CN209936921U

CN209936921U - Head moving device and robot

Info

Publication number: CN209936921U
Application number: CN201920370050.7U
Authority: CN
Inventors: 覃争鸣; 李忠峰
Original assignee: Rich Intelligent Science And Technology Ltd Is Reflected In Guangzhou
Current assignee: Rich Intelligent Science And Technology Ltd Is Reflected In Guangzhou
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2020-01-14
Anticipated expiration: 2029-03-21

Abstract

The utility model discloses a head moving device, which comprises a head moving mechanism and a neck moving mechanism, wherein the head moving mechanism is used for controlling the head to rotate up and down, and the neck moving mechanism is used for controlling the head to rotate horizontally; the head moving mechanism comprises a first bearing rotating assembly and a first motor, the first bearing rotating assembly comprises a first bearing fixing piece and a first bearing inner ring, and the first motor comprises a first motor bracket and a first rotor; the neck moving mechanism comprises a transmission assembly and a second motor, and the second motor comprises a second motor support and a second rotor. The utility model also discloses a robot. The head moving device of the utility model can efficiently control the head of the robot to rotate up and down, left and right, thereby realizing high-efficiency simulation effect and flexible rotation; in addition, the head part is connected with the body through the head moving device, and the head part of the robot can be conveniently mounted, maintained and detached.

Description

Head moving device and robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a be applied to head mobile device of robot and including this head mobile device's robot.

Background

A Robot (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. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

"bionic robot" refers to a robot that simulates a living being and performs the work of biological characteristics. At present, mechanical pets are very popular, and in addition, the sparrow-imitating robot can play a role in environmental monitoring and has wide development prospect. In the twenty-first century, people will enter an aging society, the development of a humanoid robot can make up for the serious shortage of young labor, solve the social problems of family service, medical treatment and the like of the aging society, such as a partner robot, and can open up a new industry and create a new employment opportunity. Each joint of the bionic robot is similar to a biological joint, and the movement form of the bionic robot is similar to that of a human. The head of the traditional bionic robot is relatively inflexible to rotate, the rotating process is rigid and slow, the bionic effect is extremely poor, and the requirement of the modern society on the high-simulation robot is difficult to meet. In addition, the head of the traditional bionic robot is inconvenient to disassemble and assemble, so that the problems of inconvenient fault maintenance and the like are caused.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, one of the purposes of the utility model is to provide a head moving device to overcome the problem that the existing head moving device is difficult to satisfy the high simulation and high-efficiency rotation of a robot, and the head moving installation and the disassembly process are inconvenient for human beings.

A second object of the utility model is to provide a robot to overcome above-mentioned current robot can't realize that the simulation mankind carries out the head motion, installation and dismantlement process inconvenient scheduling problem.

The utility model discloses an one of the purpose adopts following technical scheme to realize:

a head moving device comprises a head moving mechanism and a neck moving mechanism, wherein the head moving mechanism is used for controlling the head to rotate up and down, and the neck moving mechanism is used for controlling the head to rotate horizontally;

the head moving mechanism comprises a first bearing rotating assembly and a first motor, the first bearing rotating assembly comprises a first bearing fixing piece and a first bearing inner ring, and the first motor comprises a first motor bracket and a first rotor;

the first motor support is arranged to be fixedly connected with the neck, the first bearing fixing piece is arranged to be fixedly connected with the head, and the rotor is fixedly connected with the first bearing fixing piece;

the neck moving mechanism comprises a transmission assembly and a second motor, and the second motor comprises a second motor bracket and a second rotor;

the second motor support is arranged to be fixedly connected with the shoulder, one end of the transmission assembly is fixedly connected with the rotor, and the other end of the transmission assembly is used for fixedly connecting the neck.

Furthermore, one end of the first rotor is sleeved with a first coupler, and the first coupler penetrates through the first bearing inner ring and is sleeved with the first bearing fixing piece;

when the first rotor rotates, the first bearing fixing piece is driven to rotate.

