CN206105873U - Head rotational system in robot - Google Patents
Head rotational system in robot Download PDFInfo
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- CN206105873U CN206105873U CN201621031303.0U CN201621031303U CN206105873U CN 206105873 U CN206105873 U CN 206105873U CN 201621031303 U CN201621031303 U CN 201621031303U CN 206105873 U CN206105873 U CN 206105873U
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- main shaft
- head
- position limitation
- mechanical position
- catch
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Abstract
The utility model discloses a head rotational system of robot, but including the head epitheca of relative rotation with fix the neck support on the truck position be provided with the minor axis on the neck support, the cover is equipped with main shaft gear on the minor axis, is provided with the synchronous pivoted main shaft with main shaft gear above main shaft gear, main shaft and head epitheca rigid coupling set up the through -hole that neck support donator axle passed on the neck support, constituting the top of the wall of through -hole with be provided with the restriction between the bottom of main shaft the head epitheca is for neck support turned angle's stop device, and the rotation range of ensureing the head through this stop device is at the controllable within range of safety, be provided with the rotatory motor of driving spindle gear below the minor axis be provided with the gear that is used for transmitting power between motor and the main shaft gear to make main shaft gear drive head epitheca stable rotation under the drive of motor.
Description
Technical field
This utility model is related to a kind of drive system of robot, and in particular to the head rotation system in a kind of robot.
Background technology
Roboticses are an important development research directions of today's society, people in order to respective purpose, realize it is various
Function and design various robots, wherein, the robot for being able to carry out various motion enjoys the favor of people, however, machine
People has its unique construction features, often not natural enough when robot does action, it appears comparison is stiff, when to head
Rotate with during higher requirement, such as head, because head weight is big, is more difficult to steady turning than larger cartoon robot
Dynamic, while the rotating mechanism that its head is connected with trunk can also be subject to bigger external force, potential safety hazard is heavier, additionally, robot
Internal structure it is all relatively finer, rotations of head is easy to have undesirable effect other components of its inside, destroys each other
Balance, for this purpose, how to cause the more steady of robot head rotation, angle, the amplitude of rotation are more accurately puzzlement machines
One larger problem of device people development.
For above-mentioned reasons, the present inventor furthers investigate to existing robotically-driven construction, to design one
The head drive system in robot is planted, the head drive system of the larger robot of head is particularly adapted to.
Utility model content
In order to overcome the problems referred to above, present inventor has performed studying with keen determination, the head rotation in a kind of robot is designed
System, the system includes the head upper casing that can be rotated against and the neck brace being fixed on metastomium, in the cervical region
Short axle is provided with frame, mainshaft gear is arranged with short axle, be provided with above mainshaft gear and mainshaft gear synchronous axial system
Main shaft, main shaft is affixed with head upper casing, and the mainshaft gear drives head upper casing to roll the neck support relative to neck brace,
The through hole passed through for main shaft is offered on the neck brace, at the top and the bottom of the main shaft of the wall for constituting the through hole
Stopping means of the restricted head upper casing relative to neck brace rotational angle are set between portion, it is true by the stopping means
The rotation amplitude of guarantor's head is in safely controllable scope；The electricity of drive shaft gear rotation is provided with below the short axle
Machine, is provided with the gear for transmitting power, so that mainshaft gear is in motor between the motor and mainshaft gear
Lower drive head upper casing smooth rotation is driven, so as to complete this utility model.
Specifically, the purpose of this utility model is to provide following aspect：
(1) a kind of head rotation system in robot, including head upper casing 1 and neck brace 2, it is characterised in that neck
Short axle 3 is provided with portion's support, mainshaft gear 7 is arranged with short axle 3, be provided with and mainshaft gear 7 in the top of mainshaft gear 7
The main shaft 4 of synchronous axial system, main shaft 4 is affixed with head upper casing 1, and the through hole passed through for the bottom of main shaft 4 is offered on neck brace 2
5, the top of the main shaft 4 is disc-shaped, arranges restricted described between the top of wall of the through hole and the main shaft constituting
Stopping means of the head upper casing 1 relative to the rotational angle of neck brace 2.
(2) the head rotation system according to above-mentioned (1), it is characterised in that
The stopping means include mechanical position limitation portion and electronic limit portion,
The mechanical position limitation portion includes mechanical position limitation groove 41 and mechanical position limitation catch 51,
The electronic limit portion includes electric limit switch 42 and electronic limit catch 52,
The mechanical position limitation groove 41 and electric limit switch 42 are arranged on the bottom surface of the disc portion of the main shaft 4,
The mechanical position limitation catch 51 and electronic limit catch 52 are arranged on the top of the wall of the through hole 5.
