CN107081752A - Compact robot head and compact robot - Google Patents
Compact robot head and compact robot Download PDFInfo
- Publication number
- CN107081752A CN107081752A CN201710340041.9A CN201710340041A CN107081752A CN 107081752 A CN107081752 A CN 107081752A CN 201710340041 A CN201710340041 A CN 201710340041A CN 107081752 A CN107081752 A CN 107081752A
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- bearing
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- side connecting
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 230000008439 repair process Effects 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 241000233855 Orchidaceae Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a compact robot head and a compact robot, wherein the robot head comprises a head pitching joint, a head rotating joint, a joint connecting flange and a visual system, and two ends of the joint connecting flange are respectively connected with the head pitching joint and the head rotating joint; the visual system is arranged on the upper part of the head rotary joint; the main improvement is as follows: according to the head pitching joint, the pitching platform and the pitching base are buckled to form a cavity, and the pitching motor and the pitching encoder are arranged in the cavity, so that the axial size is greatly reduced; meanwhile, the harmonic reducer is adopted to drive the pitching shutdown and the rotary joint to rotate, so that the transmission return difference is greatly reduced, the precision is improved, and the harmonic reducer has larger reverse starting torque, so that the whole system has a certain self-locking function under the condition that no brake is arranged.
Description
Technical field
The present invention relates to anthropomorphic robot technical field, and in particular to a kind of compact machines head part and compact machines
People.
Background technology
For humanoid robot, head typically has two joint motions of pitching and revolution, is regarded while being installed on head
Feel sensor to complete the functions such as visual surveillance, vision measurement and vision guide.Because humanoid robot head requires small volume,
The limitation of compact in design, particularly neck size is tighter.Pitching joint in existing humanoid robot head structure is motor, subtracted
What fast device, bearing, adpting flange etc. were arranged successively, the axial dimension of pitch axis is very big, causes the size of whole robot head
Than larger, and precision is poor, and when robot head installs visual surveillance and visual measuring equipment, measurement accuracy is difficult to protect
Card.
The content of the invention
The problem of in order to solve in background technology, the invention provides a kind of topology layout is compact, spatial volume is small, precision
A kind of high compact machines head part and compact machines people.
The present invention concrete technical scheme be：
The invention provides a kind of compact machines head part, including head pitching joint, head revolute joint, joint company
Acting flange and vision system, joint adpting flange two ends connect head pitching joint and head revolute joint respectively；Vision system
System is arranged on head revolute joint top；
Its improvements is：The head pitching joint includes pitching pedestal, pitching platform and pitching shaft assembly；
The pitching pedestal includes upper left-hand wall, upper right wall and bottom tubular construction；Upper left-hand wall and upper
Portion's right side wall constitutes an opening up U-shaped structure, and is connected with bottom tubular construction；Upper left-hand wall, top are right
Through hole is offered on the wall of side；Circular protrusions are provided with upper left-hand wall and two opposite surfaces of upper right wall；
The pitching platform includes top connecting plate, left side connecting bracket and right side connecting bracket；Top connecting plate, it is left
Side connecting bracket and right side connecting bracket constitute a downward opening U-shaped structure；Left side connecting bracket and right side connect
Connect and bearing mounting hole is offered on bracket；
Pitching platform fastens with pitching pedestal and forms a cavity；
Pitching shaft assembly includes pitching motor, pitching decelerator, pitching motor pinboard, right adpting flange, left connection method
Orchid, clutch shaft bearing, pitching encoder bracket and pitching encoder；
Right adpting flange is arranged on right side connecting bracket outer surface, and left adpting flange is arranged on left side connecting bracket outer surface
And one end is stretched into the cavity；Pitching motor is located in the cavity；The output end of pitching motor is turned by pitching motor
Fishplate bar is connected with pitching decelerator, and the output end of pitching decelerator is connected with right adpting flange；Clutch shaft bearing is two；One
One bearing is arranged between the bearing mounting hole of left side connecting bracket and the circular protrusions of upper left-hand wall, another clutch shaft bearing
Between the bearing mounting hole of right side connecting bracket and the circular protrusions of upper right wall；
Pitching encoder is arranged on the part that left adpting flange stretches into the cavity after being fixed with pitching encoder bracket.
Above-mentioned pitching decelerator uses harmonic speed reducer.
Above-mentioned top connecting plate is split-type structural, and adopted with the left side connecting bracket, the part of right side connecting bracket three
Positioned with mode connects for screw and pin.
