CN212096427U - Connecting rod head shaking mechanism of service robot - Google Patents
Connecting rod head shaking mechanism of service robot Download PDFInfo
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- CN212096427U CN212096427U CN202020675849.XU CN202020675849U CN212096427U CN 212096427 U CN212096427 U CN 212096427U CN 202020675849 U CN202020675849 U CN 202020675849U CN 212096427 U CN212096427 U CN 212096427U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 239000004519 grease Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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Abstract
A service robot connecting rod head shaking mechanism solves the problem that the prior robot head shaking mechanism adopts the gear transmission or steering engine and the like, and uses the gear transmission mode, because the motion abrasion between the gear and the gear causes the clearance between the gears, which is not beneficial to use, and comprises a base, a rotary seat, a robot head, a rotary seat hole and a power mechanism, wherein the rotary seat is inserted in the middle part of the base, the robot head is installed at the top end of the rotary seat, the power mechanism is installed at one side inside the base, the power mechanism comprises a rotary disc, a fixed rotary shaft, a first connecting rod, a connecting rotary shaft, a positioning block and a positioning groove, the rotary disc is fixed at the bottom end of the rotary seat, the first connecting rod is installed at the edge position of the rotary disc through the fixed rotary shaft, and a second connecting rod is installed at one end of the first connecting rod through the connecting rotary shaft, the utility model discloses structure, the robot obtains greater practicability and reliability and is beneficial to use.
Description
Technical Field
The utility model relates to a mechanism of shaking the head specifically is a service robot connecting rod mechanism of shaking the head.
Background
Nowadays, with the continuous improvement of the education level of people, fewer people are willing to engage in service industries with low technical requirements and low added values, such as welcome, consultation, reception and other work contents. With the increasing maturity of the robot technology, especially the development and application of the technologies of motion control, voice semantic recognition, image recognition, intelligent interaction and the like in the field of humanoid robots, the humanoid robot can be more vivid and more prominent, and meanwhile, the prospect of the future market of the humanoid service robot is more extensive, and the head of the humanoid robot needs to complete a series of actions such as head shaking and the like.
The existing robot oscillating mechanism adopts a gear transmission mode or a steering engine mode and the like, and a gap is generated between gears due to the abrasion of the motion between the gears by using the gear transmission mode, so that the robot oscillating mechanism is not beneficial to use.
SUMMERY OF THE UTILITY MODEL
To the above situation, for overcoming prior art's defect, the utility model provides a service robot connecting rod mechanism of shaking head, effectual solved present robot mechanism of shaking head adopt modes such as gear drive or steering wheel, with gear drive's mode, because the wearing and tearing of motion between gear and gear for produce the clearance between the gear, be unfavorable for the problem of using.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model comprises a base, a rotary seat, a robot head, a rotary seat hole and a power mechanism, wherein the rotary seat is inserted in the middle of the base, the robot head is arranged at the top end of the rotary seat, the power mechanism is arranged at one side inside the base, the power mechanism comprises a turntable, a fixed rotating shaft, a first connecting rod, a connecting rotating shaft and a second connecting rod, the set casing, servo motor, a bearing, the lead screw, the silk hole, the stopper, the spacing groove, locating piece and constant head tank, the bottom at the roating seat is fixed to the carousel, first connecting rod is installed through fixed rotating shaft in the marginal position department of carousel, the second connecting rod is installed through connecting the pivot to the one end of first connecting rod, the set casing has been cup jointed to the one end of second connecting rod, the mid-mounting of set casing one side has servo motor, servo motor's output shaft has the lead screw, the silk hole has been seted up to the inside of second connecting rod one end, the one end of second connecting rod is fixed with the stopper.
Preferably, a rotary seat hole is formed in the position, corresponding to the rotary seat, of the base, and the rotary seat is connected with the rotary seat hole through a bearing.
Preferably, the screw rod is connected with the fixed shell through a bearing.
Preferably, a position of the fixed shell corresponding to the limiting block is provided with a limiting groove.
Preferably, one end of the fixed shell is fixed with a positioning block, and the positioning block is provided with a positioning groove corresponding to the second connecting rod.
Preferably, the surface of the screw rod is coated with grease.