(3) the head rotation system according to above-mentioned (2), it is characterised in that
The mechanical position limitation catch 51 is embedded in the mechanical position limitation groove 41, and the mechanical position limitation catch 51 is in machinery limit
Position groove 41 is contacted when moving to extreme position as main shaft 4 rotates with the wall of the mechanical position limitation groove 41, described so as to prevent
Main shaft continues to rotate.
(4) the head rotation system according to above-mentioned (2), it is characterised in that
The electric limit switch 42 has multiple, and the spacing catch of supplied for electronic is offered on each electric limit switch 42
52 slots 43 for passing through, the electric limit switch 42 is moved as main shaft rotates relative to electronic limit catch 52 so that
The electronic limit catch 52 through the slot 43, so as to know the angle of rotation of electric limit switch 42 and its place main shaft 4
Degree.
(5) the head rotation system according to above-mentioned (1), it is characterised in that
The motor 6 of the rotation of drive shaft gear 7 is provided with below the short axle.
(6) the head rotation system according to above-mentioned (5), it is characterised in that
Gear 8 is provided between mainshaft gear 7 and motor 6, mainshaft gear 7 is connected by gear 8 with motor 6.
(7) the head rotation system according to above-mentioned (6), it is characterised in that
The mainshaft gear 7 includes toothed disc 71 and column 72, wherein, inclined-plane 73 is offered on the column 72, open up
The column 72 for having inclined-plane 73 is extend in main shaft, so as to drive the main axis.
This utility model have the advantage that including：
(1) the head rotation system of the robot provided according to this utility model has electronic limit portion and mechanical position limitation
Portion, can either precise control head rotation angle, additionally it is possible to fully ensure that the degree of end rotation so that even if occur it is unexpected
In the case of, the anglec of rotation of robot head is not more than the warning value of maximum, so as to substantially ensure that robot head
Safety and stability；
(2) stopping means of the head rotation system of the robot provided according to this utility model are hidden in main shaft upper disc
The lower section of shape structure, can save robot head space, improve its space efficiency utilization.
Description of the drawings
Fig. 1 is illustrated according to a kind of overall section view of the head rotation system of robot of preferred implementation of this utility model
Figure；
Fig. 2 is illustrated according to a kind of overall outside of the head rotation system of robot of preferred implementation of this utility model
Structural representation；
Fig. 3 is illustrated according to a kind of bottom surface of the head rotation system spindle of the robot of preferred implementation of this utility model
Schematic diagram；
Fig. 4 illustrates the head rotation system neck brace according to a kind of robot of preferred implementation of this utility model
Structural representation；
Fig. 5 is illustrated according to a kind of mainshaft gear of the head rotation system of the robot of preferred implementation of this utility model
Structural representation.
Drawing reference numeral explanation：
1- head upper casings
2- neck braces
3- short axles
4- main shafts
41- mechanical position limitation grooves
42- electric limit switchs
5- through holes
51- mechanical position limitation catch
52- electronic limit catch
6- motors
7- mainshaft gears
71- toothed discs
72- columns
73- inclined-planes
8- gears
Specific embodiment
This utility model is further described below by drawings and Examples.By these explanations, this practicality is new
The characteristics of type and advantage will become more apparent from clearly.
Here special word " exemplary " means " being used as example, embodiment or illustrative ".Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.Although each of embodiment is shown in the drawings
In terms of kind, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
According to the head rotation system in the robot that this utility model is provided, as shown in Figures 1 and 2, the system bag
Head upper casing 1 and neck brace 2 are included, the head upper casing is the shell of head, it is rotatable, and the head upper casing is in
Ball-type either class ball-type or cylindric, the neck brace 2 is arranged on head upper casing lower section, its similar to plate-like, the neck
Portion's support 2 is fixed on the metastomium of robot, and the neck brace 2 is not rotated；Short axle is provided with the neck brace 2
3, the short axle 3 is vertically arranged, and is fixed on the metastomium of robot, and mainshaft gear 7 is arranged with short axle 3, in main shaft tooth
The top of wheel 7 is provided with the main shaft 4 with the synchronous axial system of mainshaft gear 7, and main shaft 4 is affixed with head upper casing 1, so as to realize head upper casing
Rotation, rotate, the rotation described in this utility model refers to the horizontal revolving motion with vertical direction as axle.
