CN212578594U - Robot neck protection device - Google Patents

Abstract

The utility model provides a robot neck protection device, which comprises an inner shell and an outer shell, wherein a first accommodating space with a downward opening is arranged in the inner shell, and the outer surface of the lower part of the inner shell is a circular arc curved surface; the outer shell is sleeved outside the inner shell, a second accommodating space with an upward opening is arranged in the outer shell, the upper part of the inner wall of the second accommodating space corresponds to the outer surface of the inner shell and is also in a circular arc curved surface, and the circular arc curved surfaces of the second accommodating space and the inner shell are matched; the motion actuator comprises a first actuator and a second actuator, the first actuator is fixedly arranged in the first accommodating space, and a driving part of the first actuator is connected with other structures of the robot; the second actuator is arranged in the second accommodating space and extends into the first accommodating space, the second actuator drives the inner shell to move relative to the outer shell, the inner shell and the outer shell which are mutually sleeved are arranged, the accommodating installation protection of the movement actuator is realized, and meanwhile, the design of the arc curved surface is adopted, so that the relative movement between the inner shell and the outer shell is more stable and reliable.

Description

Robot neck protection device

Technical Field

The utility model relates to a robot equipment field especially relates to a robot neck protection device.

Background

The robot is a machine device which automatically executes work, can receive human commands, can run a pre-arranged program, and can outline actions according to principles designated by an artificial intelligence technology, and along with the progress of the society and the improvement of the living standard of people, the intelligent robot is more and more widely applied in the fields of home accompanying and attending, business welcome and the like.

Most of traditional intelligent robots do not have the function of flexible movement, are simple in structure and single in movement, generally perform two-degree-of-freedom rotary movement under the control of the neck, and respectively realize nodding and head turning by two motors; with the improvement of the anthropomorphic degree of the robot, the head movement of the existing intelligent robot is no longer only movement in two degrees of freedom, and three-degree-of-freedom rotary movement can also be realized, chinese patent document CN201910154407.2 discloses a head movement structure, which is realized by three motors respectively, and the three motors are connected in series from top to bottom, a mode that two ends of a connecting bracket for connecting a motor shaft and a motor shell are respectively adopted between adjacent motors is adopted, the mode adopting the connecting bracket causes poor structural stability, compared with other components, the neck structure is easier to damage, and further the service life of the neck structure is shortened, therefore, how to improve the stability of the structure and the service life becomes the problem to be solved urgently nowadays.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the technical defect that the stability is poor, life is short that prior art's robot neck structure leads to owing to adopt connecting rod structure.

In order to achieve the above object, the present invention provides a robot neck protection device, which is suitable for protecting a neck structure of a multi-degree-of-freedom robot, and comprises an inner shell and an outer shell, wherein a first accommodating space with a downward opening is arranged in the inner shell, and the outer surface of the lower part of the inner shell is a circular arc curved surface; the outer shell is sleeved outside the inner shell, a second accommodating space with an upward opening is arranged in the outer shell, the upper part of the inner wall of the second accommodating space corresponds to the outer surface of the inner shell and is also in a circular arc curved surface, and the circular arc curved surfaces of the second accommodating space and the inner shell are matched; the motion actuator comprises a first actuator and a second actuator, the first actuator is fixedly arranged in the first accommodating space, and a driving part of the first actuator is connected with other structures of the robot; the second actuator is arranged in the second accommodating space and extends into the first accommodating space, the inner shell is driven by the second actuator to move relative to the outer shell, the accommodating and mounting protection of the moving actuator is realized by arranging the inner shell and the outer shell which are sleeved with each other, and meanwhile, the relative movement between the inner shell and the outer shell is more stable and reliable by adopting the design of the arc curved surface; in addition, because the driving part of the first actuator is connected with other structures of the robot, the inner shell can move relative to other structures of the robot, and then the inner shell is driven by the second actuator to move relative to the outer shell, so that the normal realization of the functions of the first actuator and the second actuator is ensured, namely the neck structure of the robot is ensured to have at least two degrees of freedom, the structure is simple, and the service life is longer.

Further, the inner shell is connected with a head structure of the robot, and the outer shell is connected with a body structure of the robot; or the inner shell is connected with the body structure of the robot, and the outer shell is connected with the head structure of the robot.