Has the advantages that: when the utility model is used, the base is fixed, the rotary seat is arranged on the base, the servo motor works to drive the screw rod to rotate, the screw rod rotates and is matched with a screw hole arranged on the second connecting rod, so that the second connecting rod moves back and forth on the screw rod, when the second connecting rod moves, the limit block arranged at one end of the second connecting rod is matched with the limit groove on the fixed shell to limit, the stability of the movement is improved, the arranged locating block and the locating groove can limit the second connecting rod, the first connecting rod is pushed to move forward when the second connecting rod moves forward, the first connecting rod moves forward to push the rotary disk to rotate, the rotary disk rotates to drive the rotary seat to rotate, the rotary seat rotates to drive the robot head to rotate, the first connecting rod is pulled to move backward when the second connecting rod moves backward, the first connecting rod moves backward to pull the rotary disk to rotate, the rotary disk rotates to drive the rotary, the action of shaking the head of alright realization robot, the utility model discloses novel structure thinks about ingeniously, has avoided gear drive's wearing and tearing problem, makes the robot obtain bigger practicality and reliability, is favorable to the use.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the rotary seat hole of the present invention;
fig. 3 is a schematic structural view of the power mechanism of the present invention;
reference numbers in the figures: 1. a base; 2. a rotating base; 3. a robot head; 4. a rotating seat hole; 5. a power mechanism; 6. a turntable; 7. fixing the rotating shaft; 8. a first link; 9. connecting the rotating shaft; 10. a second link; 11. a stationary case; 12. a servo motor; 13. a bearing; 14. a screw rod; 15. a silk hole; 16. a limiting block; 17. a limiting groove; 18. positioning blocks; 19. and (6) positioning a groove.
Detailed Description
The following describes the present invention in further detail with reference to the accompanying fig. 1-3.
Embodiment one, given by fig. 1-3, the utility model provides a connecting rod head shaking mechanism of service robot, including base 1, roating seat 2, robot head 3, roating seat hole 4 and power unit 5, roating seat 2 is pegged graft in the middle part of base 1, robot head 3 is installed at the top of roating seat 2, power unit 5 is installed to one side in base 1, power unit 5 includes carousel 6, fixed rotating shaft 7, first connecting rod 8, connecting shaft 9, second connecting rod 10, set casing 11, servo motor 12, bearing 13, lead screw 14, silk hole 15, stopper 16, spacing groove 17, locating piece 18 and constant head tank 19, carousel 6 is fixed in the bottom of roating seat 2, first connecting rod 8 is installed through fixed rotating shaft 7 in the border position department of carousel 6, second connecting rod 10 is installed through connecting shaft 9 in one end of first connecting rod 8, set casing 11 has been cup jointed to one end of second connecting rod 10, a servo motor 12 is arranged in the middle of one side of the fixed shell 11, an output shaft of the servo motor 12 is connected with a screw rod 14, a screw hole 15 is formed in one end of the second connecting rod 10, and a limiting block 16 is fixed at one end of the second connecting rod 10.
The position of the base 1 corresponding to the rotary seat 2 is provided with a rotary seat hole 4, and the rotary seat 2 is connected with the rotary seat hole 4 through a bearing, so that the installation and the matching are convenient.
The screw rod 14 is connected with the fixed shell 11 through the bearing 13, so that the screw rod is convenient to be installed and used in a matching mode.
The position of the fixed shell 11 corresponding to the position of the limit block 16 is provided with a limit groove 17, which is convenient for matching use.
A positioning block 18 is fixed at one end of the fixed shell 11, and a positioning groove 19 is formed in the position of the positioning block 18 corresponding to the second connecting rod 10, so that the second connecting rod 10 can be conveniently positioned.
The surface of the screw 14 is coated with lubricating grease, so that the screw 14 has better lubricating performance.
The working principle is as follows: when the utility model is used, the base 1 is fixed, the rotary seat 2 is arranged on the base 1, the servo motor 12 works to drive the screw rod 14 to rotate, the screw rod 14 rotates and is matched with the screw hole 15 arranged on the second connecting rod 10, so that the second connecting rod 10 moves back and forth on the screw rod 14, when the second connecting rod 10 moves, the limit is performed under the matching of the limit block 16 arranged at one end of the second connecting rod 10 and the limit groove 17 on the fixed shell 11, the stability of the movement is improved, the set locating block 18 and the locating groove 19 can limit the second connecting rod 10, the first connecting rod 8 is pushed to move forward when the second connecting rod 10 moves forward, the first connecting rod 8 moves forward to push the rotary disk 6 to rotate, the rotary disk 6 rotates to drive the rotary seat 2 to rotate, the rotary seat 2 rotates to drive the robot head 3 to rotate, the first connecting rod 8 is pulled to move backward when the second connecting rod 10 moves backward, the first connecting rod 8 moves backward to pull, the rotating disc 6 rotates to drive the rotating seat 2 to rotate, the rotating seat 2 rotates to drive the robot head 3 to rotate, and the robot can shake head.
