CN215968865U

CN215968865U - Driving mechanism for robot head rotation

Info

Publication number: CN215968865U
Application number: CN202122007641.8U
Authority: CN
Inventors: 林锦华
Original assignee: QIHAN TECHNOLOGY CO LTD
Current assignee: Shenzhen Fisderin Technology Co ltd
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2022-03-08
Anticipated expiration: 2031-08-25

Abstract

The utility model discloses a driving mechanism for robot head rotation, which comprises a primary base, wherein a secondary base is arranged above the primary base, the upper surface of the primary base is fixedly connected with a limiting sleeve, the bottom of the secondary base is fixedly connected with a special-shaped oscillating bar, and a first driving mechanism for driving the special-shaped oscillating bar to oscillate is connected between the primary base and the limiting sleeve; the top of the secondary base is rotatably connected with a mounting shaft and a driving shaft. According to the utility model, through the mutual matching among the primary base, the secondary base, the limiting sleeve, the special-shaped swing rod, the driving shaft, the first driving device and the second driving device, the first driving device and the special-shaped swing rod are matched to drive the secondary base to integrally rotate and swing, so that the head of the robot connected with the mounting shaft can be driven to swing, meanwhile, the second driving device can drive the mounting shaft to rotate, the overall design is flexible, and the practicability and the interestingness of the robot are effectively improved.

Description

Driving mechanism for robot head rotation

Technical Field

The utility model relates to the technical field of robots, in particular to a driving mechanism for rotating a robot head.

Background

The robot is a machine device with automatic execution working capacity, is a product of advanced integrated control theory, mechano-electronics, computers, materials and bionics, has some intelligent capacity similar to human or biology, and has important application in the fields of industry, medicine, agriculture, education, construction industry and even military affairs.

The existing bionic robot can be similar to a human body in shape and comprises a trunk part, a head part, four limbs and arms, wherein the head part of the existing robot is mostly arranged in a rotatable mode, however, in the actual rotating process, the rotating action of the existing robot is clumsy, the existing robot can only rotate at a single speed, the existing robot cannot swing or rotate at a variable speed according to actual needs, the practicability and the interestingness of the robot are reduced, and therefore a driving mechanism for rotating the head part of the robot is designed to solve the problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects in the prior art and provides a driving mechanism for rotating a robot head.

In order to achieve the purpose, the utility model adopts the following technical scheme: a driving mechanism for robot head rotation comprises a primary base, wherein a secondary base is arranged above the primary base, a limiting sleeve is fixedly connected to the upper surface of the primary base, a special-shaped oscillating bar is fixedly connected to the bottom of the secondary base, and a first driving mechanism for driving the special-shaped oscillating bar to oscillate is connected between the primary base and the limiting sleeve; the top of the secondary base is rotatably connected with an installation shaft and a driving shaft, two first gears with variable diameters are fixedly sleeved on the outer side wall of the installation shaft, a second gear is fixedly connected to the top of the driving shaft, and a second driving mechanism for driving the second gear to rotate is connected to the top of the secondary base; and the outer wall of the driving shaft is provided with two third gears which are correspondingly meshed with the first gears one to one and a third driving mechanism for driving the two third gears to synchronously move up and down.

As a further description of the above technical solution:

first actuating mechanism includes the first motor of fixed connection in one-level base bottom, first motor drive end fixedly connected with connecting axle, the connecting axle top runs through one-level base and rotates with special-shaped pendulum rod bottom to be connected, special-shaped pendulum rod lateral wall passes through connecting rod fixedly connected with spacing ball, the ring channel that is used for spacing ball to remove is offered to the spacing sleeve inside wall.

As a further description of the above technical solution:

the cross section of the annular groove is in T-shaped arrangement.

As a further description of the above technical solution:

the second driving mechanism comprises a second motor fixedly connected to the upper surface of the second-stage base, the output end of the second motor is fixedly connected with a vertical shaft, and a fourth gear meshed with the second gear is fixedly sleeved on the outer side wall of the vertical shaft.

As a further description of the above technical solution:

adjacent two pass through connecting cylinder fixed connection between the third gear, two spacing parallel keys of drive shaft lateral wall fixedly connected with, the keyway with spacing parallel key looks adaptation is all seted up to third gear and connecting cylinder inside wall, spacing parallel key and keyway inner wall sliding connection.

As a further description of the above technical solution:

the third actuating mechanism comprises an electric push rod, a positioning cylinder is fixedly connected with a piston end of the electric push rod, the positioning cylinder is fixedly connected with the bottom of the third gear, a positioning ring is fixedly connected with the bottom of the electric push rod, and the positioning ring is fixedly sleeved on the outer side wall of the driving shaft.