Specifically, the head revolute joint of robot head of the present invention includes pivoting support, revolving dial and revolution
Shaft assembly；
Gyro black assembly includes turning motor, turning motor pinboard, rotary reducer, revolution connecting shaft, second bearing, axle
Socket end lid, rotary encoder bracket and rotary encoder；
Wherein, turning motor, turning motor pinboard, rotary reducer, revolution connecting shaft and bearing (ball) cover are from lower
On be sequentially connected and be located at turn around in bearing, the outer peripheral surface of second bearing is contacted with pivoting support inwall, in second bearing
Snare is in revolution connecting shaft；Second bearing is arranged between the projection on bearing (ball) cover and pivoting support inwall；
Rotary encoder bracket is fixedly mounted on the upper surface of pivoting support, and rotary encoder passes through rotary encoder bracket
Fixed rear enclosure is mounted in the bottom of revolving dial；
The bottom of revolving dial is fixedly connected with turning round the top of connecting shaft, and vision system is installed on the top of revolving dial.
Above-mentioned rotary reducer uses harmonic speed reducer.
Specifically, the vision system of robot head of the present invention includes monocular camera, wide angle camera and wide angle camera
Support；
Wide angle camera support is arranged on revolving dial central upper portion position, and monocular camera is two, and two monocular cameras are consolidated
It is scheduled on revolving dial top and ranks wide angle camera support both sides, wide angle camera is installed at the top of wide angle camera support.
Above-mentioned clutch shaft bearing is deep groove ball bearing, and second bearing is the angular contact bearing of two back-to-back configurations.
Pacify between above-mentioned right side connecting bracket and right adpting flange and between left side connecting bracket and left adpting flange
Pad is cut equipped with repairing；
It is provided with to repair between the bottom of the revolving dial and the top for turning round connecting shaft and cuts pad, second bearing and revolution branch
It is provided with to repair between the projection of seat and cuts pad.
Above-mentioned pitching motor and turning motor use disc type DC brushless motor.
Based on above-mentioned compact machines head part and compact machines people, present invention also offers a kind of use head
Compact machines people.
Compared with prior art, advantage is the present invention：
1st, pitching platform and pitching pedestal fasten and form a cavity, and pitching in head pitching joint of the invention
Motor, pitching encoder are both placed in the arrangement mode in the cavity, substantially reduce axial dimension；And U-shaped pitching
The connected mode that platform and U-shaped pitching pedestal are fastened so that overall structure uniform force, stability of rotation.
2nd, the present invention drives pitching shutdown and revolute joint rotation using harmonic speed reducer, with existing planetary gear speed-reduction
Device is compared, and is greatly reduced transmission return difference, is improved precision, while reducing axial dimension again；Harmonic speed reducer has simultaneously
Larger reverse starting torque so that whole system has certain auto-lock function in the case where being not provided with brake.
3rd, top connecting plate, left side connecting bracket and the right side connecting bracket of U-shaped pitching platform of the invention are split type
Structure, three parts carry out roughing respectively, and then connecting into an entirety using screw and shop bolt is finished；
During assembling, three parts are connected with other parts respectively, then together with being reconfigured with shop bolt by screw.In transmission
During while realize overall structure uniform force, stability of rotation, the feasibility of process and assemble is met again.
4th, vision system of the invention is by the way of two monocular cameras and a wide angle camera, wide angle camera visual field
Greatly, guiding head articulation after global monitoring, vision guide and target identification, target identification is carried out, Liang Tai is aimed at
The field of view center of monocular camera；Two monocular cameras constitute binocular solid cameras, and visual field is small, precision is high, carry out three-dimensional reconstruction and
Pose measurement.This configuration mode can take into account feature and high-precision requirement.
5th, in the present invention head pitching joint be primarily subjected to radial load therefore the bearing (clutch shaft bearing) that uses is zanjon
Ball bearing, and head revolute joint is primarily subjected to larger axial force, thus the bearing (second bearing) used for two back to
Carry on the back the angular contact bearing of configuration.
6th, between right side connecting bracket of the invention and right adpting flange and left side connecting bracket and left adpting flange it
Between be mounted on repairing and cut pad；Be provided with to repair between the bottom of revolving dial and the top for turning round connecting shaft and cut pad, second bearing and
It is provided with to repair between the projection of pivoting support and cuts pad, the gap for adjusting these positions is easy to improve overall precision.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the schematic diagram in pitching joint in head of the present invention；
Fig. 3 is Fig. 2 explosive view；
Fig. 4 is the structural representation of pitching platform
Fig. 5 is the schematic diagram of head revolute joint of the present invention；
Fig. 6 is Fig. 5 explosive view.
