Neck joint mechanism of robot and robot

Abstract

The application discloses a neck joint mechanism of a robot and the robot, wherein the neck joint mechanism comprises a first fixing base, a neck part, a first transmission rod, a connecting shaft, a neck part, a second transmission rod, and a driving assembly. The first end of the neck part is rotatably installed on the first fixing base through a first rotating shaft. One end of the first transmission rod is fixed on the neck part. The connecting shaft is installed on the first fixing base and is arranged in parallel with the first rotating shaft. The neck part is rotatably installed on the second end of the neck part through a second rotating shaft. One end of the second transmission rod is rotatably installed on the connecting shaft, and the other end of the second transmission rod is rotatably installed on the neck part. The second transmission rod is parallel to the axis of the second rotating shaft. The driving assembly is used for driving the first transmission rod and the neck part to synchronously rotate in cooperation with the first transmission rod. When the neck part rotates, the neck part drives the neck part to relatively rotate through the second transmission rod. The application can drive the two joints of the neck part and the neck part to rotate through one driving assembly, and compared with two power mechanisms, the power mechanism can be saved, and the cost is lower.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a neck joint mechanism for a robot and the robot itself. Background Technology

[0002] With the continuous development of technology, humanoid robots have shown great application potential in many fields, such as education, entertainment, and services. Traditionally, each dimension of a robot's joint movement requires a motor for control, and motors are relatively expensive. Utility Model Content

[0003] This invention addresses the aforementioned problems by proposing a neck joint mechanism for a robot and the robot itself.

[0004] The technical solution adopted by this utility model is as follows:

[0005] A neck joint mechanism for a robot, comprising:

[0006] First fixed seat;

[0007] The neck has a first end and a second end, and the first end of the neck is rotatably mounted on the first fixed seat via a first rotating shaft;

[0008] The first transmission rod has one end fixed to the neck.

[0009] A connecting shaft is mounted on the first fixed base, and the connecting shaft is arranged parallel to the first rotating shaft.

[0010] The neck is rotatably mounted at the second end of the neck via a second rotating shaft;

[0011] The second transmission rod has one end rotatably mounted on the connecting shaft and the other end rotatably mounted on the neck. The rotation axis of the second transmission rod and the neck is parallel to the axis of the second rotation shaft.

[0012] A drive assembly, in cooperation with the first transmission rod, is used to drive the first transmission rod and the neck to rotate synchronously. When the neck rotates, the second transmission rod drives the neck to rotate relative to the neck.

[0013] One working principle of the neck joint mechanism: the drive component works to drive the first transmission rod and the neck to rotate synchronously. Because one end of the second transmission rod is rotatably mounted on the connecting shaft (the connecting shaft is not fixed to the neck, but mounted on the first fixed seat), when the neck rotates, the second transmission rod will move relative to the neck, that is, it can drive the neck to rotate relative to the neck.

[0014] The neck joint mechanism of this application can drive the rotation of two joints of the neck and cervical region through a single drive component, which saves on power components and reduces costs compared to control by two power mechanisms.

[0015] In practical applications, the cervical joint mechanism has an initial state and an elevated state. In the elevated state, the neck rotates upward, and the cervical limb rotates upward relative to the neck, thus realizing the actions of raising the neck and lifting the cervical limb.

[0016] In one embodiment of the present invention, a second fixing base is further included, and the driving component includes:

[0017] The drive motor is fixed on the second fixed base;

[0018] The driving component is fixed on the output shaft of the drive motor;

[0019] The connecting rod is rotatably mounted on the drive component at one end and rotatably engaged with the first transmission rod at the other end. The rotation axis of the connecting rod and the drive component is parallel to the axis of the output shaft of the drive component.

[0020] In this application, the second fixing seat can be part of the first fixing seat or independent of the first fixing seat.

[0021] In practical applications, the drive motor can be a servo motor; the drive component can be a flange.

[0022] In one embodiment of the present invention, the drive assembly further includes a movable rotating shaft, there are multiple first transmission rods, the end of each first transmission rod away from the neck passes through the movable rotating shaft, and the end of the connecting rod away from the drive motor passes through the movable rotating shaft.

[0023] The design of multiple first transmission rods enables more even force distribution on the neck, resulting in more stable and reliable movement.

[0024] In one embodiment of the present invention, the end of the first transmission rod away from the movable rotating shaft is sleeved on the first rotating shaft.

[0025] This configuration ensures the stability and reliability of the first transmission rod.

[0026] In one embodiment of the present invention, the neck has a limiting groove, and the transmission rod is embedded in the corresponding limiting groove.

[0027] The limiting slot enables the neck to rotate synchronously when the first transmission rod rotates.

[0028] In one embodiment of this utility model, the first rotating shaft is fixed on the neck, and the first fixing seat includes:

[0029] plate body;

[0030] Two bearing bases are fixed to the plate at intervals, and the two ends of the first rotating shaft are rotatably mounted on the two bearing bases respectively through rotating bearings.

