Robot neck joint structure
By improving the design of the robot's neck joint structure and adopting specific components and control methods, the structure is simplified, the cost is reduced, and the motion accuracy and control accuracy are improved, solving the complexity and high cost problems existing in the existing technology.
Patent Information
- Application Number
- CN202510960758.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-12
- Publication Date
- 2025-09-26
AI Technical Summary
The neck joint structure of existing robots is complex, costly, difficult to control, and has limited motion accuracy.
It adopts a specific structural design, including components such as a mounting base, a top seat, a rotating chassis, a tapered ring, an adjustment slide and a stepper motor. The tilting and rotation of the mounting top seat are achieved through the cooperation of the stepper motor and the rotating inner shaft. Combined with the setting of the rubber protective cortex, the structure is simplified and the control accuracy is improved.
The manufacturing cost is reduced, the motion accuracy and overall performance of the robot's neck joint are improved, and the control difficulty is simplified.
Smart Images
Figure CN120697072A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of robots, in particular to a robot neck joint structure. Background Art
[0002] The robot's neck joint structure consists of a base and a top seat. The base is used to connect to the robot's body and is the basic support part of the neck structure. It plays the role of fixing and stabilizing the neck. It is usually connected to the robot's torso through bolts, welding or other fastening methods. The top seat is located at the top of the neck structure and is used to connect to the robot's head. It provides an installation and support point for the head, allowing the head to be stably installed above the neck and move in coordination with the neck to realize various head movements.
[0003] In the existing technology, the structure is relatively complex and requires more joints and drive devices, resulting in high cost and greater control difficulty. At the same time, due to the large number of joints, the cumulative error during movement is large, affecting the movement accuracy. For this reason, the present invention provides a robot neck joint structure. Summary of the Invention
[0004] The purpose of the present invention is to provide a robot neck joint structure to solve the problems raised in the above background technology.
[0005] The cam is fixedly mounted on the support frame, and the cam is fixedly mounted on the support frame, and the cam is fixedly mounted on the support frame. The output end of the stepping motor is fixedly connected to the output gear, and the top of the rotating chassis is fixedly connected to the fixed gear, and the fixed gear is rotatably connected to the outer side of the rotating inner shaft, and the fixed gear and the output gear are meshed with each other; when in use: the stepping motor is started, the output gear is driven to rotate, the fixed gear is driven to rotate, and the rotating chassis is driven to rotate, and the fixed chassis is stationary, so that the annular groove pushes the adjusting column to move, and the fixed bottom block is limited by the vertical groove to make the adjusting column vertical. When the adjusting column moves along the inside of the annular groove, the fixed bottom block moves along the vertical groove, so that the vertical plate moves away from or close to the center of the circle. When the vertical plate moves away from the center of the circle, the height of the vertical plate is fixed, and the adjusting slide post at the top of the vertical plate moves along the inclined groove, and the adjusting slide post pulls the conical ring to tilt the conical ring, so that the mounting top seat tilts, and the up and down inclination angles can be adjusted. When the adjusting slide post is close to the center of the circle, the height of the inclined groove side is raised, and when the adjusting slide post is away from the center of the circle, the conical ring is pulled to pull the height of the inclined groove side.
[0006] Preferably, the top of the rotating inner shaft is fixedly connected with a fixed ball, the bottom of the mounting top seat is fixedly connected with a supporting inner cone, the fixed ball is rotatably connected to the inside of the supporting inner cone, the supporting inner cone is rotatably connected to the inside of the conical ring, the outer side of the rotating inner shaft is fixedly connected with a fixed clamping groove, the inside of the fixed clamping groove is slidably clamped with a fixed sliding shaft, the bottom of the supporting inner cone is fixedly connected with a fixed clamping block, the inside of the fixed clamping block is rotatably connected to a fixed rotating shaft, a fixed pull plate is fixedly connected between the fixed sliding shaft and the fixed rotating shaft, the top of the fixed chassis is fixedly connected with a fixed inclined plate, the inside of the fixed inclined plate is fixedly connected to a fixed outer ring, the top of the fixed chassis is fixedly connected with a protective outer ring, the protective outer ring It is rotatably connected to the outside of the rotating chassis, and the top of the protective outer ring is fixedly connected to the fixed inner ring, and the fixed inner ring is rotatably connected to the inside of the fixed outer ring; when in use: by rotating the inner shaft, the fixed clamping groove is driven to rotate, the fixed pull plate and the fixed clamping block are driven to rotate, and the supporting inner cone is driven to rotate, so that the mounting top seat is rotated and the direction of the mounting top seat is adjusted. When the mounting top seat is tilted up and down, the fixed ball fixes the center position of the supporting inner cone, so that the supporting inner cone is adjusted around the fixed ball. When one side is tilted, the fixed sliding shaft moves and adjusts to adapt inside the fixed clamping groove. By setting a fixed outer ring and a fixed inner ring, the internal structure is protected, so that a rubber protective cortex can be set between the top of the fixed outer ring and the mounting top seat for further protection.