Reference is as follows：
1- heads pitching joint, 11- pitching pedestal, 111- upper left-hands wall, 112- upper rights wall, 113- bottoms tubular
Structure, 114- through holes, 115- circular protrusions, 12- pitching platform, 121- tops connecting plate, 122- left sides connecting bracket, 123- are right
Side connecting bracket, 124- bearing mounting holes, 13- pitching shaft assembly, 131- pitching motors, 132- pitching motors pinboard, 133-
The right adpting flange of pitching decelerator, 134-, the left adpting flanges of 135-, 136- clutch shaft bearings, 137- pitching encoders bracket, 138-
Pitching encoder, 14- repair cut pad, 15- cavitys, 2- heads revolute joint, 21- pivoting supports, 211- projections, 22- revolving dials,
23- revolution shaft assembly, 231- turning motors, 232- turning motors pinboard, 233- rotary reducers, 234- revolution connecting shaft,
235- second bearings, 236- bearing (ball) covers, 237- rotary encoders bracket, 238- rotary encoders, 3- joints adpting flange, 4-
Vision system, 41- monocular cameras, 42 wide angle cameras, 43- wide angle camera supports.
Embodiment
1-6 below in conjunction with the accompanying drawings, the structure and the course of work of a kind of compact machines head part provided the present invention
It is described：
Compact machines head part and the structure of existing robot head are basically identical, referring to Fig. 1, mainly including head
Pitching joint 1, head revolute joint 2, joint adpting flange 3 and vision system 4；
The two ends of joint adpting flange 3 connect head pitching joint 1 and head revolute joint 2 respectively；Vision system 4 is arranged on
The top of head revolute joint 2；
The main improvement of head construction of the present invention is head pitching joint 1, and the pitching joint not only substantially reduces machine
The axial dimension of the pitch axis of device head part；And overall structure uniform force is caused using the robot head structure, rotated
Steadily.
The structure in its head pitching joint 1 as in Figure 2-4, including pitching pedestal 11, pitching platform 12 and pitch axis
Component 13；
Pitching pedestal 11 includes upper left-hand wall 111, upper right wall 112 and bottom tubular construction 113；Upper left-hand
Wall 111 and upper right wall 112 constitute an opening up U-shaped structure, and are connected with bottom tubular construction 113；On
Through hole 114 is offered on portion's left side wall 111, upper right wall 112；Upper left-hand wall 111 and upper right wall 112 are opposite
Circular protrusions 115 are provided with two surfaces；
Pitching platform 12 includes top connecting plate 121, left side connecting bracket 122 and right side connecting bracket 123；Top connects
Fishplate bar 121, left side connecting bracket 122 and right side connecting bracket 123 constitute a downward opening U-shaped structure；Left side connects
Connect and offer bearing mounting hole 124 in bracket 122 and right side connecting bracket 123；
Pitching platform 12 fastens about 11 with pitching pedestal and forms a cavity 15；
Pitching shaft assembly 13 includes pitching motor 131, pitching motor pinboard 132, pitching decelerator 133, right connection method
Orchid 134, left adpting flange 135, clutch shaft bearing 136, pitching encoder bracket 137, pitching encoder 138；
Right adpting flange 134 is arranged on the outer surface of right side connecting bracket 123, and left adpting flange 125 is connected installed in left side
The outer surface of bracket 122 and one end is stretched into the cavity 15；Pitching motor 131 is located in the cavity 15；Pitching motor 131
Output end be connected by pitching motor pinboard 132 with pitching decelerator 133, the output end of pitching decelerator 133 and right company
Acting flange 134 is connected；Clutch shaft bearing 136 is two；The bearing that one clutch shaft bearing 136 is arranged on left side connecting bracket 122 is pacified
Fill between hole 124 and the circular protrusions 115 of upper left-hand wall, another clutch shaft bearing 136 is arranged on right side connecting bracket 123
Between the circular protrusions 115 of bearing mounting hole 124 and upper right wall 112；
Pitching encoder 137 stretches into the cavity after being fixed with pitching encoder bracket 138 installed in left adpting flange 135
15 part.
