Robot module holder assembly

Abstract

The utility model discloses a robot module pan-tilt assembly. The robot module pan-tilt assembly comprises a base, a driving module, a first base, a first coupling assembly, a neck frame and a camera module. The driving module comprises a first motor and a second motor; the two ends of the first base are connected with the first motor and the second motor through rotating shafts. The first base is driven by the first motor and the second motor to drive the camera module to do pitching motion; the first coupling assembly is arranged at the top end of the first base; the neck frame is vertically arranged on the first coupling assembly, and the camera module is fixedly arranged at the top end of the neck frame; through coupling rotation of the first coupling assembly, the neck frame drives the camera module to rotate horizontally. Compared with the prior art, the cradle head assembly has the advantages that horizontal, pitching and longitudinal horizontal visual angle adjustment can be achieved, the adjustable monitoring range is wider, the overall structure is compact, and storage is easy.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a robot module cloud platform subassembly. BACKGROUND

[0002] With the development of artificial intelligence related technology, the application of robots is more and more extensive, and the application of artificial intelligence to the robot field can realize various applications. Including embodied intelligence and vertical large model, humanoid and quadruped bionic robot, three-dimensional perception model and multi-modal information fusion, new core components and dexterous operation of robot, brain-computer interface, muscle electrical integration and micro-nanorobot, medical and rehabilitation robot, commercial service robot, robot operating system / cloud platform, group robot technology and special scene service robot, which has the advantages of high stability, manpower saving and high efficiency.

[0003] The nursing robot works in a complex environment, and the stability and precision of the cloud platform are required to be high, especially in the lifting process of the cloud platform, how to improve the stability of the lifting and moving process of the cloud platform is a difficulty in the existing research. In addition, the angle of rotation of the cloud platform assembly in the prior art is limited to horizontal left and right rotation, and the adjustable range is small. UTILITY MODEL CONTENT

[0004] The utility model aims at overcoming at least one defect of the prior art, and provides a robot module cloud platform subassembly to realize wide viewing angle and high stability.

[0005] Specifically, the utility model provides a robot module cloud platform subassembly, which comprises a base, a driving module, a first base, a first coupling assembly, a neck support and a camera module; the driving module comprises a first motor and a second motor; the two ends of the first base are connected with the first motor and the second motor through a rotating shaft; the first base drives the camera module to move up and down through the driving of the first motor and the second motor; the first coupling assembly is arranged at the top end of the first base; the neck support is vertically arranged on the first coupling assembly, and the camera module is fixedly arranged at the top end of the neck support; the neck support drives the camera module to rotate horizontally through the coupling rotation of the first coupling assembly.

[0006] The base plays a whole supporting role, and the lower part can be connected with a lifting structure for lifting the whole cloud platform; the driving module is mainly used for adjusting the upward and downward angles of the first base. The neck support is a porous structure, which facilitates weight reduction. The neck support has a certain height, about 80-110mm, which facilitates the adjustment of the upward and downward angles.

[0007] The camera module comprises IR infrared cameras arranged at both ends, RGB cameras arranged at the middle part and functional components such as conical radars. The camera module can realize obstacle avoidance and image recognition functions.

[0008] Further, the robot module holder assembly further comprises a second coupling assembly arranged between the neck holder and the camera module, and the second coupling assembly is used for controlling the camera module to rotate in a vertical plane.

[0009] Preferably, the camera module rotates in the vertical plane at an angle α of 110°-130°, and in some embodiments of the utility model, α is 120°.

[0010] Further, the neck holder rotates horizontally at an angle β of 80°-100°. In some embodiments of the utility model, β is 45° to the left and right, and the whole realizes horizontal rotation of 90°.

[0011] Further, the first base has a tilt angle γ of 140-160°. In some embodiments of the utility model, the maximum tilt angle γ is 150°.

[0012] Further, the driving module further comprises a first mounting seat and a second mounting seat, and the bottom of the first mounting seat and the second mounting seat is fixed on the base;

[0013] The first motor is arranged on the first mounting seat, and the second motor is arranged on the second mounting seat; one end of the first base is connected with the motor shaft of the first motor, and the other end is connected with the motor shaft of the second motor.

[0014] Further, the first base comprises a first gear frame, a second gear frame, a third gear frame and a fourth gear frame;

[0015] The first gear frame and the second gear frame are arranged along the axial direction of the first motor and the second motor, and the two ends of the third gear frame are respectively connected with the top of the first gear frame and the second gear frame; the fourth gear frame is respectively connected with the bottom of the first gear frame and the second gear frame; the first base further comprises a first shaft body, a first shaft sleeve, a first parallel bevel gear, a second shaft body, a second shaft sleeve and a second parallel bevel gear; the first base further comprises a gear pair center shaft; one end of the first parallel bevel gear passes through the first gear frame from inside to outside and is connected with the first shaft body; the first shaft sleeve is sleeved on the first shaft body; the other end of the first parallel bevel gear is connected with the gear pair center shaft; one end of the second parallel bevel gear passes through the second gear frame from inside to outside and is connected with the second shaft body; the second shaft sleeve is sleeved on the second shaft body; the other end of the second parallel bevel gear is connected with the gear pair center shaft.

