Multi-angle rotating mechanism for robot head

Abstract

The utility model discloses a multi-angle rotating mechanism for a robot head, and relates to the technical field of robots. Comprising a base, a head motion controller is installed on the lower portion of the base, a first servo motor is installed on the upper portion of the base, a main synchronous belt wheel is installed at the output shaft end of the first servo motor, an auxiliary synchronous belt wheel is installed on the upper portion of the base through a bearing, and the auxiliary synchronous belt wheel is in transmission connection with the main synchronous belt wheel through a synchronous cog belt. According to the multi-angle rotating mechanism for the robot head, the head fixing plate is used for installing the robot head, the angle of the rotary table can be adjusted in the radial direction through the arrangement of the first servo motor, the main synchronous belt wheel, the auxiliary synchronous belt wheel and the adapter plate, and therefore the robot head can imitate the head of the human body to swing front and back, and head raising and head lowering actions of the robot are achieved; the automation degree of the robot is improved, and meanwhile, by arranging an electromagnetic chuck and a head fixing plate, the head of the robot can be disassembled, assembled and maintained very conveniently.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a multi-angle rotation mechanism for a robot head. Background Technology

[0002] As living standards continue to improve, people's demands for quality of life are also increasing. As a result, intelligent equipment has emerged, and mechanical operations are increasingly replacing manual operations. Robots are also being used more and more in production and daily life.

[0003] In daily use, robots often operate primarily using their arms. However, with the continuous development of artificial intelligence, simple arm operation is increasingly unable to meet people's needs, especially for robots capable of human-computer dialogue, where head movement often affects their performance during use.

[0004] The robot mainly consists of a head and a torso. The head is usually fixed directly to the torso, or mounted on the torso by rotating horizontally via a turntable. Therefore, the robot head cannot mimic the back-and-forth movement of a human head, resulting in a low degree of automation. Utility Model Content

[0005] This invention provides a multi-angle rotation mechanism for a robot head to solve the problems in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multi-angle rotation mechanism for a robot head, comprising a base, a head motion controller mounted on the lower part of the base, a first servo motor mounted on the upper part of the base, and a main synchronous pulley mounted on the output shaft end of the first servo motor; a secondary synchronous pulley mounted on the upper part of the base via a bearing, and the secondary synchronous pulley being connected to the main synchronous pulley via a synchronous toothed belt; a transition plate fixedly connected to one end of the secondary synchronous pulley; a second servo motor mounted on the transition plate, and a main gear mounted on the output shaft end of the second servo motor; a planar thrust ball bearing mounted on the transition plate, and a gear ring fixedly mounted on the upper part of the planar thrust ball bearing, the gear ring meshing with the main gear; a turntable mounted on the planar thrust ball bearing, and an electromagnetic chuck embedded on the turntable; a head fixing plate being attracted and fixed on the electromagnetic chuck; the first servo motor, the second servo motor, and the electromagnetic chuck being electrically connected to the head motion controller via signal lines.

[0007] Furthermore, a conductive slip ring is embedded in the adapter plate, and the rotor portion of the conductive slip ring extends into the planar thrust ball bearing.

[0008] Furthermore, the stator portion of the conductive slip ring is electrically connected to the head motion controller via a signal line, and the rotor portion of the conductive slip ring is electrically connected to the electromagnetic chuck via a signal line.

[0009] Furthermore, the turntable is provided with stepped holes, and the electromagnetic chuck is embedded in the stepped holes. The stepped holes and the planar thrust ball bearing are located on the same axis.

[0010] Furthermore, the turntable is provided with a wire hole, and one end of the wire hole penetrates through the stepped hole.

[0011] Furthermore, the head fixing plate is provided with fixing holes, and the fixing holes are located around it.

[0012] Compared with the prior art, this utility model provides a multi-angle rotation mechanism for a robot head, which has the following beneficial effects:

[0013] The robot head uses a multi-angle rotation mechanism, and a head fixing plate is used to mount the robot head. Through the setting of the first servo motor, main synchronous pulley, auxiliary synchronous pulley and adapter plate, the turntable can be radially adjusted, so that the robot head can mimic the back and forth swing of the human head to realize the robot's head-raising and head-lowering movements, which improves the robot's automation level. At the same time, through the setting of electromagnetic chuck and head fixing plate, the robot head can be easily disassembled and maintained. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model;

[0015] Figure 2 This is a top view of the present invention;

[0016] Figure 3 This is a side view of the present invention.

