CN209936926U - Head moving mechanism and robot - Google Patents
Head moving mechanism and robot Download PDFInfo
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- CN209936926U CN209936926U CN201920370122.8U CN201920370122U CN209936926U CN 209936926 U CN209936926 U CN 209936926U CN 201920370122 U CN201920370122 U CN 201920370122U CN 209936926 U CN209936926 U CN 209936926U
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Abstract
The utility model discloses a head moving mechanism, which comprises a fixed component, a transmission component and a motor, wherein the motor comprises a motor shell and a rotor; one side of the fixing component is fixedly connected with the motor shell, and the other side of the fixing component is used for fixedly connecting the shoulder; one end of the transmission assembly is fixedly connected with the rotor, and the other end of the transmission assembly is fixedly connected with the joint; when the motor rotates, the rotor drives the transmission assembly and the head, and the head rotates relative to the shoulder. The utility model also discloses a robot. The head moving mechanism can assist the head of the robot to flexibly rotate, and the head is connected with the shoulder through the head moving mechanism, so that the robot is convenient to disassemble and assemble.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a be applied to head moving mechanism of robot and including this head moving mechanism'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, and the head of the traditional bionic robot is relatively 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, an object of the present invention is to provide a head moving mechanism to overcome the problems of the robot that the head is not flexible to rotate and the head is inconvenient to disassemble and assemble.
A second object of the present invention is to provide a robot, which overcomes the problems of the traditional robot head, such as inflexible rotation and inconvenient assembly and disassembly.
The utility model discloses an one of the purpose adopts following technical scheme to realize:
a head moving mechanism comprises a fixed component, a transmission component and a motor, wherein the motor comprises a motor shell and a rotor;
one side of the fixing component is fixedly connected with the motor shell, and the other side of the fixing component is used for fixedly connecting the shoulder;
one end of the transmission assembly is fixedly connected with the rotor, and the other end of the transmission assembly is fixedly connected with the joint;
when the motor rotates, the rotor drives the transmission assembly and the head, and the head rotates relative to the shoulder.
Furthermore, the transmission assembly comprises a coupler and a head rotating shaft, and one end of the head rotating shaft is provided with a coupling hole for accommodating the coupler;
the outer contour of the cross section of the coupler is a regular polygon, and the cross section of the coupler hole is set to be a corresponding regular polygon.
Furthermore, the fixing assembly comprises a motor support, a limiting circuit board is arranged on one side, facing the head, of the motor support, a limiting switch is arranged on one side, facing the head, of the limiting circuit board, and a limiting touch piece is arranged on one side, facing the motor, of the head rotating shaft;
the transmission assembly penetrates through the limiting circuit board, and two ends of the transmission assembly are respectively connected with the head and the rotor;
the motor drives the head rotating shaft and the limiting touch piece to rotate, and when the limiting touch piece rotates to touch the limiting switch, the motor stops rotating.
Furthermore, a pair of limiting conducting strips is arranged on the limiting circuit board, and the pair of limiting conducting strips are respectively arranged at two positions of the limiting circuit board;
when the motor rotates forwards and touches one of the limit switches to the limit touch part, the motor rotates forwards and stops, and when the motor rotates reversely and touches the other limit switch to the limit touch part, the motor rotates reversely and stops.
Further, the pair of limit switches are disposed offset from each other by 180 °.
Furthermore, a rotating shaft head for driving the head is arranged at one end, opposite to the shaft connecting hole, of the head rotating shaft, and the cross section of the rotating shaft head comprises at least one edge.
Furthermore, the coupler is provided with rotor holes penetrating through two ends of the coupler, and the rotor holes are used for accommodating the rotor when being matched with the rotor;
the cross section of the rotor head is arranged to be semi-circular-like, and the cross section of the rotor hole is arranged to be semi-circular-like corresponding to the rotor head.
The second purpose of the utility model is realized by adopting the following technical scheme:
a robot comprising a head movement mechanism as claimed in any one of the preceding claims.