The first bearing rotating assembly and the second bearing rotating assembly are arranged on two sides of the neck part side by side and are coaxial;

the second bearing rotating assembly comprises a second bearing fixing piece and a second bearing inner ring, the second bearing fixing piece is fixedly connected with the head, and the second bearing inner ring is fixedly connected with the neck.

Further, a motor groove is fixedly formed in the neck, the motor groove is used for containing a first motor, and the first motor bracket is fixedly connected with the motor groove;

and a limiting plate fixing piece is fixedly arranged on the motor groove and is fixedly connected with the second bearing inner ring.

Furthermore, a first limiting circuit board is arranged on one side, back to the neck, of the second bearing fixing piece, the first limiting circuit board is fixedly connected with the second bearing fixing piece, and a first limiting conducting strip is arranged on the first limiting circuit board;

the limiting plate fixing piece extends outwards to form a fixing shaft, the fixing shaft sequentially penetrates through the second bearing inner ring and the first limiting circuit board, the fixing shaft is fixedly connected with the second bearing inner ring, and the tail end of the fixing shaft is provided with a first limiting touch piece;

when the first motor rotates, the head is driven to rotate up and down relative to the neck, the first limiting conducting strip rotates relative to the first limiting touch piece, and the first motor stops rotating when the first limiting touch piece touches the first limiting conducting strip.

Furthermore, the transmission assembly comprises a second coupler and a head rotating shaft, and one end of the head rotating shaft is provided with a coupling hole for accommodating the second coupler;

the outer contour of the cross section of the second coupler is a regular polygon, and the cross section of the coupling hole is set to be a corresponding regular polygon.

Furthermore, a second limiting circuit board is arranged on one side, facing the head, of the second motor support, a second limiting switch is arranged on one side, facing the head, of the second limiting circuit board, and a second limiting touch piece is arranged on one side, facing the second motor, of the head rotating shaft;

the transmission assembly penetrates through the second limiting circuit board, and two ends of the transmission assembly are respectively connected with the head and the second rotor;

the second motor drives the head rotating shaft and the second limiting touch piece to rotate, and when the second limiting touch piece rotates to touch the second limiting switch, the second motor stops rotating.

Furthermore, a pair of second limiting conducting strips is arranged on the second limiting circuit board, and the pair of second limiting conducting strips are respectively arranged at two positions of the second limiting circuit board;

when the second motor rotates forwards and touches one of the second limiting conducting strips by the second limiting touch piece, the forward rotation of the second motor stops, and when the second motor rotates reversely and touches the other second limiting conducting strip by the second limiting touch piece, the reverse rotation of the second motor stops.

The second purpose of the utility model is realized by adopting the following technical scheme:

a robot comprising a head movement apparatus as claimed in any one of the preceding claims.

The neck is provided with a poking and twisting clamping groove for accommodating the poking and twisting clamping buckle;

when the head, the neck and the shoulder are assembled, the poking and twisting buckle is inserted into the poking and twisting clamping groove.

Compared with the prior art, the beneficial effects of the utility model reside in that:

(1) the utility model discloses when the head moving device was applied to the robot, through setting up head moving mechanism and neck moving mechanism, wherein head moving mechanism was used for controlling the head and rotates from top to bottom, and neck moving mechanism is used for controlling the head level and rotates. By arranging the head moving mechanism and the neck moving mechanism, the head of the robot is efficiently controlled to rotate up and down, left and right, the efficient simulation effect is realized, and the rotation is flexible; in addition, the head part is connected with the body through the head moving device, and the head part of the robot can be conveniently mounted, maintained and detached.

(2) The utility model discloses the robot head activity is nimble, and high efficiency control robot head carries out the tilting, realizes high-efficient emulation effect, and rotatory nimble also conveniently installs and the maintenance is dismantled.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the robot of the present invention;

FIG. 2 is a schematic diagram of a head-shoulder configuration of the robot of FIG. 1;

FIG. 3 is an exploded view of the head-shoulder shown in FIG. 2;

FIG. 4 is a schematic view of the head-shoulder joint shown in FIG. 3

FIG. 5 is a top view of the neck;

FIG. 6 is an exploded view of the neck mobility mechanism;

FIG. 7 is an exploded view of the neck mobility mechanism of FIG. 6

FIG. 8 is an exploded view of the head mobility mechanism of FIG. 3;

fig. 9 is a partial exploded view of the head movement mechanism of fig. 8.