[0007] The present invention provides a robot neck joint structure through improvement, which has the following improvements and advantages compared with the prior art:
[0008] First: A robot neck joint structure described in the present invention is started by a stepper motor, which drives the output gear to rotate, drives the fixed gear to rotate, drives the rotating chassis to rotate, and the fixed chassis is stationary, so that the annular groove pushes the adjustment column to move, and the fixed bottom block limits the adjustment column vertically through the vertical groove. When the adjustment column moves along the inside of the annular groove, the fixed bottom block moves along the vertical groove, so that the vertical plate moves away from or close to the center of the circle. When the vertical plate moves away from the center of the circle, the height of the vertical plate is fixed, and the adjustment slide at the top of the vertical plate moves along the inclined groove. The adjustment slide pulls the conical ring to tilt the conical ring and tilt the mounting top seat. The up and down tilt angles can be adjusted. When the adjustment slide approaches the center of the circle, the height of the inclined groove side is raised. When the adjustment slide moves away from the center of the circle, the conical ring is pulled to pull the height of the inclined groove side.
[0009] Second, the robot neck joint structure described in the present invention rotates the inner shaft to drive the fixed clamping groove to rotate, drive the fixed pull plate and the fixed clamping block to rotate, drive the supporting inner cone to rotate, and rotate the mounting top seat to adjust the direction of the mounting top seat. When the mounting top seat is tilted up and down, the fixed ball fixes the center position of the supporting inner cone, so that the supporting inner cone is adjusted around the fixed ball. When one side is tilted, the fixed sliding shaft moves and adjusts to the inside of the fixed clamping groove. By setting a fixed outer ring and a fixed inner ring, the internal structure is protected, so that a rubber protective cortex can be set between the top of the fixed outer ring and the mounting top seat for further protection.
[0010] Summary: The robot neck joint structure described in the present invention is intended to solve the problems of complex robot neck joint structure, high cost, difficult control and limited motion accuracy in the existing technology. By adopting a specific structural design and component configuration, the robot neck joint is simplified, efficient and precisely controlled. This structure not only reduces manufacturing costs, but also improves the overall performance and reliability of the robot, providing new ideas and solutions for technological advancement in the field of robotics. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] The present invention will be further explained below in conjunction with the accompanying drawings and examples:
[0012] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;
[0013] Figure 2 It is a schematic diagram of the fixed chassis structure of the present invention;
[0014] Figure 3 It is a schematic diagram of the conical ring structure of the present invention;
[0015] Figure 4 It is a schematic diagram of the supporting inner cone structure of the present invention;
[0016] Figure 5 It is a schematic diagram of the fixed pull plate structure of the present invention;
[0017] Figure 6 It is a schematic diagram of the vertical plate structure of the present invention;
[0018] Figure 7 It is a schematic diagram of the mounting top structure of the present invention.
[0019] Description of reference numerals:
[0020] 1. Install the base; 2. Fix the chassis; 3. Fix the inclined plate; 4. Fix the outer ring; 5. Stepper motor; 6. Rotate the inner shaft; 7. Fix the ball; 8. Support the inner cone; 9. Protect the outer ring; 10. Fix the inner ring; 11. Rotate the chassis; 12. Vertical groove; 13. Annular groove; 14. Fix the gear; 15. Install the ring; 16. Stepper motor; 17. Output gear; 18. Conical ring; 19. Vertical plate; 20. Adjust the column; 21. Fix the bottom block; 22. Fix the clamp block; 23. Fix the clamp groove; 24. Fix the rotating shaft; 25. Fix the slide shaft; 26. Fix the pull plate; 27. Inclined groove; 28. Adjust the slide column; 29. Install the top seat. DETAILED DESCRIPTION
[0021] The present invention is described in detail below, clearly and completely describing the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.