The head part is provided with a shifting button buckle, and the head part is provided with a shifting button clamping groove for accommodating the shifting button buckle;
when the head is assembled with the shoulder, the shifting knob buckle is inserted into the shifting knob clamping groove.
Furthermore, it is a pair of to dial to turn round the buckle and dial to turn round the draw-in groove, and a pair of is dialled and is turned round the buckle and locate the both shoulders of robot respectively, and a pair of is dialled and is turned round the corresponding head both sides of locating of draw-in groove.
Compared with the prior art, the beneficial effects of the utility model reside in that:
(1) the utility model discloses head moving mechanism includes fixed subassembly, drive assembly and motor, and fixed subassembly is fixed the motor in the body of robot, and drive assembly passes through the transmission effect and rotates the rotation kinetic energy transmission of motor to head and drive head. When the motor rotates, the rotor drives the transmission assembly and the head to rotate, and then the head rotates relative to the shoulder. The head moving mechanism can assist the head of the robot to flexibly rotate, and the head is connected with the shoulder through the head moving mechanism, so that the robot is convenient to disassemble and assemble.
(2) The utility model discloses the head of robot can rotate in a flexible way, and the head passes through head moving mechanism with the shoulder to be connected, makes things convenient for the dismouting.
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 shoulder;
FIG. 6 is an exploded view of the shoulder;
fig. 7 is an exploded view of the head moving mechanism shown in fig. 6.
In the figure: 1. a head portion; 11. a pull-button clamping groove; 2. a shoulder portion; 21. a button is pulled; 3. a fixing assembly; 31. a motor bracket; 32. a limiting circuit board; 33. a limit switch; 4. a transmission assembly; 41. a coupling; 411. a rotor bore; 42. a head rotating shaft; 421. a rotating shaft head; 43. a shaft coupling hole; 44. a limiting touch piece; 5. a motor; 51. a motor housing; 52. and a rotor.
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. 1-4, the robot includes a head 1 and a shoulder 2, the shoulder 2 is provided with a toggle button 21, the head 1 is provided with a toggle button slot 11 for accommodating the toggle button 21, and the toggle button 21 can be inserted into the toggle button slot 11 when the head 1 and the shoulder 2 are assembled. 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 11. 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 11, 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 11 is a pair, the toggle buckles 21 are respectively disposed on two shoulders of the robot, and correspondingly, the toggle slots 11 are disposed on two sides of the head 1 (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 11 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 pulled out of the toggle clamping grooves 11 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 11, 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 exit the toggle button clamping groove 11.
Example 2
As a preferred embodiment, the head moving mechanism comprises a fixed component 3, a transmission component 4 and a motor 5, wherein the motor 5 comprises a motor housing 51 and a rotor 52, the rotor 52 is embedded in the motor housing 51, and the rotor 52 rotates relative to the motor housing 51. One side of the fixing component 3 close to the motor 5 is fixedly connected with the motor shell 51, one side of the fixing component 3 close to the shoulder 2 is fixedly connected with the shoulder 2, namely, the motor shell 51 is fixed with the robot shoulder 2 through the fixing component 3, and the rotor 52 rotates relative to the shoulder 2. One end of the transmission assembly 4 close to the motor 5 is fixedly connected with the rotor 52, and one end of the transmission assembly 4 close to the head 1 is fixedly connected with the head 1, i.e. when the motor rotates, the rotor 52 directly drives the head 1 to rotate. In the present embodiment, the transmission assembly 4 and the motor 5 are vertically inserted into the body of the robot (below the shoulders 2), and therefore, when the 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 left and right posture.
In a preferred embodiment, the 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 is ensured, and the head 1 and the shoulder 2 are prevented from being damaged due to over-rotation of the head 1.