In the figure: 1. a head portion; 2. a shoulder portion; 21. a button is pulled; 3. a neck portion; 30. a pull-button clamping groove; 31. a second motor support; 32. a second limiting circuit board; 33. a second limit switch; 4. a transmission assembly; 41. a second coupling; 411. a rotor bore; 42. a head rotating shaft; 421. a rotating shaft head; 43. a shaft coupling hole; 44. a second limit touch piece; 5. a second motor; 51. a second motor housing; 52. a second rotor; 61. a first bearing rotating assembly; 611. a first bearing fixture; 612. a first bearing inner ring; 62. a first motor; 621. a first motor bracket; 622. a first coupling; 63. a second bearing rotating assembly; 631. a second bearing mount; 632. a second bearing inner ring; 633. a first limit circuit board; 634. a first limiting conducting strip; 71. a motor slot; 72. a limiting plate fixing piece; 73. a fixed shaft; 74. first spacing touching piece.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.

Example 1

As shown in fig. 1, a robot according to an embodiment of the present invention is provided. As shown in fig. 1 to 4, the robot includes a head 1, a shoulder 2, and a neck 3, and the head 1 and the shoulder 2 are connected by the neck 3. Be equipped with on shoulder 2 and dial the buckle 21 of turning round, neck 3 is equipped with and is used for the holding to dial the draw-in groove 30 of turning round of 21 of turning round, and when head 1 (including neck 3) was assembled with shoulder 2, can will dial to turn round buckle 21 and insert to dial and turn round in the draw-in groove 30. Therefore, the head part 1 is tightly installed on the shoulder part 2 by clamping the clamping tongue of the toggle pulling buckle 21 through the toggle pulling clamping groove 30. When the head 1 needs to be disassembled, the toggle buckle 21 can be pulled to one side, so that the clamping tongue of the toggle buckle 21 is withdrawn from the toggle clamping groove 30, the head 1 is disconnected with the shoulder 2, and the head 1 is conveniently disassembled from the shoulder 2.

In a preferred embodiment, the number of the toggle buckles 21 and the toggle slots 30 is a pair, the toggle buckles 21 are respectively disposed on two shoulders of the robot, and correspondingly, the toggle slots 30 are disposed on two sides of the neck 3 (i.e., below temples on two sides of the head 1). When the robot is installed, the head 1 can be placed on the corresponding shoulder 2 after the buckle 21 is pulled and twisted from the left side and the right side, the buckle 21 is pulled and twisted after the two sides are loosened, the clamping tongues of the buckle 21 are pulled and twisted after the two sides are pulled and extend into the pull and twist clamping grooves 30 on the two sides, and the head 1 and the shoulder 2 are fastened and connected. When the robot needs to be disassembled, the toggle button 21 can be pulled from the left side and the right side, the clamping tongues of the toggle button 21 on the two sides are withdrawn from the toggle clamping grooves 30 on the two sides, the head 1 is taken out from the shoulder 2, and the disassembling and assembling process of the robot is completed quickly.

As a preferred embodiment, a spring is arranged in the toggle button 21, and in a natural state, the spring pushes out the latch tongues of the toggle button 21 on both sides, that is, when the head 1 is mounted on the shoulder 2, the toggle button 21 is naturally inserted into the toggle button slot 30, so as to tightly and fixedly connect the joint 1 and the shoulder 2. When the head 1 needs to be taken out, the toggle button 21 can be toggled from two sides, and the spring is compressed to enable the clamping tongue to be withdrawn from the toggle clamping groove 30, so that the head 1 is convenient to take out.

Example 2

Example 2 contains all of the above features of example 1, and example 2 is characterized in that: as shown in fig. 1 to 7, a neck part moving mechanism is provided under the neck part 3 of the robot, one end of the neck part moving mechanism is connected to the shoulder part 2 (including the body part), and the other end of the neck part moving mechanism is connected to the head part 1 (including the upper part of the neck part). Through setting up neck movement mechanism, on the one hand can support the weight of head 1, on the other hand also can pass through neck movement mechanism drive head 1 and rotate about, realize the swing joint between head 1 and shoulder 2.