[0031] In one embodiment of the present invention, the two ends of the connecting shaft are respectively disposed on two bearing bases;

[0032] The neck has an arc-shaped clearance hole through which the connecting shaft passes.

[0033] In one embodiment of the present invention, the plate has a through hole, the first transmission rod passes through the through hole, the neck is located on the side of the plate where the bearing base is located, and the drive assembly is located on the side of the plate opposite to the bearing base.

[0034] In one embodiment of the present invention, the neck has a mounting shaft arranged parallel to the second rotating shaft, and one end of the second transmission rod is sleeved on the mounting shaft.

[0035] The neck joint mechanism in this application adopts a compact design that balances structural strength and product aesthetics.

[0036] This application also discloses a robot, including the neck joint mechanism of the robot described above.

[0037] The beneficial effects of this utility model are: the neck joint mechanism of this application can drive the two joints of the neck and cervical spine to rotate through a drive component. Compared with the control by a power mechanism alone, the power mechanism can be omitted, resulting in lower cost. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the neck joint mechanism in its initial state;

[0039] Figure 2 This is a schematic diagram showing the neck and bearing base separated in the initial state;

[0040] Figure 3 This is a schematic diagram of another angle after the neck and bearing base have separated in the initial state;

[0041] Figure 4 This is a partially exploded view of the cervical joint mechanism in its initial state;

[0042] Figure 5 This is a schematic diagram of the neck joint mechanism in the elevated state;

[0043] Figure 6 This is a partial exploded view of the cervical joint mechanism in an elevated state.

[0044] The labels for the attached figures are as follows:

[0045] 1. First fixed seat; 11. Plate; 111. Through hole; 12. Bearing base; 13. Rotary bearing; 2. Neck; 2a. First end of neck; 2b. Second end of neck; 21. First rotating shaft; 22. Limiting slot; 23. Arc-shaped clearance hole; 3. First transmission rod; 4. Connecting shaft; 5. Neck; 51. Second rotating shaft; 52. Mounting shaft; 6. Second transmission rod; 7. Drive assembly; 71. Drive motor; 711. Output shaft; 72. Drive component; 73. Connecting rod; 74. Movable rotating shaft; 8. Second fixed seat. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0047] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0048] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0049] The present invention will now be described in detail with reference to the accompanying drawings.

[0050] like Figures 1-6 As shown, a neck joint mechanism for a robot includes:

[0051] First fixed seat 1;

[0052] Neck 2 has a first end and a second end, and the first end 2a of the neck is rotatably mounted on the first fixed seat 1 via a first rotating shaft 21;

[0053] The first transmission rod 3 is fixed at one end to the neck 2;

[0054] Connecting shaft 4 is mounted on the first fixed base 1, and connecting shaft 4 is arranged parallel to the first rotating shaft 21;

[0055] Neck 5, rotatably mounted on the second end 2b of the neck via a second rotating shaft 51;

[0056] The second transmission rod 6 is rotatably mounted on the connecting shaft 4 at one end and rotatably mounted on the neck 5 at the other end. The rotation axis of the second transmission rod 6 and the neck 5 is parallel to the axis of the second rotation shaft 51.

[0057] A drive assembly 7, which cooperates with the first transmission rod 3, is used to drive the first transmission rod 3 and the neck 2 to rotate synchronously. When the neck 2 rotates, it drives the neck 5 to rotate relative to the neck 2 through the second transmission rod 6.

[0058] One working principle of the neck joint mechanism: the drive assembly 7 works to drive the first transmission rod 3 and the neck 2 to rotate synchronously. Because one end of the second transmission rod 6 is rotatably mounted on the connecting shaft 4 (the connecting shaft 4 is not fixed to the neck 2, but is mounted on the first fixed seat 1), when the neck 2 rotates, the second transmission rod 6 will move relative to the neck 2, that is, it can drive the neck 5 to rotate relative to the neck 2.

[0059] The neck joint mechanism of this application can drive the two joints of the neck 5 and the neck 2 to rotate through a drive component 7. Compared with the control by two power mechanisms, it can save power mechanisms and reduce costs.

[0060] In practical applications, the neck joint mechanism has an initial state (see...) Figure 1 ) and rising state (see Figure 5 In the raised state, the neck 2 rotates upward, and the neck 5 rotates upward relative to the neck 2, thus realizing the action of raising the neck and lifting the neck.

[0061] like Figure 1 As shown, in this embodiment, a second fixing base 8 is also included, and the driving component 7 includes:

[0062] The drive motor 71 is fixed on the second fixed base 8;

[0063] The driving component 72 is fixed on the output shaft 711 of the drive motor 71;

[0064] The connecting rod 73 is rotatably mounted on the drive member 72 at one end and rotatably engaged with the first transmission rod 3 at the other end. The rotation axis of the connecting rod 73 and the drive member 72 is parallel to the axis of the output shaft 711 of the drive member 72.

