WO2018000913A1 - Robot wing assembly device - Google Patents

Abstract

A robot wing assembly device, comprising: a wing support (13), an electric machine (14), an encoding disk (10), a photoelectric sensor (7), a wing casing, and a wing (6). The wing casing is divided into a left wing casing (8) and a right wing casing (15). The electric machine (14) and the photoelectric (7) are separately fixed on the wing support (13). The encoding disk (10) is fixed on the left wing casing (8). The electric machine (14) is installed within a D-shaped recess of the left wing casing (8). The right wing casing (15) is fixed onto the left wing casing (8). The wing (6) is mounted onto the wing casing. The robot wing assembly device can be reduced in size by selecting, while maintaining a specified torque, a corresponding electric machine model type. A rotating method and a structure of a rotating component can be changed to ensure the reliability of a rotating motion.

Description

Robot wing assembly device

The present application claims priority to Chinese Patent Application No. CN201620669175.6, entitled "A Robot Wing Component Device", filed on June 29, 2016, the entire contents of which is incorporated herein by reference. .

Technical field

The present application relates to the field of robot technology, and in particular to a robot wing assembly device.

Background technique

At present, robots are now a hot industry, so the parts on the robots are as simple and reliable as possible to achieve the advantages of durability, aesthetics, and overall coordination with the robot in the case of cost reduction.

In the prior art, the robot wing assembly is as shown in FIG. 1. The design bracket 2 is fixed on the side of the robot, and the motor 1 fixed on the bracket 2 is connected to the four-bar mechanism 5. The motor 1 drives the four-bar mechanism 5 to operate, and the wings 3 are fixed. At one end of the four-bar mechanism 5, the four-bar mechanism 5 causes the wings 3 to repeatedly move up and down about the rotating shaft 4, thereby forming a complete wing assembly.

In this design, the motor 1 occupies a large space, the diameter of the 42mm, 67mm high 775 type motor, so that the space left for other parts will become smaller. The bracket 2 is a metal bracket, which is difficult to process, and generates more waste and is expensive. For a line that has no fixed position, the wire will be confusing. The wing wing 3 is an ABS plastic product with a hard texture. When the wings 3 are moved, when the hand is placed under the bottom, there is a slight pain when it touches the hand. The connection between the wings and the four-bar mechanism relies only on the tightly-fitted card position limit. However, when the wing movement time is increased, the card position will become loose, and the wings will no longer operate with the four-bar mechanism, so that the function of the wings is lost. Since the entire wing assembly is installed because the parts of the four-bar mechanism 5 are small, it is troublesome to install, and the four-bar mechanism 5 is prone to a problem of dead spots.

Summary of the invention

The present application provides a robot wing assembly device for solving the existing live broadcast system problem.

The application provides a robot wing assembly device, including:

Wing bracket, motor, code wheel, photoelectric sensor, wing shell and wing wing;

The wing shell is divided into a wing shell left and a wing shell right; the motor and the photoelectric sensor are respectively fixed on the wing bracket; the code wheel is fixed on the left upper side of the wing shell; and the motor is mounted in the D-shaped hole on the left side of the wing shell The wing shell is fixed to the left of the wing shell to the right; the wing wing is sleeved on the wing shell.

The wing bracket is provided with a wire groove and a threading hole.

The wing bracket is provided with a plurality of ribs.

The left side of the wing shell and the right side of the wing shell completely enclose the motor inside, and the fixed link is fixed by the axis of the motor shaft.

Two or more mechanical limit points are respectively disposed on the left side of the wing shell and the upper right side of the wing shell.

The motor is a 520 type motor with a diameter of 33 mm and a height of 39 mm.

The wing wings are rubber wing wings.

The wing bracket is a plastic wing bracket.

In the embodiment of the present application, due to the adoption of the above technical solution, by selecting a matching motor model, the size of the motor is reduced while ensuring the required torque value, thereby ensuring the overall design of the wing assembly; The change in the shape of the wing bracket material reduces the production cost and increases the function of the cable management; the change of the transmission mode and the structural changes of the transmission component ensure the reliability of the transmission.

