CN210307811U - Power device and robot with same - Google Patents
Power device and robot with same Download PDFInfo
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- CN210307811U CN210307811U CN201921297150.8U CN201921297150U CN210307811U CN 210307811 U CN210307811 U CN 210307811U CN 201921297150 U CN201921297150 U CN 201921297150U CN 210307811 U CN210307811 U CN 210307811U
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Abstract
The utility model relates to a robotechnology field discloses a power device and have this power device's robot, power device rotates through the first rotation piece of first drive arrangement drive, and first rotation piece drives the second and rotates in the lump, and the second rotates the swing of piece drive third to the realization is installed in the head that the third rotated the swing in the lump, and simultaneously, low to the requirement of motor, the economic nature is better.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a power device and have this power device's robot.
Background
From birth to the present, robotics managers have a long slow development process. With the rapid development of computer technology, microelectronic technology, network technology, etc., the robot technology has also been developed rapidly. In addition to the ever-increasing level of industrial robots, there have been a great variety of cash robot systems for the service industry. The further improvement of the control system performance, and the successful application of the laser sensor, the vision sensor and the force sensor in the robot system, greatly improve the reliability of the robot system. The development of basic technology and devices creates good conditions for the intelligent, humane and bionic development of the robot. Currently, robots are not only applied in the industrial field, but also in fields that are gradually applied and closely connected with the lives of people. The production and application of the service robot, the old-helping and disabled-helping robot, the education robot and the entertainment robot can bring convenience and fun to the life of people.
At present, in a service robot, the robot generally includes a body and a head rotatably disposed on the body, and the head is generally driven to swing relative to the body only by a motor, however, the head needs to be controlled to swing relative to the body, the motor needs to be repeatedly reversed, the requirement on the motor is high, a servo motor with a high component is generally adopted, and the economical efficiency is poor.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the embodiment of the utility model provides a power device and have this power device's robot, when this power device realized the swing of robot head, low to the requirement of motor, the economic nature is better.
In order to solve the technical problem, an embodiment of the utility model provides a following technical scheme:
in one aspect, there is provided a power device for driving a head of a robot to swing, the power device including: a base; the first shaft sleeve is arranged on the base and provided with a first central axis, and the first central axis passes through a rotating point; a second bushing mounted to the base, the second bushing having a second central axis, the second central axis passing through the rotation point; a first rotating member mounted to the first sleeve, the first rotating member being rotatable about the first central axis relative to the first sleeve, the first rotating member including a shaft hole having a third central axis, and the third central axis passing through the rotation point; one end of the second rotating part is mounted in the shaft hole, the second rotating part can rotate around the third central axis relative to the shaft hole, the other end of the second rotating part is provided with a fourth central axis, and the fourth central axis passes through the rotating point; the middle part of the third rotating part is mounted on the second shaft sleeve, the third rotating part can rotate around the second central axis relative to the second shaft sleeve, one end of the third rotating part is hinged to the other end of the second rotating part, the third rotating part can rotate around the fourth central axis relative to the second rotating part, and the other end of the third rotating part is used for mounting the head of the robot; and the first driving device is arranged on the base and connected with the first rotating piece so as to drive the first rotating piece to rotate around the first central axis relative to the first shaft sleeve.
In some embodiments, the second bushing further has a fifth central axis intersecting the second central axis, the second bushing being rotatable about the fifth central axis relative to the base; the second rotating part can stretch along the third central axis; the second rotating part comprises a second driving device, and the second driving device is used for driving the second shaft sleeve to swing around the fifth central axis relative to the base; the third rotating member is slidable relative to the second bushing along the second central axis.
In some embodiments, the first rotating member includes a first rotating portion, a first connecting portion, and the shaft hole, one end of the first connecting portion is connected to the first rotating portion, the shaft hole is disposed at the other end of the first connecting portion, an axis of the first rotating portion coincides with the first central axis, the first rotating portion is mounted to the first sleeve, and the first rotating portion is rotatable relative to the first sleeve.
