CN208529153U - robot head rotating structure - Google Patents
robot head rotating structure Download PDFInfo
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- CN208529153U CN208529153U CN201821128215.1U CN201821128215U CN208529153U CN 208529153 U CN208529153 U CN 208529153U CN 201821128215 U CN201821128215 U CN 201821128215U CN 208529153 U CN208529153 U CN 208529153U
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- rotating shaft
- robot head
- steering gear
- shaft
- mounting seat
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- 238000009434 installation Methods 0.000 claims abstract description 7
- 241000237983 Trochidae Species 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims 2
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 206010044074 Torticollis Diseases 0.000 description 10
- 208000018197 inherited torticollis Diseases 0.000 description 10
- 230000004886 head movement Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
本实用新型公开了一种机器人头部转动结构，包括具有第一转轴的第一舵机、具有第二转轴且与第一舵机相连的第二舵机、与第一转轴固定连接的固定支架、与第二转轴固定连接的活动支架、以及与活动支架固定连接的头部主体；第一转轴的轴线与第二转轴的轴线呈预定角度错开，固定支架设有两个支撑座，两个支撑座相对间隔设置，支撑座开设有与第一转轴相配合的安装槽，第一转轴的端部插设于安装槽内且与支撑座固定连接。通过选择性控制第一转轴或第二转轴中的其中一个的工作不但可实现头部主体具有低头及仰头功能，还可实现头部左右摆动的功能，增强机器人的表现力及灵活度。
The utility model discloses a robot head rotation structure, which comprises a first steering gear with a first rotation shaft, a second steering gear with a second rotation shaft and connected with the first steering gear, and a fixed bracket fixedly connected with the first rotation shaft , a movable support fixedly connected with the second rotating shaft, and a head body fixedly connected with the movable support; the axis of the first rotating shaft and the axis of the second rotating shaft are staggered at a predetermined angle, and the fixed support is provided with two support seats, two support The seats are arranged at relative intervals, the support seat is provided with an installation groove matched with the first rotating shaft, and the end of the first rotating shaft is inserted into the installation groove and is fixedly connected with the support seat. By selectively controlling the operation of one of the first rotating shaft or the second rotating shaft, not only can the head body have the functions of lowering and raising the head, but also the function of swinging the head from side to side, enhancing the expressiveness and flexibility of the robot.
Description
Technical field
The utility model relates to robot field more particularly to robot head rotational structures.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.The task of service robot can be religion
It educates, entertain, be also possible to assist or the guide of the public places such as human work, such as bank, airport or hospital is replaced to lead clothes
Take article service or the fire-fighting work of business, food and drink place or family.The head movement of existing robot is relatively simple,
It only limits and is rotated up in the side of robot left front or right front mostly.It cannot achieve the head rotation of multidimensional angle, therefore limit
The flexibility ratio and expressive force of Zhi Liao robot.
Utility model content
The purpose of this utility model is to provide a kind of robot head rotational structure, the robot head rotational structure energy
The flexibility ratio and expressive force for improving robot, have stronger class people effect.
For this purpose, the utility model uses following technical scheme:
Robot head rotational structure, including with first rotating shaft the first steering engine, there is the second shaft and with described the
The second connected steering engine of one steering engine, the fixation bracket being fixedly connected with the first rotating shaft are fixedly connected with second shaft
Movable support and the head body that is fixedly connected with the movable support；The axis of the first rotating shaft and described second
The axis of shaft is staggered in predetermined angular, and the fixed branch is provided with two support bases, and two support base relative spacings are set
It sets, the support base offers the mounting groove matched with the first rotating shaft, and the end of the first rotating shaft is inserted in described
It is fixedly connected in mounting groove and with the support base.
Further, the fixed bracket offers the rotation recessing groove matched with first steering engine.
Further, first steering engine includes with the first mounting base of first rotating shaft rotation connection, set on described
The first motor of first mounting base, set on the first motor output shaft the first driving gear, be set to the first rotating shaft
The first driven gear and the first driving gear set between first driving gear and first driven gear
Part.
Further, second steering engine includes with the second mounting base of second shaft rotation connection, set on described
Second motor of the second mounting base, set on second motor output shaft the second driving gear, be set to second shaft
The second driven gear and the second driving gear set between second driving gear and second driven gear
Part；Second mounting base is fixedly connected with first mounting base.
Further, the movable support includes the first connection frame, the Yi Jiyu being connected with one end of second shaft
The second connected connection frame of the other end of second shaft；First connection frame detachably connects with second connection frame
It connects.