The space size of the motor is reduced, and the space of the robot occupied by the wings is effectively reduced for a long time, which makes the robot look more beautiful. The change in the wing bracket saves costs and also reduces the space occupied by the wings. The function of the cable management has been added to make the wire smoother and convenient for the production line. The design of the structure also ensures the stability of the wing assembly during movement.

The design of the wing wings has been changed from a single rigid plastic material to a combination of rubber and plastic parts, which can increase the texture of the robot parts, and the structural changes also ensure the stability of the wing assembly movement. At the same time, they are all plastic parts, which can manufacture more complex parts and save space. The design of the components leaves plenty of room. The overall aesthetics of the robot is guaranteed.

The change of the wing's transmission mode and the setting of the upper and lower limit positions ensure that the wings can move within a limited range without sticking. The transmission parts replace the original metal parts with plastic parts, which ensures the components. The aesthetics of the design ensure the reliability of the design and the low price.

With superior compatibility, it can be used with most professional and non-professional cameras on the market. Powered by a built-in battery, the compact design allows for high performance while providing portability for a wide range of complex conditions.

Other features and advantages of the present application will be set forth in the description which follows. The objectives and other advantages of the present invention can be realized and obtained by the structure of the invention.

The technical solutions of the present application are further described in detail below through the accompanying drawings and embodiments.

DRAWINGS

The accompanying drawings are used to provide a further understanding of the invention, In the drawing:

1 is a schematic structural view of a robot wing assembly in the prior art;

FIG. 2 is a schematic structural diagram of a device for a robot wing assembly according to an embodiment of the present application.

FIG. 3 is a schematic diagram of a robot wing bracket provided by an embodiment of the present application.

FIG. 4 is a schematic structural diagram of a wing shell of a robot according to an embodiment of the present application.

FIG. 5 is a schematic diagram of the installation of a wing housing and a motor of a robot according to an embodiment of the present application.

detailed description

The preferred embodiments of the present application are described in the following with reference to the accompanying drawings, and the preferred embodiments described herein are intended to illustrate and explain the invention.

FIG. 2 is a schematic structural diagram of a robot wing assembly device according to Embodiment 1 of the present application, including:

Wing wing 6, photoelectric sensor 7, wing housing left 8, screw 9, code wheel 10, screw 11, screw 12, wing bracket 13, motor 14, wing housing right 15, screw 16; wing housing left 8 and wing housing right 15 Combine into a wing shell.

The screw 12 fixes the motor 14 to the wing holder 13, the screw 11 fixes the photosensor 7 to the wing holder 13, the screw 11 fixes the code wheel 10 to the left side of the wing housing 8, and the motor 14 to the left of the wing housing 8 Inside the hole, and screw it with the screw 9, fix the right 15 of the wing shell to the left 8 of the wing shell with the screw 16, and finally put the wing wing 6 on the wing shell, so that the wing assembly is assembled.

The wing bracket 13 mainly plays a supporting role, the motor 14 provides the main power, and the photoelectric sensor 7 and the code wheel 10 control the speed and position of the swinging of the wing assembly by reading the code, and the wing wing 6 is the main output part. This constitutes a complete motion system.

In this embodiment, a smaller size 520 type motor 14 having a diameter of 33 mm and a height of 39 mm is selected. When the normal torque is ensured, the volume of the motor can be reduced to fit the motor in the wings, and the wings are effectively reduced. Take up space in the robot.

The wing bracket is designed as a plastic wing bracket 13 to replace the metal wing bracket 2 of the original design. Specifically, as shown in Fig. 3, since it is a plastic product, a complicated shape can be made in a limited space to satisfy the operation of the wing assembly, so that the wing parts can be arranged in a compact space to save space. In addition, the new solution wing bracket 13 is also designed with a wire slot 17 and a threading hole 18 so that the wires can be routed in a fixed position. Since the motor 14 is moved together with the wing wings 6, the motor fixing groove 19 is made large to ensure the stability of the motor position during the movement of the wings. The wing bracket also makes some ribs to ensure the stability of the wing wing 6 movement.

