CN214772064U

CN214772064U - Robot head-turning driving structure

Info

Publication number: CN214772064U
Application number: CN202022692227.0U
Authority: CN
Inventors: 蔡小强; 张婉瑜; 蔡普勇
Original assignee: Fujian Qihao Technology Co ltd
Current assignee: Fujian Qihao Technology Co ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-11-19
Anticipated expiration: 2030-11-20

Abstract

The utility model relates to a bionical mechanical technical field specifically is a robot driving structure that turns round, including body portion, the inside of body portion is equipped with the mounting panel, and the top swing joint of mounting panel has the graduated disk, and the top of graduated disk is equipped with the overlap joint piece, the welding of top center department of overlap joint piece has the neck connecting rod, it has the head to peg graft at the top of neck connecting rod, the top welding of body portion has the neck, and neck parcel neck connecting rod, top one side gomphosis of mounting panel has first pusher dog, and the bottom of first pusher dog runs through the mounting panel and has cup jointed drive gear. The device adopts the gear to drive the geneva mechanism to realize positive and negative rotation and ninety-degree intermittent output, so that the head of the robot can rotate and reset, the robot simulates the head rotation of a soldier in salute, the head of the robot can independently rotate through the device, and the robot does not need to be driven to rotate through a driving mechanism of an arm.

Description

Robot head-turning driving structure

Technical Field

The utility model relates to a bionical mechanical technical field specifically is a robot drive structure that turns round.

Background

The simulation robot is mainly used for simulating the action of soldiers for viewing, and has the appearance of five sense organs like a real person; the main body parts such as the head, the neck, the waist, the arms, the hands and the like can be put into various postures and actions like a real person, and the robot can completely simulate the walking posture of a soldier through the operation.

The existing bionic robot can simulate leg movement tracks of a soldier when the soldier walks in a queue in a matrix, and meanwhile, some bionic robots can also be matched with arm movement to make a salutation gesture, but the salutation gesture is a standard gesture only by matching the arm with the head to rotate, so that a driving mechanism for head rotation is connected with the arm driving and has no independent mechanism. Accordingly, a robot turret driving structure is provided to solve the above problems of the related art by those skilled in the art.

Disclosure of Invention

An object of the utility model is to provide a robot turns round drive structure to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a robot driving structure that turns round, includes body portion, the inside of body portion is equipped with the mounting panel, and the top swing joint of mounting panel has the graduated disk, and the top of graduated disk is equipped with the overlap joint piece, the top center department welding of overlap joint piece has the neck connecting rod, the top of neck connecting rod is pegged graft and is had the head, the top welding of body portion has the neck, and neck parcel neck connecting rod, the top one side gomphosis of mounting panel has first pusher dog, and the bottom of first pusher dog runs through the mounting panel and has cup jointed drive gear, the top opposite side activity of mounting panel is pegged graft and is had the second pusher dog, and the bottom of second pusher dog runs through the mounting panel and has cup jointed driven gear.

As a further aspect of the present invention: the top fixedly connected with first stabilizing piece of first pusher dog, and the top fixedly connected with second stabilizing piece of second pusher dog, first stabilizing piece and first pusher dog and second stabilizing piece and second pusher dog all are the cross connection, and first stabilizing piece and second stabilizing piece are fan-shaped structure.

As a further aspect of the present invention: the welding of the both sides of mounting panel has the link, and the link is fixed on the inner wall of body portion, the center department of mounting panel and the bottom center of head are in on the same straight line.

As a further aspect of the present invention: one side meshing of drive gear has first excessive gear, and one side meshing of first excessive gear has the excessive gear of second, first excessive gear and the excessive gear of second all swing joint on the mounting panel, and the excessive gear of second one side and driven gear meshing.

As a further aspect of the present invention: the driving gear and the driven gear are equal in size, the first transition gear and the second transition gear are equal in size, and the area of the driving gear is twice that of the first transition gear.

As a further aspect of the present invention: the dividing plate is provided with a through groove in a cross shape, the front ends of the first pusher dog and the second pusher dog are overlapped with the center of the through groove, an inner arc is cut at the edge of the outer side of the dividing plate and between the through grooves, and the first stabilizing piece and the second stabilizing piece are complementary with the inner arc.

As a further aspect of the present invention: the inner wall welding of body portion has the fixed plate, and installs the motor on the fixed plate, the drive end of motor and the low side centre of a circle department of drive gear connect.