In a preferred embodiment, the neck moving mechanism comprises a fixed component (i.e. the fixed structure of the neck 3), a transmission component 4 and a second motor 5. The second motor 5 includes a second motor housing 51 (serving as a motor support) and a second rotor 52, the second rotor 52 is embedded in the second motor housing 51, and the second rotor 52 rotates relative to the second motor housing 51. One side of the fixing component close to the second motor 5 is fixedly connected with the second motor shell 51, and one side of the fixing component close to the shoulder 2 is fixedly connected with the shoulder 2, namely, the second motor shell 51 is fixed with the robot shoulder 2 through the fixing component, so that the second rotor 52 rotates relative to the shoulder 2. One end of the transmission assembly 4 close to the second motor 5 is fixedly connected with the second rotor 52, and one end of the transmission assembly 4 close to the head 1 is fixedly connected with the head 1, that is, when the second motor 5 rotates, the second rotor 52 directly drives the head 1 to rotate. In the present embodiment, the transmission assembly 4 and the second motor 5 are vertically inserted into the body of the robot (below the shoulders 2), and therefore, when the second rotor 52 rotates, the head 1 is driven to rotate left and right, that is, the head 1 rotates relative to the shoulders 2, so as to simulate a human head-swinging posture.

In a preferred embodiment, the second motor 5 is a servo motor, and the rotation angle of the rotor is precisely controlled by the servo motor, so that the rotation range of the head 1 can be effectively controlled, the maximum horizontal swing range of the head 1 can be ensured, and the head 1 and the shoulder 2 can be prevented from being damaged due to over-rotation of the head 1.

In a preferred embodiment, the transmission assembly 4 includes a second coupling 41 and a head rotating shaft 42, and one end of the head rotating shaft 42 near the second motor 5 is provided with a coupling hole 43 for receiving the second coupling 41. During the installation, cup joint second rotor 52 with second shaft coupling 41 earlier, insert the hole in head 1 below with head pivot 42 again, insert second shaft coupling 41 in the shaft hole 43 of alling oneself with at last, realize from this that the power output of second motor 5 to head 1, through the transmission effect of drive assembly 4, be favorable to the power of second motor 5 to transmit smoothly to head 1, conveniently control the rotation process of head 1.

In a preferred embodiment, the outer profile of the cross section of the second coupling 41 is a regular hexagon, and correspondingly, the cross section of the coupling hole 43 is a regular hexagon. Through the second coupling 41 and the coupling hole 43 which are arranged in the regular hexagon, when the second coupling 41 rotates in the coupling hole 43, the second coupling 41 drives the head rotating shaft 42 to synchronously rotate, and when the second coupling 41 and the head rotating shaft 42 need to be disassembled, the second coupling 41 can be directly pulled out from the coupling hole 43, so that the installation and the disassembly processes of the transmission assembly 4 are facilitated.

In a preferred embodiment, the fixing assembly includes a second motor bracket 31, and the second motor bracket 31 is fixedly connected to the second motor housing 51. Second motor support 31 is provided with second limit circuit board 32 towards one side of head 1, and second limit circuit board 32 still is provided with second limit switch 33 towards head 1 one side, and second limit switch 33 is fixed to be set up on second limit circuit board 32 promptly, and second limit circuit board 32 is fixed to be set up on second motor support 31, and second motor support 31 is fixed to be set up on fixed subassembly, and fixed subassembly is fixed to be set up on shoulder 2. Therefore, the shoulder 2, the fixing member, the second motor bracket 31, the second limit circuit board 32, and the second limit switch 33 are fixedly provided together. Correspondingly, a second limit touching part 44 is disposed on one side of the head rotating shaft 42 facing the second motor 5, and in this embodiment, the second limit touching part 44 is a stopper fixedly disposed on the head rotating shaft 42. The transmission assembly 4 (including the second coupling 41 and the head rotating shaft 42) vertically penetrates through the second motor bracket 31 and the second limiting circuit board 32, and is connected with the neck 3 and the second rotor 52 through two ends of the transmission assembly 4, so that a power transmission effect is realized. In the using process, the second motor 5 is powered on and then rotates to drive the head rotating shaft 42 to rotate, the head rotating shaft 42 further drives the second limit touch piece 44 to rotate relative to the shoulder 2, at the moment, the second limit switch 33 is static relative to the shoulder 2, namely, the second limit touch piece 44 rotates relative to the second limit switch 33. When the second limit touch piece 44 rotates to touch the second limit switch 33, the second limit switch 33 is squeezed to send an electric signal, so that the second motor 5 is controlled to stop rotating, and the effect of limiting the rotation amplitude of the head 1 and the neck 3 to be too large is achieved.