Further, the head body includes that the front shell being connected with first connection frame and described second connect
Connect the connected back shell of frame and the top shell between the front shell and the back shell；The top
Shell is detachably connected with the front shell, and the top shell is detachably connected with the back shell.
Further, the top shell offers mounting hole, is equipped with image capture module in the mounting hole.
Further, the front shell is connect with the first connection frame screw, second connection frame and the back
The connection of portion's shell screw.
Further, the top shell and the front shell are clamped, the top shell and the back shell card
It connects.
Further, several connecting plates are equipped between first steering engine and second steering engine, the connecting plate includes
The first connecting portion being connected with first mounting base and the second connecting portion being connected with second mounting base.
The utility model has the beneficial effects that when the work of the first steering engine, so that the main part of the first steering engine is relative to the
The rotation of one shaft, the second steering engine being connected with the first steering engine are rotated with the rotation of the first steering engine, and then are realized and driven head
The movement of head is bowed and faced upward to main body；The second shaft on second steering engine drives the movable support being fixedly connected with the second shaft to turn
It is dynamic, so that the head body for the robot being fixedly connected with movable support is in the plane being parallel to immediately ahead of machine face
On do left and right torticollis pendulum motion；It rotates achievable head body by controlling first rotating shaft or the second shaft respectively and bows and face upward
Head or left and right torticollis are swung, to enhance the expressive force and flexibility ratio of robot, improve class people's effect of robot.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the exploded view of robot head rotational structure in the embodiments of the present invention；
Fig. 2 is the structural schematic diagram at the first visual angle of the first steering engine and the second steering engine in the embodiments of the present invention；
Fig. 3 is the structural schematic diagram at the second visual angle of the first steering engine and the second steering engine in the embodiments of the present invention；
Fig. 4 is the schematic diagram of internal structure of the first steering engine and the second steering engine in the embodiments of the present invention；
In figure:
1, the first steering engine；11, first rotating shaft；110, the first support portion；12, the first mounting base；13, first motor；14,
One driving gear component；15, the first driving gear；16, the first driven gear；2, the second steering engine；21, the second shaft；210,
Two support portions；22, the second mounting base；23, the second motor；24, the second driving gear component；25, the second driving gear；26,
Two driven gears；3, fixed bracket；31, support base；311, mounting groove；32, recessing groove is rotated；4, movable support；41, first connects
Connect frame；42, the second connection frame；5, head body；51, front shell；52, back shell；53, top shell；531, mounting hole；
6, connecting plate；61, first connecting portion；62, second connecting portion.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
The realization of the utility model is described in detail below in conjunction with specific embodiment.
As Figure 1-Figure 4, the utility model embodiment proposes a kind of robot head rotational structure, including has the
First steering engine 1 of one shaft 11 is consolidated with the second shaft 21 and the second steering engine 2 being connected with the first steering engine 1 and first rotating shaft 11
Surely the fixation bracket 3 connected, the movable support 4 being fixedly connected with the second shaft 21 and the head being fixedly connected with movable support 4
Portion's main body 5；The axis of first rotating shaft 11 and the axis of the second shaft 21 are staggered in predetermined angular.First steering engine 1 is additionally provided with and the
One shaft 11 is oppositely arranged and is located at the first support portion 110 of same axis, and the second steering engine 2 is additionally provided with and 21 phase of the second shaft
To the first support portion 210 for being arranged and being located at same axis.Fixed bracket 3 sets that there are two support base 31, two support bases 31
Relative spacing setting, each support base 31 offer the mounting groove 311 matched with first rotating shaft 11 and the first support portion 110,
The end of first rotating shaft 11 and the first support portion 110 is inserted in mounting groove 311 and is fixedly connected with support base 31.