In a preferred embodiment, the transmission assembly 4 includes a coupler 41 and a head rotating shaft 42, and one end of the head rotating shaft 42 close to the motor 5 is provided with a coupling hole 43 for accommodating the coupler 41. During the installation, cup joint rotor 52 with shaft coupling 41 earlier, insert head pivot 42 in the hole that connects the head 1 below again, insert shaft coupling 41 in the shaft coupling hole 43 at last, realize from this that the power output of motor 5 to head 1, through the transmission effect of drive assembly 4, be favorable to motor 5's power to transmit smoothly to head 1, conveniently control head 1's rotation process.
In a preferred embodiment, the outer profile of the cross section of the coupling 41 is a regular hexagon, and correspondingly, the cross section of the coupling hole 43 is a regular hexagon. Through setting up regular hexagon's shaft coupling 41 and shaft coupling hole 43 for when shaft coupling 41 rotated in shaft coupling hole 43, shaft coupling 41 drive head pivot 42 synchronous revolution, when needs dismantle shaft coupling 41 and head pivot 42, also can directly extract shaft coupling 41 from shaft coupling hole 43, make things convenient for the installation and the dismantlement process of transmission assembly 4.
In a preferred embodiment, the fixing assembly 3 includes a motor bracket 31, and the motor bracket 31 is fixedly connected to the motor housing 51. Motor support 31 is provided with limit circuit board 32 towards one side of head 1, and limit circuit board 32 still is provided with limit switch 33 towards head 1 one side, and limit switch 33 is fixed to be set up on limit circuit board 32 promptly, and limit circuit board 32 is fixed to be set up on motor support 31, and motor support 31 is fixed to be set up on fixed subassembly 3, and fixed subassembly 3 is fixed to be set up on shoulder 2. Therefore, the shoulder 2, the fixing member 3, the motor bracket 31, the limit circuit board 32, and the limit switch 33 are fixedly disposed together. Correspondingly, a limit touching part 44 is disposed on one side of the head rotating shaft 42 facing the motor 5, and in this embodiment, the limit touching part 44 is a stopper fixedly disposed on the head rotating shaft 42. The transmission assembly 4 (including the shaft coupling 41 and the head rotating shaft 42) vertically penetrates through the motor bracket 31 and the limiting circuit board 32, and the two ends of the transmission assembly 4 are respectively connected with the head 1 and the rotor 52, so that the power transmission effect is realized. In the use process, the motor 5 is powered on to rotate and drive the head rotating shaft 42 to rotate, the head rotating shaft 42 further drives the limit touch piece 44 to rotate relative to the shoulder 2, and at the moment, the limit switch 33 is static relative to the shoulder 2, namely, the limit touch piece 44 rotates relative to the limit switch 33. When the limit touch piece 44 rotates to touch the limit switch 33, the limit switch 33 is extruded to send an electric signal, the motor 5 is controlled to stop rotating, and the function of limiting the overlarge rotating amplitude of the head 1 is achieved.
In a preferred embodiment, the limit circuit board 32 is provided with a pair of limit switches 33, the limit switches 33 are distributed at two positions of the limit circuit board 32 in a staggered manner, and the limit touch piece 44 is located between the two limit switches 33. When the motor 5 rotates in the forward direction, the limit touching piece 44 rotates to touch one of the limit switches 33, and the motor 5 stops rotating in the forward direction. Similarly, when the motor 5 rotates reversely, the limit touching member 44 rotates to touch the other limit switch 33, and the motor 5 stops rotating reversely. Through setting up two limit switch 33, the turned angle of head 1 equals two limit switch 33's contained angle promptly, and then controls the amplitude of rotation of head 1, simulates human neck amplitude of rotation.
As a preferred embodiment, a pair of limit switches 33 are arranged offset from each other by 180 °, thereby determining a maximum amplitude of rotation of the head 1 of 180 °, similar to the maximum amplitude of rotation of a 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 coupling 41 is provided with rotor holes 411 penetrating both ends of the coupling 41, and when the coupling 41 is fitted to the rotor 52, the 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 rotor 52 and the coupler 41 which are designed in the semicircular shape, the rotor 52 can drive the coupler 41 to rotate conveniently, 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 coupler 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 the cross section of the coupling shaft hole 43 is correspondingly arranged into the regular triangle shape, the regular quadrangle shape, the regular pentagon shape, the regular heptagon shape, the regular octagon shape or the D shape, so that the coupler has the same transmission effect and the effect of facilitating disassembly and assembly.