Furthermore, the inner shell comprises a first shell and a second shell which are mutually covered, the first shell and the second shell are covered to form a first accommodating space with a downward opening, the upper parts of the first shell and the second shell are respectively provided with a first accommodating groove with opposite openings, when the first shell and the second shell are mutually covered, the first actuator is accommodated in the two first accommodating grooves, and then the fixed installation of the first actuator on the inner shell is realized.

Furthermore, a through hole is formed in the inner shell, a transmission assembly is connected to the driving part of the first actuator, penetrates through the through hole and is connected with the head structure, and therefore the first actuator can drive the inner shell to move relative to the head structure.

Furthermore, the outer shell comprises a third shell and a fourth shell which are mutually covered, the third shell and the fourth shell are covered to form a second accommodating space with an upward opening, the upper parts of the third shell and the fourth shell are respectively provided with a second accommodating groove with opposite openings, and when the fourth shell of the third shell and the fourth shell are mutually covered, the second actuator is accommodated in the two second accommodating grooves, so that the fixed installation of the second actuator on the outer shell is realized.

Furthermore, a second transmission part is fixedly connected to a driving part of the second actuator, a second transmission groove is formed in the inner wall of the first accommodating space and corresponds to the second transmission part, the second transmission part is installed in the second transmission groove, the second transmission groove is formed in the center line of the arc curved surface of the inner shell, the second actuator drives the inner shell to rotate in the outer shell, the inner shell moves relative to the outer shell, the movement of the outer shell relative to the head structure is increased, and the control of two degrees of freedom is achieved.

Further, the housing is connected to the body structure; the movement actuator also comprises a third actuator, the third actuator is arranged at the bottom of the outer shell, the third actuator is fixedly installed in the body structure, a driving part of the third actuator is fixedly connected with the outer shell, the outer shell is driven by the third actuator to rotate in the body structure, and the movement of the inner shell relative to the head structure and the relative movement between the inner shell and the outer shell are matched by increasing the rotation of the outer shell relative to the body structure, so that the neck structure of the robot has movement in three degrees of freedom, and the anthropomorphic effect of the robot is improved.

Furthermore, the shell is in a bowl shape with an upward opening, the lower part of the shell is provided with a bearing, and the bearing is fixedly arranged in the body structure through a bearing seat; the third executor is the motor that turns round, and the motor casing fixed mounting of the motor that turns round is in the body structure, and the motor shaft of the motor that turns round passes the bearing to be connected with the shell, and then realized that the shell rotates for the body structure, guaranteed shell pivoted stability.

The utility model provides a robot neck protection device, through setting up the inner shell and the shell that overlap each other and establish, realized the accepting installation protection to the motion executor, simultaneously, adopt the design of circular arc curved surface, make the relative motion between the two more stable, reliable; in addition, because the driving part of the first actuator is connected with other structures of the robot, the inner shell can move relative to the robot, and then the driving inner shell of the second actuator is matched to move relative to the outer shell, so that the normal realization of the functions of the first actuator and the second actuator is ensured, namely the neck structure of the robot is ensured to have at least two degrees of freedom, the structure is simple, and the service life is longer.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the following provides a detailed description of the present invention with reference to the embodiments of the present invention and the accompanying drawings.

Fig. 1 is a schematic view of the robot neck protection device of the present invention;

FIG. 2 is an exploded view of the neck guard of the robot shown in FIG. 1;

fig. 3 is an assembly view of the first housing, the third housing, the bearing and the bearing seat of the robot neck protection device shown in fig. 1;

fig. 4 is a schematic view of the robot neck guard of fig. 3 mounted with a motion actuator.

The reference numerals in the drawings are explained below.