It should be noted is that：The pitching decelerator of the present invention uses harmonic speed reducer, and pitching motor is straight using disc type
Brushless electric machine is flowed, with larger moment of torsion, higher precision and less axial dimension；Disc type DC brushless motor directly drives
Harmonic speed reducer drives the rotation of head pitching joint, compared with planetary reducer, greatly reduces transmission return difference, improves
Precision, while reducing axial dimension again；During the pitching of head, due to gravity unbalance, in the case of unexpected power-off,
It can cause head that there is an acceleration, but be due to that harmonic speed reducer has larger reverse starting torque so that whole system
System has certain auto-lock function, and from without setting brake again, this in turn reduces the size on whole head and scale；
In addition, as shown in figure 4, top connecting plate 121 in pitching platform 12 and the upper left-hand bracket 122, top
The part of right brackets 123 3 is split-type structural, and three parts carry out roughing respectively, is then connected using screw and shop bolt
An entirety is connected into be finished；In assembling, three parts are connected with other parts respectively, then pass through screw and positioning
Pin from Combination nova together.While overall structure uniform force, stability of rotation are realized in transmission process, meet again
The feasibility of process and assemble.
Referring to Fig. 5 and 6, wherein, head revolute joint 2 includes pivoting support 21, revolving dial 22 and revolution shaft assembly
23；
Turning round shaft assembly 23 includes turning motor 231, turning motor pinboard 232, rotary reducer 233, revolution connection
Axle 234, second bearing 235, bearing (ball) cover 236, rotary encoder bracket 237 and rotary encoder 238；
Wherein, turning motor 231, turning motor pinboard 232, rotary reducer 233, revolution connecting shaft 234 and axle
Socket end lid 236 is sequentially connected and is located at turn around in bearing 21 from bottom to top, the outer peripheral surface and pivoting support of second bearing 235
21 inwalls are contacted, and the inner ring of second bearing 235 is sleeved in revolution connecting shaft 234；Second bearing 235 is arranged on bearing (ball) cover 236
Between the projection 211 on the inwall of pivoting support 21；
Rotary encoder bracket 237 is fixedly mounted on the upper surface of pivoting support 21, and rotary encoder 238 is compiled by turning round
Code device bracket 237 fixes the bottom that rear enclosure is mounted in revolving dial 22；
The bottom of revolving dial 22 is fixedly connected with turning round the top of connecting shaft 234, and vision is installed on the top of revolving dial 22
System 4.
Same rotary reducer 233 is harmonic speed reducer, and turning motor 231 also uses disc type DC brushless motor, mesh
Also for reduce robot head physical dimension.
Further, the vision system 4 that the present invention is used includes monocular camera 41, wide angle camera 42 and wide angle camera branch
Frame 43；
Wide angle camera support 43 is arranged on the central upper portion position of revolving dial 22, and the machine of monocular phase 41 is two, two monoculars
Camera 41 is fixed on the top of revolving dial 22 and ranks the both sides of wide angle camera support 43, and the top of wide angle camera support 43 is installed
Wide angle camera 42.Its main purpose is, because wide angle camera visual field is big, to carry out global monitoring, vision guide and target identification, mesh
The not rear guiding head articulation of mark, aims at the field of view center of two monocular cameras；Two monocular cameras constitute double
Mesh stereoscopic camera, visual field is small, precision is high, carries out three-dimensional reconstruction and pose measurement.This configuration mode can take into account feature and
High-precision requirement.
Further, because the bearing in head pitching joint 1 is primarily subjected to radial load, therefore two deep-groove ball axles have been selected
Hold；And need to bear larger axial force in head revolute joint 2, therefore selected the angular contact axle of a pair of back-to-back configurations
Hold；
Further, between right side connecting bracket 123 and right adpting flange 134 and left side connecting bracket 122 and left company
It is mounted on repairing between acting flange 135 and cuts pad 14；It is provided between the bottom of revolving dial 22 and the top for turning round connecting shaft 234
Repair and cut pad 14, be provided with to repair between second bearing 235 and the projection 211 of pivoting support 21 and cut pad 14, it is therefore an objective to for adjusting this
The gap of several positions, is easy to improve overall precision.
Further, pitching encoder and rotary encoder use high-precision photoelectric encoder, can be to joint
Physical location carries out high-precision measurement, so as to provide accurate data for control system.