In a preferred embodiment, the second limit circuit board 32 is provided with a pair of second limit switches 33, the pair of second limit switches 33 are distributed at two positions of the second limit circuit board 32 in a staggered manner, and the second limit touching member 44 is located between the two second limit switches 33. When the second motor 5 rotates in the forward direction, the second limit touching member 44 rotates to touch one of the second limit switches 33, and the forward rotation of the second motor 5 is stopped. Similarly, when the second motor 5 rotates reversely, the second limit touching member 44 rotates to touch another second limit switch 33, and the second motor 5 stops rotating reversely. Through setting up two second limit switch 33, the turned angle of head 1 equals the contained angle of two second limit switch 33 promptly, and then controls the amplitude of rotation of head 1, simulates human neck amplitude of rotation.

As a preferred embodiment, a pair of second limit switches 33 are arranged offset from each other by 180 °, thereby determining that the maximum amplitude of rotation of the head 1 is 180 °, like the maximum amplitude of rotation of the human neck.

In a preferred embodiment, a rotating shaft head 421 for driving the head 1 is disposed at an end of the head rotating shaft 42 away from the shaft coupling hole 43, and correspondingly, a rotating shaft hole is disposed below the head 1. The cross sections of the rotating shaft head 421 and the rotating shaft hole are similar to a D shape, the cross section profile of the rotating shaft head includes a long side and a similar arc shape enclosed by five short sides, and the long side and the five short sides enclose a D shape. By means of the matching of the D-shaped rotating shaft head 421 and the D-shaped rotating shaft hole, the head 1 is conveniently driven to rotate through the rotating shaft head 421. On the other hand, the semicircular hole close to the D-shaped rotating shaft head 421 can be used for arranging an electric wire, because the electric wire is arranged close to the rotating center, the requirement on the length of the electric wire is not high because the rotating path of the electric wire is short in the rotating process, and the problem that the electric wire is wound in the rotating process of the head 1 can be effectively solved.

In a preferred embodiment, the second coupling 41 is provided with rotor holes 411 that penetrate both ends of the second coupling 41, and when the second coupling 41 is coupled to the second rotor 52, the second rotor 52 is inserted into the rotor holes 411. The cross section of the rotor head is set to be semicircular, and the cross section of the rotor hole 411 is set to be semicircular corresponding to the rotor head. Through the semicircular second rotor 52 and the semicircular second coupling 41, the second rotor 52 can drive the second coupling 41 to rotate, and a good transmission effect is achieved.

Example 3

Example 3 differs from example 2 in that: the outer contour of the cross section of the second coupling 41 is in a regular triangle shape, a regular quadrangle shape, a regular pentagon shape, a regular heptagon shape, a regular octagon shape or a D shape, and correspondingly, the cross section of the coupling hole 43 is in a regular triangle shape, a regular quadrangle shape, a regular pentagon shape, a regular heptagon shape, a regular octagon shape or a D shape, so that the two-way clutch has the same transmission effect and is convenient to disassemble and assemble.

Example 4

Example 4 differs from example 2 in that: the cross-sectional shapes of the rotating shaft head 421 and the rotating shaft hole are semi-circular, quasi-semi-circular, triangular, quadrilateral, pentagonal or hexagonal, and have the same transmission function.