The utility model has the following beneficial effects:

1. compared with the prior art, this a actuating mechanism for robot head is rotatory, through the one-level base, the second grade base, spacing sleeve, special-shaped pendulum rod, the drive shaft, mutually support between first drive arrangement and the second drive arrangement, utilize first drive arrangement and the cooperation of special-shaped pendulum rod to drive the whole rotatory swing of second grade base to can drive the robot head swing with the mounting shaft is connected, the second drive arrangement can drive the installation hub rotation simultaneously, the global design is nimble, the practicality and the interest of robot have effectively been improved.

2. Compared with the prior art, this a actuating mechanism for robot head is rotatory through installing mutually supporting between axle, first gear, drive shaft, second gear, third gear, connecting cylinder and the electric putter, and electric putter can drive two third gears and wholly reciprocate to can change the engaged state of two third gears and two first gears, realize the second grade speed governing, change robot head slew velocity, further improve the practicality of robot.

Drawings

Fig. 1 is a schematic structural diagram of a driving mechanism for robot head rotation according to the present invention;

fig. 2 is a schematic view of a connection structure between a third driving mechanism and a third gear in the driving mechanism for robot head rotation according to the present invention;

fig. 3 is a top view of a connecting cylinder in a driving mechanism for rotation of a robot head according to the present invention;

fig. 4 is a cross-sectional view of a limiting sleeve in a driving mechanism for robot head rotation according to the present invention.

Illustration of the drawings:

1. a primary base; 2. a secondary base; 3. a limiting sleeve; 4. a special-shaped swing rod; 5. installing a shaft; 6. a drive shaft; 7. a first gear; 8. a second gear; 9. a third gear; 10. a first motor; 11. a connecting rod; 12. a limiting ball; 13. an annular groove; 14. a second motor; 15. a vertical axis; 16. a fourth gear; 17. a connecting cylinder; 18. a limit flat key; 19. a keyway; 20. an electric push rod; 21. a retaining ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 4, the present invention provides a driving mechanism for robot head rotation: including one-

level base

1, 1 tops of one-level base are equipped with second grade base 2, and fixed surface is connected with limiting sleeve 3 on the one-

level base

1, and 2 bottom fixedly connected with special-shaped pendulum rods 4 of second grade base are connected with between one-level base 1 and the limiting sleeve 3 and are used for driving 4 wobbling first actuating mechanism of special-shaped pendulum rod.

Specifically, first actuating mechanism includes first motor 10 of fixed connection in one-level base 1 bottom, first motor 10 drive end fixedly connected with connecting axle, the connecting axle top runs through one-level base 1 and rotates with special-shaped pendulum rod 4 bottom and be connected, special-shaped pendulum rod 4 lateral wall passes through connecting rod 11 fixedly connected with spacing ball 12, spacing sleeve 3 inside wall is offered and is used for the ring channel 13 of spacing ball 12 removal, the transversal T type setting of personally submitting of ring channel 13, wherein the cross-section of ring channel 13 can refer to as shown in figure 4, connecting rod 11 can partly stretch into inside ring channel 13 like this, make spacing ball 12 be located ring channel 13 all the time, connecting rod 11 and special-shaped pendulum rod 4 have been guaranteed and have rotated the stability of in-process.

The top of the secondary base 2 is rotatably connected with an installation shaft 5 and a driving shaft 6, the outer side wall of the installation shaft 5 is fixedly sleeved with two first gears 7 with variable diameter, the top of the driving shaft 6 is fixedly connected with a second gear 8, and the top of the secondary base 2 is connected with a second driving mechanism for driving the second gear 8 to rotate; the second driving mechanism comprises a second motor 14 fixedly connected to the upper surface of the second-stage base 2, the output end of the second motor 14 is fixedly connected with a vertical shaft 15, and a fourth gear 16 meshed with the second gear 8 is fixedly sleeved on the outer side wall of the vertical shaft 15.

The outer wall of the driving shaft 6 is provided with two third gears 9 which are meshed with the first gears 7 in a one-to-one correspondence manner and a third driving mechanism which is used for driving the two third gears 9 to synchronously move up and down, the two adjacent third gears 9 are fixedly connected through a connecting cylinder 17, the outer side wall of the driving shaft 6 is fixedly connected with two limit flat keys 18, key grooves 19 matched with the limit flat keys 18 are formed in the inner side walls of the third gears 9 and the connecting cylinder 17, the limit flat keys 18 are connected with the inner walls of the key grooves 19 in a sliding manner, so that the third gears 9 and the connecting cylinder 17 can move up and down along the outer wall of the driving shaft 6 and can synchronously rotate along with the driving shaft 6, the arrangement and the size of the first gears 7 and the third gears 9 are shown in the reference figure 1, and the purpose of changing the rotating speed is achieved through the meshing of gear teeth with different sizes.

