Robot neck pitch joint

Abstract

The present invention relates to the field of robot technology, and provides a neck pitch joint of a robot, including a hollow neck cover, a connecting assembly mounted on the neck cover and hinged with the neck cover, a linear guide fixedly connected to the connecting assembly, a guide slider slidably mounted on the linear guide, and a crank connecting rod and a motor, wherein one end of the crank connecting rod is hinged with the guide slider, and the other end of the crank connecting rod is fixedly connected to the output shaft of the motor and rotates under the drive of the motor, and the motor is fixedly connected to the neck cover. In the present invention, the motor drives the crank connecting rod to rotate, and then the crank connecting rod drives the guide slider to move relative to the linear guide to drive the connecting assembly to move, so the connecting assembly rotates relative to the neck cover during movement to complete the pitch and roll action; the transmission mode of the crank slider is adopted, the size of the neck neck cover is not limited by the transmission mechanism, and the neck cover is hollow in structure, which is convenient for laying wires inside; moreover, the above structure is simple, easy to install, and low in cost.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular provides a neck pitch joint of a robot. Background Art

[0002] In the structure of intelligent robots, their necks need to have flexible pitching functions like humans. Existing pitching joints generally use the following structures: 1. The motor drives the synchronous wheel transmission, so the corresponding pitching mechanism neck size is large; 2. Use the servo drive, but due to the limitation of the servo structure, it is not conducive to neck threading; 3. The motor drives the gear transmission, which has a complex structure and high installation requirements. Summary of the invention

[0003] The purpose of the present invention is to provide a robot neck pitch joint, aiming to solve the technical problems in the prior art that the robot neck pitch joint is large in size, inconvenient to thread, complex in structure and has high installation requirements.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a robot's neck pitch joint, including a hollow neck cover, a connecting component mounted on the neck cover and hinged with the neck cover, a linear guide fixedly connected to the connecting component, a guide slider slidably mounted on the linear guide, a crank connecting rod and a motor, one end of the crank connecting rod is hinged to the guide slider, the other end of the crank connecting rod is fixedly connected to the output shaft of the motor and rotates under the drive of the motor, and the motor is fixedly connected to the neck cover.

[0005] Furthermore, there are two crank connecting rods, which are respectively located on both sides of the output shaft of the motor, and the two crank connecting rods are located on the same straight line. There are two linear guide rails, which are symmetrically arranged on both sides of the two crank connecting rods, and the angle between the two linear guide rails is 90°. A first hinge axis parallel to the output shaft of the motor is provided between the neck cover and the connecting assembly, and the two linear guide rails are symmetrically arranged about the first hinge axis.

[0006] Furthermore, the connecting assembly includes a connecting plate mounted on the neck cover and a shell covered on the connecting plate and forming a accommodating space with the connecting plate, the motor is horizontally arranged in the accommodating space, the neck cover extends into the accommodating space and is fixedly connected to the motor, and the two linear guide rails are fixed to the side walls of the shell.

[0007] Furthermore, the top of the neck cover is fixedly connected to a mounting plate, a motor seat is also fixed above the mounting plate, and the motor is fixed in the motor seat.

[0008] Furthermore, first connecting blocks are respectively provided on both sides of the neck cover, and the two first connecting blocks are respectively fixedly connected to the connecting plate, the first hinge shaft is passed through the top of the neck cover, and the two ends of the first hinge shaft are respectively passed through the two first connecting blocks.

[0009] Furthermore, a hollow mounting hole is provided on the connecting plate, the top of the neck cover passes through the mounting hole and extends into the accommodating space, and the two first connecting blocks are mounted and fixed on the bottom of the mounting hole.

[0010] Furthermore, a second connecting block is provided on the guide rail slider of each of the linear guide rails, and each of the second connecting blocks is hinged to the end of each of the crank connecting rods through a second hinge shaft.

[0011] Furthermore, the distance from the output shaft of the motor to the first hinge shaft is equal to the distance from the output shaft of the motor to the second hinge shaft.

