CN219114055U

CN219114055U - Head control mechanism of multi-degree-of-freedom service robot

Info

Publication number: CN219114055U
Application number: CN202223118518.4U
Authority: CN
Inventors: 于慧
Original assignee: Yantai Zhonggao Innovation Technology Service Co ltd
Current assignee: Yantai Zhonggao Innovation Technology Service Co ltd
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-06-02
Anticipated expiration: 2032-11-23

Abstract

The utility model relates to the field of service robot instruments, in particular to a head control mechanism of a multi-degree-of-freedom service robot, which comprises a robot head body, wherein the lower side of the robot head body is fixedly connected with the upper side of a connecting seat, the right lower side of the connecting seat is fixedly connected with the left side of a supporting arm, the left lower side of the connecting seat is fixedly connected with the right side of a rotating rod, the left lower side of the supporting arm is fixedly connected with the right side of a rotating shaft B, the left side of the rotating shaft B is rotatably connected with the upper side of a rotating shaft C, the lower side of the rotating shaft C penetrates through the middle part of a rotatable connection installation frame, a support frame is arranged on the lower side of the installation frame, the outer side wall of the middle part of the rotating shaft C is fixedly connected with the inner side of a driven gear, and the left side of the driven gear is meshed with the right side of a driving gear.

Description

Head control mechanism of multi-degree-of-freedom service robot

Technical Field

The utility model relates to the technical field of service robot instruments, in particular to a head control mechanism of a multi-degree-of-freedom service robot.

Background

The traditional head control mechanism of the service robot has the advantages that part of the head control mechanism is complex in structure and control, high in failure rate and poor in stability, high in production cost and simple in part of the head control mechanism, single in degree of freedom and poor in sensitivity, and is difficult to adapt to the head control of robots of different service types.

Disclosure of Invention

The utility model aims to provide a head control mechanism of a multi-degree-of-freedom service robot, which aims to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a multi freedom service robot's head control mechanism, including the robot head body, robot head body downside fixed connection connecting seat upside, connecting seat right side downside fixed connection support arm left side, connecting seat left side downside fixed connection bull stick right side, support arm left side downside fixed connection pivot B right side, pivot B left side rotatable connection pivot C upside, pivot C downside runs through rotatable connection mounting bracket middle part, the mounting bracket downside is equipped with the support frame, pivot C middle part lateral wall fixed connection driven gear inboard, driven gear left side meshing driving gear right side, driving gear inboard fixed connection pivot D upside, pivot D downside power connection servo motor B upside, pivot C bottom rotatable connection axle sleeve subassembly is inside, axle sleeve subassembly upside fixed connection mounting bracket downside to run through fixedly connected with driven gear through pivot C downside, wherein driven gear meshing driving gear, wherein pivot C bottom runs through mounting bracket and axle sleeve subassembly connection, wherein pivot C can rotate in the inside, pivot C bottom is passed through axle sleeve subassembly and is supported, wherein driving gear inside runs through fixed connection pivot D upside, D downside power connection servo motor B upside, thereby drive motor B upside power connection servo motor upside power take off the side, thereby drive motor body through the rotation of the indirect robot body through the rotation of the servo motor, thereby indirectly drive motor body.

As the head control mechanism of the multi-degree-of-freedom service robot, disclosed by the utility model, the upper side of the rotating shaft C is fixedly connected with the left lower side of the Z-shaped seat, the right upper side of the Z-shaped seat is fixedly connected with the lower side of the servo motor A, the right power output end of the servo motor A is connected with the left side of the rotating shaft A, the right side of the rotating shaft A is fixedly connected with the left lower side of the linkage rod, the rotating shaft A can be driven to rotate through the rotation of the servo motor A, the rotating shaft A is supported by the shaft seat, and the rotating shaft A can rotate in the shaft seat, so that the linkage rod is driven to rotate.