[0022] The present invention provides a robot neck joint structure through improvement. The technical solution of the present invention is:
[0023] like Figure 1-Figure 7As shown, a robot neck joint structure includes a mounting base 1 and a mounting top seat 29. The mounting base 1 is fixedly connected to a fixed chassis 2. The top of the fixed chassis 2 is rotatably connected to a rotating chassis 11. The bottom of the mounting top seat 29 is rotatably connected to a conical ring 18. An inclined groove 27 is provided on the outside of the conical ring 18. An adjustment slide 28 is slidably connected to the inside of the inclined groove 27. The bottom of the adjustment slide 28 is fixedly connected to a vertical plate 19. The bottom of the vertical plate 19 is fixedly connected to an adjustment column 20. The bottom of the adjustment column 20 is fixedly connected to a fixed The bottom block 21 has a vertical groove 12 formed inside the fixed chassis 2, and an annular groove 13 formed inside the rotating chassis 11. The fixed bottom block 21 is slidably engaged with the inside of the vertical groove 12, and the adjustment column 20 is slidably engaged with the inside of the annular groove 13. The bottom of the mounting base 1 is fixedly connected to the stepper motor 5, the output end of the stepper motor 5 is fixedly connected to the rotating inner shaft 6, the outer side of the rotating inner shaft 6 is fixedly connected to the mounting ring 15, the inside of the mounting ring 15 is fixedly connected to the stepper motor 16, and the output end of the stepper motor 16 is fixedly connected to the output gear 17. , the top of the rotating chassis 11 is fixedly connected with a fixed gear 14, the fixed gear 14 is rotatably connected to the outer side of the rotating inner shaft 6, and the fixed gear 14 and the output gear 17 are meshed with each other; when in use: the stepper motor 16 is started to drive the output gear 17 to rotate, drive the fixed gear 14 to rotate, drive the rotating chassis 11 to rotate, the fixed chassis 2 is stationary, so that the annular groove 13 pushes the adjustment column 20 to move, the fixed bottom block 21 is limited by the vertical groove 12 to make the adjustment column 20 vertical, and when the adjustment column 20 moves along the inside of the annular groove 13, the fixed bottom The block 21 moves along the vertical groove 12 to move the vertical plate 19 away from or close to the center of the circle. When the vertical plate 19 moves away from the center of the circle, the height of the vertical plate 19 is fixed, and the adjustment slide 28 on the top of the vertical plate 19 moves along the inclined groove 27. The adjustment slide 28 pulls the conical ring 18 to tilt the conical ring 18 and tilt the mounting top seat 29. The up and down tilt angles can be adjusted. When the adjustment slide 28 approaches the center of the circle, the height of the inclined groove 27 side is raised. When the adjustment slide 28 moves away from the center of the circle, the conical ring 18 is pulled, and the height of the inclined groove 27 side is pulled.
[0024] Furthermore, the top of the rotating inner shaft 6 is fixedly connected with a fixed ball 7, the bottom of the mounting top seat 29 is fixedly connected with a supporting inner cone 8, the fixed ball 7 is rotatably connected to the inside of the supporting inner cone 8, the supporting inner cone 8 is rotatably connected to the inside of the conical ring 18, the outer side of the rotating inner shaft 6 is fixedly connected with a fixed clamping groove 23, the inner sliding clamp of the fixed clamping groove 23 is slidably connected with a fixed sliding shaft 25, the bottom of the supporting inner cone 8 is fixedly connected with a fixed clamping block 22, the inner rotation of the fixed clamping block 22 is connected to a fixed rotating shaft 24, a fixed pull plate 26 is fixedly connected between the fixed sliding shaft 25 and the fixed rotating shaft 24, the top of the fixed chassis 2 is fixedly connected with a fixed inclined plate 3, the inner part of the fixed inclined plate 3 is fixedly connected with a fixed outer ring 4, the top of the fixed chassis 2 is fixedly connected with a protective outer ring 9, and the protective outer ring 9 is rotatably connected to the rotating chassis 11, the top of the protective outer ring 9 is fixedly connected to the fixed inner ring 10, and the fixed inner ring 10 is rotatably connected to the inside of the fixed outer ring 4; when in use: by rotating the inner shaft 6, the fixed clamping groove 23 is driven to rotate, the fixed pull plate 26 and the fixed clamping block 22 are driven to rotate, and the supporting inner cone 8 is driven to rotate, so that the mounting top seat 29 is rotated, and the direction of the mounting top seat 29 is adjusted. When the mounting top seat 29 is tilted up and down, the fixed ball 7 fixes the center position of the supporting inner cone 8, so that the supporting inner cone 8 is adjusted around the fixed ball 7. When one side is tilted, the fixed slide shaft 25 moves and adjusts to adapt in the inside of the fixed clamping groove 23. By setting the fixed outer ring 4 and the fixed inner ring 10, the internal structure is protected, so that a rubber protective cortex can be set between the top of the fixed outer ring 4 and the mounting top seat 29 for further protection.