In some embodiments, the second rotating member includes a second rotating portion, a second connecting portion and a hinge portion, one end of the second connecting portion is connected to the second rotating portion, the other end of the second connecting portion is connected to the hinge portion, and the hinge portion has the fourth central axis and is hinged to one end of the third rotating member.
In some embodiments, the second connecting portion includes a second driving device, one end of the second driving device is fixedly connected to the second rotating portion, and the other end of the second driving device is fixedly connected to the hinge portion, and the second driving device can drive the second rotating portion and the hinge portion to move toward or away from each other along the third central axis.
In some embodiments, the fifth central axis is at a 90 degree angle to the second central axis and is parallel to the fourth central axis.
In some embodiments, the first central axis is at an angle of 20 degrees to the third central axis.
In some embodiments, the fourth central axis is at a 90 degree angle to the second central axis and at a 90 degree angle to the third central axis.
In another aspect, there is provided a robot comprising: a head portion; a main body; the head is mounted on the power device, and the base of the power device is fixedly mounted in the main body.
In some embodiments, the robot further comprises a display screen; the display screen is mounted to the head.
Compared with the prior art, the utility model discloses in power device and the robot that has this power device of embodiment, rotate through the first rotation piece of first drive arrangement drive, first rotation piece drives the second and rotates in the lump, and the second rotates the swing of piece drive third to the realization is installed in the head that the third rotated the swing in the lump, and simultaneously, low to the requirement of motor, the economic nature is better.
Drawings
One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the power plant of the robot shown in FIG. 1;
fig. 3 is an exploded schematic view of the power plant shown in fig. 2.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 3, a robot 100 according to an embodiment of the present invention includes a head 10, a body 20, and a power device 30.
The head 10 is substantially hemispherical in shape and has a display screen 12 mounted on one surface thereof for human-computer interaction.
The head 10 is mounted on the top of the body 20 by the power unit 30. The main body 20 is a trunk of the robot 100, and a control circuit for controlling the operation of the robot 100 is installed therein. A chassis is further installed at the bottom of the main body 20 to allow it to move. The main body 20 is further provided with robot arms at both sides thereof for the robot 100 to grasp an object.
The power unit 30 is installed in the main body 20 for driving the head 10 to swing with respect to the main body 20. The power device 30 includes a base (not shown), a first sleeve 31, a second sleeve 32, a first rotating member 33, a second rotating member 34, a third rotating member 35, and a first driving device (not shown).
The base is fixedly mounted within the body 20, and the first and second bushings 31, 32 are mounted to the base.
The first bushing 31 has a first central axis S1, the second bushing 32 has a second central axis S2, and the first central axis S1 intersects the second central axis S2 at a rotation point O.
In some embodiments, first centerline axis S1 is angled 70 degrees from second centerline axis S2.
The first rotating member 33 is mounted to the first hub 31, and the first rotating member 33 is rotatable relative to the first hub 31 about the first central axis S1.
Specifically, the first rotating member 33 includes a first rotating portion 330, a first connecting portion 332, and a shaft hole 334. The first connecting portion 332 has one end connected to the first rotating portion 330, the shaft hole 334 is disposed at the other end of the first connecting portion, and the length direction of the first connecting portion 332 is perpendicular to the first central axis S1. The axis of the first rotating portion 330 coincides with the first central axis S1. The first rotating portion 330 is attached to the first boss 31, and the first rotating portion 330 is rotatable with respect to the first boss 31. The shaft hole 330 has a third central axis S3, and the third central axis S3 passes through the rotation point O.
In some preferred embodiments, third centerline axis S3 is angled 20 degrees from first centerline axis S1.
One end of the second rotating member 34 is mounted in the shaft hole 334, the second rotating member 34 can rotate around the third central axis S3 relative to the shaft hole 334, the other end of the second rotating member 34 has a fourth central axis S4, and the fourth central axis S4 passes through the rotation point O.
