CN205734960U - Robot head pitch system - Google Patents
Robot head pitch system Download PDFInfo
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- CN205734960U CN205734960U CN201620455329.1U CN201620455329U CN205734960U CN 205734960 U CN205734960 U CN 205734960U CN 201620455329 U CN201620455329 U CN 201620455329U CN 205734960 U CN205734960 U CN 205734960U
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- robot
- head
- main shaft
- tooth bar
- gear
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- 230000005484 gravity Effects 0.000 claims abstract description 8
- 230000003028 elevating effect Effects 0.000 abstract description 5
- 238000007596 consolidation process Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses the head pitch system of a kind of robot, this system includes column, it is horizontally set on the main shaft above column, the gear being fixed on column and the tooth bar being fixed on robot head, wherein, gear and tooth bar engagement, described tooth bar is curved, rotated around main shaft by gear driven tooth bar, thus drive robot head to rotate around main shaft, and then realize the elevating movement of robot head, this system can improve the stationarity of elevating movement, can also ensure that stablizing of robot center of gravity during elevating movement, improve the safety of robot.
Description
Technical field
This utility model relates to a kind of drive system of robot, is specifically related to a kind of machine
The head pitch system of people.
Background technology
Robotics is an important development research direction of society, Ren Menwei
Respective purpose, realize various function and design multiple robot, wherein, it is possible to
The robot performing various motion enjoys the favor of people, but, robot has it
Unique construction features, when robot does action, the most natural, it appears ratio
More stiff, especially compare the nodding action personalized, need by controlling robot
Head perform pitching operation, and when the pitching of head is had higher requirement,
Cartoon robot as bigger in head, owing to head weight is big, it is difficult to realizes steadily
Ground pitching, simultaneously because end rotation, its center of gravity easily offsets, and then reduces machine
The stability of people, easily causes potential safety hazard, to this end, how to make robot head
Rotate more stable, accurately be puzzlement robot development a bigger problem.
For above-mentioned reasons, existing robotically-driven structure has been done deeply by the present inventor
Enter research, in order to design a kind of robot head drive system, be particularly adapted to
The head drive system of the robot that head is bigger.
Utility model content
In order to overcome the problems referred to above, present inventor has performed and study with keen determination, design one
Planting the head pitch system of robot, this system includes column, is horizontally set on column
Main shaft, the gear being fixed on column and the tooth being fixed on robot head of top
Bar, wherein, gear and tooth bar engagement, described tooth bar is curved, by gear driven tooth
Bar rotates around main shaft, thus drives robot head to rotate around main shaft, and by
Being reciprocal in described rotation, each direction can only rotate predetermined angular, from robot
Outside appear to the head of robot and doing elevating movement, thus complete this practicality
Novel.
Specifically, the purpose of this utility model be provide following aspect:
(1) the head pitch system of a kind of robot, it is characterised in that this system
Including column 1 be horizontally set on the main shaft 2 above column,
Described main shaft 2 is arranged in the head of described robot, and described head can
Rotate around described main shaft 2,
Described column is provided with rotatable gear 3, sets below described gear
Being equipped with tooth bar 4, described gear 3 intermeshes with described tooth bar 4,
Described tooth bar 4 consolidates with the head of described robot.
(2) according to the head pitch system of the robot described in above-mentioned (1), it is special
Levying and be, be provided with support 5 at described column top, described support 5 is used for supporting institute
State main shaft and be removably secured to the surface of column.
(3) according to the head pitch system of the robot described in above-mentioned (1), it is special
Levying and be, described main shaft is through the plumb line at robot head center of gravity place.
(4) according to the head pitch system of the robot described in above-mentioned (1), it is special
Levying and be, the axis of described gear 3 is parallel with the axis of main shaft 2.
(5) according to the head pitch system of the robot described in above-mentioned (1), it is special
Levying and be, described tooth bar 4 is curved.
(6) according to the head pitch system of the robot described in above-mentioned (5), it is special
Levying and be, the axis of described main shaft 2 is through the center of the arc place of described tooth bar 4 circle.
(7) according to the head pitch system of the robot described in above-mentioned (1), it is special
Levying and be, under the drive of gear 3, described tooth bar 4 can rotate around described main shaft 2.
(8) according to the head pitch system of the robot described in above-mentioned (1), it is special
Levy and be, described column is additionally provided with the motor being connected with described gear 3.
