CN211491527U

CN211491527U - Rotating device and robot

Info

Publication number: CN211491527U
Application number: CN201922414652.0U
Authority: CN
Inventors: 雷浩; 任泽华
Original assignee: Shanghai Fitgreat Network Technology Co ltd
Current assignee: Shanghai Fitgreat Network Technology Co ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-09-15
Anticipated expiration: 2029-12-26

Abstract

The utility model relates to a rotating device and robot, wherein, rotating device includes fixed establishment, first drive mechanism and second drive mechanism. The fixing mechanism comprises a first fixing piece and a second fixing piece which are perpendicular to each other. The first transmission mechanism is mounted on the first fixing piece through a bearing, is connected with the main body part and is used for driving the head part to rotate around the axis direction of the first fixing piece. The second transmission mechanism is arranged on the second fixing piece and used for driving the head to rotate around the direction perpendicular to the axis of the first fixing piece and the axis of the second fixing piece respectively. Therefore, the structure of the rotating device is more compact, and the robot can be applied to more scenes.

Description

Rotating device and robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a rotating device and robot.

Background

With the continuous development of science and technology, the robot technology is more mature and the functions are more perfect. The existing robot is widely applied to the fields of medical treatment, aerospace, logistics transportation, home life and the like. The robot can replace manual labor to a great extent, and has high working efficiency.

However, in the existing robot technology field, the head of the robot needs to execute various rotation commands, such as nodding, and the existing technology generally installs a driving device in the head of the robot to drive the head to execute the nodding command. The driving device usually includes a driving motor and a series of gear sets, and the mechanism is complex, heavy and has a large space occupation rate. Therefore, the head of the robot cannot be flexibly adjusted in the rotating process, and the degree of personification of the robot is low. When the method is applied to some special working scenes, for example, when a camera is arranged on the head of the user for video or shooting, the angle required for shooting cannot be flexibly adjusted, so that the user experience is greatly reduced.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a rotating device includes:

the fixing mechanism comprises a first fixing piece and a second fixing piece which are perpendicular to each other;

the first transmission mechanism is arranged on the first fixing piece through a bearing, is connected with the main body part and is used for driving the head part to rotate around the axis direction of the first fixing piece;

and the second transmission mechanism is arranged on the second fixing piece and used for driving the head to rotate around the directions which are respectively vertical to the axis of the first fixing piece and the axis of the second fixing piece.

Optionally, a first transmission mechanism is mounted inside the first fixing member, and includes:

the supporting piece is fixedly connected to the main body part, and a bearing is arranged between the supporting piece and the first fixing piece;

the rotating part is rotatably connected to the supporting part and fixedly connected with the first fixing part, and the rotating part and the main body part are respectively located on two sides of the supporting part.

Optionally, the first fixing part is provided with a first accommodating cavity for mounting the first transmission mechanism;

the fixing mechanism further comprises a closing piece, and the closing piece and the first fixing piece are fixedly clamped and connected and used for closing the first accommodating cavity.

Optionally, the bearing is located between the closure and the support.

Optionally, the method further comprises:

and the supporting rod penetrates through the closing piece, and two ends of the supporting rod are respectively connected with the supporting piece and the main body part.

Optionally, a locking member is snapped on the support rod, and two sides of the closing member abut against the first fixing member and the locking member respectively.

Optionally, the second fixing member is provided with a second accommodating cavity for mounting the second transmission mechanism.

Alternatively, the rotating means includes:

and the mounting bracket is respectively connected with the head and the second transmission mechanism.

Optionally, the mounting bracket comprises:

a mounting plate connected to the head;

and the two fixing plates are respectively arranged at two ends of the mounting plate and are respectively in transmission connection with the second transmission mechanism.

The utility model also provides a robot, include rotating device, the robot still includes the head with the main part.

