CN216830967U - Robot head neck mechanism and robot - Google Patents
Robot head neck mechanism and robot Download PDFInfo
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- CN216830967U CN216830967U CN202220048539.4U CN202220048539U CN216830967U CN 216830967 U CN216830967 U CN 216830967U CN 202220048539 U CN202220048539 U CN 202220048539U CN 216830967 U CN216830967 U CN 216830967U
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Abstract
The utility model provides a robot neck mechanism and robot, include: the device comprises a neck motor group, a neck motor tail end output, a neck pull rod shell, a neck pitching seat, a neck first steering wheel, a neck pull rod and a neck second steering wheel; a first neck rudder disc and a second neck rudder disc are rotatably arranged on the neck pull rod shell; one end of the neck pull rod is rotatably connected with a first steering wheel of the neck, and the other end of the neck pull rod is rotatably connected with a second steering wheel of the neck; a neck pitching seat is arranged on the neck pull rod shell and fixedly connected with a first neck rudder plate; the neck motor group includes: a first motor and a second motor; the first motor of the neck is arranged on the pull rod shell of the neck and is in transmission connection with the second rudder disc of the neck; the second neck motor is arranged on the second neck pitching seat and is in transmission connection with the output end of the neck motor, and the output end of the neck motor is rotatably arranged on the second neck pitching seat. The device avoids overlong length of the neck through the parallel pull rod structure of the neck, is convenient to run and prevents electric wires from being worn.
Description
Technical Field
The utility model relates to a robot structure field specifically, relates to robot head neck mechanism and robot.
Background
The existing multi-degree-of-freedom humanoid robot is often troublesome in routing due to overlong neck structure and is easy to cause electric wire abrasion. Therefore, the problem of overlong length of the neck structure with multiple degrees of freedom is solved.
Patent document CN103273493B discloses a robot neck mechanism, which includes a neck lower frame connected with a shoulder, and a neck upper frame connected with a head, wherein a head rotating motor is installed on the neck upper frame, a shaft of the head rotating motor is connected with the head, a rear portion of the neck upper frame is connected with an upper plate of the neck lower frame through a universal joint, and a left side and a right side of a front portion of the neck upper frame are respectively connected with rotating shafts of left and right stepping motors on the neck lower frame through ball joint link mechanisms.
Patent document CN108818555A relates to the robot field, specifically is a simulation robot neck structure, including mounting base, the rotation mounting groove has been seted up to mounting base's inside, the inside rotation of rotating the mounting groove is installed and is rotated the installed part.
The above prior patents fail to solve the problem of excessive length of the multi-degree of freedom neck structure.
SUMMERY OF THE UTILITY MODEL
To the defects in the prior art, the utility model aims at providing a robot neck mechanism and robot.
According to the utility model provides a pair of robot neck portion mechanism, include: the device comprises a neck motor group, a neck motor tail end output, a neck pull rod shell, a neck pitching seat, a neck first steering wheel, a neck pull rod and a neck second steering wheel;
the first neck rudder disc and the second neck rudder disc are rotatably arranged on the neck pull rod shell;
one end of the neck pull rod is rotatably connected with the first steering wheel of the neck, and the other end of the neck pull rod is rotatably connected with the second steering wheel of the neck;
the neck lifting seat is mounted on the neck pull rod shell and fixedly connected with the first neck rudder plate;
the neck motor group includes: a first motor and a second motor;
the first motor of the neck is arranged on the pull rod shell of the neck and is in transmission connection with the second rudder disc of the neck;
the second motor of neck is installed on the every single move seat of neck and transmission connection the terminal output of neck motor, the terminal output of neck motor is rotated and is installed on the every single move seat of neck.
Preferably, the neck pull rod shell comprises a first pull rod shell plate surface and a second pull rod shell plate surface, and one end of the first pull rod shell plate surface is vertically connected with one end of the second pull rod shell plate surface;
and a third motor output end of the neck is fixedly installed on one side, back to the first pull rod shell plate surface, of the second pull rod shell plate surface, and the third motor output end of the neck drives the neck pull rod shell to rotate along the horizontal direction.
Preferably, the first tie rod shell plate surface is provided with the first rudder plate with the neck and the second rudder plate with the neck;
the second rudder plate is arranged between the first rudder plate and the second draw rod shell plate.