In the embodiments of the present invention, fixed bracket 3 is the fixation member connecting with robot body, the first steering engine
1 first rotating shaft 11 and the first support portion 110 are fixedly connected with fixed bracket 3, when the work of the first steering engine 1, due to first turn
Axis 11 and the first support portion 110 are fixedly connected with fixed bracket 3, so that the main part of the first steering engine 1 is relative to first rotating shaft
11 rotate on perpendicular to the plane immediately ahead of machine face, and the second steering engine 2 being connected with the first steering engine 1 is whole with first
The rotation direction of rudderpost 11 and move, and then realize 1 drive head main body 5 of the first steering engine and its internal element along first rotating shaft 11
Rotation direction bow and face upward head movement.What the second shaft 21 drive on the second steering engine 2 was fixedly connected with the second shaft 21
Movable support 4 rotates, so that the head body 5 for the robot being fixedly connected with movable support 4 is being parallel to machine face
Torticollis movement in left and right is done in plane immediately ahead of portion.Being rotated by the first steering engine 1 of control or the second steering engine 2 can be achieved head body
5 bow and face upward head movement or the movement of left and right torticollis.First steering engine 1 and the second steering engine 2 realize that head is bowed and faced upward to head body 5
Or realize that the process of left and right torticollis can also be following manner: the second steering engine 2 rotates and drives other being connected with the second steering engine 2
Element moves together, so that drive head main body 5 does the rotation of left and right torticollis；First steering engine 1 is rotated and is driven and the first steering engine 1
Connected other elements move together, are only first with above-mentioned difference so that head body 5 be driven to nod and face upward head movement
Mounting means between steering engine 1 and the second steering engine 2 is different, the electric signal selectively control first issued by robot main controller
One of steering engine work in steering engine 1 or the second steering engine 2 can be realized head body 5 and bow and face upward head movement, or left and right
The movement of torticollis or yaw, the electric signal that the main controller issues can issue together with robot voice instruction, can also be with
It is issued together with Robot dancing instruction, i.e., is voluntarily judged and issued according to actual scene and interactive instruction by robot.
Further, a kind of specific embodiment as robot head rotational structure provided by the utility model, the
The axis of one shaft 11 and the axis of the second shaft 21 are mutually perpendicular to, and are controlled in the first steering engine 1 or the second steering engine 2 by selectivity
One of steering engine work and head body 5 can be achieved bow and face upward head movement or the movement of left and right torticollis or yaw, and it is left
The plane of movement of right torticollis or yaw is mutually perpendicular to the plane of movement for nodding and facing upward head.
Further, referring to Fig. 1, a kind of specific reality as robot head rotational structure provided by the utility model
Mode is applied, fixed bracket 3 offers the rotation recessing groove 32 matched with the first steering engine 1.Specifically, it is opened up in fixed bracket 3
There is the rotation recessing groove 32 matched with the first steering engine 1, so that the angular range that the main part of the first steering engine 1 rotates is enough
Greatly.
Further, Fig. 1 and Fig. 4 is please referred to, one kind as robot head rotational structure provided by the utility model
Specific embodiment, the first steering engine 1 include the first mounting base 12 being rotatablely connected with first rotating shaft 11, are set to the first mounting base 12
First motor 13, set on first motor 13 output shaft the first driving gear 15, set on the first driven of first rotating shaft 11
Gear 16 and the first driving gear component 14 between the first driving gear 15 and the first driven gear 16.Specifically,
The course of work of first steering engine 1 is as follows: the starting of first motor 13 drives the rotation of the first driving gear 15, the first 15 turns of driving gear
Each gear in the first driving gear component 14 is driven to rotate when dynamic, since the first driven gear 16 is arranged in first rotating shaft 11
And first rotating shaft 11 is fixedly connected with fixed bracket 3, therefore some gear in the first driving gear component 14 is installed on the
In one mounting base 12, so that first motor 13 drives the first driving gear 15 to rotate and drives in the first driving gear component 14
When each gear rotates, the first mounting base 12 is realized to be rotated relative to first rotating shaft 11, and then drives the head being connected with the first steering engine 1
Head movement is nodded or faced upward to portion's main body 5.
Further, Fig. 1 and Fig. 4 is please referred to, one kind as robot head rotational structure provided by the utility model
Specific embodiment, the second steering engine 2 include with the second mounting base 22 of the second shaft 21 rotation connection, set on the second mounting base 22
The second motor 23, set on the second motor 23 output shaft the second driving gear 25, set on the second driven of the second shaft 21
Gear 26 and the second driving gear component 24 between the second driving gear 25 and the second driven gear 26；Second peace
Dress seat 22 is fixedly connected with the first mounting base 12.The course of work of second steering engine 2 is as follows: the work of the second motor 23 issues control letter
Number driving the second driving gear 25 rotation, the second driving gear 25 rotate when drive second gear component in gears at different levels turn
It is dynamic, the driving force of the second driving gear 25 is transferred to the second driven gear when the gear at different levels in second gear component rotates
26, so that the second driven gear 26 rotates and the second shaft 21 being connected with the second driven gear 26 is driven to rotate, and then drive
The movable support 4 being connected with the second shaft 21 rotates, and finally drives 5 or so the torticollis of head body being connected with movable support 4
Or yaw rotation.