Specifically, the second rotating member 34 includes a second rotating portion 340, a second connecting portion 342, and a hinge portion 344. One end of the second connecting portion 342 is connected to the second rotating portion 340, the other end of the second connecting portion 342 is connected to the hinge portion 344, and the length direction of the second connecting portion 342 is parallel to the third central axis S3. The hinge 344 has a fourth central axis S4. Fourth centerline axis S4 is at a 90 degree angle to second centerline axis S2 and at a 90 degree angle to third centerline axis S3. Specifically, in the present embodiment, the hinge portion 334 is U-shaped and is provided with two hinge holes (not shown), and the center lines of the two hinge holes are both coincident with the fourth central axis S4.
The third rotating member 35 is mounted to the second hub 32 at a middle portion between both ends thereof, and the third rotating member 35 is rotatable about the second central axis S2 with respect to the second hub 32. One end of the third rotating member 35 is mounted to the other end of the second rotating member 34, and the third rotating member 35 is rotatable about the fourth central axis S4 relative to the second rotating member 34. The head 10 is mounted to the other end of the third rotating member 35.
Specifically, the third rotating member 35 includes a mounting portion 350, a third connecting portion 352, and a hinge shaft 354. The mounting portion 350 is fixedly coupled to one end of the third coupling portion 352, which is used to mount the head 10. The middle of the hinge shaft 354 is fixed to the other end of the third connecting portion 352, and the axis of the hinge shaft 354 coincides with the fourth central axis S4. The third connecting portion 352 passes through the second bushing 32 and is rotatable with respect to the second bushing 32, and the third connecting portion 352 is slidable with respect to the second bushing 32 along the second central axis S2. Both ends of the hinge shaft 354 are respectively installed in the two hinge holes of the hinge part 344 such that the other end of the second rotating member 34 is hinge-connected to one end of the third rotating member 35.
The first driving device is fixedly installed inside the base or the main body 20, and an output shaft of the first driving device is connected to the first rotating member 33 for driving the first rotating member 33 to rotate around the first central axis S1 relative to the first sleeve 31. The first driving means may be a stepper motor, a pneumatic motor, or the like.
In the present embodiment, the power device 30 operates as follows:
the first driving device operates to drive the first rotating member 33 to rotate about the first central axis S1 relative to the first hub 31. The first rotating member 33 drives the second rotating member 34 to rotate around the third central axis S3, wherein the second rotating member 34 and the third rotating member 35 are linked due to the limitation of the third rotating member 35 on the second rotating member 34 and the limitation of the second bushing 32 on the third rotating member 35. The second rotating element 34 swings relative to the third rotating element 35 about the fourth central axis S4, and when the first rotating element 33 rotates relative to the first bushing 31 for one cycle about the first central axis S1, the second rotating element 34 swings relative to the third rotating element 35 for one cycle about the fourth central axis S4, and the third rotating element 35 swings relative to the second bushing 32 for one cycle about the second central axis S2.
The head unit 10 swings left and right by the third rotating member 35 rotating about the second central axis line S2.
The first driving device continuously rotates to realize the left-right swing of the head 10, and the swing of the head 10 is a reciprocating motion. In the above manner, the head 10 completes one reciprocating motion per one rotation of the output shaft of the first driving means. That is, the rotation angle of the head 10 is smaller than the rotation angle of the output shaft of the first driving means, thereby enabling the first driving means to more precisely control and adjust the rotation angle of the head 10.
Further, the head 10 can perform a head raising or lowering operation with respect to the main body 20, that is, the head 10 can be tilted with respect to the main body 20, in addition to the leftward and rightward swinging operation with respect to the main body 20. The power means 30 is also used to drive the head 10 to pitch relative to the body 20.
The third rotating member 35 is slidable relative to the second hub 32 along the second central axis S2.
Specifically, the second shaft sleeve 32 is sleeved in the middle between the two ends of the second rotating member 35.
The second rotating member 34 is a telescopic structure, which can be extended and retracted along the third central axis S3. The third rotating member 35 and the second bushing 32 are rotated about the fifth central axis S5 relative to the main body 20 by the extension or contraction of the second rotating member 34, so that the robot can perform a head raising or lowering operation relative to the main body 20.
