Robot neck driving structure and robot thereof

Abstract

The utility model relates to a robot neck driving structure and a robot thereof. A robot neck driving structure comprises a mounting support, a head and neck shell and a driving assembly, the lower end of the driving assembly is arranged on the mounting support, the upper end of the driving assembly is fixed to the head and neck shell, the driving assembly comprises a supporting plate, a motor and a speed reducer assembly, and the speed reducer assembly and the motor are fixed to the upper portion and the lower portion of the supporting plate respectively. And the motor and the speed reducer assembly are in transmission through a synchronous belt. According to the structure, the speed reducer and the motor are longitudinally arranged, longitudinal space is fully utilized, transverse space is saved, the robot neck arrangement environment is matched, the requirement for the integration degree of the motor and the speed reducer is lowered, and production and installation are convenient.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a robot neck driving structure and a robot thereof. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work. Robots are the product of advanced integration of cybernetics, mechatronics, computers, materials, and bionics. At present, they have important uses in industry, medicine, agriculture, and even the military.

[0003] In order to enhance the sense of interaction with users, civilian robots are often designed as humanoids with heads. As an important component of bionic robots, the robot head and neck structure includes a head structure and a neck structure, wherein the neck structure is respectively connected to the head structure and the bionic body trunk structure. The activity of the head structure depends on the design of the neck structure. The existing robot neck structure occupies a large space horizontally, the arrangement of components is unreasonable, and the requirements for the integration of components are high, which is not easy to develop and manufacture. Utility Model Content

[0004] In order to solve the above technical problems, the first purpose of the utility model is to provide a robot neck driving structure with compact structure and reasonable arrangement. The second purpose of the utility model is to provide a robot.

[0005] In order to achieve the above first utility model purpose, the utility model adopts the following technical solutions:

[0006] A robot neck drive structure includes a mounting bracket, a head and neck shell and a drive assembly, wherein the lower end of the drive assembly is arranged on the mounting bracket, and the upper end is fixed to the head and neck shell. The drive assembly includes a support plate, a motor and a reducer assembly, wherein the reducer assembly and the motor are respectively fixed to the upper and lower parts of the support plate, and the motor and the reducer assembly are driven by a synchronous belt.

[0007] As a preferred solution: the reducer assembly includes a flange shaft and a reducer shaft, the reducer shaft is a hollow shaft and is rotatably sleeved on the flange shaft through a bearing, a fixing plate is provided at one end of the flange shaft, and the fixing plate is fixed to the upper part of the support plate.

[0008] As a preferred solution: a synchronous pulley B is also fixed to one end of the reducer shaft, a synchronous pulley A is fixed to the end of the motor shaft of the motor, and the synchronous belt is sleeved on the synchronous pulley A and the synchronous pulley B.

[0009] As a preferred solution: the synchronous pulley A and the synchronous pulley B are located on the same side of the support plate.

[0010] As a preferred solution: a tension wheel assembly is also provided in the middle of the support plate, and the tension wheel assembly tightens the synchronous belt.

[0011] As a preferred solution: the reducer assembly further includes a reduction assembly and an output ring, and the reducer shaft is driven through the reduction assembly and the output ring, and the output ring is fixed to the drive frame.

[0012] As a preferred solution: the reduction assembly is a multi-stage gear structure or a harmonic reduction structure.

[0013] As a preferred solution: a steering drive assembly is further provided between the drive assembly and the mounting bracket.

[0014] In order to achieve the above second utility model purpose, the utility model adopts the following technical solutions:

[0015] A robot, comprising a robot neck driving structure as described in any one of the above items.

[0016] The structure of the utility model arranges the reducer and the motor longitudinally, fully utilizes the longitudinal space, saves the lateral space, fits the robot neck layout environment, reduces the requirements for the integration of the motor and the reducer, and is easy to produce and install. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0018] Figure 1 It is a schematic diagram of the structure of the shoulder, head and neck of the robot of the utility model;

[0019] Figure 2 It is a structural schematic diagram of the drive assembly and the mounting bracket of the utility model;

[0020] Figure 3 It is a structural schematic diagram of a driving component of the utility model at one angle;

[0021] Figure 4 It is a structural schematic diagram of the drive assembly of the utility model from another angle;

[0022] Figure 5 It is a schematic diagram of the cross-sectional structure of the drive assembly of the utility model along two synchronous pulleys;

[0023] Figure 6 It is a schematic diagram of the cross-sectional structure of the drive assembly of the utility model.