Wherein neck brace, offers the through hole 5 passed through for the bottom of main shaft 4 on the neck brace 2, described constituting
The restricted head upper casing 1 is set between the top of the wall of through hole and the main shaft relative to the rotational angle of neck brace 2
Stopping means, guarantee the rotation amplitude of head in safely controllable scope by the stopping means.
As shown in Figure 2, main shaft top is disc-shaped for the main shaft, and main shaft bottom is cylindrical, i.e., described main shaft includes position
In the disc portion of top, and underlying cylindrical portion, the top structure of the internal structure of the cylindrical portion and the mainshaft gear
Make and match, so that the rotation of mainshaft gear can drive main shaft synchronous rotary.
In one preferred embodiment, as shown in Figures 3 and 4, the stopping means include mechanical position limitation portion and
Electronic limit portion, the mechanical position limitation portion includes mechanical position limitation groove 41 and mechanical position limitation catch 51, and the electronic limit portion includes
Electric limit switch 42 and electronic limit catch 52,
The mechanical position limitation groove 41 and electric limit switch 42 are arranged on the bottom surface of the main shaft 4, the mechanical position limitation
Catch 51 and electronic limit catch 52 are arranged on the top of the wall of the through hole 5.
The stopping means are hidden in the lower section of main shaft top disk-like structure, it is possible to increase the overall safety of equipment, also
Construction space can be saved so that the space efficiency utilization of robot interior is higher.
In one preferred embodiment, the mechanical position limitation catch 51 is embedded in the mechanical position limitation groove 41, institute
State mechanical position limitation catch 51 when mechanical position limitation groove 41 moves to extreme position as main shaft 4 rotates with the mechanical position limitation groove
41 wall contact, so as to prevent the main shaft from continuing to rotate.
Preferably, the mechanical position limitation catch 51 and electronic limit catch 52 respectively have one, and the two is all in arc-shaped, and all
It is arranged on same circumference, so that distribution of weight is uniform, stress equalization.
In one preferred embodiment, the electric limit switch 42 has multiple, and the electric limit switch is in U
Type, offers the slot 43 that the spacing catch 52 of supplied for electronic passes through on each electric limit switch 42, and the electronic limit is opened
Close 42 and move relative to electronic limit catch 52 as main shaft rotates so that the electronic limit catch 52 is through the slot
43, so as to know the rotational angle of electric limit switch 42 and its place main shaft 4.Specifically, the both sides reality of the slot 43
When transmit signal, such as infrared signal, the signal of telecommunication, magnetic signal, acoustic signals, when the electronic limit catch 52 by it is described slit
During groove, the catch blocks the signal of the real-time transmission, so that there is fluctuation in the signal that the receiving terminal of signal is received, from
And can know that electronic limit catch 52 is had arrived at electric limit switch 42.
In one preferred embodiment, as shown in figures 2 and 5, it is provided with drive shaft below the short axle
The motor 6 of the rotation of gear 7；
Gear 8 is provided between mainshaft gear 7 and motor 6, mainshaft gear 7 is connected by gear 8 with motor 6.Pass through
The kind of drive of motor and gear, the head that can allow for robot rotates under external force, and then the axle on drive motor
Also rotate, so as to improve the service life of robot, will not cause to be damaged to because external force moves its head.
The mainshaft gear 7 includes toothed disc 71 and column 72, wherein, inclined-plane 73 is offered on the column 72, open up
The column 72 for having inclined-plane 73 is extend in main shaft 4, so as to drive the main shaft 4 to rotate.By the mainshaft gear 7 and main shaft 4
Between quick-fit relation, can be convenient to the quick assembling of integral device, and be able to ensure that the equilibrium of stress and stable.
In description of the present utility model, it should be noted that term " on ", D score, " interior ", " outward " " front " " afterwards " etc. refer to
The orientation or position relationship for showing is, based on the orientation or position relationship under utility model works state, to be for only for ease of description
This utility model and simplified description, rather than indicate or imply that the device or element of indication must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.
Above in association with being preferred embodiment illustrated to this utility model, but these embodiments are only models
Example property, only play illustrative effect.On this basis, various replacements and improvement can be carried out to this utility model, these
Each fall within protection domain of the present utility model.