The embodiment of the utility model provides a technical scheme can include following beneficial effect:

the embodiment of the utility model provides a rotating device and robot drives the head through installing first drive mechanism on fixed establishment's first mounting and rotates round the axis direction of first mounting, so can realize shaking the head to the head execution action. The head is driven to rotate around the directions perpendicular to the axis of the first fixing piece and the axis of the second fixing piece respectively by installing the second transmission mechanism on the second fixing piece of the fixing mechanism, so that the head nodding action can be performed on the head. The first fixing piece and the second fixing piece of the fixing mechanism are perpendicular to each other, namely the first transmission mechanism arranged on the first fixing piece and the second transmission mechanism arranged on the second fixing piece can be located on the same horizontal plane, so that the first transmission mechanism and the second transmission mechanism are closer to each other on the fixing mechanism, namely the structure of the rotating device is more compact. Thus, the robot can be applied to more scenes.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic structural diagram of a rotating device according to an embodiment of the present invention in a state;

FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;

FIG. 3 is a cross-sectional view taken along line B-B of FIG. 1;

fig. 4 is an assembly diagram of a rotating device and a head of a robot according to an embodiment of the present invention in a state;

FIG. 5 is an assembly view of FIG. 4 in another state

FIG. 6 is a schematic view of a portion of the support member shown in FIG. 1;

FIG. 7 is a cross-sectional view of the closure shown in FIG. 1;

FIG. 8 is an assembled cross-sectional view of the closure, bearing and support member shown in FIG. 1;

FIG. 9 is a schematic view of the structure of FIG. 1 in another state;

fig. 10 is a schematic structural view of the second transmission mechanism shown in fig. 1.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which the invention belongs. The use of the terms "a" or "an" and the like in the description and in the claims does not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

Referring to fig. 1 to 5, an embodiment of the present invention provides a rotating device, which includes a fixing mechanism 1, a first transmission mechanism 2, and a second transmission mechanism 3. The fixing mechanism 1 includes a first fixing member 11 and a second fixing member 12 that are perpendicular to each other. The first transmission mechanism 2 is mounted on the first fixing member 11 through a bearing 4, and is connected to the main body portion, for driving the head portion 8 to rotate around the axis a direction of the first fixing member 11. The second transmission mechanism 3 is mounted on the second fixing member 12 and is used for driving the head 8 to rotate around a direction perpendicular to the axis a of the first fixing member 11 and the axis b of the second fixing member 12.

The embodiment of the utility model provides a drive head 8 and rotate round the axis a direction of first mounting 11 through install first drive mechanism 2 on first mounting 11 of fixed establishment 1, so can realize shaking the head the action 8 execution. The head 8 can be noded by mounting the second transmission mechanism 3 on the second fixing member 12 of the fixing mechanism 1 to drive the head 8 to rotate around the directions perpendicular to the axis a of the first fixing member 11 and the axis b of the second fixing member 12 respectively. In addition, the first fixing member 11 and the second fixing member 12 are perpendicular to each other, that is, the first transmission mechanism 2 mounted on the first fixing member 11 and the second transmission mechanism 3 mounted on the second fixing member 12 can be located on the same horizontal plane, so that the first transmission mechanism 2 and the second transmission mechanism 3 are closer to each other on the fixing mechanism, that is, the structure of the rotating device is more compact. The shaking and nodding actions of the head are more flexible.

The rotating device comprises a fixing mechanism 1, wherein the fixing mechanism 1 is L-shaped and comprises a first fixing piece 11 and a second fixing piece 12 which are perpendicular to each other. Wherein, the first fixing member 11 and the second fixing member 12 may have regular or irregular shapes. In one example, the first and second fixing

members

11, 12 may each be rectilinear, presenting respective axes a, b.

In one embodiment, the first fixing member 11 and the second fixing member 12 are of an integrally formed design.

In another embodiment, the first fixing member 11 and the second fixing member 12 may be assembled by fastening with fasteners.