Further, the third driving mechanism comprises an electric push rod 20, a positioning cylinder is fixedly connected to the piston end of the electric push rod 20, the positioning cylinder is fixedly connected with the third gear 9 at the bottom, a positioning ring 21 is fixedly connected to the bottom of the electric push rod 20, the positioning ring 21 is fixedly sleeved on the outer side wall of the driving shaft 6, a key groove 19 matched with the limiting flat key 18 is also formed in the inner wall of the positioning cylinder, and therefore the positioning cylinder can move up and down along the driving shaft 6 conveniently.

The utility model can be illustrated by the following operating modes:

during installation, the robot head is connected with the installation shaft 5, when the robot head needs to swing, the first motor 10 is started, the first motor 10 drives the special-shaped swing rod 4 to move through the connecting shaft, and the special-shaped swing rod 4 drives the second-stage base 2 to swing integrally in a rotating mode under the limiting action of the connecting rod 11 and the limiting ball 12, so that the robot head rotates.

And starting the second motor 14, wherein the second motor 14 drives the second gear 8 to rotate through the vertical shaft 15 and the fourth gear 16, at the moment, the driving shaft 6 starts to rotate, the rotating driving shaft 6 drives each third gear 9 thereon to rotate, and one third gear 9 drives the mounting shaft 5 and the robot head to integrally rotate by driving the first gear 7 meshed with the third gear 9.

When the rotation speed of the head of the robot needs to be adjusted, the electric push rod 20 is started, the electric push rod 20 drives the corresponding connecting cylinder 17 to move upwards or downwards, as shown in fig. 1, when the electric push rod 20 moves downwards, the third gear 9 meshed with the upper part is separated from the first gear 7, the third gear 9 below moves downwards and is meshed with the first gear 7 arranged at the bottom of the upper part of the mounting shaft 5, at the moment, when the second motor 14 is started, the rotation speed of the mounting shaft 5 can be changed, the rotation speed of the head of the robot is further changed, and the practicability and the interestingness of the robot are improved.

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 or portions thereof without departing from the spirit and scope of the utility model.

Claims

1. A drive mechanism for robot head rotation, includes one-level base (1), its characterized in that: a second-stage base (2) is arranged above the first-stage base (1), the upper surface of the first-stage base (1) is fixedly connected with a limiting sleeve (3), the bottom of the second-stage base (2) is fixedly connected with a special-shaped oscillating bar (4), and a first driving mechanism for driving the special-shaped oscillating bar (4) to oscillate is connected between the first-stage base (1) and the limiting sleeve (3);

the top of the secondary base (2) is rotatably connected with an installation shaft (5) and a driving shaft (6), two first gears (7) with variable diameters are fixedly sleeved on the outer side wall of the installation shaft (5), a second gear (8) is fixedly connected to the top of the driving shaft (6), and a second driving mechanism for driving the second gear (8) to rotate is connected to the top of the secondary base (2);

and the outer wall of the driving shaft (6) is provided with two third gears (9) which are correspondingly meshed with the first gears (7) one by one and a third driving mechanism for driving the two third gears (9) to synchronously move up and down.

2. A drive mechanism for rotation of a robot head according to claim 1, characterized in that: first actuating mechanism includes first motor (10) of fixed connection in one-level base (1) bottom, first motor (10) drive end fixedly connected with connecting axle, the connecting axle top run through one-level base (1) and rotate with dysmorphism pendulum rod (4) bottom and be connected, dysmorphism pendulum rod (4) lateral wall passes through connecting rod (11) fixedly connected with spacing ball (12), ring channel (13) that are used for spacing ball (12) to remove are seted up to spacing sleeve (3) inside wall.

3. A drive mechanism for rotation of a robot head according to claim 2, characterized in that: the cross section of the annular groove (13) is arranged in a T shape.

4. A drive mechanism for rotation of a robot head according to claim 1, characterized in that: the second driving mechanism comprises a second motor (14) fixedly connected to the upper surface of the second-stage base (2), the output end of the second motor (14) is fixedly connected with a vertical shaft (15), and a fourth gear (16) meshed with the second gear (8) is fixedly sleeved on the outer side wall of the vertical shaft (15).

5. A drive mechanism for rotation of a robot head according to claim 1, characterized in that: adjacent two pass through connecting cylinder (17) fixed connection between third gear (9), two spacing parallel keys (18) of drive shaft (6) lateral wall fixedly connected with, keyway (19) with spacing parallel key (18) looks adaptation are all seted up to third gear (9) and connecting cylinder (17) inside wall, spacing parallel key (18) and keyway (19) inner wall sliding connection.

6. A drive mechanism for rotation of a robot head according to claim 1, characterized in that: third actuating mechanism includes electric putter (20), electric putter (20) piston end fixedly connected with location section of thick bamboo, a location section of thick bamboo and bottom third gear (9) fixed connection, electric putter (20) bottom fixedly connected with holding ring (21), the fixed cup joint of holding ring (21) is on drive shaft (6) lateral wall.