[0017] In the diagram: 1. Base; 2. Head motion controller; 3. First servo motor; 4. Main synchronous pulley; 5. Secondary synchronous pulley; 6. Adapter plate; 7. Second servo motor; 8. Main gear; 9. Planar thrust ball bearing; 10. Gear ring; 11. Turntable; 12. Electromagnetic chuck; 13. Head fixing plate; 14. Conductive slip ring; 15. Stepped hole; 16. Wire hole; 17. Fixing hole. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figures 1-3 This utility model discloses a multi-angle rotation mechanism for a robot head, including a base 1. A head motion controller 2 is installed on the lower part of the base 1. A first servo motor 3 is installed on the upper part of the base 1, and a main synchronous pulley 4 is installed on the output shaft end of the first servo motor 3. A secondary synchronous pulley 5 is installed on the upper part of the base 1 via a bearing, and the secondary synchronous pulley 5 is connected to the main synchronous pulley 4 via a synchronous toothed belt. One end of the secondary synchronous pulley 5 is fixedly connected to a transition plate 6. A second servo motor 7 is installed on the transition plate 6, and a main gear 8 is installed on the output shaft end of the second servo motor 7. A planar thrust ball bearing 9 is installed on the transition plate 6, and a gear ring 10 is fixedly installed on the upper part of the planar thrust ball bearing 9. The gear ring 10 meshes with the main gear 8. A turntable 11 is mounted on the planar thrust ball bearing 9, and an electromagnetic chuck 12 is embedded in the turntable 11. A head fixing plate 13 is attached to the electromagnetic chuck 12. The head fixing plate 13 is used to install the robot head. Through the arrangement of the first servo motor 3, the main synchronous pulley 4, the auxiliary synchronous pulley 5, and the adapter plate 6, the turntable 11 can be radially adjusted, so that the robot head can mimic the back and forth swing of the human head to realize the robot's head-raising and head-lowering movements, thereby improving the automation level of the robot. At the same time, through the arrangement of the electromagnetic chuck 12 and the head fixing plate 13, the robot head can be easily disassembled and maintained. The first servo motor 3, the second servo motor 7, and the electromagnetic chuck 12 are electrically connected to the head motion controller 2 through signal lines.

[0020] Specifically, a conductive slip ring 14 is embedded in the adapter plate 6, and the rotor portion of the conductive slip ring 14 extends into the planar thrust ball bearing 9.

[0021] In this embodiment, the core function of the conductive slip ring 14 is to achieve stable power and signal transmission between the rotating and fixed components, while solving the problem of wire entanglement. It is specifically designed for transmitting power and signal power during unrestricted continuous rotation.

[0022] Specifically, the stator portion of the conductive slip ring 14 is electrically connected to the head motion controller 2 via a signal line, and the rotor portion of the conductive slip ring 14 is electrically connected to the electromagnetic chuck 12 via a signal line.

[0023] In this embodiment, the conductive slip ring 14 is mainly composed of a rotor part and a stator part. The rotor is the part of the slip ring that rotates with the rotating equipment, while the stator is the fixed part. The two are connected by a set of brushes for electrical signal connection.

[0024] Specifically, the turntable 11 is provided with a stepped hole 15, the electromagnetic chuck 12 is embedded in the stepped hole 15, and the stepped hole 15 and the planar thrust ball bearing 9 are located on the same axis.

[0025] In this embodiment, the stepped hole 15 is an assembly structure used for the installation and fixing of the electromagnetic chuck 12. The electromagnetic chuck 12 is a machine tool accessory product manufactured based on the principle of electromagnetics. It generates magnetic force by energizing the internal coil, which passes through the magnetic guide panel to tightly hold the workpiece in contact with the panel surface. When the coil is de-energized, the magnetic force disappears, thus demagnetizing and removing the workpiece. It has a wide range of applications in industrial production.

[0026] Specifically, the turntable 11 is provided with a wire hole 16, and one end of the wire hole 16 penetrates the stepped hole 15.

[0027] In this implementation scheme, the wire hole 16 is for the convenience of cable entry and exit, and is mainly used for cable laying in the robot head.

[0028] Specifically, the head fixing plate 13 is provided with fixing holes 17, and the fixing holes 17 are located around it.

[0029] In this embodiment, the head fixing plate 13 is made of metal and can be used with the electromagnetic chuck 12 to achieve adsorption and fixation. The fixing hole 17 is used to fix the robot head to the head fixing plate 13 with screws.