The first transmission mechanism 2 is mounted on the first fixing member 11 through a bearing 4, and is connected to the main body portion, for driving the head portion 8 to rotate around the axis a direction of the first fixing member 11. The first fixing member 11 rotates relative to the first transmission mechanism 2 by installing the bearing 4 between the first transmission mechanism 2 and the first fixing member 11, so as to drive the head 8 to rotate around the axis a direction of the first fixing member 11.

Referring to fig. 1 to 3, the first fixing member 11 defines a first accommodating cavity 111 for mounting the first transmission mechanism 2. The first housing chamber 111 has a first opening 112 facing the main body, and the first transmission mechanism 2 is attachable to the first housing chamber 111 through the first opening 112. And the inner contour of the first accommodating cavity 111 is matched with the outer contour of the first transmission mechanism 2, so that the first transmission mechanism 2 can be stably installed in the first accommodating cavity 111 and can not shake during operation. The center line of the first accommodating cavity 111 and the first transmission mechanism 2 along the direction of the axis a coincides with the axis a, so that the first transmission mechanism 2 can rotate along the direction of the axis a.

In one embodiment, referring to fig. 1 to 3, the first transmission mechanism 2 may include a support member 21 and a rotation member 22 rotatably connected to the support member 21. The turning piece 22 is located on a side of the supporting piece 21 facing away from the main body. The rotating member 22 is fixedly connected to the first fixing member 11, so that when the first transmission mechanism 2 operates, the rotating member 22 starts to rotate, and the first fixing member 11 is driven to rotate together with respect to the supporting member 21. In one example, the rotating member 22 and the first fixing member 11 may be fixedly connected by at least two first screws 91, and the at least two first screws 91 are disposed at intervals along the circumferential side of the rotating member 22. In another example, the rotating member 22 and the first fixing member 11 can be fixed by a snap-fit and a slot-lock. Of course, in other examples, the insertion and fitting may be performed by a latch, and the like, but is not limited thereto.

The fixing mechanism 1 comprises a closing part 13, and the closing part 13 and the first fixing part 11 are fixedly clamped to close the first accommodating cavity 111, so that the first transmission mechanism 2 is locked inside the first accommodating cavity 111. In one embodiment, referring to fig. 3, the closing member 13 is fixedly fastened to the first fixing member 11 at the first opening 112. The closing element 13 and the support element 21 are arranged coaxially and have their central axes coincident with the axis a. The end of the support 21 facing the first opening 112 is provided with a first mounting hole 211 along the axial direction thereof, and the closing member 13 is provided with a second mounting hole 131 extending therethrough along the axial direction thereof.

The utility model discloses a bracing piece 5, this bracing piece 5 wears to establish closure member 13, and its both ends connect support piece 21 and main part respectively. In one embodiment, referring to fig. 3, the end of the support rod 5 facing away from the main body is inserted through the second mounting hole 131 of the closing member 13 and the first mounting hole 211 of the support member 21, and then fixed in the support member 21. In this way, the rotating member 22 can rotate the first fixing member 11 and the closing member 13 together with respect to the supporting member 21 and the supporting rod 5. Wherein, the aperture of the first mounting hole 211 is slightly smaller than that of the second mounting hole 131. Thus, on the one hand, the gap between the support rod 5 and the first mounting hole 211 is small, which facilitates the fixed mounting with the support 21; on the other hand, since the closing member 13 rotates relative to the support rod 5, a gap for the rotation of the support rod 5 and the second mounting hole 131 is reserved, and the occurrence of the running-in between the two due to the too small gap is avoided. Preferably, a lubricating coating may be added to the sidewall of the second mounting hole 131.

In this embodiment, a concave portion 114 is formed on the periphery of the first opening 112, and a supporting portion 113 is formed on a side of the concave portion 114 away from the first opening 112. The sealing member 13 is fitted into the concave portion 114, and the outer wall of the sealing member 13 abuts against the abutting portion 113. Then, the closing member 13 and the first fixing member 11 can be fixedly connected by at least two second screws 92, and the second screws 92 are arranged along the peripheral side of the closing member 13 at intervals, so that the closing member 13 can be stably clamped to the first fixing member 11 without falling off or loosening. Of course, in other examples, the fixing between the two may also be achieved by a plug-in fit or a snap fit of the snap-in slot, and the like, which is not limited to this.