Specifically, the second connecting portion 342 includes a second driving device (not shown). The second driving device is used for driving the second bushing 32 to swing around the fifth central axis S5 relative to the base, and the second driving device may be a linear motor, a servo motor, an air cylinder or a hydraulic cylinder. The second driving device is a linear motor in this embodiment according to the actual requirement. One end of the second driving means is fixedly connected to the second rotating part 340 and the other end is fixedly connected to the hinge part 344, and the second driving means is configured to drive the two ends of the second rotating member 34 (i.e., the second rotating part 340 and the hinge part 344) to approach or separate from each other along the third central axis S3.
The second bushing 32 also has a fifth centerline axis S5, about which the second bushing 32 is rotatable relative to the base, S5, the fifth centerline axis S5 intersecting the second centerline axis S2.
Specifically, the fifth rotating shaft 320 is disposed outside the second sleeve 32, the fifth rotating shaft 320 coincides with the fifth central axis S5, and the second sleeve 32 is mounted on the base through the fifth rotating shaft 320.
In some embodiments, the fifth centerline axis S5 is perpendicular to the second centerline axis S2 and parallel to the fourth centerline axis S4.
It will be appreciated that in other embodiments, the base may be omitted, the first sleeve 31, the second sleeve 32 and the first drive means are all mounted within the body 20, and the second sleeve 32 is rotatable relative to the body 20.
When the power device 30 works, the following are concrete:
generally, the first driving device and the second driving device operate in a time-sharing manner. When the head of the robot needs to be raised or lowered (at this time, it needs to be ensured that the fourth central axis and the fifth central axis are parallel to each other), the first driving device stops working, the second driving device starts working, the second driving device drives the second rotating member 34 to extend and retract along the third central axis S3, and since the second bushing 32 can only rotate relative to the base, when the first driving device stops working, the relative position of the first rotating member 33 and the base is fixed. The second rotating member 34 extends and retracts along the third central axis S3, so that the third rotating member 35 slides along the second central axis S2 relative to the second bushing 32, and the second bushing 32 and the third rotating member 35 rotate relative to the base around the fifth central axis, so that the included angle between the first central axis S1 (where the included angle or the position of the first central axis S1 and the base is always kept constant) and the included angle between the second central axis S2 become larger or smaller. Since the head part 10 is mounted to the other end of the third rotating member 35 and the base is fixedly mounted in the main body 20, the head part 10 performs a head-up or head-down motion with respect to the main body 20 during the above rotation. When the above-mentioned lowering is completed, the head 10 is moved upward by a small distance, and when the head 10 performs the lowering, the housing of the head 10 is prevented from interfering with the housing of the main body 20. In addition, after the reset, the shell of the head 10 can be attached to the shell of the main body 20, so that the gap between the head 10 and the main body 20 is closed, and foreign matters such as dust and the like are prevented from entering the main body 20 from the gap.
When the head of the robot needs to turn left and right, the first driving device starts to operate, the second driving device stops operating, and since the second driving device stops operating, the length of the second rotating member 34 is unchanged, and further, the included angle between each two of the first central axis S1, the second central axis S2 and the third central axis S3 is unchanged, the first driving device drives the first rotating member 33 to rotate around the first central axis S1, the second rotating member 34 also rotates around the first central axis S1, and under the driving of the second rotating member 34, the third rotating member 35 rotates around the second central axis S2 relative to the second bushing 32. The following are specifically mentioned: to accomplish this, the first centerline axis S1, the second centerline axis S2, the third centerline axis S3, and the fourth centerline axis S4 must intersect at the rotation point O.