[0016] Further, the first base further comprises a third parallel bevel gear, a first deep groove ball bearing and a second deep groove ball bearing; the third parallel bevel gear passes through the third gear frame from inside to outside and is connected with the first coupling assembly; the first deep groove ball bearing and the second deep groove ball bearing are sleeved on the third parallel bevel gear.

[0017] Further, the first base has an angle θ of 0°-60° when viewed from the horizontal downward, and an angle δ of 0°-90° when viewed from the horizontal upward.

[0018] Further, the rear side of the base is provided with a V-shaped storage groove, and when δ is 90°, the neck support is embedded into the V-shaped storage groove.

[0019] Compared with the prior art, the utility model has the advantages that:

[0020] Compared with the prior art, the utility model has the advantages that: BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a front structure schematic view of the robot module holder assembly of the utility model.

[0022] Figure 2 It is a front structure schematic view of the robot module holder assembly of the utility model.

[0023] Figure 3 It is a front structure schematic view of the robot module holder assembly of the utility model.

[0024] Figure 4 It is a front structure schematic view of the robot module holder assembly of the utility model.

[0025] Figure 5 It is a front structure schematic view of the robot module holder assembly of the utility model.

[0026] Figure 6 It is a front structure schematic view of the robot module holder assembly of the utility model. DETAILED DESCRIPTION

[0027] The accompanying drawings illustrate the technical solutions of this utility model in more detail. Throughout the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. The described embodiments are only some, not all, of the embodiments of this utility model. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0028] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0029] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0030] Example

[0031] This embodiment provides a robot module gimbal assembly, such as... Figure 1 As shown, it includes a base 1, a drive module 2, a first base 3, a first coupling assembly 4, a neck frame 5, a second coupling assembly 6, and a camera module 7; combined with Figure 2As shown, the driving module 2 includes a first motor 21, a second motor 22, a first mounting seat 23, and a second mounting seat 24; the two ends of the first base 3 are connected with the first motor 21 and the second motor 22 through rotating shafts; the bottom of the first mounting seat 23 and the second mounting seat 24 are fixed on the base 1; the first motor 21 is installed on the first mounting seat 23, and the second motor 22 is installed on the second mounting seat 24; one end of the first base 3 is connected with the motor shaft of the first motor 21, and the other end is connected with the motor shaft of the second motor 22. The driving of the first motor 21 and the second motor 22 drives the first base 3 to drive the camera module 7 to move up and down; the first coupling assembly 4 is arranged at the top end of the first base 3; the neck support 5 is vertically arranged on the first coupling assembly 4, and the camera module 7 is fixedly arranged at the top end of the neck support 5; the coupling rotation of the first coupling assembly 4 drives the neck support 5 to drive the camera module 7 to rotate horizontally; the second coupling assembly 6 is used for controlling the camera module 7 to rotate in the vertical plane. As shown in Figure 1 As shown, the rotation angle α of the camera module 7 in the vertical plane is 120°.

[0032] In combination Figure 3 As shown, the horizontal rotation angle β of the neck support 5 is 90°. As shown in Figure 4 As shown, the maximum angle θ of the first base 3 from the horizontal downward view is 60°; in combination Figure 2 As shown, the rear side of the base 1 is provided with a V-shaped storage groove 11, the maximum angle δ of the first base 3 from the horizontal upward view is 90°, at this time, the neck support 5 is embedded into the V-shaped storage groove 11. The neck support 5 itself is in a rearward inclined shape, and the inclination angle is 10-20 degrees, which is 16° in this embodiment, so that the neck support 5 can be completely stored after being inclined backward by 90 degrees. In combination Figure 2 and Figure 5 , Figure 6 As shown, the first base 3 includes a first gear frame 31, a second gear frame 32, a third gear frame 33, a fourth gear frame 34, a first shaft body 35, a first shaft sleeve 36, a first parallel bevel gear 37, a second shaft body 38, a second shaft sleeve 39, a second parallel bevel gear 310, a gear center shaft 311, a third parallel bevel gear 312, a first deep groove ball bearing 313, and a second deep groove ball bearing 314.

[0033] The first gear frame 31 and the second gear frame 32 are arranged along the axial direction of the first motor 21 and the second motor 22, the two ends of the third gear frame 33 are respectively connected with the top of the first gear frame 31 and the second gear frame 32; and the fourth gear frame 34 is respectively connected with the bottom of the first gear frame 31 and the second gear frame 32.