It should be noted that specific embodiment given above is intended merely to preferably explain the present invention, it is not to this hair
Bright limitation, any similar structure obtained from the specification and accompanying drawing of the present invention should all be included in the present invention's
In the range of protection of the patent right.
Claims (10)
1. a kind of compact machines head part, including head pitching joint (1), head revolute joint (2), joint adpting flange
(3) and vision system (4), joint adpting flange (3) two ends connect head pitching joint (1) and head revolute joint respectively
(2)；Vision system (4) is arranged on head revolute joint (2) top；
It is characterized in that：The head pitching joint (1) includes pitching pedestal (11), pitching platform (12) and pitching shaft assembly
(13)；
The pitching pedestal (11) includes upper left-hand wall (111), upper right wall (112) and bottom tubular construction (113)；
Upper left-hand wall (111) and upper right wall (112) constitute an opening up U-shaped structure, and with bottom tubular knot
Structure (113) is connected；Through hole (114) is offered on upper left-hand wall (111), upper right wall (112)；Upper left-hand wall
(111) circular protrusions (115) and on two opposite surfaces of upper right wall (112) are provided with；
The pitching platform (12) includes top connecting plate (121), left side connecting bracket (122) and right side connecting bracket
(123)；Top connecting plate (121), left side connecting bracket (122) and right side connecting bracket (123) composition one are opening down
U-shaped structure；Bearing mounting hole (124) is offered in left side connecting bracket (122) and right side connecting bracket (123)；
Pitching platform (12) fastens with pitching pedestal (11) and forms a cavity (15)；
Pitching shaft assembly (13) includes pitching motor (131), pitching motor pinboard (132), pitching decelerator (133), right company
Acting flange (134), left adpting flange (135), clutch shaft bearing (136), pitching encoder bracket (137) and pitching encoder
(138)；
Right adpting flange (134) is arranged on right side connecting bracket (123) outer surface, and left adpting flange (135) connects installed in left side
Connect outer (122) surface of bracket and one end is stretched into the cavity (15)；Pitching motor (131) is located in the cavity (15)；
The output end of pitching motor (131) is connected by pitching motor pinboard (132) with pitching decelerator (133), pitching decelerator
(133) output end is connected with right adpting flange (134)；Clutch shaft bearing (136) is two；One clutch shaft bearing (136) is installed
It is another between the bearing mounting hole (124) of left side connecting bracket (122) and the circular protrusions (115) of upper left-hand wall (111)
Individual clutch shaft bearing (136) is arranged on the bearing mounting hole of right side connecting bracket (123) and the circular protrusions of upper right wall (112)
(115) between；
Pitching encoder (138) stretches into the sky after being fixed with pitching encoder bracket (137) installed in left adpting flange (135)
The part of chamber (15).
2. a kind of compact machines head part according to claim 1, it is characterised in that：The pitching decelerator (133)
Using harmonic speed reducer.
3. a kind of compact machines head part according to claim 1 or 2, it is characterised in that：The top connecting plate
(121) it is split-type structural with the left side connecting bracket (122), the part of right side connecting bracket (123) three, and is connected using screw
Connect and positioned with pin.
4. a kind of compact machines head part according to claim 3, it is characterised in that：
The head revolute joint (2) includes pivoting support (21), revolving dial (22) and revolution shaft assembly (23)；
Turning round shaft assembly (23) includes turning motor (231), turning motor pinboard (232), rotary reducer (233), revolution
Connecting shaft (234), second bearing (235), bearing (ball) cover (236), rotary encoder bracket (237) and revolution shaft encoder
(238)；
Wherein, turning motor (231), turning motor pinboard (232), rotary reducer (233), revolution connecting shaft (234) with
And bearing (ball) cover (236) is sequentially connected and is located at turn around in bearing (21), the outer peripheral surface of second bearing (235) from bottom to top
Contacted with pivoting support (21) inwall, second bearing (235) inner ring is sleeved in revolution connecting shaft (234)；Second bearing (235)
Between projection (211) on bearing (ball) cover (236) and pivoting support (21) inwall；
Rotary encoder bracket (237) is fixedly mounted on the upper surface of pivoting support (21), and rotary encoder (238) passes through revolution
The fixed rear enclosure of encoder bracket (237) is mounted in the bottom of revolving dial (22)；
The bottom of revolving dial (22) is fixedly connected with the top of revolution connecting shaft (234), and the top of revolving dial (22) is installed
Vision system (4).
5. a kind of compact machines head part according to claim 4, it is characterised in that：The rotary reducer (233)
For harmonic speed reducer.
