel 4 is rotatory, drives steering wheel dish 9 rotatory, and then drives connecting rod 7, and connecting rod 7 is rotatory to drive axis of rotation 6 rotatory, and axis of rotation 6 is rotatory to drive roating seat 1 rotatory, realizes the action of shaking the head of robot.
Preferably, the upper end of the rotating base 1 is provided with an installation opening connected with the head of the robot, the middle of the rotating base 1 is hollow, the bottom of the rotating base 1 is cylindrical, and the outer diameter of the cylindrical shape is matched with the inner diameter of the rotating bearing 10, so that the rotating base 1 rotates under the constraint of the rotating bearing 10.
Preferably, the bottom of the base 2 is provided with an interface connected with a robot body or a fixed foundation, the base 2 is internally provided with an installation interface of the bearing cover 8, and the base 2 is connected with an outer ring of the rotating bearing 10 through the matching of the base 2 and the bearing cover 8, so that the relative rotation of the rotating base 1 and the base 2 is realized.
Preferably, the outer diameter of the turntable 5 is matched with the inner diameter of the steering engine disk 9, so that the turntable 5 is connected with the steering engine disk 9.
Preferably, the output end of the rotating shaft 6 is fixedly connected with the rotating base 1.
Preferably, the bottom of the rotating shaft 6 is provided with a shaft connected with the steering gear bearing 3.
Preferably, the inner diameter of the bearing cap 8 is larger than the outer diameter of the output end of the rotating shaft 6.
The working principle is as follows: steering wheel 4 installs on base 2, base 2 installs on robot health or fixing base, the reaction force conduction of steering wheel 4 motion is to base 2 on, steering wheel 4's motion passes through steering wheel dish 9 and drives carousel 5 and rotate, carousel 5 rotates and promotes the motion of connecting rod 7, because connecting rod 7 is connected with axis of rotation 6, the motion conduction of connecting rod 7 is to axis of rotation 6 on, because axis of rotation 6 and the linkage of roating seat 1, so axis of rotation 6's motion drives roating seat 1 and rotates, roating seat 1 upper portion is the robot head of service promptly, realize the rotation of robot head.
The steering engine 4 is fixed on the base 2 through screws.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. The utility model provides a service robot connecting rod mechanism of shaking head which characterized in that: the oscillating mechanism comprises a rotating seat (1), a base (2), a steering engine bearing (3), a steering engine (4), a rotating disc (5), a rotating shaft (6), a connecting rod (7), a bearing cover (8), a steering engine disc (9) and a rotating bearing (10); the robot head is connected to the upper portion of the rotating seat (1), and the rotating seat (1) rotates to drive the robot head to rotate; the base (2) is connected with a fixed point or a robot body and is used as a foundation of the oscillating mechanism; the steering engine (4) and the bearing cover (8) are mounted on the base (2), the bearing output end of the steering engine (4) is connected with a steering engine disc (9), the steering engine disc (9) is matched with the rotary disc (5), the rotary disc (9) drives the rotary disc (5) to rotate, a shaft connected with the steering engine bearing (3) is arranged on the rotary disc (5), the rotary disc (5) is assembled with the connecting rod (7) through the steering engine bearing (3), the other end of the connecting rod (7) is matched with the rotating shaft (6) through the steering engine bearing (3), the rotating shaft (6) extends into the rotating shaft, and the rotating shaft (6) rotates to drive the rotating seat (1) to rotate; during operation, base (2) are fixed, steering wheel (4) are installed on base (2), steering wheel (4) are rotatory, drive steering wheel dish (9) rotatory, and then drive connecting rod (7), and connecting rod (7) are rotatory to drive axis of rotation (6) rotatory, and axis of rotation (6) are rotatory to drive roating seat (1) rotatory, realize the action of shaking the head of robot.
2. A service robot linkage head shaking mechanism according to claim 1, characterized in that: the robot is characterized in that an installation opening connected with the head of a robot is formed in the upper end of the rotating seat (1), the middle of the rotating seat (1) is hollow, the bottom of the rotating seat (1) is cylindrical, the outer diameter of the cylindrical shape is matched with the inner diameter of the rotating bearing (10), and the rotating seat (1) rotates under the constraint of the rotating bearing (10).
3. A service robot linkage head shaking mechanism according to claim 1, characterized in that: the base (2) bottom has the interface that is connected with the robot body or fixed basis, and base (2) inside has the installation interface of bearing cap (8), through the cooperation of base (2) and bearing cap (8), is connected base (2) and rolling bearing (10)'s outer loop, realizes the relative rotation of roating seat (1) and base (2).
4. A service robot linkage head shaking mechanism according to claim 1, characterized in that: the outer diameter of the rotary table (5) is matched with the inner diameter of the steering engine disc (9) to realize the connection of the rotary table (5) and the steering engine disc (9).
5. A service robot linkage head shaking mechanism according to claim 1, characterized in that: the output end of the rotating shaft (6) is fixedly connected with the rotating seat (1).
6. A service robot linkage head shaking mechanism according to claim 1, characterized in that: and a shaft connected with the steering engine bearing (3) is arranged at the bottom of the rotating shaft (6).
7. A service robot linkage head shaking mechanism according to claim 1, characterized in that: the inner diameter of the bearing cover (8) is larger than the outer diameter of the output end of the rotating shaft (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920391249.8U CN209850939U (en) | 2019-03-26 | 2019-03-26 | Connecting rod head shaking mechanism of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920391249.8U CN209850939U (en) | 2019-03-26 | 2019-03-26 | Connecting rod head shaking mechanism of service robot |
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| Publication Number | Publication Date |
|---|---|
| CN209850939U true CN209850939U (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920391249.8U Active CN209850939U (en) | 2019-03-26 | 2019-03-26 | Connecting rod head shaking mechanism of service robot |
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| CN (1) | CN209850939U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910023A (en) * | 2019-03-26 | 2019-06-21 | 深圳勇艺达机器人有限公司 | A kind of service robot connecting rod oscillating mechanism |
-
2019
- 2019-03-26 CN CN201920391249.8U patent/CN209850939U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910023A (en) * | 2019-03-26 | 2019-06-21 | 深圳勇艺达机器人有限公司 | A kind of service robot connecting rod oscillating mechanism |
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