Compared with the prior art, the beneficial effects of the utility model are that: the device adopts the gear to drive the geneva mechanism to realize positive and negative rotation ninety-degree intermittent output, so that the head of the robot can rotate and reset, the robot simulates the head rotation of a soldier in salutation, the head of the robot can independently rotate through the device, and the robot does not need to be driven to rotate through the driving mechanism of the arm, because the arm is put down firstly and then the head rotates back after the soldier salutation, the head and the arm adopt the same driving to drive and can synchronously move, which is not in line with the military step flow, but the problem can be avoided through an independent mechanism, meanwhile, the instantaneous transmission ratio is constant by adopting the gear rotation, the working stability is higher, the transmission ratio range is large, the structure is compact, the transmission efficiency is high, compared with other driving, the service life is longer, the wear resistance is better, the power loss is less, the ninety-degree rotation of the mechanism can be driven by adopting a common motor, the motor drives the driving gear to rotate, the driving gear and one shifting claw are connected to drive the dividing plate connected with the head of the robot to rotate so as to rotate the head, the driving mechanism continuously moves to drive the driven gear to rotate through the two transition gears, the dividing plate is reset through the other shifting claw, and the operation is repeated in a circulating mode.

Drawings

FIG. 1 is a schematic structural diagram of a robot turret driving structure;

FIG. 2 is a schematic view of the interior of a robot turret drive structure;

fig. 3 is a schematic structural diagram of a ninety-degree intermittent output mechanism in a robot rotary head driving structure.

In the figure: 1. a head portion; 2. a neck portion; 3. a body part; 4. a neck link; 5. an index plate; 6. a connecting frame; 7. a fixing plate; 8. a motor; 9. a drive gear; 10. mounting a plate; 11. a lapping block; 12. a second stabilizing sheet; 13. a driven gear; 14. a second pusher dog; 15. a second transition gear; 16. a first transition gear; 17. a first pusher dog; 18. a first stabilizing sheet.

Detailed Description

Referring to fig. 1 to 3, in the embodiment of the present invention: the utility model provides a robot head-turning drive structure, including body portion 3, the inside of body portion 3 is equipped with mounting panel 10, and the top swing joint of mounting panel 10 has graduated disk 5, and the top of graduated disk 5 is equipped with overlap joint piece 11, the welding of the top center department of overlap joint piece 11 has neck connecting rod 4, the top of neck connecting rod 4 is pegged graft and is had head 1, the top welding of body portion 3 has neck 2, and neck 2 parcel neck connecting rod 4, the gomphosis of top one side of mounting panel 10 has first pusher dog 17, and the bottom of first pusher dog 17 runs through mounting panel 10 and has cup jointed drive gear 9, the activity of the top opposite side of mounting panel 10 is pegged graft and is had second pusher dog 14, and the bottom of second pusher dog 14 runs through mounting panel 10 and has cup jointed driven gear 13.

In fig. 2, a first stabilizing piece 18 is fixedly connected to the top of the first pusher dog 17, a second stabilizing piece 12 is fixedly connected to the top of the second pusher dog 14, the first stabilizing piece 18 and the first pusher dog 17 are connected in a staggered manner, the second stabilizing piece 12 and the second pusher dog 14 are connected in a fan-shaped manner, and the first stabilizing piece 18 and the second stabilizing piece 12 are used for balancing the movement of the first pusher dog 17 and the second pusher dog 14 and preventing the first pusher dog 17 and the second pusher dog 14 from shaking when contacting the index plate 5.

In fig. 2, the connecting frames 6 are welded on two sides of the mounting plate 10, the connecting frames 6 are fixed on the inner wall of the body 3, the center of the mounting plate 10 and the center of the bottom end of the head 1 are located on the same straight line, the connecting frames 6 are used for fixing the mounting plate 10 in the body 3 and suspending the mounting plate, the dividing disc 5 is located at the center of the mounting plate 10, and the dividing disc 5 rotates to drive the head 1 to rotate, so that the centers of the head 1 and the mounting plate 10 are located on the same straight line.

In fig. 3, a first transition gear 16 is meshed with one side of the driving gear 9, a second transition gear 15 is meshed with one side of the first transition gear 16, the first transition gear 16 and the second transition gear 15 are both movably connected to the mounting plate 10, one side of the second transition gear 15 is meshed with the driven gear 13, and the driving gear 9 and the driven gear 13 rotate in opposite directions to enable the graduated disk 5 to achieve ninety-degree intermittent output of forward and reverse rotation, so that the head 1 rotates and resets.

In fig. 3, the driving gear 9 and the driven gear 13 are equal in size, the first transition gear 16 and the second transition gear 15 are equal in size, the area of the driving gear 9 is twice the area of the first transition gear 16, and the rotation speeds are equal in size, so that the head 1 can rotate at a constant speed and reset.