The wing wing 3 of the existing design is an ABS plastic product with a hard texture. In the family, children generally like to grab this place, so in this patent, the wing wings are changed to soft rubber, so that the wings of the movement will feel more textured. As shown in Fig. 4 and Fig. 5, in the new design, the D-shaped hole of the motor shaft is directly connected to the left 8 of the wing casing, and a screw is locked in the axial direction of the motor shaft, so that the motor shaft and the wing casing are left. The six degrees of freedom of the 8 connections are all limited. Use in new designs The left 8 of the wing shell and the right 15 of the wing shell completely enclose the motor inside, and then wrap the wing wings 6 on the outside of the outer casing, thus forming a rotating wing to replace the wing wing 3 in the original design. This can increase the texture of the wing wings, the stability and firmness of the movement, and also reduce the space occupied by the wings.

Due to the complexity of the installation of the four-bar mechanism and its dead point, the design needs to be replaced. The new scheme uses the photoelectric sensor 7 and the code wheel 10 to read the code to control the speed and position of the wing swing. In addition, there is also a limit position of the extreme position of the wing rotation at both ends of the wing shell, that is, the mechanical limit point, which is respectively arranged on the left side of the wing shell 8 and the right side of the wing shell 15 . The mechanical limit points are set at least two, or more. It can accurately guarantee the angle of rotation of the wings by 100°. The wing shell is made of plastic, so that a more complex shape can be produced to minimize the volume under the condition of ensuring function.

In this embodiment, the shape of the wing bracket 13 is changed; or the connection manner of the motor 14 mounted to the left 8 of the wing housing is changed; or the motor of other models is selected, the technical essence of the embodiment cannot be changed, and the patent protection is provided. The scope.

In summary, in the embodiment of the present application, since the above technical solution is adopted, compared with the prior art, since the space size of the motor 14 is reduced, the space of the robot occupied by the wing is effectively reduced for a long time, which can make The robot looks more beautiful.

The modification of the wing bracket 13 saves cost and also reduces the space occupied by the wings. The function of the cable management has been added to make the wire smoother and convenient for the production line. The design of the structure also ensures the stability of the wing assembly during movement.

The design of the wing wing 6 is changed from a single rigid plastic material to a combination of rubber and plastic parts, which can increase the texture of the robot parts, and the structural changes also ensure the stability of the wing assembly movement. At the same time, they are all plastic parts, which can make more complicated parts, which can save space and leave enough space for the design of other components. The overall aesthetics of the robot is guaranteed.

The change of the wing's transmission mode and the setting of the upper and lower limit positions ensure that the wings can move within a limited range without sticking. The transmission parts replace the original metal parts with plastic parts, which ensures the components. The aesthetics of the design ensure the reliability of the design and the low price.

It will be apparent to those skilled in the art that various modifications and changes can be made in the present application without departing from the spirit and scope of the application. Thus, it is intended that the present invention cover the modifications and variations of the present invention.

Claims (8)

1. A robot wing assembly device, characterized in that the device comprises:

   Wing bracket, motor, code wheel, photoelectric sensor, wing shell and wing wing;

   The wing shell is divided into a wing shell left and a wing shell right; the motor and the photoelectric sensor are respectively fixed on the wing bracket; the code wheel is fixed on the left upper side of the wing shell; and the motor is mounted in the D-shaped hole on the left side of the wing shell The wing shell is fixed to the left of the wing shell to the right; the wing wing is sleeved on the wing shell.
2. The apparatus according to claim 1, wherein said wing bracket is provided with a wire passing groove and a threading hole.
3. The apparatus according to claim 1 or 2, wherein the wing bracket is provided with a plurality of ribs.
4. The apparatus of claim 1 wherein said wing housing left and wing housing right completely enclose the motor therein and are secured by a motor shaft axis locking bolt.
5. The apparatus according to claim 4, wherein two or more mechanical limit points are respectively disposed on the left side of the wing shell and the upper right side of the wing shell.
6. The apparatus of claim 1 wherein said motor is a Model 520 motor having a diameter of 33 mm and a height of 39 mm.
7. The device of claim 1 wherein said wing wings are rubber wing wings.
8. The device of claim 1 wherein said wing support is a plastic wing support.

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