[0024] The accompanying drawings are marked as follows: 1. Mounting bracket; 2. Head and neck shell; 3. Drive assembly; 31. Support plate; 32. Motor; 320. Motor shaft; 321. Synchronous pulley A; 33. Reducer assembly; 330. Flange shaft; 331. Synchronous pulley B; 332. Reducer shaft; 333. Output ring; 34. Synchronous belt; 35. Drive frame; 36. Tensioner assembly; 37. Fixed plate; 4. Steering drive assembly. DETAILED DESCRIPTION

[0025] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0026] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0027] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0028] 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 utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0031] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0032] like Figures 1 to 6 A robot neck driving structure shown in the figure includes a mounting bracket 1, a head and neck shell 2 and a driving assembly 3, wherein the lower end of the driving assembly 3 is arranged on the mounting bracket 1, and the upper end is fixed to the head and neck shell 2, and the driving assembly 3 includes a support plate 31, a motor 32 and a reducer assembly 33, wherein the reducer assembly 33 and the motor 32 are respectively fixed on the upper and lower parts of the support plate 31, and the motor 32 and the reducer assembly 33 are driven by a synchronous belt 34.

[0033] The reducer assembly 33 includes a flange shaft 330 and a reducer shaft 332. The reducer shaft 332 is a hollow shaft and is rotatably sleeved on the flange shaft 330 through a bearing. A fixing plate 37 is provided at one end of the flange shaft 330, and the fixing plate 37 is fixed to the upper part of the support plate 31. The reducer is mounted on the support plate using the flange shaft, so that the overall force of the reducer is more uniform, the operation is more stable, and the installation operation is more convenient and easy to assemble.

[0034] A synchronous pulley B331 is also fixed to one end of the reducer shaft 332, a synchronous pulley A321 is fixed to the end of the motor shaft 320 of the motor 32, and the synchronous belt 34 is sleeved on the synchronous pulley A321 and the synchronous pulley B331. The synchronous pulley A321 and the synchronous pulley B331 are located on the same side of the support plate 31. A tensioning wheel assembly 36 is also provided in the middle of the support plate 31, and the tensioning wheel assembly 36 presses against the synchronous belt 34.

[0035] The synchronous belt can ensure stable power output and is not easy to slip. At the same time, a tensioner pulley assembly is also provided, which can keep the synchronous belt in close contact with the synchronous pulley at all times during long-term use, even if parts wear out, thus ensuring stable power transmission.

[0036] The reducer assembly 33 also includes a reduction assembly and an output ring 333, and the reducer shaft 332 is transmitted through the reduction assembly and the output ring 333, the output ring 333 is fixed to the drive frame 35, and the drive frame is fixed to the head and neck shell 2; the reduction assembly is a multi-stage gear structure or a harmonic reduction structure.

[0037] A steering drive assembly 4 is also provided between the drive assembly 3 and the mounting bracket 1, that is, the bottom of the support plate 31 is connected to the mounting bracket 1 through the steering drive assembly 4, thereby realizing the rotation function of the robot head and neck.

[0038] A robot, comprising a robot neck driving structure as described in any one of the above items.

[0039] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0040] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot neck drive structure, characterized in that: The invention comprises a mounting bracket (1), a head and neck shell (2) and a driving assembly (3); the lower end of the driving assembly (3) is arranged on the mounting bracket (1), and the upper end is fixed to the head and neck shell (2); the driving assembly (3) comprises a support plate (31), a motor (32) and a reducer assembly (33); the reducer assembly (33) and the motor (32) are respectively fixed to the upper and lower parts of the support plate (31), and the motor (32) and the reducer assembly (33) are driven by a synchronous belt (34).

2. A robot neck driving structure according to claim 1, characterized in that: The reducer assembly (33) comprises a flange shaft (330) and a reducer shaft (332); the reducer shaft (332) is a hollow shaft and is rotatably sleeved on the flange shaft (330) via a bearing; a fixing plate (37) is provided at one end of the flange shaft (330); the fixing plate (37) is fixed to the upper portion of the support plate (31).

3. A robot neck driving structure according to claim 2, characterized in that: A synchronous pulley B (331) is also fixed to one end of the reducer shaft (332), a synchronous pulley A (321) is fixed to the end of the motor shaft (320) of the motor (32), and the synchronous belt (34) is sleeved on the synchronous pulley A (321) and the synchronous pulley B (331).

4. A robot neck driving structure according to claim 3, characterized in that: The synchronous pulley A (321) and the synchronous pulley B (331) are located on the same side of the support plate (31).

5. The robot neck driving structure according to claim 1, characterized in that: A tension wheel assembly (36) is also provided in the middle of the support plate (31), and the tension wheel assembly (36) is pressed against the synchronous belt (34).

6. The robot neck driving structure according to claim 1, characterized in that: The reducer assembly (33) further comprises a reduction assembly and an output ring (333), and the reducer shaft (332) is driven through the reduction assembly and the output ring (333), and the output ring (333) is fixed to the drive frame (35).

7. A robot neck driving structure according to claim 6, characterized in that: The reduction assembly is a multi-stage gear structure or a harmonic reduction structure.

8. The robot neck driving structure according to claim 1, characterized in that: A steering drive assembly (4) is also provided between the drive assembly (3) and the mounting bracket (1).

9. A robot, characterized in that: It comprises a robot neck driving structure as described in any one of claims 1 to 8.

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