6. a kind of compact machines head part according to claim 5, it is characterised in that：The vision system (4) includes
Monocular camera (41), wide angle camera (42) and wide angle camera support (43)；
Wide angle camera support (43) is arranged on revolving dial (22) central upper portion position, and monocular camera (41) is two, two lists
Mesh camera (41) is fixed on revolving dial (22) top and ranks wide angle camera support (43) both sides, wide angle camera support (43)
Top install wide angle camera (42).
7. a kind of compact machines head part according to claim 6, it is characterised in that：
The clutch shaft bearing (136) is deep groove ball bearing, and second bearing (235) is the angular contact bearing of two back-to-back configurations.
8. a kind of compact machines head part according to claim 7 and compact machines people, it is characterised in that：
Between the right side connecting bracket (123) and right adpting flange (134) and left side connecting bracket (122) and left connection method
It is mounted on repairing between blue (135) and cuts pad (14)；
It is provided with to repair between the bottom of the revolving dial (22) and the top of revolution connecting shaft (234) and cuts pad (14), the second axle
Hold to be provided with to repair between (235) and the projection (211) of pivoting support (21) and cut pad (14).
9. a kind of compact machines head part according to claim 8, it is characterised in that：The pitching motor (131) and
Turning motor (231) uses disc type DC brushless motor.
10. a kind of compact machines people, including machine person portion and robot head, it is characterised in that：The robot head
Portion uses the compact machines head part as described in power 1-9 any claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710340041.9A CN107081752B (en) | 2017-05-15 | 2017-05-15 | Compact robot head and compact robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710340041.9A CN107081752B (en) | 2017-05-15 | 2017-05-15 | Compact robot head and compact robot |
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| Publication Number | Publication Date |
|---|---|
| CN107081752A true CN107081752A (en) | 2017-08-22 |
| CN107081752B CN107081752B (en) | 2023-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710340041.9A Active CN107081752B (en) | 2017-05-15 | 2017-05-15 | Compact robot head and compact robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107733153A (en) * | 2017-11-14 | 2018-02-23 | 哈尔滨理工大学 | A kind of big visual angle electric-machine directly-driven robot observation device |
| CN108274478A (en) * | 2018-04-09 | 2018-07-13 | 上海方立数码科技有限公司 | A kind of intellect service robot head rotating mechanism |
| CN108827496A (en) * | 2018-04-12 | 2018-11-16 | 北京汇力智能科技有限公司 | A kind of dump thermometric robot |
| CN108890664A (en) * | 2018-08-31 | 2018-11-27 | 山东锘博特智能科技有限公司 | A kind of robot head movement mechanism |
| CN109955219A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Robot head revolution, pitching movement platform |
| CN113927625A (en) * | 2021-09-28 | 2022-01-14 | 深圳市零差云控科技有限公司 | Robot joint assembly, control method of robot joint assembly and robot |
| CN115338887A (en) * | 2022-09-16 | 2022-11-15 | 哈尔滨工业大学 | Three-degree-of-freedom humanoid robot head system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107733153A (en) * | 2017-11-14 | 2018-02-23 | 哈尔滨理工大学 | A kind of big visual angle electric-machine directly-driven robot observation device |
| CN109955219A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Robot head revolution, pitching movement platform |
| CN108274478A (en) * | 2018-04-09 | 2018-07-13 | 上海方立数码科技有限公司 | A kind of intellect service robot head rotating mechanism |
| CN108827496A (en) * | 2018-04-12 | 2018-11-16 | 北京汇力智能科技有限公司 | A kind of dump thermometric robot |
| CN108827496B (en) * | 2018-04-12 | 2020-06-12 | 北京汇力智能科技有限公司 | Coal pile temperature measurement robot |
| CN108890664A (en) * | 2018-08-31 | 2018-11-27 | 山东锘博特智能科技有限公司 | A kind of robot head movement mechanism |
| CN108890664B (en) * | 2018-08-31 | 2024-05-07 | 山东锘博特智能科技有限公司 | Robot head movement mechanism |
| CN113927625A (en) * | 2021-09-28 | 2022-01-14 | 深圳市零差云控科技有限公司 | Robot joint assembly, control method of robot joint assembly and robot |
| CN115338887A (en) * | 2022-09-16 | 2022-11-15 | 哈尔滨工业大学 | Three-degree-of-freedom humanoid robot head system |
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