11-an inner shell; 111-a first receiving space; 112-a second drive socket; 113-a first housing;

114-a second housing; 115-a first receiving groove; 12-a housing; 121-a second receiving space;

122-a third housing; 123-a fourth shell; 124-a second accommodating groove; 2-a first actuator;

21-a motor shaft; 22-a first transmission member; 3-a second actuator; 31-a motor shaft;

32-a second transmission member; 4-a third actuator; 41-motor shaft; 42-a third transmission member;

5-mounting a frame; 51-a connecting plate; 511-slotting; 6-a transmission plate; 61-a drive column;

7-a bearing; 8-bearing seats; 9-neck support.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "left", "right", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

The embodiment of the robot neck protection device shown in fig. 1 to 4 is suitable for protecting a neck structure of a multi-degree-of-freedom robot, and includes an inner shell 11 and an outer shell 12, wherein the inner shell 11 is provided with a first accommodating space 111 with a downward opening, and an outer surface of a lower portion of the inner shell 11 is a circular arc curved surface; the outer shell 12 is sleeved outside the inner shell 11, a second accommodating space 121 with an upward opening is arranged in the outer shell 12, the upper part of the inner wall of the second accommodating space 121 corresponds to the outer surface of the inner shell 11 and is also in a circular arc curved surface, and the circular arc curved surfaces of the second accommodating space 121 and the inner shell 11 are matched; the motion actuator comprises a first actuator 2 and a second actuator 3, the first actuator 2 is fixedly arranged in the first accommodating space 111, and a driving part of the first actuator 2 is connected with other structures of the robot; the second actuator 3 is installed in the second receiving space 121 and extends into the first receiving space 111, and the driving inner housing 11 of the second actuator 3 moves relative to the outer housing 12.

The robot neck protection device realizes the containing and mounting protection of the motion actuator by arranging the inner shell 11 and the outer shell 12 which are sleeved with each other, and simultaneously, the design of the arc curved surface is adopted, so that the relative motion between the two is more stable and reliable; in addition, because the driving part of the first actuator 2 is connected with other structures of the robot, the inner shell 11 can move relative to other structures of the robot, and then the inner shell 11 is driven by the second actuator 3 to move relative to the outer shell 12, so that the normal realization of the functions of the first actuator 2 and the second actuator 3 is ensured, namely the neck structure of the robot is ensured to have at least two degrees of freedom, the structure is simple, and the service life is longer.

Specifically, as shown in fig. 2 and 3, the inner shell 11 is connected to a head structure (not shown) of the robot, and the outer shell 12 is connected to a body structure (not shown) of the robot; alternatively, the inner shell 11 is connected to the body structure of the robot, and the outer shell 12 is connected to the head structure of the robot.

The inner shell 11 comprises a first shell 113 and a second shell 114 which are mutually covered, the first shell 113 and the second shell 114 are covered to form a first containing space 111 with a downward opening, a second transmission groove 112 is arranged on the inner wall of the first containing space 111, the upper parts of the first shell 113 and the second shell 114 are respectively provided with a first containing groove 115 with opposite openings, when the first shell 113 and the second shell 114 are mutually covered, the first actuator 2 is contained in the two first containing grooves 115, and further the fixed installation of the first actuator 2 on the inner shell 11 is realized; meanwhile, the upper portion of the inner case 11 is provided with a through hole (not shown).

The outer shell 12 comprises a third shell 122 and a fourth shell 123 which are mutually covered, the third shell 122 and the fourth shell 123 are covered to form a second accommodating space 121 with an upward opening, the upper parts of the third shell 122 and the fourth shell 123 are respectively provided with a second accommodating groove 124 with opposite openings, when the third shell 122 and the fourth shell 123 are mutually covered, the second actuator 3 is accommodated in the two second accommodating grooves 124, and further the fixed installation of the second actuator 3 on the outer shell 12 is realized; in the embodiment, the housing 12 can rotate in the body structure, the housing 12 is in a bowl shape with an upward opening, the bearing 7 is arranged at the lower part of the housing 12, the bearing 7 is fixedly installed in the body structure through the bearing seat 8, and the mode of the bearing 7 is adopted, so that the stability of the rotation of the housing 12 in the body structure is ensured.

As a preferred embodiment, as shown in fig. 2 and 4, the first actuator 2 is a nodding motor, a motor casing of the nodding motor is fixedly installed in the first accommodating space 111, a nodding transmission assembly is connected to a motor shaft 21 of the nodding motor, the nodding transmission assembly extends out of the through hole and is fixedly installed in the head structure, so that the head structure can move around the motor shaft 21 of the nodding motor relative to the inner casing 11, and the motor shaft 21 of the nodding motor is arranged in the left-right direction, so that the front-back nodding or head-up movement of the robot can be realized.