[0034] One end of the first parallel bevel gear 37 passes through the first gear frame 31 from inside to outside and is connected with the first shaft body 35; the first shaft sleeve 36 is sleeved on the first shaft body 35; the other end of the first parallel bevel gear 37 is connected with the gear pair middle shaft 311; one end of the second parallel bevel gear 310 passes through the second gear frame 32 from inside to outside and is connected with the second shaft body 38; the second shaft sleeve 39 is sleeved on the second shaft body 38; the other end of the second parallel bevel gear 310 is connected with the gear pair middle shaft 311. The third parallel bevel gear 312 passes through the third gear frame 33 from inside to outside and is connected with the first coupling assembly 4; the first deep groove ball bearing 313 and the second deep groove ball bearing 314 are sleeved on the third parallel bevel gear 312.

[0035] The above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced without departing from the spirit and scope of the present application. Those skilled in the art can also make other changes within the spirit of the present application and use them in the design of the present application, as long as they do not deviate from the technical effects of the present application. These changes made in the spirit of the present application should be included in the scope of the present application.

Claims

1. A robotic module gimbal assembly, comprising: The base (1), the drive module (2), the first base (3), the first coupling assembly (4), the neck frame (5) and the camera module (7) are included. The drive module (2) includes a first motor (21) and a second motor (22); the two ends of the first base (3) are connected with the first motor (21) and the second motor (22) through rotating shafts; the first base (3) drives the camera module (7) to make a pitching motion through the first motor (21) and the second motor (22). The first coupling assembly (4) is arranged at the top end of the first base (3). The neck frame (5) is vertically arranged on the first coupling assembly (4), and the camera module (7) is fixedly arranged at the top end of the neck frame (5); the neck frame (5) drives the camera module (7) to horizontally rotate through the coupling rotation of the first coupling assembly (4). The second coupling assembly (6) is arranged between the neck frame (5) and the camera module (7), and is used for controlling the camera module (7) to rotate in a vertical plane.

2. The robotic module gimbal assembly of claim 1, wherein, The rotation angle α of the camera module (7) in the vertical plane is 110°-130°.

3. The robotic module gimbal assembly of claim 1, wherein, The horizontal rotation angle β of the neck frame (5) is 80°-100°.

4. The robotic module gimbal assembly of claim 1, wherein, The pitching angle γ of the first base (3) is 140-160°.

5. The robotic module gimbal assembly of claim 1, wherein, The drive module (2) further includes a first mounting seat (23) and a second mounting seat (24); the bottoms of the first mounting seat (23) and the second mounting seat (24) are fixed on the base (1). The first motor (21) is mounted on the first mounting seat (23), and the second motor (22) is mounted on the second mounting seat (24); one end of the first base (3) is connected with a motor shaft of the first motor (21), and the other end is connected with a motor shaft of the second motor (22).

6. The robotic module gimbal assembly of claim 5, wherein, The first base (3) includes a first gear frame (31), a second gear frame (32), a third gear frame (33) and a fourth gear frame (34). The first gear frame (31) and the second gear frame (32) are arranged along the axial direction of the first motor (21) and the second motor (22), the two ends of the third gear frame (33) are respectively connected with the top of the first gear frame (31) and the second gear frame (32), and the fourth gear frame (34) is respectively connected with the bottom of the first gear frame (31) and the second gear frame (32). The first base (3) further includes a first shaft body (35), a first shaft sleeve (36) and a first parallel bevel gear (37), and a second shaft body (38), a second shaft sleeve (39) and a second parallel bevel gear (310). The first base (3) further includes a gear centering shaft (311). One end of the first parallel bevel gear (37) passes through the first gear frame (31) from inside to outside and is connected with the first shaft body (35); the first shaft sleeve (36) is sleeved on the first shaft body (35); the other end of the first parallel bevel gear (37) is connected with the gear centering shaft (311). One end of the second parallel bevel gear (310) passes through the second gear frame (32) from inside to outside, and is connected with the second shaft body (38); the second shaft sleeve (39) is sleeved on the second shaft body (38); the other end of the second parallel bevel gear (310) is connected with the gear pair central shaft (311).

7. The robotic module gimbal assembly of claim 6, wherein, The first base (3) further comprises a third parallel bevel gear (312), a first deep groove ball bearing (313) and a second deep groove ball bearing (314); the third parallel bevel gear (312) passes through the third gear frame (33) from inside to outside, and is connected with the first coupling assembly (4); the first deep groove ball bearing (313) and the second deep groove ball bearing (314) are sleeved on the third parallel bevel gear (312).

8. The robotic module gimbal assembly of claim 1, wherein, The angle θ of the first base (3) from the horizontal downward view is 0°-60°; the angle δ of the first base (3) from the horizontal upward view is 0°-90°.

9. The robotic module gimbal assembly of claim 8, wherein, The rear side of the base (1) is provided with a V-shaped storage groove (11), when δ is 90°, the neck support (5) is embedded into the V-shaped storage groove (11).

Images