Example 5

Example 5 contains all the features of example 1 and example 2 is characterized by: fig. 8 shows the head and neck portion shown in fig. 3. The head and neck part comprises a head part 1 and a neck part 3, the head part 1 is movably connected with the neck part 3, and the head part 1 can rotate up and down relative to the neck part 3 (namely, the head part 1 performs head raising and lowering actions relative to the neck part 3). During installation, the neck 3 may be inserted into the body, thereby enabling the head 1 to perform head-up and head-down movements relative to the body, mimicking the head-up and head-down movements of a human body.

As shown in fig. 8-9, which are exploded views of the head and neck portion shown in fig. 3. The head and neck part comprises a head 1, a neck 3 and a head moving mechanism. The head part 1 is connected with the neck part 3 through a head moving mechanism, so that the head part 1 rotates up and down relative to the neck part 3, and the simulated head part 1 performs head raising and lowering actions relative to the neck part 3.

The head moving mechanism includes a first bearing rotating component 61 and a first motor 62, the first bearing rotating component 61 includes a first bearing fixing part 611 and a first bearing inner ring 612, the first bearing fixing part 611 is sleeved on the first bearing inner ring 612, and the first bearing fixing part 611 can rotate relative to the first bearing inner ring 612 (i.e. the bearing seat rotates relative to the inner ring). The first motor 62 includes a first motor support 621 and a first rotor (not shown) inserted into the first motor support 621 and rotatable relative to the first motor support 621. In this embodiment, the first bearing fixing part 611 is fixedly connected to the head 1 (i.e., the first bearing fixing part 611 and the head 1 rotate synchronously), the first motor support 621 is fixedly connected to the neck 3 (i.e., the first motor support 621 and the neck 3 cannot rotate relatively), the first rotor extends out from the motor support 621 and sequentially passes through the first bearing inner ring 612 and the first bearing fixing part 611, and the end of the first rotor is fixedly connected to the first bearing fixing part 611 (where the fixed connection is a socket joint, i.e., the first rotor and the first bearing fixing part 611 rotate synchronously).

Since the first motor holder 621 is fixedly connected to the neck 3, the first bearing holder 611 is driven to rotate when the first rotor rotates, and thus the first bearing holder 611 rotates with respect to the first motor holder 621. Since the first bearing holder 611 is fixedly connected with the head 1, the first motor support 621 is fixedly connected with the neck 3, thereby driving the head 1 to rotate with respect to the neck 3. In the present embodiment, the first bearing rotating assembly 61 and the first motor 62 are horizontally arranged side by side, so that when the head 1 rotates around the first bearing rotating assembly 61, the head is raised or lowered relative to the robot body which is vertically arranged. Through setting up first bearing rotation assembly 61 and first motor 62, make things convenient for robot head 1 to carry out the tilting, realize high-efficient emulation effect, rotatory nimble also conveniently installs and the maintenance is dismantled.

In a preferred embodiment, the first motor 62 is a servo motor, and the angle of rotation of the rotor is precisely controlled by the servo motor, so that the rotation range of the head 1 can be effectively controlled, the maximum range of head-lowering and head-raising of the head 1 is ensured, and the head 1, the neck 3 and the head moving mechanism are prevented from being damaged by over-rotation of the head 1.

In a preferred embodiment, a first coupling 622 is further sleeved on the end of the first rotor, and the first rotor drives the first bearing fixing member 611 to rotate through the first coupling 622. In a specific embodiment, the cross section of the first coupler 622 is configured as a regular hexagon, and correspondingly, the first bearing fixing member 611 is provided with a receiving hole for receiving the first coupler 622, and the cross section of the receiving hole is also configured as a regular hexagon. Thus, the first coupling 622 passes through the first bearing inner ring 612 and is sleeved with the first bearing fixture 611, the first rotor supports the first bearing inner ring 612, and the first bearing inner ring 612 is fixedly connected with the neck 3. The first bearing fixing member 611 is sleeved on the first bearing inner ring 612, so that the first bearing fixing member 611 can rotate relative to the first bearing inner ring 612, and the rotation of the first coupler 622 drives the first bearing fixing member 611 to rotate, thereby driving the head 1 to rotate.