In fig. 3, a through groove is formed in the dividing plate 5 in a cross shape, the front ends of the first pusher dog 17 and the second pusher dog 14 are overlapped with the center of the through groove, the outer edge of the dividing plate 5 is located between the through grooves, an inner arc is cut, the first stabilizing piece 18 and the second stabilizing piece 12 are complementary to the inner arc, the through groove facilitates the first pusher dog 17 and the second pusher dog 14 to drive the dividing plate 5 to rotate, and the inner arc structure is convenient for the first stabilizing piece 18 and the second stabilizing piece 12 not to conflict when rotating.

In fig. 2, the inner wall of the body 3 is welded with a fixing plate 7, a motor 8 is mounted on the fixing plate 7, the driving end of the motor 8 is connected with the center of the lower end of a circle of a driving gear 9, the fixing plate 7 is used for providing a mounting point for the motor 8, and the motor 8 provides power for the driving gear 9.

The utility model discloses a theory of operation is: when the mechanism is operated, a motor 8 (model: ZGA25 RP) provides power for a driving gear 9, the driving gear 9 drives a first pusher dog 17 connected with the driving gear 9 to rotate when rotating, the end part of the first pusher dog 17 enters a through groove of an index plate 5 when rotating, the index plate 5 is driven to rotate ninety degrees anticlockwise, the first pusher dog 17 is prevented from shaking by a first stabilizing piece 18 in the process, the index plate 5 drives a head part 1 to rotate through a neck connecting rod 4 during the rotation process, the robot head part 1 is not completed, the driving gear 9 continues to rotate, the rotating force is transmitted to a driven gear 13 through a first transition gear 16 and a second transition gear 15 and is driven to move in the opposite direction of the driving gear 9, so that the second pusher dog 14 is driven to rotate through the driven gear 13, the end part of the second pusher dog 14 enters the through groove of the index plate 5 when rotating, the index plate 5 is driven to rotate ninety degrees in the forward direction again, so that the head 1 is reset.

The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a robot turns round drive structure, includes body portion (3), its characterized in that: the inside of body portion (3) is equipped with mounting panel (10), and the top swing joint of mounting panel (10) has graduated disk (5), and the top of graduated disk (5) is equipped with overlap joint piece (11), the top center department welding of overlap joint piece (11) has neck connecting rod (4), the top of neck connecting rod (4) is pegged graft and is had head (1), the top welding of body portion (3) has neck (2), and neck (2) parcel neck connecting rod (4), the top one side gomphosis of mounting panel (10) has first pusher dog (17), and the bottom of first pusher dog (17) runs through mounting panel (10) and has cup jointed drive gear (9), the activity of the top opposite side of mounting panel (10) is pegged graft and is had second pusher dog (14), and the bottom of second pusher dog (14) runs through mounting panel (10) and has cup jointed driven gear (13).

2. A robot rotor driving structure according to claim 1, characterized in that a first stabilizer (18) is fixedly connected to the top of the first finger (17), a second stabilizer (12) is fixedly connected to the top of the second finger (14), the first stabilizer (18) and the first finger (17) and the second stabilizer (12) and the second finger (14) are connected in a staggered manner, and the first stabilizer (18) and the second stabilizer (12) are in a fan-shaped structure.

3. A robot rotor driving structure according to claim 1, wherein the connecting frames (6) are welded to both sides of the mounting plate (10), and the connecting frames (6) are fixed on the inner wall of the body (3), and the center of the mounting plate (10) and the center of the bottom end of the head (1) are located on the same straight line.

4. A robot rotor driving structure according to claim 1, wherein one side of the driving gear (9) is engaged with a first transition gear (16), and one side of the first transition gear (16) is engaged with a second transition gear (15), the first transition gear (16) and the second transition gear (15) are both movably connected to the mounting plate (10), and one side of the second transition gear (15) is engaged with the driven gear (13).

5. A robot rotor driving arrangement according to claim 4, characterized in that the driving gear (9) and the driven gear (13) are of equal size and the first transition gear (16) and the second transition gear (15) are of equal size, the area of the driving gear (9) being twice the area of the first transition gear (16).

6. A robot rotor driving structure according to claim 2, wherein the indexing disc (5) is provided with a through groove in a cross shape, the front ends of the first finger (17) and the second finger (14) are overlapped with the center of the through groove, an inner arc is cut at the outer edge of the indexing disc (5) and between the through grooves, and the first stabilizer blade (18) and the second stabilizer blade (12) are complementary to the inner arc.

7. The robot rotor driving structure according to claim 1, wherein a fixing plate (7) is welded to the inner wall of the body portion (3), a motor (8) is mounted on the fixing plate (7), and a driving end of the motor (8) is connected with the center of the lower end of the driving gear (9).