In this embodiment, a locking member 51 is snapped onto the support rod 5, and an end of the closing member 13 facing away from the first fixing member 11 abuts against the locking member 51. In one example, the locking member 51 may be an annular clip that is hingedly opened and closed. A mounting groove 52 is formed in the support bar 5 at the end of the closing element 13 facing away from the first fastening element 11. The clip locks into the mounting groove 52 to secure the closure member 13.

A bearing 4 is installed between the support member 21 and the first fixing member 11. In one embodiment, referring to fig. 3 and 6 to 8, the supporting member 21 is provided with a first mounting portion 212 at an end facing the first opening 112. The closing member 13 is opened with a second mounting groove 132 on the inner side toward one end of the support member 21. And the inner wall of the second mounting groove 132 is positioned at the outer periphery of the outer wall of the first mounting portion 212 with a distance equal to the distance between the inner wall and the outer wall of the bearing 4. The bearing 4 is sleeved on the first mounting portion 212, and an outer wall of the bearing 4 abuts against an inner wall of the second mounting groove 132. This enables the bearing 4 to stably receive the support 21 and the closing member 13. Further, a first abutting block 213 is disposed on an outer wall of the first mounting portion 212 and an end away from the first opening 112, and a second abutting block 133 is disposed at a bottom of an inner wall of the second mounting groove 132. The first abutting block 213 and the second abutting block 133 abut against the top of the inner ring and the bottom of the outer ring of the bearing 4, respectively, so that the middle area of the bearing 4 is in a freely rotatable state, and the bearing 4 is not hindered in the rotating process.

The rotating device further comprises a second transmission mechanism 3, and the second transmission mechanism 3 is mounted on the second fixing member 12 and is used for driving the head 8 to rotate around the axis c. Wherein the axis c is perpendicular to the axis a of the first fixing member 11 and the axis b of the second fixing member 12, respectively.

The second fixing member 12 defines a second accommodating cavity 121 for mounting the second transmission mechanism 3. The second receiving chamber 121 has a second opening 122 facing the head 8, and the second transmission mechanism 3 can be mounted in the second receiving chamber 121 through the second opening 122. The second transmission mechanism 3 can be fixed in the second accommodating cavity 121 by screws.

A mounting bracket 6 is further installed in the second accommodating cavity 121, and the mounting bracket 6 is used for connecting the head 8 and the second transmission mechanism 3. The second transmission mechanism 3 can drive the head 8 to rotate around the axis c through the mounting bracket 6.

In one embodiment, referring to fig. 1, 4, 9 and 10, the mounting bracket 6 may include a mounting plate 61 and two fixing plates 62 respectively disposed at both ends of the mounting plate 61. The two fixing plates 62 are respectively in transmission connection with the second transmission mechanism 3. The second transmission mechanism 3 may include a transmission body 31, a terminal 32 disposed on the transmission body 31, and a rudder wheel assembly 33 and a damping member 34 respectively disposed on two sides of the transmission body 31, and the rudder wheel assembly 33 and the damping member 34 both rotate along the direction of the axis c. One fixing plate 62 is fixedly mounted on the rudder plate assembly 33, the other fixing plate is fixedly mounted on the damping member 34, and the mounting plate 61 is fixedly mounted on the connecting end of the head 8. In one example, the mounting plate 61 is provided with a plurality of threaded holes therethrough, and the attachment end of the head 8 is secured by screws in the threaded holes to effect mounting.

In this way, the rudder wheel assembly 33 can drive the mounting bracket 6 to rotate, and further drive the head 8 to rotate. The damper 34 may serve to slow the instantaneous speed of opening and closing of the transmission body 31 so that the transmission body 31 can smoothly operate. And in the operation process of the transmission body 31, the damping piece 34 can also be used for slowing down vibration and reducing noise, so that the head 8 is more stable and flexible in nodding motion, and the service life of the head 8 is prolonged.