Wherein, a motor shaft 21 of the nodding motor is fixedly connected with a first transmission piece 22; the nodding transmission assembly comprises a nodding mounting frame 5 and a transmission plate 6, wherein the nodding mounting frame 5 is fixedly mounted in the head structure, a connecting plate 51 is convexly extended on the nodding mounting frame 5, the connecting plate 51 is extended into the inner shell 11 and is rotatably connected with the inner shell 11, and a slot 511 is formed in the connecting plate 51; the driving plate 6 is fixedly connected with a motor shaft 21 of the nodding motor, a first driving groove (not shown) and a driving column 61 are arranged on the driving plate 6, the first driving piece 22 is arranged in the first driving groove corresponding to the matching, the driving column 61 is slidably inserted in the slot 511, and further when the motor shaft 21 rotates, the driving column 61 rotates with a connected rotating plate, so that the driving column 61 slides in the slot 511, and the connecting plate 51 is driven to rotate around the inner shell 11, thereby realizing the nodding or pitching motion of the head structure fixedly connected with the nodding mounting frame 5 relative to the inner shell 11.

As a preferred embodiment, as shown in fig. 2 and 4, a second transmission member 32 is fixedly connected to the driving part of the second actuator 3, the second transmission member 32 is correspondingly and fittingly installed in a second transmission groove 112, the second transmission groove 112 is disposed on the center line of the circular arc curved surface of the inner housing 11, and the second actuator 3 drives the inner housing 11 to rotate in the outer housing 12.

In this embodiment, the second actuator 3 is a head swing motor, a second transmission member 32 is fixedly connected to a motor shaft 31 of the head swing motor, the head swing motor drives the inner shell 11 to swing in the outer shell 12, and further the motor shaft 31 of the head swing motor is arranged in the front-back direction, so that when the motor shaft 31 of the head swing motor rotates, the second transmission member 32 connected to the motor shaft rotates, due to the restriction of the second transmission groove 112, the inner shell 11 rotates synchronously, that is, the inner shell 11 swings in the outer shell 12, at this time, the first actuator 2 fixed in the inner shell 11 swings synchronously relative to the outer shell 12, so that the head structure connected to the first actuator 2 swings left and right relative to the outer shell 12, that is, the anthropomorphic action of the robot head swing is realized.

As a preferred embodiment, as shown in fig. 2 and 4, the motion actuator further comprises a third actuator 4, the third actuator 4 is disposed at the bottom of the outer shell 12, the third actuator 4 is fixedly mounted in the body structure, the driving part of the third actuator 4 is fixedly connected with the outer shell 12, the third actuator 4 drives the outer shell 12 to rotate in the body structure, and further, the rotation of the outer shell 12 relative to the body structure is increased, and the motion of the inner shell 11 relative to the head structure and the relative motion between the inner shell 11 and the outer shell 12 are matched, so that the robot neck structure has motion with three degrees of freedom, and the personifying effect of the robot neck structure is improved.

In order to realize the installation of the third actuator 4, the robot further comprises a neck support 9, as shown in fig. 2 and 4, the third actuator 4 is fixedly connected with the neck support 9, the neck support 9 is installed in the body structure of the robot, so that the fixed installation of the third actuator 4 in the body structure is realized, the third actuator 4 is arranged in the body structure, the space in the body structure is utilized, and the length of the neck and the whole structural gap are reduced; meanwhile, the third actuator 4 needs a larger acting force to drive the load because the third actuator 4 bears a larger weight, and the third actuator 4 is arranged in the body structure, so that the third actuator 4 is more stable and reliable in the executing process.

In this embodiment, the third actuator 4 is a rotary head motor, a motor casing of the rotary head motor is fixedly connected with the neck support 9, and a motor shaft 41 of the rotary head motor is fixedly provided with a third transmission member 42; a third transmission groove (not shown) is formed on the outer bottom wall of the housing 12 corresponding to the third transmission member 42, the motor shaft 41 of the rotary motor passes through the bearing 7, the third transmission member 42 is correspondingly arranged in the third transmission groove, and the rotary motor drives the housing 12 to rotate in the body structure.