As the head control mechanism of the multi-degree-of-freedom service robot, disclosed by the utility model, the right side of the rotating rod is fixedly connected with the left side of the connecting rod shaft assembly A, the middle part of the connecting rod shaft assembly A is rotatably connected with the upper side of the driven rod, the lower side of the driven rod is rotatably connected with the middle part of the connecting rod shaft assembly B, the left side of the connecting rod shaft assembly B is fixedly connected with the right upper side of the linkage rod, the driven rod can be rotatably connected through the linkage rod through the connecting rod shaft assembly B, the driven rod is rotatably connected with the rotating rod through the connecting rod shaft assembly A, and the rotating rod can be indirectly pulled when the servo motor A rotates.

As the head control mechanism of the multi-degree-of-freedom service robot, provided by the utility model, the lower side of the servo motor B is fixedly connected with the left side of the support frame, the left upper side of the support frame is provided with the screw assemblies, the upper side wall of the support frame is fixedly connected with the lower side wall of the mounting frame, the screw assemblies are provided with a plurality of groups, and the plurality of groups of screw assemblies are used for fixing the support frame and the mounting frame.

As the head control mechanism of the multi-degree-of-freedom service robot, the left lower side of the mounting frame is provided with the mounting holes, and the mounting holes are provided with a plurality of groups.

As the head control mechanism of the multi-degree-of-freedom service robot, the middle part of the rotating shaft A can be rotationally connected with the upper side of the shaft seat, and the lower side of the shaft seat is fixedly connected with the upper right side of the Z-shaped seat.

The utility model has the technical effects and advantages that:

the utility model relates to the field of service robot instruments, in particular to a head control mechanism of a multi-degree-of-freedom service robot, which is reasonable in structure and simple in control, can realize 360-degree rotation of the horizontal direction of the head of the robot and partial angle rotation of the vertical direction through a plurality of groups of rotating shafts, can realize high-sensitivity precise control through multi-degree-of-freedom rotation and a plurality of groups of servo motors, is low in overall failure rate and high in stability, is relatively low in production cost, and can be suitable for head control of robots of different service types.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model.

Fig. 2 is a schematic diagram of the overall structure of the present utility model.

FIG. 3 is a schematic diagram of the overall structure of the present utility model.

Fig. 4 is a schematic diagram of the overall structure of the present utility model.

In the figure: 1. a robot head body; 2. a connecting seat; 3. a rotating rod; 31. a Z-shaped seat; 32. a servo motor A; 33. a driven rod; 34. a link shaft assembly a; 35. a link shaft assembly B; 36. a linkage rod; 37. a rotating shaft A; 38. a shaft seat; 4. a support arm; 5. a rotating shaft B; 6. a rotating shaft C; 61. a drive gear; 62. a driven gear; 63. a sleeve assembly; 64. a rotating shaft D; 65. a servo motor B; 7. a mounting frame; 71. a mounting hole; 8. a support frame; 81. and a screw assembly.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

Referring to fig. 1-4, a head control mechanism of a multi-degree-of-freedom service robot of the present embodiment includes a robot head body 1, a lower side of the robot head body 1 is fixedly connected with an upper side of a connecting seat 2, a right lower side of the connecting seat 2 is fixedly connected with a left side of a supporting arm 4, a left lower side of the connecting seat 2 is fixedly connected with a right side of a rotating rod 3, a left lower side of the supporting arm 4 is fixedly connected with a right side of a rotating shaft B5, a left side of the rotating shaft B5 is rotatably connected with an upper side of a rotating shaft C6, a lower side of the rotating shaft C6 penetrates through a middle portion of a rotatably connected mounting frame 7, a supporting frame 8 is provided under the mounting frame 7, an outer side wall of the middle portion of the rotating shaft C6 is fixedly connected with an inner side of a driven gear 62, the left side of the driven gear 62 engages with a right side of a driving gear 61, an inner side of the driving gear 61 is fixedly connected with an upper side of a rotating shaft D64, the servo motor B65 upside is connected in pivot D64 downside power, pivot C6 bottom rotatable coupling axle sleeve subassembly 63 is inside, axle sleeve subassembly 63 upside fixedly connected with mounting bracket 7 downside wall, thereby run through fixedly connected with driven gear 62 through pivot C6 downside, wherein driven gear 62 meshing driving gear 61, wherein the mounting bracket 7 is run through to the pivot C6 bottom and axle sleeve subassembly 63 are connected, wherein pivot C6 can rotate in mounting bracket 7 inside, pivot C6 bottom is rotated and is supported through axle sleeve subassembly 63, wherein the inside fixed connection pivot D64 upside that runs through of driving gear 61, pivot D64 downside power is connected servo motor B65 upside power take off, thereby drive pivot C6's drive through the rotation of servo motor B65 indirectionally, thereby drive robot head body 1's rotation indirectly.

Meanwhile, in order to achieve a better head control effect, in this embodiment, the upper side of the rotating shaft C6 is fixedly connected with the left lower side of the Z-shaped seat 31, the right upper side of the Z-shaped seat 31 is fixedly connected with the lower side of the servo motor a32, the right power output end of the servo motor a32 is connected with the left side of the rotating shaft a37, the right side of the rotating shaft a37 is fixedly connected with the left lower side of the linkage rod 36, and the rotating shaft a37 can be driven to rotate through the rotation of the servo motor a32, wherein the rotating shaft a37 is supported by the shaft seat 38, and the rotating shaft a37 can rotate in the shaft seat 38, so that the linkage rod 36 is driven to rotate.

Meanwhile, the right side of the rotating rod 3 is fixedly connected with the left side of a connecting rod shaft assembly A34, the middle part of the connecting rod shaft assembly A34 is rotatably connected with the upper side of a driven rod 33, the lower side of the driven rod 33 is rotatably connected with the middle part of a connecting rod shaft assembly B35, the left side of the connecting rod shaft assembly B35 is fixedly connected with the right upper side of a linkage rod 36, the driven rod 33 can be rotatably connected through the linkage rod 36 through the connecting rod shaft assembly B35, the driven rod 33 is rotatably connected with the rotating rod 3 through the connecting rod shaft assembly A34, and the rotating rod 3 can be indirectly pulled when the servo motor A32 rotates.

Example two

The present embodiment has the same points as the above embodiments, and the same points are not explained in the present embodiment, specifically, the difference is that:

the head control mechanism of the multi-degree-of-freedom service robot of the embodiment is characterized in that the lower side of a servo motor B65 is fixedly connected with the left side of a support frame 8, a screw assembly 81 is arranged on the left upper side of the support frame 8, the upper side wall of the support frame 8 is fixedly connected with the lower side wall of a mounting frame 7, multiple groups of screw assemblies 81 are arranged, and the multiple groups of screw assemblies 81 fix the support frame 8 and the mounting frame 7.

Wherein, mounting bracket 7 left side downside is equipped with mounting hole 71, and mounting hole 71 is equipped with the multiunit.

The middle part of the rotating shaft A37 is rotatably connected with the upper side of the shaft seat 38, and the lower side of the shaft seat 38 is fixedly connected with the upper right side of the Z-shaped seat 31.

In this embodiment, the specific implementation principle is as follows:

firstly, the service robot head body 1 is supported and fixed through the connecting seat 2, the rotating rod 3 is connected to one side of the connecting seat 2, the head is supported by one side of the connecting seat 2 through the supporting arm 4, wherein the supporting arm 4 is fixedly connected with one end of the rotating shaft B5, one side of the rotating shaft B5 is rotatably connected with the rotating shaft C6, the rotation of the vertical direction of the service robot head is specifically realized through the rotation of the servo motor A32 to drive the rotation of the rotating shaft A37, the rotating shaft A37 is supported through the shaft seat 38, the rotating shaft A37 can rotate in the shaft seat 38 so as to drive the rotation of the linkage rod 36, the linkage rod 36 is rotatably connected with the driven rod 33 through the connecting rod shaft component B35, the driven rod 33 is rotatably connected with the rotating rod 3 through the connecting rod shaft component A34, the rotating rod 3 can be indirectly pulled when the servo motor A32 rotates, the rotating shaft B5 connected with the supporting arm 4 is driven to rotate on the rotating shaft C6 after the rotating rod 3 is pulled, one side of the Z-shaped seat 31 is fixedly connected with the rotating shaft C6, and one side of the Z-shaped seat 31 is fixedly connected with the servo motor A32, so that the rotation of the robot head body 1 connected with the connecting seat 2 in the vertical direction is realized, such as point head, low head or look-up and the like.

Fixedly connected with driven gear 62 runs through the pivot C6 downside, wherein driven gear 62 meshes driving gear 61, wherein pivot C6 bottom runs through mounting bracket 7 and is connected with axle sleeve subassembly 63, wherein pivot C6 can rotate in mounting bracket 7 inside, pivot C6 bottom is rotated and is supported through axle sleeve subassembly 63, wherein driving gear 61 inside runs through fixedly connected pivot D64 upside, servo motor B65 upside power take off end is connected to pivot D64 downside power, thereby indirectly drive the drive of pivot C6 through servo motor B65's rotation, thereby indirectly drive the rotation of robot head body 1, realize, for example, the shaking head of robot head body 1, rotate the head etc. wherein servo motor B65 downside is fixed in support frame 8 inboard, support frame 8 passes through multiunit screw subassembly 81 and fixes in mounting bracket 7 downside, wherein mounting bracket 7 passes through multiunit mounting hole 71 and other parts installation fixedly of service robot.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "secured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Standard parts used by the utility model can be purchased from the market, and special-shaped parts can be customized according to the description of the specification and the drawings.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a multi freedom service robot's head control mechanism, includes robot head body (1), its characterized in that, robot head body (1) downside fixed connection connecting seat (2) upside, connecting seat (2) right side fixed connection support arm (4) left side, connecting seat (2) left side fixed connection bull stick (3) right side, support arm (4) left side lower side fixed connection pivot B (5) right side, pivot B (5) left side rotatable connection pivot C (6) upside, pivot C (6) downside runs through rotatable connection mounting bracket (7) middle part, mounting bracket (7) downside is equipped with support frame (8);

the novel rotary shaft is characterized in that the middle outer side wall of the rotary shaft C (6) is fixedly connected with the inner side of the driven gear (62), the left side of the driven gear (62) is meshed with the right side of the driving gear (61), the inner side of the driving gear (61) is fixedly connected with the upper side of the rotary shaft D (64), the lower side of the rotary shaft D (64) is in power connection with the upper side of the servo motor B (65), the bottom of the rotary shaft C (6) is rotatably connected with the inside of the shaft sleeve assembly (63), and the upper side of the shaft sleeve assembly (63) is fixedly connected with the lower side wall of the mounting rack (7).

2. The head control mechanism of the multi-degree-of-freedom service robot according to claim 1, wherein the upper side of the rotating shaft C (6) is fixedly connected with the left lower side of the Z-shaped seat (31), the right upper side of the Z-shaped seat (31) is fixedly connected with the lower side of the servo motor a (32), the right power output end of the servo motor a (32) is connected with the left side of the rotating shaft a (37), and the right side of the rotating shaft a (37) is fixedly connected with the left lower side of the linkage rod (36).

3. The head control mechanism of the multi-degree-of-freedom service robot according to claim 1, wherein the right side of the rotating rod (3) is fixedly connected with the left side of a connecting rod shaft assembly A (34), the middle part of the connecting rod shaft assembly A (34) is rotatably connected with the upper side of a driven rod (33), the lower side of the driven rod (33) is rotatably connected with the middle part of a connecting rod shaft assembly B (35), and the left side of the connecting rod shaft assembly B (35) is fixedly connected with the right upper side of a linkage rod (36).

4. The head control mechanism of the multi-degree-of-freedom service robot according to claim 1, wherein the lower side of the servo motor B (65) is fixedly connected with the left side of the support frame (8), a screw assembly (81) is arranged on the left upper side of the support frame (8), the upper side wall of the support frame (8) is fixedly connected with the lower side wall of the mounting frame (7), the screw assembly (81) is provided with a plurality of groups, and the screw assembly (81) is used for fixing the support frame (8) and the mounting frame (7).

5. The head control mechanism of the multi-degree-of-freedom service robot according to claim 1, wherein the mounting frame (7) is provided with a mounting hole (71) at the left lower side, and a plurality of groups of mounting holes (71) are provided.

6. The head control mechanism of the multi-degree-of-freedom service robot according to claim 2, wherein the middle part of the rotating shaft A (37) is rotatably connected with the upper side of the shaft seat (38), and the lower side of the shaft seat (38) is fixedly connected with the upper right side of the Z-shaped seat (31).