[0025] Working principle: When in use: Start through the stepper motor 16, drive the output gear 17 to rotate, drive the fixed gear 14 to rotate, drive the rotating chassis 11 to rotate, the fixed chassis 2 is stationary, so that the annular groove 13 pushes the adjustment column 20 to move, and the fixed bottom block 21 is limited by the vertical groove 12 to make the adjustment column 20 vertical. When the adjustment column 20 moves along the inside of the annular groove 13, the fixed bottom block 21 moves along the vertical groove 12, so that the vertical plate 19 moves away from or close to the center of the circle. When the vertical plate 19 moves away from the center of the circle, the height of the vertical plate 19 is fixed, and the adjustment slide 28 at the top of the vertical plate 19 moves along the inclined groove 27. The adjustment slide 28 pulls the conical ring 18 to tilt the conical ring 18, so that the mounting top seat 29 is tilted, and the up and down tilt angles can be adjusted. When the adjustment slide 28 is close to the center of the circle, it is raised The height of the inclined groove 27 on this side is adjusted. When the slide column 28 is away from the center of the circle, the tapered ring 18 is pulled, and the height of the inclined groove 27 on this side is pulled. By rotating the inner shaft 6, the fixed clamping groove 23 is driven to rotate, and the fixed pull plate 26 and the fixed clamping block 22 are driven to rotate, and the supporting inner cone 8 is driven to rotate, so that the mounting top seat 29 is rotated, and the direction of the mounting top seat 29 is adjusted. When the mounting top seat 29 is tilted up and down, the fixed ball 7 fixes the center position of the supporting inner cone 8, so that the supporting inner cone 8 is adjusted around the fixed ball 7. When one side is tilted, the fixed slide shaft 25 is adjusted to adapt to the internal movement of the fixed clamping groove 23. By setting the fixed outer ring 4 and the fixed inner ring 10, the internal structure is protected, and a rubber protective cortex can be set between the top of the fixed outer ring 4 and the mounting top seat 29 for further protection.
[0026] The above description is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A robot neck joint structure, comprising a mounting base (1) and a mounting top seat (29), characterized in that: The mounting base (1) is fixedly connected to a fixed chassis (2), the top of the fixed chassis (2) is rotatably connected to a rotating chassis (11), the bottom of the mounting top seat (29) is rotatably connected to a conical ring (18), an outer side of the conical ring (18) is provided with an inclined groove (27), an adjusting slide column (28) is slidably engaged inside the inclined groove (27), the bottom of the adjusting slide column (28) is fixedly connected to a vertical plate (19), the bottom of the vertical plate (19) is fixedly connected to an adjusting column (20), and the bottom of the adjusting column (20) is fixedly connected to a fixed bottom block (21).
2. The robot neck joint structure according to claim 1, characterized in that: A vertical groove (12) is provided inside the fixed chassis (2), an annular groove (13) is provided inside the rotating chassis (11), the fixed bottom block (21) is slidably engaged in the vertical groove (12), and the adjustment column (20) is slidably engaged in the annular groove (13).
3. The robot neck joint structure according to claim 2, characterized in that: The bottom of the mounting base (1) is fixedly connected to a stepper motor (5), the output end of the stepper motor (5) is fixedly connected to a rotating inner shaft (6), the outer side of the rotating inner shaft (6) is fixedly connected to a mounting ring (15), the interior of the mounting ring (15) is fixedly connected to a stepper motor (16), the output end of the stepper motor (16) is fixedly connected to an output gear (17), the top of the rotating chassis (11) is fixedly connected to a fixed gear (14), the fixed gear (14) is rotatably connected to the outer side of the rotating inner shaft (6), and the fixed gear (14) and the output gear (17) are meshed with each other.
4. The robot neck joint structure according to claim 3, characterized in that: The top of the rotating inner shaft (6) is fixedly connected to a fixed ball (7), the bottom of the mounting top seat (29) is fixedly connected to a supporting inner cone (8), the fixed ball (7) is rotatably connected to the inside of the supporting inner cone (8), and the supporting inner cone (8) is rotatably connected to the inside of the conical ring (18).
5. The robot neck joint structure according to claim 4, characterized in that: The outer side of the rotating inner shaft (6) is fixedly connected with a fixed clamping groove (23), and the interior of the fixed clamping groove (23) is slidably clamped with a fixed sliding shaft (25).
6. The robot neck joint structure according to claim 5, characterized in that: The bottom of the supporting inner cone (8) is fixedly connected with a fixed clamping block (22), the interior of the fixed clamping block (22) is rotatably connected with a fixed rotating shaft (24), and a fixed pull plate (26) is fixedly connected between the fixed sliding shaft (25) and the fixed rotating shaft (24).
7. The robot neck joint structure according to claim 1, characterized in that: The top of the fixed chassis (2) is fixedly connected to a fixed inclined plate (3), the interior of the fixed inclined plate (3) is fixedly connected to a fixed outer ring (4), the top of the fixed chassis (2) is fixedly connected to a protective outer ring (9), the protective outer ring (9) is rotatably connected to the outside of the rotating chassis (11), the top of the protective outer ring (9) is fixedly connected to a fixed inner ring (10), and the fixed inner ring (10) is rotatably connected to the inside of the fixed outer ring (4).