The robot neck structure of the utility model realizes the movement of the robot neck structure in three degrees of freedom by adopting the arrangement of three actuators, and when the nod or head-up action is executed, the first actuator 2 works to make the head structure of the robot move back and forth relative to the inner shell 11; when the head swinging motion is executed, the second actuator 3 works, so that the inner shell 11 of the robot moves in the left-right direction relative to the outer shell 12, and the head structure is driven to move in the left-right direction relative to the outer shell 12; when the turning motion is executed, the third actuator 4 works, so that the shell 12 of the robot rotates in the horizontal direction relative to the body structure to drive the head structure to rotate relative to the body structure, the head nodding, head pitching, head swinging and turning motions of the robot are comprehensively realized, the structure is stable, and the personification degree is high.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (8)

1. The utility model provides a robot neck protection device, is applicable to the protection of motion executor in the multi freedom robot neck structure, its characterized in that includes:

the device comprises an inner shell (11), wherein a first accommodating space (111) with a downward opening is formed in the inner shell (11), and the outer surface of the lower part of the inner shell (11) is a circular arc curved surface; and

the outer shell (12) is sleeved outside the inner shell (11), a second accommodating space (121) with an upward opening is arranged in the outer shell (12), the upper part of the inner wall of the second accommodating space (121) corresponds to the outer surface of the inner shell (11) and is also in an arc curved surface, and the arc curved surfaces of the second accommodating space and the inner shell are matched;

the motion actuator comprises a first actuator (2) and a second actuator (3), and the first actuator (2) is fixedly installed in the first accommodating space (111); the second actuator (3) is installed in the second accommodating space (121) and extends into the first accommodating space (111), and the second actuator (3) drives the inner shell (11) to move relative to the outer shell (12).

2. Robot neck guard according to claim 1, characterized in that the inner shell (11) is connected to the head structure of the robot and the outer shell (12) is connected to the body structure of the robot; or the inner shell (11) is connected with the body structure of the robot, and the outer shell (12) is connected with the head structure of the robot.

3. The robot neck protection device according to claim 2, wherein the inner shell (11) comprises a first shell (113) and a second shell (114) which are mutually covered, the first shell (113) and the second shell (114) are covered to form the first accommodating space (111) with a downward opening, the upper parts of the first shell (113) and the second shell (114) are respectively provided with a first accommodating groove (115) with opposite openings, and when the first shell (113) and the second shell (114) are mutually covered, the first actuator (2) is accommodated in the two first accommodating grooves (115).

4. Robot neck protector according to claim 3, characterized in that the inner shell (11) is provided with a through hole, and that the drive part of the first actuator (2) is connected to a transmission assembly, which passes through the through hole and is connected to the head structure.

5. The robot neck protection device according to any one of claims 2 to 4, wherein the outer shell (12) comprises a third shell (122) and a fourth shell (123) which are mutually covered, the third shell (122) and the fourth shell (123) are covered to form the second accommodating space (121) with an upward opening, the upper parts of the third shell (122) and the fourth shell (123) are respectively provided with second accommodating grooves (124) with opposite openings, and when the third shell (122) and the fourth shell (123) are mutually covered, the second actuator (3) is accommodated in the two second accommodating grooves (124).

6. The robot neck protection device according to claim 5, wherein a second transmission member (32) is fixedly connected to the driving part of the second actuator (3), a second transmission groove (112) is formed in the inner wall of the first receiving space (111) corresponding to the second transmission member (32), the second transmission member (32) is installed in the second transmission groove (112), the second transmission groove (112) is formed in a center line of the circular arc surface of the inner shell (11), and the second actuator (3) drives the inner shell (11) to rotate in the outer shell (12).

7. The robotic neck protector as claimed in claim 5, characterized in that the housing (12) is connected with the body structure; the motion actuator further comprises a third actuator (4), the third actuator (4) is arranged at the bottom of the shell (12), the third actuator (4) is fixedly installed in the body structure, a driving part of the third actuator (4) is fixedly connected with the shell (12), and the shell (12) is driven to rotate in the body structure by the third actuator (4).

8. Robot neck protector according to claim 7, characterized in that the housing (12) is bowl-shaped with an upward opening, that the lower part of the housing (12) is provided with a bearing (7), that the bearing (7) is fixedly mounted in the body structure by means of a bearing block (8); the third actuator (4) is a rotary motor, a motor shell of the rotary motor is fixedly arranged in the body structure, and a motor shaft of the rotary motor penetrates through the bearing (7) and is connected with the shell (12).

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