Compared with the prior art, the embodiment of the utility model provides a power device 30 and have robot 100 of this power device 30, rotate through first drive arrangement drive first rotation piece 33, first rotation piece 33 drives second rotation piece 34 and rotates in the lump, and second rotation piece 34 drives third rotation piece 35 swing to the realization is installed in the head 10 of third rotation piece 35 and is swung in the lump, and simultaneously, low to the requirement of motor, the economic nature is better.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments can be combined, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A power plant for driving head oscillations of a robot, characterized in that it comprises:
a base;
the first shaft sleeve is arranged on the base and provided with a first central axis, and the first central axis passes through a rotating point;
a second bushing mounted to the base, the second bushing having a second central axis, the second central axis passing through the rotation point;
a first rotating member mounted to the first sleeve, the first rotating member being rotatable about the first central axis relative to the first sleeve, the first rotating member including a shaft hole having a third central axis, and the third central axis passing through the rotation point;
one end of the second rotating part is mounted in the shaft hole, the second rotating part can rotate around the third central axis relative to the shaft hole, the other end of the second rotating part is provided with a fourth central axis, and the fourth central axis passes through the rotating point;
the middle part of the third rotating part is mounted on the second shaft sleeve, the third rotating part can rotate around the second central axis relative to the second shaft sleeve, one end of the third rotating part is hinged to the other end of the second rotating part, the third rotating part can rotate around the fourth central axis relative to the second rotating part, and the other end of the third rotating part is used for mounting the head of the robot; and
the first driving device is mounted on the base and connected with the first rotating member to drive the first rotating member to rotate around the first central axis relative to the first shaft sleeve.
2. The power plant of claim 1,
the second shaft sleeve is also provided with a fifth central axis, the fifth central axis is intersected with the second central axis, and the second shaft sleeve can rotate around the fifth central axis relative to the base;
the second rotating part can stretch along the third central axis;
the second rotating part comprises a second driving device, and the second driving device is used for driving the second shaft sleeve to swing around the fifth central axis relative to the base;
the third rotating member is slidable relative to the second bushing along the second central axis.
3. The power unit according to claim 1, wherein the first rotating member includes a first rotating portion, a first connecting portion, and the shaft hole, one end of the first connecting portion is connected to the first rotating portion, the shaft hole is provided at the other end of the first connecting portion, an axis of the first rotating portion coincides with a first central axis, the first rotating portion is mounted to the first bushing, and the first rotating portion is rotatable with respect to the first bushing.
4. The power unit according to claim 3, wherein the second rotating member includes a second rotating portion, a second connecting portion and a hinge portion, one end of the second connecting portion is connected to the second rotating portion, the other end of the second connecting portion is connected to the hinge portion, and the hinge portion has the fourth central axis and is hinged to one end of the third rotating member.
5. The power unit of claim 4, wherein the second connecting portion comprises a second driving device, one end of the second driving device is fixedly connected with the second rotating portion, the other end of the second driving device is fixedly connected with the hinge portion, and the second driving device can drive the second rotating portion and the hinge portion to move toward or away from each other along the third central axis.
6. The powerplant of claim 2, wherein the fifth centerline axis is at a 90 degree angle to the second centerline axis and is parallel to the fourth centerline axis.
7. The power unit of claim 1, wherein the angle between the first central axis and the third central axis is 20 degrees.
8. The powerplant of claim 1, wherein the fourth centerline axis is at a 90 degree angle to the second centerline axis and at a 90 degree angle to the third centerline axis.
9. A robot, comprising:
a head portion;
a main body; and
the power unit of any one of claims 1 to 8, said head being mounted to said power unit, a base of said power unit being fixedly mounted within said body.
10. The robot of claim 9, further comprising a display screen;
the display screen is mounted to the head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921297150.8U CN210307811U (en) | 2019-08-08 | 2019-08-08 | Power device and robot with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921297150.8U CN210307811U (en) | 2019-08-08 | 2019-08-08 | Power device and robot with same |
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| CN210307811U true CN210307811U (en) | 2020-04-14 |
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| CN201921297150.8U Active CN210307811U (en) | 2019-08-08 | 2019-08-08 | Power device and robot with same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405737A (en) * | 2019-08-08 | 2019-11-05 | 中新智擎科技有限公司 | Power device and robot with this power device |
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- 2019-08-08 CN CN201921297150.8U patent/CN210307811U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405737A (en) * | 2019-08-08 | 2019-11-05 | 中新智擎科技有限公司 | Power device and robot with this power device |
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