CN209903252U - Special robot head rotating damping system - Google Patents
Special robot head rotating damping system Download PDFInfo
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- CN209903252U CN209903252U CN201920424549.1U CN201920424549U CN209903252U CN 209903252 U CN209903252 U CN 209903252U CN 201920424549 U CN201920424549 U CN 201920424549U CN 209903252 U CN209903252 U CN 209903252U
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- 238000013016 damping Methods 0.000 title claims abstract description 85
- 230000035939 shock Effects 0.000 claims abstract description 19
- 230000000116 mitigating effect Effects 0.000 claims abstract description 11
- 238000003825 pressing Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 abstract description 12
- 230000001174 ascending effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 14
- 238000006073 displacement reaction Methods 0.000 description 5
- 239000011324 bead Substances 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The utility model discloses a rotatory shock mitigation system of special robot head relates to the robot field. The damping head comprises a head main body, a head holder and a damping module, wherein a notch is formed in the bottom of the head main body, the head holder is connected with the head main body from the notch, and the lower end of the head holder is connected with the damping module; the damping module comprises an upper cover plate and a lower cover plate, the upper cover plate and the lower cover plate are both arc-shaped cover plates and form a damping cavity in a surrounding manner, a damping piston is arranged in the damping cavity, a spring is sleeved at the lower end of the damping piston, and the tail end of the spring is in contact with the bottom of the damping cavity; and the damping cavity is filled with a rubber pad. The utility model discloses inside and the bottom in robot head have set up two kinds of shock mitigation systems, can effectively subtract the ascending vibrations of horizontal direction and vertical side, prevent that the robot head from suffering the damage at the in-process that removes.
Description
Technical Field
The utility model relates to a robot field, in particular to rotatory shock mitigation system of special robot head.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Robots perform tasks that replace or assist human tasks, such as manufacturing, construction, or hazardous tasks. With the development of science and technology, the robot gradually enters the danger exploration field, replaces people to carry out some dangerous works, and just needs the robot head to possess intelligent visual hearing device to be applied to adverse circumstances.
The use environment of the special robot is generally not flat. The robot inevitably generates jolt in the moving process, and the head of the robot is a vital part of the whole robot, so the damage of the head of the robot caused by jolt should be particularly noticed, and the traditional robot does not consider the shock absorption function or has poor shock absorption effect.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: the utility model provides a rotatory shock mitigation system of special type robot head has set up two kinds of shock mitigation systems in the inside and the bottom of robot head, can effectively subtract the vibrations in horizontal direction and the vertical direction, prevents that the robot head from suffering the damage at the in-process that removes. The damping module is simple and convenient to install, simple in material and good in damping effect. The pitching cloud platform and the rotating cloud platform are arranged, motors adopted by the cloud platforms are all servo motors, and the rotation of the motors can be accurately controlled, so that the pitching and rotating operations of the robot head can be accurately controlled, and a foundation is laid for the identification of the position and the distance of an object.
The utility model adopts the technical scheme as follows:
a special robot head rotation damping system comprises a head main body, a head holder and a damping module, wherein a notch is formed in the bottom of the head main body, the head holder is connected with the head main body from the notch, and the lower end of the head holder is connected with the damping module; the damping module comprises an upper cover plate and a lower cover plate, the upper cover plate and the lower cover plate are both arc-shaped cover plates and form a damping cavity in a surrounding manner, a damping piston is arranged in the damping cavity, a spring is sleeved at the lower end of the damping piston, and the tail end of the spring is in contact with the bottom of the damping cavity; and the damping cavity is filled with a rubber pad.
The utility model discloses a two kinds of shock mitigation systems, firstly the shock attenuation module, secondly the rubber pearl.
The utility model discloses a shock attenuation principle does, when the head main part of robot produced horizontal vibrations, produces slight displacement between head main part and the head cloud platform promptly, owing to set up the rubber pearl, the rubber pearl can produce deformation under the effect of horizontal direction extrusion force this moment, because the special properties of rubber, this can prevent to bump between head main part and the head cloud platform to play the cushioning effect. In addition, the rubber beads are in smooth contact with the outer wall of the head main body, so that the work of the pitching cloud deck cannot be influenced.
When the head of robot produced vertical vibrations, this vibrations can be transmitted to the rotation motor for the rotation motor produces slight displacement in vertical direction, and transmits this effort to damping piston, and damping piston downstream under the effect of power keeps stable under the effect of spring and rubber pad again, thereby plays the shock attenuation effect.