As a preferred embodiment, the head moving mechanism further includes a second bearing rotating assembly 63, the first bearing rotating assembly 61 and the second bearing rotating assembly 63 are arranged side by side and horizontally on two sides of the head 1, corresponding to the temple of the two sides of the head, and the axis of the first bearing rotating assembly 61 is the same as the axis of the second bearing rotating assembly 63. Therefore, when the head 1 rotates up and down relative to the neck 3, the first bearing rotating assembly 61 and the second bearing rotating assembly 63 on the two sides ensure that the head 1 is stressed in balance in the rotating process relative to the neck 3, the head 1 cannot incline due to the gravity action of the head 1, the first bearing rotating assembly 61 and the second bearing rotating assembly 63 can bear the gravity of the head 1 in a balanced manner, and the rotating process of the head 1 is ensured to be performed stably.

In one embodiment, second bearing rotation assembly 63 includes a second bearing retainer 631 and a second bearing inner ring 632, wherein second bearing retainer 631 is coupled to second bearing inner ring 632, and second bearing retainer 631 is rotatable with respect to second bearing inner ring 632. The second bearing fixing member 631 is fixedly connected with the head 1 (i.e. the second bearing fixing member 631 is synchronously driven to rotate when the head 1 rotates), and the second bearing inner ring 632 is fixedly connected with the neck 3 (i.e. when the head 1 rotates, the second bearing fixing member 631 is ensured to rotate relative to the second bearing inner ring 632 to facilitate the rotation of the head 1), so that when the head 1 rotates relative to the neck 3, the head 1 drives the second bearing fixing member 631 to rotate relative to the second bearing inner ring 632, thereby realizing that the first bearing rotating assembly 61 and the second bearing rotating assembly 63 support the head 1 from the left side and the right side of the head 1, and providing a movable connection mechanism for the rotation of the head 1 relative to the neck 3.

In a preferred embodiment, a motor groove 71 is further fixedly disposed at the top of the neck 3, the motor groove 71 is used for accommodating the first motor 62, and the first motor support 621 is fixedly connected to the motor groove 71. On the one hand, by providing the motor groove 71 at the top of the neck 3, the first motor 62 is conveniently accommodated, preventing the first motor 62 from being displaced during the rotation of the head 1. On the other hand, the motor groove 71 can also ensure a secure connection between the neck 3 and the first motor support 621.

In a preferred embodiment, a stopper plate fixture 72 is further provided on the motor groove 71, the stopper plate fixture 72 is fixedly connected to the motor groove 71, and the stopper plate fixture 72 is fixedly connected to the second bearing inner ring 632, so that the neck portion 3 and the second bearing inner ring 632 are relatively fixed, and when the head 1 rotates, the second bearing fixture 631 rotates relative to the second bearing inner ring 632.

As a preferred embodiment, the side of the limiting plate fixing member 72 opposite to the motor groove 71 is further provided with a first limiting circuit board 633, the first limiting circuit board 633 is fixedly connected with the second bearing fixing member 631 (i.e. the first limiting circuit board 633 is relatively fixed with the second bearing fixing member 631), and the first limiting circuit board 633 is provided with a first limiting conductive sheet 634, and the head 1 drives the second bearing fixing member 631 to rotate, so as to drive the first limiting circuit board 633 and the first limiting conductive sheet 634 to rotate. The limiting plate fixing member 72 extends towards the side far away from the motor groove 71 to form a fixing shaft 73, and the fixing shaft 73 is fixedly connected with the limiting plate fixing member 72. The fixing shaft 73 sequentially penetrates through the second bearing inner ring 632 and the first limiting circuit board 633 from right to left, and the fixing shaft 73 is fixedly sleeved with the second bearing inner ring 632 (i.e., the fixing shaft 73 and the second bearing inner ring 632 are relatively fixed). The end of the fixed shaft 73 is also provided with a first limit tap 74, whereby the first limit tap 74 is fixed relative to the neck 3.