Preferably, the neck pull rod is arranged on one side of the first pull rod shell plate surface, which is back to the second pull rod shell plate surface;
the two neck pull rods are arranged and parallel to each other;
the first neck rudder plate, the second neck rudder plate and the two neck pull rods form a neck parallel pull rod structure;
the parallel pull rod structure of neck is dorsad first pull rod shell board one side installation neck shell, neck shell fixed connection the neck pull rod shell.
Preferably, the first pull rod shell plate surface is provided with the first neck motor on one side facing the second pull rod shell plate surface;
the end face of the first motor of the neck is parallel to the first pull rod shell plate surface and the second rudder plate of the neck.
Preferably, the first pull rod shell surface is provided with the neck pitching seat towards one side of the second pull rod shell surface;
the first rudder disc of the neck drives the pitching seat of the neck to rotate along the direction parallel to the plate surface of the first pull rod shell.
Preferably, the end surface of the second motor of the neck is perpendicular to the surface of the first pull rod shell and is installed on the neck pitching seat;
the output end of the neck motor is perpendicular to the first pull rod shell plate surface and is arranged on the neck pitching seat;
the output of the tail end of the neck motor and the rotation of the second neck motor along with the neck pitching seat are jointly performed.
The tail end output of the neck motor is driven by the second neck motor to rotate along the direction perpendicular to the plate surface of the first pull rod shell.
Preferably, a first neck bearing is arranged between the first neck rudder plate and the neck pull rod;
and a second neck bearing is arranged between the second neck rudder plate and the neck pull rod.
Preferably, a first head support table is arranged in the middle of the output end of the neck motor, and a second head support table is arranged at one end of the output end of the neck motor, which faces away from the second motor of the neck;
the head shell is arranged on the tail end output of the neck motor and is fixedly supported by the first head supporting table and the second head supporting table;
the head shell is fixedly provided with a spectacle lens and a vision module device.
Preferably, a robot employs the robot head and neck mechanism.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the device avoids overlong length of the neck part through the neck parallel pull rod structure, is convenient to run and prevents electric wires from being worn;
2. the device has simple structure and avoids the overlarge weight of the head and neck mechanism.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic perspective view of a head and neck mechanism;
FIG. 2 is a schematic view of a head housing structure;
fig. 3 is a front view of the head and neck mechanism.
Shown in the figure:
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
Example 1
As shown in fig. 1 and 3, a robot head and neck mechanism, which may be used in a robot, includes: the neck motor group 4, the neck motor tail end output 27, the neck pull rod shell 29, the neck pitching base 64, the first neck steering wheel 66, the neck pull rod 67 and the second neck steering wheel 69; rotate the first rudder dish 66 of installation neck and neck second rudder dish 69 on the neck pull rod shell 29, neck pull rod 67 one end is rotated and is connected the first rudder dish 66 of neck, and the neck pull rod 67 other end is rotated and is connected neck second rudder dish 69, installs neck every single move seat 64 on the neck pull rod shell 29, and the first rudder dish 66 of neck every single move seat 64 fixed connection neck, and neck motor group 4 includes: the first motor 401 of neck and the second motor 402 of neck, the first motor 401 of neck is installed on the pull rod shell 29 of neck and transmission connection neck second steering wheel 69, the second motor 402 of neck is installed on the pitching seat 64 of neck and transmission connection neck motor end output 27, the end output 27 of neck motor rotates and installs on the pitching seat 64 of neck. A first neck bearing 65 is arranged between the first neck rudder plate 66 and the neck pull rod 67, and a second neck bearing 68 is arranged between the second neck rudder plate 69 and the neck pull rod 67.