(9) according to the head pitch system of the robot described in above-mentioned (8), it is special
Levying and be, described gear 3 can only rotate under the drive of motor, it is impossible to because of by it
His external force and rotate.
(10) according to the head pitch system of the robot described in above-mentioned (1), its
Being characterised by, described gear can revolve to each direction to both direction reciprocating rotary
The number of turns turned is all predetermined.
This utility model is had the advantage that to include:
(1) on the head pitch system of the robot provided according to this utility model
Head pitching transmits power by rack-and-pinion, and its elevating movement is the most steady, safety；
(2) machine of the head pitch system of the robot provided according to this utility model
Device head part rotates around its center of gravity, steadily of centre of gravity during pitching, is difficult to send out
Raw rollover event.
Accompanying drawing explanation
Fig. 1 illustrates the robot head according to a kind of preferred implementation of this utility model
Pitch system overall structure schematic diagram；
In Fig. 2 illustrates the turbo-dynamo according to a kind of preferred implementation of this utility model
Portion's structural representation.
Drawing reference numeral illustrates:
1-column
2-main shaft
3-gear
4-tooth bar
5-support
6-head
7-potentiometer
8-output shaft
Detailed description of the invention
Below by drawings and Examples, this utility model is further described.Logical
Crossing these explanations, feature of the present utility model and advantage will become more apparent from clearly.
The most special word " exemplary " means " as example, embodiment or say
Bright property ".The here as any embodiment illustrated by " exemplary " should not necessarily be construed as excellent
In or be better than other embodiments.Although the various aspects of embodiment shown in the drawings,
But unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
According to the head pitch system of the robot that this utility model provides, in Fig. 1
Shown in, this system includes column 1 and is horizontally set on the main shaft 2 above column, preferably
For the relative distance between surface, and described column and main shaft with relative position not
Becoming, described column top is provided with support 5, described support is used for supporting described main shaft
And it is fixed in the surface of column；During robot head 6 pitching, institute
It is motionless for stating column, and column 1 is mainly used in supporting described main shaft, is also used for propping up simultaneously
The head of support robot.
Described main shaft 2 is rotatable, and preferably, it rotates is passive rotation, from
The power that body does not rotate, its head 6 being mainly used in supporting described robot, for machine
The head of device people provides a center of rotation that can play a supporting role；
Preferably, described main shaft 2 is arranged in the head of described robot, it is preferable that
Described main shaft is through the plumb line at robot head center of gravity place；More preferably this main shaft
Through the center of gravity of described robot head, this main shaft consolidates with the head of robot, excellent
Selection of land and robot head need to do the part consolidation of pitching motion.
Described column is provided with the gear 3 of axis and described main axis parallel, described tooth
Wheel is removably secured on described column, is provided with tooth bar 4 below described gear,
Described gear intermeshes with described tooth bar, and the rotation of described gear can drive tooth bar
Mobile, it is preferable that described tooth bar is curved, under the drive of gear described tooth bar around
Described main shaft to rotate, it is preferable that described tooth bar is fixed on the head of described robot
On, further, described tooth bar and robot head need to do the portion of pitching motion
Part consolidates, and using the rotation of gear as power, rack drives be there is a need to do pitching and moves
The parts made together rotate around described main shaft, thus complete bowing of robot head
Face upward operation.
In one preferred embodiment, described tooth bar 4 is curved, described main shaft 2
Axis through the arc place of described tooth bar 4 circle center, it is also possible to be expressed as tooth bar
The radius length of 4 arcs is equal to the distance of the described alignment of shafts with described tooth bar.That is,
The arcuate profile of described tooth bar is the shape of a circle part, is on circumference arbitrary one section,
Described radius is the radius of this arc place circle.
In one preferred embodiment, described tooth bar is positioned at the underface of gear,
Being additionally provided with the motor being connected with described gear on described column, it is for described
Gear provides the power rotated, described gear or motor in this utility model preferably
On be provided with self-locking system, gear can only be rotated by described driven by motor, it is impossible to logical
Cross the active force driven gear on tooth bar to rotate, and described gear revolves to both direction
The number of turns/the revolution turned is predetermined, i.e. rotates to below gear when the edge of described tooth bar
Time, gear one direction is locked, it is impossible to continues on the direction and rotates, can only be on the contrary
Direction rotate, thus ensure that gear and tooth bar are permanently connected to, without departing from, and then
Ensure that the safety of robot head pitch system and stablize.