Further, referring to Fig. 1, a kind of specific reality as robot head rotational structure provided by the utility model
Apply mode, movable support 4 includes the first connection frame 41 being connected with one end of the second shaft 21 and another with the second shaft 21
The second connected connection frame 42 of one end；First connection frame 41 is detachably connected with the second connection frame 42.Specifically, movable support 4
Including the first connection frame 41 and the second connection frame 42 being detachably connected, convenient for being connect respectively with each section of head body 5, just
In dismounting and maintenance.
Further, referring to Fig. 1, a kind of specific reality as robot head rotational structure provided by the utility model
Apply mode, head body 5 includes the front shell 51 being connected with the first connection frame 41, the back shell that is connected with the second connection frame 42
Body 52 and the top shell 53 between front shell 51 and back shell 52；Top shell 53 and front shell 51 can
Dismantling connection, top shell 53 are detachably connected with back shell 52.Specifically, each section of head body 5 respectively with activity
The first connection frame 41 and the second connection frame 42 of bracket 4, easy to disassemble and maintenance.
Further, referring to Fig. 1, a kind of specific reality as robot head rotational structure provided by the utility model
Mode is applied, top shell 53 offers mounting hole 531, is equipped with image capture module in mounting hole 531.Specifically, top shell
53 offer mounting hole 531 close to the position of front shell 51, for installing image capture module.
Further, referring to Fig. 1, a kind of specific reality as robot head rotational structure provided by the utility model
Mode is applied, front shell 51 is connect with 41 screw of the first connection frame, and the second connection frame 42 is connect with 52 screw of back shell.Specifically
Ground, front shell 51 are connect with 41 screw of the first connection frame, and the second connection frame 42 is connect with 52 screw of back shell, it can be achieved that head
The fast assembling-disassembling of portion's main body 5 and movable support 4.
Further, referring to Fig. 1, a kind of specific reality as robot head rotational structure provided by the utility model
Mode is applied, top shell 53 and front shell 51 are clamped, and top shell 53 and back shell 52 are clamped.Specifically, top shell
53 with front shell 51 and back shell 52 be clamping, it can be achieved that head body 5 fast assembling-disassembling.
Further, Fig. 1-Fig. 2 is please referred to, a kind of tool as robot head rotational structure provided by the utility model
Body embodiment, is equipped with several connecting plates 6 between the first steering engine 1 and the second steering engine 2, connecting plate 6 includes and the first mounting base 12
Connected first connecting portion 61 and the second connecting portion 62 being connected with the second mounting base 22.Specifically, the first steering engine 1 and
Two steering engines 2 are achieved a fixed connection by connecting plate 6, the first mounting base 12 of the first connecting portion 61 of connecting plate 6 and the first steering engine 1
Surface fitting, the second connecting portion 62 of connecting plate 6 is bonded with the surface of the second mounting base 22 of the second steering engine 2, guarantee first
The connection consolidated between steering engine 1 and the second steering engine 2.
Obviously, the above embodiments of the present invention is used for the purpose of clearly illustrating examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821128215.1U CN208529153U (en) | 2018-07-16 | 2018-07-16 | robot head rotating structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821128215.1U CN208529153U (en) | 2018-07-16 | 2018-07-16 | robot head rotating structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208529153U true CN208529153U (en) | 2019-02-22 |
Family
ID=65388131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821128215.1U Active CN208529153U (en) | 2018-07-16 | 2018-07-16 | robot head rotating structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208529153U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108943017A (en) * | 2018-07-16 | 2018-12-07 | 深圳市优必选科技有限公司 | robot head rotating structure |
| CN109895108A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of machine human skeleton and robot |
-
2018
- 2018-07-16 CN CN201821128215.1U patent/CN208529153U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108943017A (en) * | 2018-07-16 | 2018-12-07 | 深圳市优必选科技有限公司 | robot head rotating structure |
| CN108943017B (en) * | 2018-07-16 | 2023-12-29 | 深圳市优必选科技有限公司 | Robot head rotating structure |
| CN109895108A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of machine human skeleton and robot |
| CN109895108B (en) * | 2019-03-01 | 2021-07-06 | 达闼科技（北京）有限公司 | Robot skeleton and robot |
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