The neck pull rod shell 29 comprises a first pull rod shell plate surface and a second pull rod shell plate surface, one end of the first pull rod shell plate surface is perpendicularly connected with one end of the second pull rod shell plate surface, the second pull rod shell plate surface is back to one side of the first pull rod shell plate surface, a neck third motor output end 34 is fixedly installed, and the neck third motor output end 34 drives the neck pull rod shell 29 to rotate along the horizontal direction. The first tie rod shell plate surface is provided with a first neck rudder plate 66 and a second neck rudder plate 69, and the second neck rudder plate 69 is arranged between the first neck rudder plate 66 and the second tie rod shell plate surface. The first pull rod shell plate surface is back to the second pull rod shell plate surface side and is provided with two neck pull rods 67, the neck pull rods 67 are arranged and are parallel to each other, the first neck rudder disc 66, the second neck rudder disc 69 and the two neck pull rods 67 form a neck parallel pull rod structure, the neck parallel pull rod structure is back to the first pull rod shell plate side and is provided with the neck shell 28, and the neck shell 28 is fixedly connected with the neck pull rod shell 29. The first pull rod shell plate surface is provided with a neck pitching seat 64 towards one side of the second pull rod shell plate surface, and the first rudder disc 66 of the neck drives the neck pitching seat 64 to rotate along the direction parallel to the first pull rod shell plate surface. The end face of the neck second motor 402 is perpendicular to the first pull rod shell plate surface and is installed on the neck pitching seat 64, the tail end output 27 of the neck motor and the neck second motor 402 rotate together along with the neck pitching seat 64, and the tail end output 27 of the neck motor is driven by the neck second motor 402 to rotate along the direction perpendicular to the first pull rod shell plate surface. The first motor 401 of neck is installed towards second pull rod shell plate one side to first pull rod shell plate face, and the first motor 401 of neck terminal surface is on a parallel with first pull rod shell plate face and neck second steering wheel 69.
As shown in fig. 2, a first head support platform 271 is installed in the middle of the neck motor end output 27, a second head support platform 272 is installed at the end of the neck motor end output 27 opposite to the neck second motor 402, a head housing 1 is installed on the neck motor end output 27 and is fixedly supported by the first head support platform 271 and the second head support platform 272, and a spectacle lens 2 and a vision module device 3 are fixedly installed on the head housing 1.
Example 2
Example 2 is a preferred example of example 1.
As shown in fig. 1 to 3, the eyeglass lens 2 and the vision module device 3 are fixedly mounted on the head housing 1, and the head housing 1 is mounted on the first head support stage 271 and the second head support stage 272 of the neck motor end output 27. The outer side of the neck pull rod shell 29 is fixedly provided with the neck shell 28, and a first neck steering wheel 66, a second neck steering wheel 69 and two neck pull rods 67 are arranged between the neck shell 28 and the neck pull rod shell 29. The neck motor set 4 comprises a first neck motor 401 and a second neck motor 402, and the tail end output 27 of the neck motor is connected with the second neck motor 402. The neck motor set 4 is arranged on the neck pull rod shell 29, and the neck pull rod shell 29 is fixedly connected with the output end 34 of the third motor. One end of the neck pull rod 67 is rotatably connected with the first neck rudder plate 66, the other end of the neck pull rod 67 is rotatably connected with the second neck rudder plate 69, the neck pitching base 64 is mounted on the neck pull rod shell 29, the neck pitching base 64 is fixedly connected with the first neck rudder plate 66, a first neck bearing 65 is mounted between the first neck rudder plate 66 and the neck pull rod 67, and a second neck bearing 68 is mounted between the second neck rudder plate 69 and the neck pull rod 67. The neck motor end output 27 is rotatably mounted on the neck tilt mount 64.
The second neck motor 402 rotates to drive the tail end output 27 of the neck motor to rotate and drive the head shell 1 to swing, the first neck motor 401 rotates to drive the second neck rudder plate 69 to rotate, the second rudder plate 69 drives the neck pull rod 67 to move up and down, the neck pull rod 67 drives the first neck rudder plate 66 to rotate, the first neck rudder plate 66 drives the neck pitching base 64 to rotate, and the neck pitching base 64 drives the tail end output 27 of the neck motor to pitch and enable the head shell 1 to pitch up and down. The third motor output 34 of the neck drives the pull rod shell 29 of the neck and the end output 27 of the neck motor to rotate and drives the head housing 1 to rotate back and forth.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A robot neck mechanism, characterized by, includes: the device comprises a neck motor group (4), a neck motor tail end output (27), a neck pull rod shell (29), a neck pitching seat (64), a neck first steering wheel (66), a neck pull rod (67) and a neck second steering wheel (69);
the first neck rudder plate (66) and the second neck rudder plate (69) are rotatably mounted on the neck pull rod shell (29);
one end of the neck pull rod (67) is rotatably connected with the first neck steering wheel (66), and the other end of the neck pull rod (67) is rotatably connected with the second neck steering wheel (69);
the neck lifting seat (64) is installed on the neck pull rod shell (29), and the neck lifting seat (64) is fixedly connected with the first neck steering wheel (66);
the neck motor group (4) comprises: a first motor (401) and a second motor (402);
the first neck motor (401) is mounted on the neck pull rod shell (29) and is in transmission connection with the second neck steering wheel (69);
the second motor of neck (402) is installed on the seat of pitching of neck (64) and the transmission is connected the end output of neck motor (27), the end output of neck motor (27) rotate install pitch seat of neck (64) is last.