Claims (8)
1. the head rotation system of a kind of robot, including head upper casing (1) and neck brace (2), it is characterised in that
Short axle (3) is provided with neck brace (2), mainshaft gear (7) is arranged with short axle (3), on mainshaft gear (7)
Side is provided with the main shaft (4) with mainshaft gear (7) synchronous axial system, and main shaft (4) is fixed in neck brace (2) with head upper casing (1)
On offer the through hole (5) passed through for main shaft (4) bottom, the top of the main shaft (4) is disc-shaped,
Restricted head upper casing (1) is set relative to neck brace between the top of wall of through hole (5) and main shaft (4) constituting
(2) stopping means of rotational angle.
2. head rotation system according to claim 1, it is characterised in that
The stopping means include mechanical position limitation portion and electronic limit portion,
The mechanical position limitation portion includes mechanical position limitation groove (41) and mechanical position limitation catch (51), the mechanical position limitation groove (41) and electricity
Sub- limit switch (42) is arranged on the bottom surface of main shaft (4) disc portion,
The electronic limit portion includes electric limit switch (42) and electronic limit catch (52), the mechanical position limitation catch (51)
With the top of the wall that electronic limit catch (52) is arranged on through hole (5).
3. head rotation system according to claim 2, it is characterised in that
Mechanical position limitation catch (51) is embedded in mechanical position limitation groove (41), mechanical position limitation catch (51) mechanical position limitation groove (41) with
Contact with the wall of mechanical position limitation groove (41) when main shaft (4) rotation and moving to extreme position, so as to prevent the main shaft from continuing
Rotation.
4. head rotation system according to claim 2, it is characterised in that
Electric limit switch (42) has multiple, and on each electric limit switch (42) the spacing catch of supplied for electronic (52) is offered
The slot (43) for passing through, electric limit switch (42) is mobile relative to electronic limit catch (52) with main shaft rotation so that
Electronic limit catch (52) through slot (43), so as to know the angle of rotation of electric limit switch (42) and its place main shaft (4)
Degree.
5. head rotation system according to claim 1, it is characterised in that
Short axle (3) lower section is provided with the motor (6) of drive shaft gear (7) rotation.
6. head rotation system according to claim 5, it is characterised in that
Gear (8) is provided between mainshaft gear (7) and motor (6), mainshaft gear (7) is by gear (8) and motor (6) phase
Even.
7. head rotation system according to claim 6, it is characterised in that
Mainshaft gear (7) includes toothed disc (71) and column (72).
8. head rotation system according to claim 7, it is characterised in that
Inclined-plane (73) is offered on column (72), the column (72) for offering inclined-plane (73) is extend in main shaft (4), so as to drive
Main shaft (4) is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621031303.0U CN206105873U (en) | 2016-08-31 | 2016-08-31 | Head rotational system in robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621031303.0U CN206105873U (en) | 2016-08-31 | 2016-08-31 | Head rotational system in robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105873U true CN206105873U (en) | 2017-04-19 |
Family
ID=58518809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621031303.0U Active CN206105873U (en) | 2016-08-31 | 2016-08-31 | Head rotational system in robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105873U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648551A (en) * | 2018-12-12 | 2019-04-19 | 深圳市汇联时代科技有限公司 | A kind of rotary position limiting structure and method and the robot with the rotary position limiting structure |
-
2016
- 2016-08-31 CN CN201621031303.0U patent/CN206105873U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648551A (en) * | 2018-12-12 | 2019-04-19 | 深圳市汇联时代科技有限公司 | A kind of rotary position limiting structure and method and the robot with the rotary position limiting structure |
| CN109648551B (en) * | 2018-12-12 | 2022-03-22 | 深圳市汇联时代科技有限公司 | Rotation limiting structure and method and robot with rotation limiting structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180409 Address after: 250101 Ji'nan high tech Zone, Shandong Road, No. 2350 Patentee after: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Address before: 100079 room 1309, Nanfu building, Fengtai District, Beijing Co-patentee before: Ran Xiaolin Patentee before: Wang Wei |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Head rotational system in robot Effective date of registration: 20190328 Granted publication date: 20170419 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2019370000057 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200103 Granted publication date: 20170419 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2019370000057 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Head rotational system in robot Effective date of registration: 20200323 Granted publication date: 20170419 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: ROBOT PHOENIX Inc. Registration number: Y2020980000924 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210329 Granted publication date: 20170419 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: Jinan Yifei Automation Technology Co.,Ltd. Registration number: Y2020980000924 |