[0012] Furthermore, the cross section of the shell is an inverted U-shaped structure, and the two linear guide rails are fixedly connected to a side wall of the shell.

[0013] Furthermore, semicircular holes are respectively provided on the end faces of the opposite ends of the two crank connecting rods, and the output shaft of the motor extends into the circular hole formed by the two semicircular holes. Connecting parts are also provided at both ends of each semicircular hole. The four connecting parts of the two crank connecting rods correspond to each other in pairs, and the two corresponding connecting parts are locked and fixed by fasteners.

[0014] Beneficial effects of the present invention:

[0015] In the neck pitch joint of the robot provided by the present invention, the motor drives the crank connecting rod to rotate, and then the crank connecting rod drives the guide slider to move relative to the linear guide to drive the connection component to move, and because the connection component and the neck cover are hinged, the connection component rotates relative to the neck cover during movement to complete the pitch and elevation movements; in the above structure, due to the use of the crank slider transmission method, compared with the existing transmission structure, the size of the neck cover of the structure of the neck in this embodiment is not limited by the transmission mechanism, and the neck cover has a hollow structure, which is convenient for the internal layout of the wires, and the connection component will not pull the wires during the pitch and elevation process; moreover, the above structure is simple, easy to install, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A schematic structural diagram of a neck pitch joint of a robot provided by an embodiment of the present invention;

[0018] Figure 2 A schematic side view of a robot neck pitch joint after a shell is removed according to an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of the structure of the robot neck pitch joint after the shell, motor and motor seat are removed according to an embodiment of the present invention;

[0020] Among them, the reference numerals in the figure are:

[0021] 10-neck cover; 11-first connecting block; 111-protrusion; 12-hollow hole; 13-hole groove; 20-connecting assembly; 21-connecting plate; 211-mounting hole; 22-shell; 221-side wall; 23-accommodating space; 30-linear guide rail; 40-guide rail slider; 41-second connecting block; 50-crank connecting rod; 51-circular hole; 52-connecting part; 60-motor; 61-motor seat; 70-first hinge shaft; 80-mounting plate; 90-second hinge shaft. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Please refer to Figures 1 to 3 The neck pitch joint provided by the embodiment of the present invention includes a hollow neck cover 10, a connecting component 20 mounted on the neck cover 10 and hinged to the neck cover 10, a linear guide rail 30 fixedly connected to the connecting component 20, a guide rail slider 40 slidably arranged on the linear guide rail 30, a crank connecting rod 50 and a motor 60, one end of the crank connecting rod 50 is hinged to the guide rail slider 40, and the other end of the crank connecting rod 50 is fixedly connected to the output shaft of the motor 60 and rotates under the drive of the motor 60, and the motor 60 is fixedly connected to the neck cover 10.

[0027] In this embodiment, the motor 60 drives the crank connecting rod 50 to rotate, and then drives the guide slider 40 to move relative to the linear guide 30 through the crank connecting rod 50 to drive the connection component 20 to move. Because the connection component 20 and the neck cover 10 are hinged, the connection component 20 rotates relative to the neck cover 10 during movement to complete the pitch and rise movement; in the above structure, due to the use of the crank slider transmission method, compared with the existing transmission structure, the structure of the neck neck cover 10 in this embodiment is limited by the size of the transmission mechanism, and the neck cover 10 is hollow, which is convenient for the internal layout of the wires, and the connection component 20 will not pull the wires during the pitch and rise process; moreover, the above structure is simple, easy to install, and low cost.

[0028] Specifically, refer to Figure 2 In this embodiment, there are two crank connecting rods 50, which are respectively located on both sides of the output shaft of the motor 60, and the two crank connecting rods 50 are located on the same straight line, and there are two linear guide rails 30, which are symmetrically arranged on both sides of the two crank connecting rods 50, and the angle between the two linear guide rails 30 is 90°. There is a first hinge shaft 70 parallel to the output shaft of the motor 60 between the neck cover 10 and the connecting assembly 20, and the two linear guide rails 30 are symmetrically arranged around the first hinge shaft 70. In this way, when the output shaft of the motor 60 drives the two crank connecting rods 50 to rotate, the two crank connecting rods 50 rotate in the same direction, but the two guide sliders 40 on the two linear guide rails 30 slide in opposite directions, so that the two ends of the connecting assembly 20 are driven to rotate in the same direction around the first hinge shaft 70 through the two linear guide rails 30, so that the rotation is more stable, that is, the pitch and elevation are more stable.