2. The robotic head and neck mechanism of claim 1, wherein: the neck pull rod shell (29) comprises a first pull rod shell plate surface and a second pull rod shell plate surface, and one end of the first pull rod shell plate surface is vertically connected with one end of the second pull rod shell plate surface;
the second pull rod shell plate surface is back to one side of the first pull rod shell plate surface and is fixedly provided with a third motor output end (34), and the third motor output end (34) drives the pull rod shell (29) to rotate along the horizontal direction.
3. The robotic head and neck mechanism of claim 2, wherein: the first tie rod shell plate surface is provided with the first rudder plate (66) with the neck and the second rudder plate (69) with the neck;
the neck second rudder plate (69) is arranged between the neck first rudder plate (66) and the second stay shell plate surface.
4. The robotic head and neck mechanism of claim 3, wherein: the side, back to the second pull rod shell plate surface, of the first pull rod shell plate surface is provided with the neck pull rod (67);
two neck pull rods (67) are arranged and are parallel to each other;
the first neck rudder plate (66), the second neck rudder plate (69) and the two neck pull rods (67) form a neck parallel pull rod structure;
the parallel pull rod structure of neck is dorsad first pull rod shell board one side installation neck shell (28), neck shell (28) fixed connection neck pull rod shell (29).
5. The robotic head and neck mechanism of claim 3, wherein: the first pull rod shell plate surface is provided with the first neck motor (401) towards one side of the second pull rod shell plate surface;
the end face of the first motor (401) is parallel to the first pull rod shell plate face and the second steering wheel (69).
6. The robotic head and neck mechanism of claim 3, wherein: the first pull rod shell surface faces one side of the second pull rod shell surface, and the neck pitching seat (64) is installed;
the first rudder plate (66) of the neck drives the pitching seat (64) of the neck to rotate along the direction parallel to the plate surface of the first draw bar shell.
7. The robotic head and neck mechanism of claim 6, wherein: the end face of the second neck motor (402) is perpendicular to the first pull rod shell plate face and is installed on the neck pitching seat (64);
the tail end output (27) of the neck motor is perpendicular to the first pull rod shell plate surface and is arranged on the neck pitching seat (64);
the neck motor end output (27) and the neck second motor (402) rotate together with the neck pitching seat (64);
the tail end output (27) of the neck motor is driven by the second neck motor (402) to rotate along the direction vertical to the plate surface of the first pull rod shell.
8. The robotic head and neck mechanism of claim 1, wherein: a first neck bearing (65) is arranged between the first neck rudder plate (66) and the neck pull rod (67);
a second neck bearing (68) is arranged between the second neck rudder plate (69) and the second neck pull rod (67).
9. The robotic head and neck mechanism of claim 7, wherein: a first head supporting table (271) is arranged in the middle of the tail end output (27) of the neck motor, and a second head supporting table (272) is arranged at one end, back to the neck second motor (402), of the tail end output (27) of the neck motor;
the head shell (1) is arranged on the tail end output (27) of the neck motor and is fixedly supported by the first head supporting table (271) and the second head supporting table (272);
the head shell (1) is fixedly provided with a spectacle lens (2) and a vision module device (3).
10. A robot, characterized by: the robot adopts the robot head and neck mechanism of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220048539.4U CN216830967U (en) | 2022-01-10 | 2022-01-10 | Robot head neck mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220048539.4U CN216830967U (en) | 2022-01-10 | 2022-01-10 | Robot head neck mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216830967U true CN216830967U (en) | 2022-06-28 |
Family
ID=82114869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220048539.4U Active CN216830967U (en) | 2022-01-10 | 2022-01-10 | Robot head neck mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216830967U (en) |
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2022
- 2022-01-10 CN CN202220048539.4U patent/CN216830967U/en active Active
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