Has the advantages that: the utility model discloses novel structure thinks about ingeniously, has avoided gear drive's wearing and tearing problem, makes the robot obtain bigger practicality and reliability, is favorable to using.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a service robot connecting rod mechanism of shaking head, includes base (1), roating seat (2), robot head (3), roating seat hole (4) and power unit (5), its characterized in that: the robot comprises a base (1), a rotating seat (2) is inserted in the middle of the base (1), a robot head (3) is installed at the top end of the rotating seat (2), a power mechanism (5) is installed on one side inside the base (1), the power mechanism (5) comprises a rotary table (6), a fixed rotating shaft (7), a first connecting rod (8), a connecting rotating shaft (9), a second connecting rod (10), a fixed shell (11), a servo motor (12), a bearing (13), a screw rod (14), a screw hole (15), a limiting block (16), a limiting groove (17), a positioning block (18) and a positioning groove (19), the rotary table (6) is fixed at the bottom end of the rotating seat (2), the first connecting rod (8) is installed at the edge position of the rotary table (6) through the fixed rotating shaft (7), the second connecting rod (10) is installed at one end of the first connecting rod (8) through the connecting rotating shaft (9), and the, a servo motor (12) is installed in the middle of one side of the fixed shell (11), an output shaft of the servo motor (12) is connected with a screw rod (14), a screw hole (15) is formed in one end of the second connecting rod (10), and a limiting block (16) is fixed to one end of the second connecting rod (10).
2. The connecting rod oscillating mechanism of the service robot according to claim 1, wherein the base (1) is provided with a rotating base hole (4) at a position corresponding to the rotating base (2), and the rotating base (2) is connected with the rotating base hole (4) through a bearing.
3. A service robot linkage oscillating mechanism according to claim 1, characterized in that the screw (14) is connected with the stationary housing (11) through a bearing (13).
4. The connecting rod head shaking mechanism of the service robot according to claim 1, wherein a position of the fixed shell (11) corresponding to the position of the limit block (16) is provided with a limit groove (17).
5. The connecting rod oscillating mechanism of the service robot according to claim 1, wherein a positioning block (18) is fixed at one end of the fixed shell (11), and a positioning groove (19) is formed in the position of the positioning block (18) corresponding to the second connecting rod (10).
6. A service robot linkage oscillating mechanism according to claim 1, characterized in that the surface of the screw (14) is coated with grease.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020675849.XU CN212096427U (en) | 2020-04-28 | 2020-04-28 | Connecting rod head shaking mechanism of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020675849.XU CN212096427U (en) | 2020-04-28 | 2020-04-28 | Connecting rod head shaking mechanism of service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212096427U true CN212096427U (en) | 2020-12-08 |
Family
ID=73618182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020675849.XU Expired - Fee Related CN212096427U (en) | 2020-04-28 | 2020-04-28 | Connecting rod head shaking mechanism of service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212096427U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643277A (en) * | 2021-01-08 | 2021-04-13 | 星球阀门有限公司 | Fixture for automatic build-up welding equipment of hemispherical valve and process thereof |
-
2020
- 2020-04-28 CN CN202020675849.XU patent/CN212096427U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643277A (en) * | 2021-01-08 | 2021-04-13 | 星球阀门有限公司 | Fixture for automatic build-up welding equipment of hemispherical valve and process thereof |
| CN112643277B (en) * | 2021-01-08 | 2023-03-14 | 星球阀门有限公司 | Fixture for automatic build-up welding equipment of hemispherical valve and process thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210811 Address after: 130000 Xingfu village, Shiling sub district office, Shuangyang District, Changchun City, Jilin Province Patentee after: CHANGCHUN ARCHITECTURE & CIVIL ENGINEERING College Address before: 130000 Changchun Institute of architecture, Feiyue Road, Chaoyang District, Changchun City, Jilin Province Patentee before: Guo Hongxi |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201208 Termination date: 20210428 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |