CN220074696U - Head steering mechanism of robot - Google Patents

Abstract

The utility model discloses a head steering mechanism of a robot, which relates to the technical field of robots and comprises a shaft sleeve, a shaft disc, a horizontal rotation driving assembly, a first hemispherical neck, a second hemispherical neck and a pitching driving assembly; the shaft sleeve is fixed on the machine body, the shaft disc is arranged in the shaft sleeve and can concentrically rotate relative to the shaft sleeve, and the horizontal rotation driving assembly is in transmission connection with the shaft disc and is used for driving the shaft disc to rotate left and right with a rotation limiting angle of 350 DEG in the horizontal direction; the first hemispherical machine neck is fixedly connected with the shaft sleeve, the second hemispherical machine neck is arranged in the first hemispherical machine neck, a pitching driving assembly which is used for driving the second hemispherical machine neck to swing in the vertical direction relative to the first hemispherical machine neck by a limiting angle of 35 DEG is arranged in the second hemispherical machine neck, the second hemispherical machine neck is fixed with the head of the robot, and the first hemispherical machine neck and the second hemispherical machine neck form a movable neck of the robot. The utility model can realize flexible and continuous transformation of the head gesture of the robot and has good adaptability to the structure of the robot body.

Description

Head steering mechanism of robot

Technical Field

The utility model relates to the technical field of robots, in particular to a head steering mechanism of a robot with a consistent rotation posture.

Background

With the continuous progress of science and technology and the continuous development of robot technology, intelligent robots have gradually moved into thousands of households, and the intelligent robots bring convenience and fun to the life of people, can assist the life and study of the old and children, and are popular with the parents of the light generation for more and more years, in particular to desktop type small intelligent robots. The desktop type small intelligent robot has a small structure and low manufacturing cost, so that the popularization of the desktop type small intelligent robot in modern families is higher than that of a humanoid robot. However, in the prior art, the head action of the intelligent robot is single and rigid, the action interactivity is poor, and the user experience is relatively low.

In order to increase the diversity of the head gestures of the desktop type small intelligent robot, the manufacturers of the robots of the present utility model also develop corresponding products, such as a simple intelligent robot head rotating structure with an authorized bulletin number of CN211415162U, which comprises an upper shell 1, a rotating assembly 2 and a bottom shell 3, wherein the upper shell 1 is installed on the upper side of the bottom shell 3, and the rotating assembly 2 is arranged at the joint of the upper shell 1 and the bottom shell 3. The rotating assembly 2 comprises a protective cover 21, a motor 22, a pinion ring 23, a mounting seat 24, a rotating disc 25, a rotating mounting groove 26, a rotating center shaft seat 27, a large gear ring 28 and a circuit board 29, wherein the rotating mounting groove 26 is formed in the upper end face of the bottom shell 3, the rotating disc 25 is internally mounted in the rotating mounting groove 26, the rotating center shaft seat 27 is mounted in the middle position of the upper end face of the rotating disc 25, the mounting seat 24 is mounted on the upper end face of the rotating center shaft seat 27, the large gear ring 28 is mounted on the outer side of the rotating center shaft seat 27, the large gear ring 28 is meshed with the pinion ring 23, the motor 22 is connected to the upper side of the pinion ring 23, the protective cover 21 is covered on the outer side of the motor 22, and the circuit board 29 is mounted on the lower end face of the motor 22. The rotating assembly 2 with the structure can realize multi-angle adjustment of the robot head at the horizontal position, but is limited to the adjustment in the horizontal direction, the transmission shaft of the motor 22 is connected to the pinion gear ring 23, and then the pinion gear ring 23 is meshed with the large gear ring 28 to drive the rotation of the robot head, so that the position of the motor 22 is relatively eccentrically arranged in the shell structure, namely, is not positioned at the central position of the shell structure, and therefore, the shell shape of the robot needs to be adaptively adjusted.

And as the intelligent robot head transmission device with diversified and stable actions of application publication number CN113001515A, the intelligent robot head transmission device structurally comprises a body 1, wherein the inner wall of the body 1 is in threaded connection with a limit groove 2, a reset spring 3 is fixedly installed in the limit groove 2, one side of the reset spring 3, which is far away from the body 1, is fixedly installed with a sliding block 4, one side of the sliding block 4, which is far away from the reset spring 3, is rotationally connected with a screw 5, the bottom of the screw 5 is meshed with a driving gear 6, one end of the screw 5, which is far away from the sliding block 4, is in threaded connection with a sliding rack 7, the surface of the sliding rack 7 is sleeved with a fixed rail 8, the surface of the fixed rail 8 is welded with a driven gear 9, the bottom of the driven gear 9 is meshed with a driving gear 10, a mounting post 11 is fixedly installed in the body 1, a fixed frame 12 is welded at the top end of the mounting post 11, a fixed rod 13 is in threaded connection with the top of the fixed frame 12, a sector gear 14 is meshed at the top of the sliding rack 7, a connecting rod 15 is in threaded connection with the top of the sector gear 15, a head 16 is fixedly installed at the top of the connecting rod 15, and a rotating block 17 is connected inside the head 16 in a sliding manner. The application drives the screw rod to move left and right through the rotation of the driving gear, so that the sliding rack is driven to move left and right to drive the head body to swing left and right through the sector gear, the driven gear is driven to rotate through the rotation of the driving gear, the fixed rail is driven to rotate, and the head body is driven to finish nodding through the connecting rod. The application improves the diversification of head movements during the interaction between the robot and the person through the two transmission structures, namely, the head shaking and nodding movements are realized, but the head shaking movement of the robot head transmission device disclosed by the application is more complex in structure, the head shaking movement is realized by driving a connecting rod structure formed by a connecting rod 15 and a rotating block 17 together through the transmission of a sector gear 14, and the head shaking movement is incoherent due to the discontinuity of the gear transmission and the connecting rod transmission and is relatively hard in visual sense. Similarly, the nodding action of the robot is realized through a multi-stage gear structure and a connecting rod structure, and the nodding action is also harder. In addition, since the head body 16 is connected to the body 1 through the link 15 and the rotating block 17, a large "movement space" for completing the head movement exists between the body 1 and the head body 16, so that a large gap exists between the body 1 and the head body 16, and thus foreign matter easily enters the "movement space" through the gap, and the internal transmission structure is locked.

Disclosure of Invention

In order to solve the defects of the technology, the utility model provides a head steering mechanism of a robot.

The technical scheme adopted by the utility model for realizing the technical effects is as follows:

a head steering mechanism for a robot, comprising:

the shaft sleeve is fixed on the machine body, and a shaft disc capable of rotating concentrically relative to the shaft sleeve is arranged in the shaft sleeve;

the horizontal rotation driving assembly is in transmission connection with the shaft disc and is used for driving the shaft disc to rotate left and right with a rotation limiting angle of 350 DEG in the horizontal direction;

the first hemispherical neck is fixedly connected with the shaft sleeve, a second hemispherical neck is arranged in the first hemispherical neck, and a pitching driving assembly which is used for driving the second hemispherical neck to swing in the vertical direction relative to the first hemispherical neck by a limiting angle of 35 degrees is arranged in the second hemispherical neck;

the second hemispherical neck is fixed with the head of the robot, the first hemispherical neck and the second hemispherical neck jointly form a movable neck of the robot, a round opening is formed in the center of the shaft disc, a wire harness leading-in pipe orifice which is rotatably nested in the round opening is formed in the center of the shaft sleeve, a first opening which is formed in the pitching direction of the second hemispherical neck and opposite to the round opening is formed in the bottom of the first hemispherical neck, and a second opening which is opposite to the first opening is formed in the second hemispherical neck.

Preferably, in the head steering mechanism of a robot, the horizontal rotation driving assembly includes a gear disc fixedly connected with the shaft disc, a first servo motor arranged at one side of the gear disc, and a transmission gear fixed on a transmission shaft of the first servo motor, wherein the transmission gear is meshed with teeth at the outer edge of the gear disc.

Preferably, in the head steering mechanism of the robot, the pitch driving assembly includes a bevel gear fixed in the first hemispherical neck, a second servo motor fixed at the top of the second hemispherical neck, and a worm fixed on a transmission shaft of the second servo motor, the bevel gear is rotatably connected with the second hemispherical neck through a horizontal straight shaft, and the worm is in driving engagement with the bevel gear.

Preferably, in the head steering mechanism of a robot, the bottom of the ball cavity of the first hemispherical neck is provided with fixing seats respectively at the left side and the right side of the first opening, a bracket is arranged in the fixing seats, the bevel gear is fixed on the middle section shaft rod of the straight shaft, flat openings are formed at two ends of the straight shaft and fixedly connected to the top of the bracket, and round rods at two ends of the middle section shaft rod of the straight shaft are rotatably connected with the second hemispherical neck.

Preferably, in the head steering mechanism of a robot, an assembly cavity is formed on the spherical surface of the second hemispherical neck, and screw fastening positions for fixing the bracket are respectively arranged at the left and right sides of the second opening at the top of the assembly cavity.

Preferably, in the head steering mechanism of the robot, a screw mounting lug fixed with the body is provided at an outer edge of the shaft sleeve.

The beneficial effects of the utility model are as follows: the head steering mechanism can drive the first hemispherical neck and the second hemispherical neck to integrally rotate at a rotation limiting angle of about 350 degrees through the horizontal rotation driving assembly, and drive the second hemispherical neck to do pitching rotation with a swinging limiting angle of 35 degrees on the first hemispherical neck through the pitching driving assembly, so that the posture is flexibly and continuously changed, meanwhile, the pitching driving assembly is built in a movable neck of a robot formed by the first hemispherical neck and the second hemispherical neck, no adaptive adjustment is required to the appearance of the robot body, and when the head of the robot is driven to rotate, no gap is generated between the robot body and the head body due to posture adjustment.

Drawings

FIG. 1 is a perspective view of the present utility model;

FIG. 2 is an internal block diagram of the present utility model;

FIG. 3 is a disassembled view of the present utility model;

FIG. 4 is a view showing the internal structure of a ball cavity of a first hemispherical neck according to the present utility model;

fig. 5 is a bottom view of the second hemispherical neck of the present utility model.

Detailed Description

For a further understanding of the utility model, reference should be made to the following drawings and to the accompanying examples which illustrate the utility model:

in the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "vertical", "upper", "lower", "horizontal", etc. are directions or positional relationships based on those shown in the drawings, only for convenience of description of the present utility model and simplification of the description, rather than indicating or suggesting that the apparatus or element in question must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediary, or connected through communication between two elements. The specific meaning of the above terms in this application will be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1, 2 and 3, as shown in the drawings, an embodiment of the present utility model provides a head steering mechanism of a robot, which includes a shaft sleeve 1, a shaft disc 3, a horizontal rotation driving assembly 2, a first hemispherical neck 4, a second hemispherical neck 5, and a pitch driving assembly 6. Specifically, the shaft sleeve 1 is fixed on the machine body, and the shaft disc 3 is arranged in the shaft sleeve 1 and can concentrically rotate relative to the shaft sleeve 1. The horizontal rotation driving assembly 2 is in transmission connection with the shaft disc 3 and is used for driving the shaft disc 3 to rotate left and right with a rotation limiting angle of 350 degrees in the horizontal direction. The first hemispherical neck 4 is fixedly connected with the shaft sleeve 1, the second hemispherical neck 5 is arranged in the first hemispherical neck 4, and a pitching driving component 6 which is used for driving the second hemispherical neck 5 to swing in the vertical direction relative to the first hemispherical neck 4 by a limiting angle of 35 degrees is arranged in the second hemispherical neck 5.

The second hemispherical neck 5 is fixed with the head of the robot, and the first hemispherical neck 4 and the second hemispherical neck 5 together form a movable neck of the robot. As shown in fig. 3, a circular opening 31 is provided at the center of the shaft disk 3, and the circular opening 31 is provided for the external power supply wire bundle to enter. As shown in fig. 2, the central position of the sleeve 1 is formed with a harness lead-in pipe orifice 11 rotatably nested in a round opening 31, and an external power supply harness firstly enters through the harness lead-in pipe orifice 11 and then passes through the first hemispherical neck 4 and the second hemispherical neck 5 in sequence to be electrically connected with the pitching driving assembly 6. Specifically, as shown in fig. 4 and 5, the bottom of the first hemispherical neck 4 is provided with a first opening 41 which is opened along the pitch direction of the second hemispherical neck 5 and is opposite to the round opening 31, and the second hemispherical neck 5 is provided with a second opening 51 opposite to the first opening 41. The external power supply wire harness firstly passes through the shaft sleeve 1 and the shaft disc 3 through the wire harness introducing pipe orifice 11, then enters the spherical cavity of the first hemispherical neck 4 through the first opening 41, and then enters the top of the second hemispherical neck 5 through the second opening 51, and is electrically connected with the pitching driving assembly 6. It will be appreciated that the aperture of the harness inlet pipe 11, the opening sizes of the first opening 41 and the second opening 51 are provided with the movable allowance of the power supply harness, so that the head steering mechanism is convenient for moving the power supply harness when rotating horizontally and in pitching, and the power supply harness has the length allowance in the movable neck of the robot formed by the first hemispherical neck 4 and the second hemispherical neck 5 together, thereby avoiding the harness from being involved in the rotation adjustment of the head of the robot.

Further, in the preferred embodiment of the present utility model, as shown in fig. 1 to 3, the horizontal rotation driving assembly 2 includes a gear plate 21 fixedly connected with the shaft plate 3, a first servo motor 22 provided at one side of the gear plate 21, and a transmission gear 23 fixed on a transmission shaft of the first servo motor 22, wherein the transmission gear 23 is engaged with teeth of an outer edge of the gear plate 21. The output angular displacement of the first servo motor 22 is controlled by the singlechip, so that the rotation angular displacement of the gear disc 21 can be controlled, and the robot head is controlled to rotate left and right with a rotation limiting angle of 350 degrees in the horizontal direction. In the process of left and right rotation, the horizontal rotation can be stopped at any angle within the limit angle range, and the horizontal rotation is continuous and natural.

Further, in the preferred embodiment of the present utility model, as shown in fig. 1 to 3, the pitch drive assembly 6 includes a bevel gear 61 fixed in the first hemispherical neck 4, a second servo motor 62 fixed to the top of the second hemispherical neck 5, and a worm 63 fixed to a transmission shaft of the second servo motor 62. Wherein the bevel gear 61 is rotatably connected with the second hemispherical neck 5 through a horizontal straight shaft 611, and the worm 63 is in driving engagement with the bevel gear 61. The output angular displacement of the second servo motor 62 is controlled by the singlechip, and the rotation angular displacement of the bevel gear 61 can be controlled by the transmission engagement of the worm 63 and the bevel gear 61, so that the head of the robot is controlled to perform pitching attitude adjustment with a swing limiting angle of 35 degrees in the vertical direction. In the pitching rotation process, the second hemispherical neck 5 can be controlled to stop at any angle within the limit angle range, and the pitching rotation action is coherent and natural.

Further, in the preferred embodiment of the present utility model, as shown in fig. 3 and 4, the bottom of the spherical cavity of the first hemispherical neck 4 is provided with fixing seats 42 at the left and right sides of the first opening 41, respectively, and a bracket 612 is provided in the fixing seats 42. As shown in fig. 2 and 3, the bevel gear 61 is fixed on a middle shaft lever of the horizontal shaft 611, two ends of the horizontal shaft 611 are formed with flat openings, the flat openings are fixedly connected to the top of the bracket 612, and two round bars at two ends of the middle shaft lever of the horizontal shaft 611 are rotatably connected with the second hemispherical neck 5. That is, the bevel gear 61 and the first hemispherical neck 4 are kept fixed, the bevel gear 61 and the second hemispherical neck 5 can not move relatively, and the bevel gear 61 and the second hemispherical neck 5 can rotate relatively. In order to better fix the bracket 612, as shown in fig. 5, an assembly cavity 52 is formed on the spherical surface of the second hemispherical neck 5, screw fastening positions 53 are respectively provided on the left and right sides of the second opening 51 at the top of the assembly cavity 52, and the screw fastening positions 53 are fixedly connected with the upper end of the fixed bracket 612 through screws. As shown in fig. 1, in some embodiments, the outer edge of the sleeve 1 is provided with screw mounting lugs 12, and the sleeve 1 is fixed to the body by the screw mounting lugs 12.

In summary, the head steering mechanism of the utility model can drive the first hemispherical neck and the second hemispherical neck to rotate to the left and right with a rotation limiting angle of 350 degrees through the horizontal rotation driving assembly, and drive the second hemispherical neck to do pitching rotation with a swinging limiting angle of 35 degrees on the first hemispherical neck through the pitching driving assembly, so that the posture is flexible and consistent, meanwhile, the pitching driving assembly is built in the movable neck of the robot formed by the first hemispherical neck and the second hemispherical neck together, no adaptive adjustment is required to the appearance of the robot body, and no gap is generated between the robot body and the head body due to posture adjustment when the head of the robot is driven to rotate.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the foregoing embodiments, but rather, the foregoing embodiments and description illustrate the principles of the utility model, and that various changes and modifications may be effected therein without departing from the spirit and scope of the utility model as defined by the appended claims and their equivalents.

Claims (6)

1. A head steering mechanism for a robot, comprising:

the shaft sleeve (1) is fixed on the machine body, and a shaft disc (3) which can concentrically rotate relative to the shaft sleeve (1) is arranged in the shaft sleeve;

the horizontal rotation driving assembly (2) is in transmission connection with the shaft disc (3) and is used for driving the shaft disc (3) to rotate at a left and right rotation limiting angle of 350 DEG in the horizontal direction;

the first hemispherical machine neck (4) is fixedly connected with the shaft sleeve (1), a second hemispherical machine neck (5) is arranged in the first hemispherical machine neck (4), and a pitching driving assembly (6) which is used for driving the second hemispherical machine neck (5) to swing in the vertical direction relative to the first hemispherical machine neck (4) by a limiting angle of 35 degrees is arranged in the second hemispherical machine neck (5);

the robot comprises a robot body, a first hemispherical neck (4) and a second hemispherical neck (5), wherein the second hemispherical neck (5) is fixed with the head of the robot body, a round opening (31) is formed in the center of a shaft disc (3), a wire harness leading-in pipe orifice (11) of the round opening (31) is rotatably formed in the center of a shaft sleeve (1), a first opening (41) which is formed in the pitching direction of the second hemispherical neck (5) and opposite to the round opening (31) is formed in the bottom of the first hemispherical neck (4), and a second opening (51) which is opposite to the first opening (41) is formed in the second hemispherical neck (5).

2. The head steering mechanism of a robot according to claim 1, wherein the horizontal rotation driving assembly (2) comprises a gear disc (21) fixedly connected with the shaft disc (3), a first servo motor (22) arranged on one side of the gear disc (21), and a transmission gear (23) fixed on a transmission shaft of the first servo motor (22), wherein the transmission gear (23) is meshed with teeth on the outer edge of the gear disc (21).

3. The head steering mechanism of a robot according to claim 1, characterized in that the pitch drive assembly (6) comprises a bevel gear (61) fixed in the first hemispherical neck (4), a second servo motor (62) fixed at the top of the second hemispherical neck (5), and a worm (63) fixed on the drive shaft of the second servo motor (62), the bevel gear (61) being rotatably connected with the second hemispherical neck (5) by a horizontal arranged in-line shaft (611), the worm (63) being in driving engagement with the bevel gear (61).

4. A head steering mechanism of a robot according to claim 3, wherein the bottom of the spherical cavity of the first hemispherical neck (4) is provided with fixing seats (42) respectively at the left side and the right side of the first opening (41), a bracket (612) is arranged in the fixing seats (42), the bevel gear (61) is fixed on the middle shaft lever of the straight shaft (611), flat openings are formed at two ends of the straight shaft (611), the flat openings are fixedly connected to the top of the bracket (612), and round rods at two ends of the middle shaft lever of the straight shaft (611) are rotatably connected with the second hemispherical neck (5).

5. The head steering mechanism of the robot according to claim 4, wherein an assembling cavity (52) is formed on the spherical surface of the second hemispherical neck (5), and screw fastening positions (53) for fixing the bracket (612) are respectively arranged at the left and right sides of the second opening (51) at the top of the assembling cavity (52).

6. The head steering mechanism of the robot according to claim 1, wherein the outer edge of the shaft sleeve (1) is provided with screw mounting lugs (12) fixed with the body.