[0030] For ease of understanding, here's a simplified description of the robot's brain, the main controller. It's the core control unit responsible for overall task planning and coordination. Typically located in the robot's central processing unit, it receives and processes information from various sensors and issues control commands to each sub-controller. Each sub-controller manages a specific task or function. The main controller also communicates and exchanges data with external devices. The head motion controller 2 (model ZMC408CE) is one of the robot's sub-controllers, responsible for executing the commands from the main controller to control the robot's head movements, such as rotation and swaying. The head mounting plate 13 is used to secure the robot with screws. The robot head, through the arrangement of the first servo motor 3, the main synchronous pulley 4, the auxiliary synchronous pulley 5, and the adapter plate 6 (the first servo motor 3 drives the main synchronous pulley 4 to rotate, which in turn drives the auxiliary synchronous pulley 5 to rotate under the transmission of the synchronous toothed belt, thereby causing the adapter plate 6 to swing), can make the turntable 11 radially adjustable, so that the robot head can imitate the back and forth swing of the human head, thereby realizing the robot's head-raising and head-lowering actions and improving the robot's automation level. The second servo motor 7 drives the main gear 8 to rotate, and under the meshing action of the main gear 8 and the gear ring 10, it drives the upper part of the planar thrust ball bearing 9 to rotate, thereby driving the turntable 11 to rotate. At the same time, through the arrangement of the electromagnetic chuck 12 and the head fixing plate 13, the robot head can be easily disassembled and maintained.

[0031] In summary, the robot head uses a multi-angle rotation mechanism, and the head fixing plate 13 is used to install the robot head. Through the arrangement of the first servo motor 3, the main synchronous pulley 4, the auxiliary synchronous pulley 5 and the adapter plate 6, the turntable 11 can be radially adjusted, so that the robot head can mimic the back and forth swing of the human head to realize the robot's head-raising and head-lowering actions, thereby improving the robot's automation level. At the same time, through the arrangement of the electromagnetic chuck 12 and the head fixing plate 13, the robot head can be easily disassembled and maintained.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-angle rotating mechanism for a robot head, comprising a base (1), characterized in that: A head motion controller (2) is installed on the lower part of the base (1), a first servo motor (3) is installed on the upper part of the base (1), and a main synchronous pulley (4) is installed on the output shaft end of the first servo motor (3). A secondary synchronous pulley (5) is installed on the upper part of the base (1) through a bearing, and the secondary synchronous pulley (5) is connected to the main synchronous pulley (4) through a synchronous toothed belt. A transition plate (6) is fixedly connected to one end of the secondary synchronous pulley (5), and a second servo motor (7) is installed on the transition plate (6), and a main synchronous pulley (4) is installed on the output shaft end of the second servo motor (7). The gear (8) is mounted on the adapter plate (6), and a gear ring (10) is fixedly mounted on the upper part of the gear ring (9). The gear ring (10) meshes with the main gear (8). A turntable (11) is mounted on the gear ring (9), and an electromagnetic chuck (12) is embedded on the turntable (11). A head fixing plate (13) is fixedly attached to the electromagnetic chuck (12). The first servo motor (3), the second servo motor (7) and the electromagnetic chuck (12) are electrically connected to the head motion controller (2) through signal lines.

2. The multi-angle rotating mechanism for a robot head according to claim 1, characterized in that: The adapter plate (6) is fitted with a conductive slip ring (14), and the rotor portion of the conductive slip ring (14) extends into the planar thrust ball bearing (9).

3. The multi-angle rotating mechanism for a robot head according to claim 2, characterized in that: The stator part of the conductive slip ring (14) is electrically connected to the head motion controller (2) via a signal line, and the rotor part of the conductive slip ring (14) is electrically connected to the electromagnetic chuck (12) via a signal line.

4. The multi-angle rotating mechanism for a robot head according to claim 1, characterized in that: The turntable (11) is provided with a stepped hole (15), and the electromagnetic chuck (12) is embedded in the stepped hole (15). The stepped hole (15) and the planar thrust ball bearing (9) are located on the same axis.

5. The multi-angle rotating mechanism for a robot head according to claim 4, characterized in that: The turntable (11) is provided with a wire hole (16), and one end of the wire hole (16) is connected to the stepped hole (15).

6. The multi-angle rotating mechanism for a robot head according to claim 1, characterized in that: The head fixing plate (13) is provided with fixing holes (17), and the fixing holes (17) are located around it.

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