In one preferred embodiment, as shown in Figure 2, described motor is preferred
Ground is turbo-dynamo, in the inside of described motor, is provided with current potential on output shaft 8
Device 7, it is for feeding back the position of motion, thus accurately controls robot
The motion amplitude of head.
In one preferred embodiment, described robot head 6 is overall spherical in shape,
Described column extend in described spherical head from the bottom of described head, and in institute
State and leave predetermined space on shell and move relative to column pitching for described shell, keep away
Exempt from shell and column scratching during robot head pitching.
In description of the present utility model, it should be noted that term " on ", D score,
Orientation or the position relationship of the instruction such as " interior ", " outward " are based on utility model works
Orientation under state or position relationship, be for only for ease of description this utility model and letter
Change and describe rather than indicate or imply that the device of indication or element must have specifically
Orientation, with specific azimuth configuration and operation, therefore it is not intended that new to this practicality
The restriction of type.
Above in association with preferred embodiment this utility model being illustrated, no
It is only exemplary for crossing these embodiments, only plays illustrative effect.At this base
On plinth, this utility model can be carried out multiple replacement and improvement, these each fall within this
In the protection domain of utility model.
Claims (10)
1. the head pitch system of a robot, it is characterised in that this system includes
Column (1) and be horizontally set on the main shaft (2) above column,
Described main shaft (2) is arranged in the head of described robot, and described head
Can rotate around described main shaft (2),
Described column is provided with rotatable gear (3), below described gear
Being provided with tooth bar (4), described gear (3) intermeshes with described tooth bar (4),
Described tooth bar (4) is affixed with the head of described robot.
The head pitch system of robot the most according to claim 1, its feature
Being, be provided with support (5) at described column top, described support (5) is for propping up
Support described main shaft and be removably secured to the surface of column.
The head pitch system of robot the most according to claim 1, its feature
Being, described main shaft is through the plumb line at robot head center of gravity place.
The head pitch system of robot the most according to claim 1, its feature
Being, the axis of described gear (3) is parallel with the axis of main shaft (2).
The head pitch system of robot the most according to claim 1, its feature
Being, described tooth bar (4) is curved.
The head pitch system of robot the most according to claim 5, its feature
Being, the axis of described main shaft (2) is through the arc place of described tooth bar (4) circle
Center.
The head pitch system of robot the most according to claim 1, its feature
Being, under the drive of gear (3), described tooth bar (4) can be around described main shaft (2)
Rotate.
The head pitch system of robot the most according to claim 1, its feature
It is, described column is additionally provided with the motor being connected with described gear (3).
The head pitch system of robot the most according to claim 8, its feature
Being, described gear (3) rotates under the drive of motor, does not rotates because of other external force.
The head pitch system of robot the most according to claim 1, it is special
Levying and be, described gear can be with reciprocating rotary, and the number of turns rotated to each direction is
Predetermined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620455329.1U CN205734960U (en) | 2016-05-18 | 2016-05-18 | Robot head pitch system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620455329.1U CN205734960U (en) | 2016-05-18 | 2016-05-18 | Robot head pitch system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734960U true CN205734960U (en) | 2016-11-30 |
Family
ID=57364869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620455329.1U Active CN205734960U (en) | 2016-05-18 | 2016-05-18 | Robot head pitch system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734960U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154015A (en) * | 2019-06-20 | 2019-08-23 | 深圳弗徕威智能科技有限公司 | An intelligent robot, a pitching mechanism and its transmission structure |
-
2016
- 2016-05-18 CN CN201620455329.1U patent/CN205734960U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154015A (en) * | 2019-06-20 | 2019-08-23 | 深圳弗徕威智能科技有限公司 | An intelligent robot, a pitching mechanism and its transmission structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171207 Address after: Longgang District of Shenzhen City, Guangdong province 518117 Pingdi third industrial zone 1 Patentee after: Hanking Plastic (Shenzhen) Co., Ltd. Address before: 100079, room 1310, Fu An building, building 2, Nan Zhuang, No.1 Hospital, Beijing, Fengtai District Patentee before: Wang Shuai |