[0029] In this embodiment, the connecting component 20 includes a connecting plate 21 which is sleeved on the neck cover 10 and a shell 22 which is covered on the connecting plate 21 and forms a receiving space 23 with the connecting plate 21. The middle part of the connecting plate 21 is horizontal, and the two ends are slightly inclined upward. The cross-section of the shell 22 is an inverted U-shape, which is covered on the connecting plate 21. The two side walls 221 of the shell 22 are sleeved on the outside of the two inclined ends of the connecting plate 21 and are locked and fixed by fasteners. The motor 60 is horizontally arranged in the receiving space 23, and the output shaft of the motor 60 is opposite to the one side wall 221 of the shell 22. The above-mentioned two linear guides 30 and the two guide sliders 40 are arranged on the inner surface of this side wall 221. The neck cover 10 extends into the receiving space 23 through the connecting plate 21 and is fixedly connected to the motor 60.

[0030] Further, a mounting plate 80 is fixedly connected to the top of the neck cover 10, and a motor seat 61 is also fixed above the mounting plate 80, and the motor 60 is fixed in the motor seat 61. Through the motor seat 61 and the mounting plate 80, the rigid connection between the motor 60 and the neck cover 10 is realized.

[0031] Furthermore, a hollow mounting hole 211 is provided on the connecting plate 21, and the mounting hole 211 is in the shape of an elongated strip. The neck cover 10 extends into the middle of the mounting hole 211. First connecting blocks 11 are provided on both sides of the neck cover 10, respectively. Each first connecting block 11 is located at the bottom of the mounting hole 211. Both ends of each first connecting block 11 are fixed to the edge of the mounting hole 211 by fasteners, and the middle of each first connecting block 11 has a protrusion 111 extending upward, and the protrusion 111 extends into the mounting hole 211. The first hinge shaft 70 is provided at the top of the neck cover 10, and the first hinge shaft 70 is parallel to the output shaft direction of the motor 60, and both ends of the first hinge shaft 70 are respectively provided and fixed in the two protrusions 111 of the two first connecting blocks 11. Since the two crank connecting rods 50 are symmetrically arranged on both sides of the output shaft of the motor 60, and at the same time, the two linear guide rails 30 are also correspondingly arranged on both sides of the output shaft of the motor 60 and the first hinge shaft 70, the movement of the guide rail sliders 40 on the two linear guide rails 30 drives the two linear guide rails 30 and the connecting plate 21 to rotate more smoothly around the first hinge shaft 70.

[0032] In this embodiment, the neck cover 10 is a cylindrical structure as a whole, with a hollow hole 12 extending vertically therethrough, and a hole slot 13 communicating with the hollow hole 12 is provided in the front-to-back direction of the side wall 221 of the neck cover 10. When the neck cover 10 is inserted into the mounting hole 211 of the connecting plate 21, the hollow hole 12, the hole slot 13 and the mounting hole 211 are connected, so that it is not only convenient for the wire in the accommodating space 23 to be electrically connected to other parts of the robot through the mounting hole 211, the hollow hole 12 and the hole slot 13; moreover, this hollow structure also reduces the weight of the neck, making the robot neck more flexible when tilting up and down.

[0033] In this embodiment, each linear guide rail 30 is fixed to the side wall 221 of the housing 22 by a fastener. Each guide rail slider 40 is slidably disposed on the linear guide rail 30, and a second connecting block 41 is fixedly connected to the guide rail slider 40. Each second connecting block 41 is hinged to the end of each crank connecting rod 50 away from the output shaft of the motor 60 through a second hinge shaft 90.