Furthermore, the connecting part of the upper cover plate and the lower cover plate is provided with mutually matched buckles, and the buckles enable the upper cover plate and the lower cover plate to be partially overlapped; a bolt is also included that extends through the overlapping portion. The utility model discloses a damping module's shell mounting means is simple and convenient firm.
Furthermore, the upper end of the damping piston penetrates through an upper cover plate of the damping module and extends into the head holder, a pressing plate is arranged at the upper end of the damping piston, and the damping piston is positioned on the part of the damping cavity and provided with an arc-shaped bulge; the spring is arranged at the lower end of the arc-shaped bulge. The utility model discloses an arc arch, the clamp of each other with the rubber pad to when the effect was received to the damping piston power, the rubber pad provided reaction force for it.
Further, head cloud platform includes every single move cloud platform and rotates the cloud platform, the width of pressing the clamp plate and the inside width phase-match that rotates the cloud platform.
Further, the distance between the pressing plate and the bottom of the inner wall of the rotating holder is equal to the distance between the bottom end of the damping piston and the bottom of the inner wall of the damping cavity.
Further, the junction of head main part and head cloud platform still is provided with the rubber pearl, half of rubber pearl inlays in locating the outer wall of head cloud platform, and the outer wall surface of half protrusion head cloud platform, and with the outer wall smooth contact of head main part.
Further, a pitching motor is arranged inside the pitching cloud platform, output ends are arranged at two ends of the pitching motor, and the output ends are fixedly connected with the inside of the head main body through a pitching rotating shaft.
The utility model discloses a swing joint between every single move cloud platform and the head shell, the both ends of every single move cloud platform are equipped with the bearing with the junction of head shell for every single move cloud platform and head shell all can carry out the rotation of certain angle for the axle of this bearing. The rotation is realized through a pitching motor, and the output end of the pitching motor is connected with the bearing.
Furthermore, a rotating motor is arranged inside the rotating holder, and the output end of the rotating motor is fixedly connected with the bottom of the pitching holder through a rotating shaft; the other end of the rotating motor is arranged at the top end of the damping piston.
The utility model discloses a swing joint between rotation cloud platform and the every single move cloud platform, the top of rotating the cloud platform is equipped with the bearing with the junction of every single move cloud platform bottom for the rotation of certain angle is carried out for the axle to the axis that every single move cloud platform can this bearing. The rotation is realized by rotating the motor, and the output end of the rotating motor is connected with the bearing.
The utility model discloses a pitch motor is servo motor with the rotation motor. The motor can accurately control the rotation of the motor, so that accurate positioning is realized, and the precision can reach 0.001 mm. The main operation principle of the servo motor is that the servo motor has a function of sending pulses, and the corresponding number of pulses can be sent out when the servo motor rotates by an angle, so that a closed loop is formed by the pulses received by the servo motor, a system can count how many pulses are sent to the servo motor, and meanwhile, how many pulses are received, and therefore the rotation of the motor can be accurately controlled.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the utility model relates to a rotatory shock mitigation system of special type robot head has set up two kinds of shock mitigation systems in the inside and the bottom of robot head, can effectively subtract the ascending vibrations of horizontal direction and vertical side, prevents that the robot head from suffering the damage at the in-process that removes.
2. The utility model relates to a rotatory shock mitigation system of special type robot head, the shock attenuation module simple installation, the material is simple, and the shock attenuation effect is good.
3. The utility model relates to a rotatory shock mitigation system of special robot head has set up every single move cloud platform and has rotated the cloud platform, and the motor that above-mentioned cloud platform adopted is servo motor, the rotation of control motor that can be accurate to the basis is put for the discernment of object position, distance to every single move, the rotation operation of accurate control robot head.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of the present invention;
fig. 2 is a schematic structural diagram of the present invention;
FIG. 3 is an enlarged schematic view of portion A of FIG. 2;
in the figure, 1-head body, 2-head holder, 21-pitching holder, 211-pitching motor, 212-pitching rotating shaft, 22-rotating holder, 221-rotating motor, 222-rotating shaft, 4-damping module, 41-upper cover plate, 42-lower cover plate, 43-buckle, 5-damping cavity, 51-damping piston, 511-pressing plate, 512-arc bulge, 52-spring, 53-rubber pad, 6-bolt and 7-rubber bead.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The present invention will be described in detail with reference to fig. 1, 2 and 3.