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.
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 (10)
1. A head moving mechanism is characterized by comprising a fixing component, a transmission component and a motor, wherein the motor comprises a motor shell and a rotor;
one side of the fixing component is fixedly connected with the motor shell, and the other side of the fixing component is used for fixedly connecting the shoulder;
one end of the transmission assembly is fixedly connected with the rotor, and the other end of the transmission assembly is fixedly connected with the joint;
when the motor rotates, the rotor drives the transmission assembly and the head, and the head rotates relative to the shoulder.
2. The head moving mechanism according to claim 1, wherein the transmission assembly comprises a coupler and a head rotating shaft, and one end of the head rotating shaft is provided with a coupling hole for accommodating the coupler;
the outer contour of the cross section of the coupler is polygonal, and the cross section of the coupler hole is set to be a corresponding polygon.
3. The head moving mechanism according to claim 2, wherein the fixing component comprises a motor bracket, a limit circuit board is arranged on one side of the motor bracket facing the head, a limit switch is arranged on one side of the limit circuit board facing the head, and a limit touch piece is arranged on one side of the head rotating shaft facing the motor;
the transmission assembly penetrates through the limiting circuit board, and two ends of the transmission assembly are respectively connected with the head and the rotor;
the motor drives the head rotating shaft and the limiting touch piece to rotate, and when the limiting touch piece rotates to touch the limiting switch, the motor stops rotating.
4. The head moving mechanism according to claim 3, wherein a pair of limiting conductive plates are disposed on the limiting circuit board, and the pair of limiting conductive plates are disposed at two positions of the limiting circuit board respectively;
when the motor rotates forwards and touches one of the limiting conducting strips to the limiting touch piece, the motor rotates forwards and stops, and when the motor rotates reversely and touches the other limiting conducting strip to the limiting touch piece, the motor rotates reversely and stops.
5. The head movement mechanism according to claim 4, wherein said pair of position-limiting conductive pieces are disposed at an offset of 180 ° from each other.
6. The head moving mechanism according to claim 2, wherein a head of the head rotating shaft is provided at an end opposite to the coupling hole, and the head of the head rotating shaft has a cross section including at least one side.
7. The head moving mechanism as claimed in claim 2, wherein said coupling is provided with rotor holes penetrating both ends of the coupling, said rotor holes being adapted to receive the rotor when engaged with the rotor;
the cross section of the rotor end is arranged to be semi-circular-like, and the cross section of the rotor hole is arranged to be semi-circular-like corresponding to the rotor end.
8. A robot comprising a head movement mechanism according to any one of claims 1 to 7.
9. The robot of claim 8, comprising a head and a shoulder, wherein the shoulder is provided with a toggle buckle, and the head is provided with a toggle clamping slot for accommodating the toggle buckle;
when the head is assembled with the shoulder, the shifting knob buckle is inserted into the shifting knob clamping groove.
10. The robot of claim 9, wherein the toggle button and the toggle button slot are a pair, the pair of toggle button slots are respectively disposed on two shoulders of the robot, and the pair of toggle button slots are correspondingly disposed on two sides of the head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920370122.8U CN209936926U (en) | 2019-03-21 | 2019-03-21 | Head moving mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920370122.8U CN209936926U (en) | 2019-03-21 | 2019-03-21 | Head moving mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209936926U true CN209936926U (en) | 2020-01-14 |
Family
ID=69124844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920370122.8U Active CN209936926U (en) | 2019-03-21 | 2019-03-21 | Head moving mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209936926U (en) |
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2019
- 2019-03-21 CN CN201920370122.8U patent/CN209936926U/en active Active
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