[0034] In this embodiment, the distance from the output shaft of the motor 60 to the first hinge shaft 70 is equal to the distance from the output shaft of the motor 60 to the second hinge shaft 90. In this way, it can be ensured that when the motor 60 rotates, the transmission structure composed of the crank connecting rod 50, the linear guide rail 30 and the guide rail slider 40 can synchronize the rotation between the connecting assembly 20 and the neck cover 10 with the rotation between the crank connecting rod 50 and the guide rail slider, thereby completing the pitch and roll movements.

[0035] In this embodiment, the two crank connecting rods 50 are arranged on a straight line, and the end faces of the two crank connecting rods 50 at opposite ends are respectively provided with semicircular holes (not numbered in the figure), and the output shaft of the motor 60 extends into the circular hole 51 formed by the two semicircular holes. The two ends of each semicircular hole are also provided with a connecting portion 52. In this way, a group of connecting portions 52 opposite to each other are respectively provided at the ends of the two crank connecting rods 50 and on both sides of the circular hole 51. The corresponding two connecting portions 52 are locked and fixed by fasteners, thereby realizing a rigid connection between the two crank connecting rods 50 and the output shaft of the motor 60.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot neck pitch joint, characterized in that: It comprises a hollow neck cover, a connecting assembly sleeved on the neck cover and hinged with the neck cover, a linear guide fixedly connected with the connecting assembly, a guide slider slidably arranged on the linear guide, a crank connecting rod and a motor, one end of the crank connecting rod is hinged with the guide slider, the other end of the crank connecting rod is fixedly connected with the output shaft of the motor and rotates under the drive of the motor, and the motor is fixedly connected with the neck cover; There are two crank connecting rods, which are respectively located on both sides of the output shaft of the motor, and the two crank connecting rods are located on the same straight line. There are two linear guide rails, which are symmetrically arranged on both sides of the two crank connecting rods, and the angle between the two linear guide rails is 90°. A first hinge axis parallel to the output shaft of the motor is provided between the neck cover and the connecting assembly, and the two linear guide rails are symmetrically arranged about the first hinge axis. The connecting assembly includes a connecting plate sleeved on the neck cover and a shell covered on the connecting plate and forming a receiving space with the connecting plate, the motor is horizontally arranged in the receiving space, the neck cover extends into the receiving space and is fixedly connected to the motor, and the two linear guide rails are fixed to the side walls of the shell; The top of the neck cover is fixedly connected to a mounting plate, a motor seat is also fixed above the mounting plate, and the motor is fixed in the motor seat; First connecting blocks are respectively provided on both sides of the neck cover, and the two first connecting blocks are respectively fixedly connected to the connecting plate, the first hinge shaft is passed through the top of the neck cover, and the two ends of the first hinge shaft are respectively passed through the two first connecting blocks; The connecting plate is provided with a hollow mounting hole, the top of the neck cover passes through the mounting hole and extends into the accommodating space, and the two first connecting blocks are mounted and fixed on the bottom of the mounting hole.

2. The robot neck pitch joint according to claim 1, characterized in that: A second connecting block is provided on the guide rail slider of each of the linear guide rails, and each of the second connecting blocks is hinged to the end of each of the crank connecting rods through a second hinge shaft.

3. The robot neck pitch joint according to claim 2, characterized in that: The distance from the output shaft of the motor to the first hinge shaft is equal to the distance from the output shaft of the motor to the second hinge shaft.

4. The robot neck pitch joint according to claim 2 or 3, characterized in that: The cross section of the shell is an inverted U-shaped structure, and the two linear guide rails are fixedly connected to a side wall of the shell.

5. The robot neck pitch joint according to claim 2 or 3, characterized in that: The end faces of the two crank connecting rods that are opposite to each other are respectively provided with semicircular holes, and the output shaft of the motor extends into the circular hole formed by the two semicircular holes. Both ends of each semicircular hole are also provided with connecting parts, and the four connecting parts of the two crank connecting rods correspond to each other in pairs, and the two corresponding connecting parts are locked and fixed by fasteners.

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