Example 1
A special robot head rotation damping system is shown in figures 1, 2 and 3 and comprises a head main body 1, a head holder 2 and a damping module 4, wherein a gap is formed in the bottom of the head main body 1, the head holder 2 is connected with the head main body 1 from the gap, and the lower end of the head holder 2 is connected with the damping module 4; the damping module 4 comprises an upper cover plate 41 and a lower cover plate 42, the upper cover plate 41 and the lower cover plate 42 are both arc-shaped cover plates and surround to form a damping cavity 5, a damping piston 51 is arranged in the damping cavity 5, a spring 52 is sleeved at the lower end of the damping piston 51, and the tail end of the spring 52 is in contact with the bottom of the damping cavity 5; the damping cavity 5 is filled with a rubber pad 53.
Example 2
This example is a supplementary explanation of example 1.
The utility model discloses a shock attenuation principle does, when the head main part of robot produced horizontal vibrations, produces slight displacement between head main part 1 and the head cloud platform 2 promptly, owing to set up rubber pearl 7, rubber pearl 7 can produce deformation under the effect of horizontal direction extrusion force this moment, because the special properties of rubber, this can prevent to bump between head main part 1 and the head cloud platform 2 to play the cushioning effect. In addition, since the rubber beads 7 are in smooth contact with the outer wall of the head main body 1, the operation of the pitch head 21 is not affected.
When the head of the robot generates vertical vibration, the vibration is transmitted to the rotating motor 221, so that the rotating motor 221 generates slight displacement in the vertical direction, the acting force is transmitted to the damping piston 51, the damping piston 51 moves downwards under the action of the force, and is kept stable under the action of the spring 52 and the rubber pad 53, and the damping effect is achieved.
Example 3
The present embodiment is different from embodiment 1 in that:
the upper end of the damping piston 51 penetrates through the upper cover plate 41 of the damping module 4 and extends into the head holder 2, the upper end of the damping piston 51 is provided with a pressing plate 511, and the damping piston 51 is positioned on the part of the damping cavity 5 and is provided with an arc-shaped bulge 512; the spring 52 is disposed at the lower end of the arc-shaped protrusion 512.
The head pan/tilt head 2 includes a pitch pan/tilt head 21 and a rotation pan/tilt head 22, and the width of the pressing plate 511 matches the inner width of the rotation pan/tilt head 22.
The distance from the pressing plate 511 to the bottom of the inner wall of the rotating holder 22 is equal to the distance from the bottom end of the damping piston 51 to the bottom of the inner wall of the damping cavity 5.
Example 4
The present embodiment is different from embodiment 1 in that:
the junction of head main part 1 and head cloud platform 2 still is provided with rubber pearl 7, half of rubber pearl 7 inlays in locating the outer wall of head cloud platform 2, and the outer wall surface of half protruding head cloud platform 2, and with the outer wall smooth contact of head main part 1.
When the head main part 1 of robot produced horizontal vibrations, produced slight displacement between head main part 1 and the head cloud platform 2 promptly, owing to set up rubber pearl 7, rubber pearl 7 can produce deformation under the effect of horizontal direction extrusion force this moment, because the special properties of rubber, this can prevent to bump between head main part 1 and the head cloud platform 2 to play the cushioning effect. In addition, since the rubber beads 7 are in smooth contact with the outer wall of the head main body 1, the operation of the pitch head 21 is not affected.
Example 5
The present embodiment is different from embodiment 1 in that:
pitching cloud platform 21 is inside to be provided with pitching motor 211, pitching motor 211's both ends all are equipped with the output, and the output passes through the inside fixed connection of every single move pivot 212 and head main part 1.
The utility model discloses a swing joint between every single move cloud platform 21 and the head shell 11, the both ends of every single move cloud platform 21 are equipped with the bearing with the junction of head shell 11 for every single move cloud platform 21 and head shell 11 all can carry out the rotation of certain angle for the axle with the axis of this bearing. The rotation is realized by the pitching motor 211, and the output end of the pitching motor 211 is connected with the bearing.
A rotating motor 221 is arranged inside the rotating holder 22, and an output end of the rotating motor 221 is fixedly connected with the bottom of the pitching holder 21 through a rotating shaft 222; the other end of the rotating motor 221 is disposed at the top end of the damping piston 51.
The utility model discloses a swing joint between rotation cloud platform 22 and the every single move cloud platform 21 rotates the top of cloud platform 22 and the junction of every single move cloud platform 21 bottom and is equipped with the bearing for every single move cloud platform 21 can carry out the rotation of certain angle for the axle by this bearing. The rotation is realized by the rotating motor 221, and the output end of the rotating motor 221 is connected with the bearing.