When the first motor 62 rotates, the first motor 62 drives the head 1 to rotate relative to the neck 3, the head 1 drives the first limit circuit board 633 and the first limit conductive sheet 634 to rotate, and the neck 3 and the first limit touching member 74 are in a stationary state. When the first limit conductive plate 634 rotates to the first limit touch piece 74, the first motor 62 stops rotating. Through the setting of first spacing touching piece 74 and first spacing conducting strip 634, it stops to continue to rotate after head 1 is rotatory to certain range to ensure, prevents that head 1 rotation range too big and damage robot hardware equipment, also can ensure the luffing motion process of accurate control head 1.

As a preferred embodiment, a pair of first limiting conductive sheets 634 is disposed on the first limiting circuit board 633, the pair of first limiting conductive sheets 634 are disposed at two positions of the first limiting circuit board 633, and the two first limiting conductive sheets 634 are spaced from each other by a certain angle. The first motor 62 rotates forward, and when one of the first position-limiting conductive pads 634 rotates to touch the first position-limiting touch member 74, the forward rotation of the first motor 62 stops. Similarly, when the first motor 62 rotates reversely and the other first position-limiting conductive pad 634 rotates to touch the first position-limiting touch member 74, the first motor 62 stops rotating reversely. By providing the pair of first position-limiting conducting strips 634, the first motor 62 can be positioned in the forward or reverse rotation process, and the hardware is prevented from being damaged due to the overlarge rotation amplitude in the head raising or lowering process of the head 1.

Example 6

Example 6 differs from example 5 in that: the head moving mechanism only comprises a first bearing rotating component 61 and a first motor 62, the first bearing rotating component 61 is arranged in the middle of the motor groove 71, and the head moving mechanism does not comprise a second bearing rotating component 63. The first bearing rotating assembly 61 at the middle position can also play a role of supporting the weight of the head 1, and meanwhile, the first bearing rotating assembly is arranged at the middle part of the motor groove 71 (corresponding to the gravity center of the head 1), so that the balance of stress can be ensured in the rotating process of the head 1.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.

Claims

1. The head moving device is characterized by comprising a head moving mechanism and a neck moving mechanism, wherein the head moving mechanism is used for controlling the head to rotate up and down, and the neck moving mechanism is used for controlling the head to rotate horizontally;

2. The head moving device as claimed in claim 1, wherein a first coupling is sleeved on one end of the first rotor, and the first coupling passes through the first bearing inner ring and is sleeved with the first bearing fixing member;

3. The head movement device according to claim 1, further comprising a second bearing rotating assembly, wherein the first bearing rotating assembly and the second bearing rotating assembly are arranged side by side on both sides of the neck, and the first bearing rotating assembly and the second bearing rotating assembly are coaxial;

4. The head moving device as claimed in claim 3, wherein a motor slot is fixedly provided at the neck portion, the motor slot is used for accommodating a first motor, and the first motor bracket is fixedly connected with the motor slot;

5. The head moving device as claimed in claim 4, wherein a first limiting circuit board is disposed on a side of the second bearing fixing member facing away from the neck, the first limiting circuit board is fixedly connected to the second bearing fixing member, and a first limiting conductive sheet is disposed on the first limiting circuit board;

6. The head moving device as claimed in claim 1, wherein the transmission assembly includes a second coupling and a head rotating shaft, one end of the head rotating shaft is provided with a coupling hole for receiving the second coupling;

the outer contour of the cross section of the second coupler is polygonal, and the cross section of the coupling hole is set to be a corresponding polygon.

7. The head moving device as claimed in claim 6, wherein the second motor bracket is provided with a second limit circuit board on a side facing the head, the second limit circuit board is provided with a second limit switch on a side facing the head, and the head rotating shaft is provided with a second limit touching member on a side facing the second motor;

8. The head moving device as claimed in claim 7, wherein the second limiting circuit board is provided with a pair of second limiting conductive sheets, and the pair of second limiting conductive sheets are respectively provided at two positions of the second limiting circuit board;

9. A robot comprising a head movement apparatus according to any one of claims 1 to 8.

10. The robot of claim 9, comprising a head, a neck and a shoulder, wherein the shoulder is provided with a toggle buckle, and the neck is provided with a toggle clamping slot for accommodating the toggle buckle;