The rotating device of the utility model also comprises a housing 7. In one embodiment, referring to fig. 1 and 2, the cover 7 is disposed around the first fixing member 11, and on one hand, is used for covering the first transmission mechanism 2 and other components installed in the first fixing member 11, so as to make the whole structure more beautiful; on the other hand, it is used to protect the first transmission mechanism 2 and other components installed in the first fixing member 11. The joint between the cover 7 and the first fixing member 11 may be provided with a waterproof coating (not shown), a dustproof coating (not shown) and other protective coatings. The second fixing member 12 is located outside the housing 7. Of course, in other embodiments, the cover 7 may be completely sleeved on the periphery of the first fixing element 11 and the second fixing element 12, and is not limited thereto.

Referring to fig. 4 and 5, an embodiment of the present invention further provides a robot, which includes a rotating device, and further includes a head portion 8 and a main body portion (not shown). The robot provided by the embodiment can be a remote medical service robot, and the robot can replace a doctor to perform daily ward round. The head 8 may be equipped with a camera (not shown) by which basic information such as the patient's body shape, facial expression, etc. can be acquired. And the shooting device can flexibly adjust different visual angles according to different postures of the patient so as to accurately aim at the patient to shoot. The doctor can remotely acquire the shot information and then diagnose the state of illness of the patient in time according to the information. Therefore, the doctor can control the illness state of the patient in the whole course, and can make corresponding emergency measures in the first time when an emergency occurs, so that the probability of accidents is reduced to a great extent.

Of course, in other embodiments, the robot may also be used for mobile display of supermarket goods, inspection and cleaning of road obstacles, cleaning in home rooms, picking and transportation of fruits and vegetables in orchards, and the like, but is not limited thereto.

It is worth mentioning, the utility model provides a bracing piece 5 is the liftable formula, so, can adjust the distance between head 8 and the main part, makes the utility model provides a robot can be applicable to more application scenes. For example, when the robot is applied to telemedicine, its head 8 can be used to photograph basic information of a patient. However, different patients have different body shapes and postures, and the robot can lock the angle by nodding and shaking the head. However, if the robot is configured to be capable of moving up and down, the patient can be photographed more omnidirectionally. So can make the doctor can be all-round to patient's the state of an illness of accuse, can make corresponding emergency measures in the very first time when emergency appears, to a great extent has reduced the probability of meeting accident.

The main body of the present embodiment may include a receiving body (not shown) connected to the rotating device and a traveling device (not shown) mounted on the bottom of the receiving body. The travel device may be electrically and/or communicatively coupled to a controller (not shown) configured to drive the travel device in substantially its movement and turning. The traveling device may be, but not limited to, a traveling leg or a traveling roller.

In addition, the utility model provides a first drive mechanism 2 can be DC brushless motor, and second drive mechanism 3 can be brushless intelligent steering wheel, but is not limited to this.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. The invention is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A rotary device, comprising:

2. The rotating apparatus according to claim 1, wherein a first transmission mechanism is installed inside the first fixed member, comprising:

3. The rotating device as claimed in claim 2, wherein the first fixing member defines a first receiving cavity for mounting the first transmission mechanism;

4. The rotating device of claim 3 wherein the bearing is located between the closure and the support.

5. The rotating device according to claim 3, further comprising:

6. The rotating device as claimed in claim 5, wherein a locking member is snapped on the support rod, and two sides of the locking member abut against the first fixing member and the locking member, respectively.

7. The rotating device as claimed in claim 1, wherein the second fixing member defines a second receiving cavity for receiving the second transmission mechanism.

8. The rotating device according to claim 7, wherein the rotating device comprises:

9. The rotary device of claim 8 wherein the mounting bracket comprises:

a mounting plate connected to the head;

10. A robot comprising the rotating apparatus of any one of claims 1-9, the robot further comprising the head portion and the body portion.