The above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can be covered within the protection scope of the present invention without the changes or substitutions conceived by the inventive work within the technical scope disclosed by the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.
Claims (8)
1. The utility model provides a rotatory shock mitigation system of special type robot head which characterized in that: the damping device comprises a head main body (1), a head cloud platform (2) and a damping module (4), wherein a gap is formed in the bottom of the head main body (1), the head cloud platform (2) is connected with the head main body (1) from the gap, and the lower end of the head cloud platform (2) is connected with the damping module (4); the damping module (4) comprises an upper cover plate (41) and a lower cover plate (42), the upper cover plate (41) and the lower cover plate (42) are both arc-shaped cover plates and surround to form a damping cavity (5), a damping piston (51) is arranged in the damping cavity (5), a spring (52) is sleeved at the lower end of the damping piston (51), and the tail end of the spring (52) is in contact with the bottom of the damping cavity (5); and the damping cavity (5) is filled with a rubber pad (53).
2. The special robot head rotation damping system of claim 1, wherein: the connecting part of the upper cover plate (41) and the lower cover plate (42) is provided with mutually matched buckles (43), and the buckles (43) enable the upper cover plate (41) and the lower cover plate (42) to be partially overlapped; further comprising a bolt (6) extending through the overlapping portion.
3. The special robot head rotation damping system of claim 1, wherein: the upper end of the damping piston (51) penetrates through an upper cover plate (41) of the damping module (4) and extends into the head holder (2), a pressing plate (511) is arranged at the upper end of the damping piston (51), and an arc-shaped bulge (512) is arranged on the part, located on the damping cavity (5), of the damping piston (51); the spring (52) is arranged at the lower end of the arc-shaped bulge (512).
4. The special robot head rotation damping system of claim 3, wherein: the head holder (2) comprises a pitching holder (21) and a rotating holder (22), and the width of the pressing plate (511) is matched with the inner width of the rotating holder (22).
5. The special robot head rotation damping system of claim 4, wherein: the distance between the pressing plate (511) and the bottom of the inner wall of the rotating holder (22) is equal to the distance between the bottom end of the damping piston (51) and the bottom of the inner wall of the damping cavity (5).
6. The special robot head rotation damping system of claim 4, wherein: pitching motor (211) is arranged inside pitching cloud platform (21), the both ends of pitching motor (211) all are equipped with the output, and the output passes through the inside fixed connection of every single move pivot (212) and head main part (1).
7. The special robot head rotation damping system of claim 4, wherein: a rotating motor (221) is arranged inside the rotating holder (22), and the output end of the rotating motor (221) is fixedly connected with the bottom of the pitching holder (21) through a rotating shaft (222); the other end of the rotating motor (221) is arranged at the top end of the damping piston (51).
8. The special robot head rotation damping system of claim 1, wherein: the junction of head main part (1) and head cloud platform (2) still is provided with rubber pearl (7), half of rubber pearl (7) are inlayed and are located in the outer wall of head cloud platform (2), and the outer wall surface of half protruding head cloud platform (2), and with the outer wall smooth contact of head main part (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920424549.1U CN209903252U (en) | 2019-03-29 | 2019-03-29 | Special robot head rotating damping system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920424549.1U CN209903252U (en) | 2019-03-29 | 2019-03-29 | Special robot head rotating damping system |
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| CN209903252U true CN209903252U (en) | 2020-01-07 |
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| CN201920424549.1U Active CN209903252U (en) | 2019-03-29 | 2019-03-29 | Special robot head rotating damping system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112714566A (en) * | 2020-12-24 | 2021-04-27 | 宋玉龙 | Control equipment embedded with dust-proof electromechanical integration |
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2019
- 2019-03-29 CN CN201920424549.1U patent/CN209903252U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112714566A (en) * | 2020-12-24 | 2021-04-27 | 宋玉龙 | Control equipment embedded with dust-proof electromechanical integration |
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Effective date of registration: 20231024 Address after: 341000 A02, second floor, building 3, Ganzhou national high level talent Industrial Park, Ganzhou economic and Technological Development Zone, Ganzhou City, Jiangxi Province Patentee after: Jiangxi Guanying Intelligent Technology Co.,Ltd. Address before: 065000 c9-2-301a Wanda Plaza, Guangyang District, Langfang City, Hebei Province Patentee before: LANGFANG ZHHENG ROBOT TECHNOLOGY Co.,Ltd. |