[0065] In this application, the second fixing seat 8 can be part of the first fixing seat 1 or independent of the first fixing seat 1.

[0066] In practical applications, the drive motor 71 can be a servo motor; the drive component 72 can be a flange.

[0067] like Figure 1 As shown, in this embodiment, the drive assembly 7 further includes a movable shaft 74, there are multiple first transmission rods 3, and the end of each first transmission rod 3 away from the neck 2 passes through the movable shaft 74, and the end of the connecting rod 73 away from the drive motor 71 passes through the movable shaft 74.

[0068] The design of multiple first transmission rods 3 enables the neck 2 to be subjected to more even force and to move more stably and reliably.

[0069] In practical applications, the movable shaft 74 can be in the form of a screw or similar structure.

[0070] In this embodiment, there are two first transmission rods 3, which are arranged in parallel and spaced apart.

[0071] like Figure 4 As shown, in this embodiment, the end of the first transmission rod 3 away from the movable rotating shaft 74 is sleeved on the first rotating shaft 21.

[0072] This configuration ensures the stability and reliability of the first transmission rod 3.

[0073] like Figure 2 and 6 As shown, in this embodiment, the neck 2 has a limiting groove 22, and the transmission rod is embedded in the corresponding limiting groove 22.

[0074] The limiting slot 22 enables the first transmission rod 3 to rotate synchronously with the neck 2.

[0075] like Figure 1 and 2 As shown, in this embodiment, the first rotating shaft 21 is fixed on the neck 2, and the first fixing seat 1 includes:

[0076] Plate 11;

[0077] Two bearing bases 12 are fixed at intervals on the plate 11, and the two ends of the first rotating shaft 21 are rotatably mounted on the two bearing bases 12 respectively through rotating bearings 13.

[0078] like Figure 2 , 4 As shown in Figure 6, in this embodiment, the two ends of the connecting shaft 4 are respectively disposed on two bearing bases 12;

[0079] The neck 2 has an arc-shaped clearance hole 23 for the connecting shaft 4 to pass through.

[0080] like Figure 2 and 5As shown, in this embodiment, the plate 11 has a through hole 111, the first transmission rod 3 passes through the through hole 111, the neck 2 is located on the side of the bearing base 12 of the plate 11, and the drive assembly 7 is located on the side of the plate 11 facing away from the bearing base 12.

[0081] like Figure 2 , 3 As shown in Figures 4 and 6, in this embodiment, the neck 5 has a mounting shaft 52 arranged parallel to the second rotation shaft 51, and one end of the second transmission rod 6 is sleeved on the mounting shaft 52.

[0082] The neck joint mechanism in this application adopts a compact design that balances structural strength and product aesthetics.

[0083] This embodiment also discloses a robot, including the neck joint mechanism of the robot in this embodiment.

[0084] The above description is only a preferred embodiment of the present utility model and does not limit the scope of patent protection of the present utility model. Any equivalent structural transformations made based on the content of the present utility model specification and drawings, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present utility model.

Claims

1. A neck joint mechanism for a robot, characterized in that, include: First fixed seat; The neck has a first end and a second end, and the first end of the neck is rotatably mounted on the first fixed seat via a first rotating shaft; The first transmission rod has one end fixed to the neck; A connecting shaft is mounted on the first fixed base, and the connecting shaft is arranged parallel to the first rotating shaft. The neck is rotatably mounted at the second end of the neck via a second rotating shaft; The second transmission rod has one end rotatably mounted on the connecting shaft and the other end rotatably mounted on the neck. The rotation axis of the second transmission rod and the neck is parallel to the axis of the second rotation shaft. A drive assembly, in cooperation with the first transmission rod, is used to drive the first transmission rod and the neck to rotate synchronously. When the neck rotates, the second transmission rod drives the neck to rotate relative to the neck.

2. The neck joint mechanism of the robot as described in claim 1, characterized in that, It also includes a second mounting base, and the drive assembly includes: The drive motor is fixed on the second fixed base; The driving component is fixed on the output shaft of the drive motor; The connecting rod is rotatably mounted on the drive component at one end and rotatably engaged with the first transmission rod at the other end. The rotation axis of the connecting rod and the drive component is parallel to the axis of the output shaft of the drive component.

3. The neck joint mechanism of the robot as described in claim 2, characterized in that, The drive assembly also includes a movable shaft, and there are multiple first transmission rods, with the end of each first transmission rod away from the neck passing through the movable shaft. The end of the connecting rod away from the drive motor passes through the movable shaft.

4. The neck joint mechanism of the robot as described in claim 3, characterized in that, The end of the first transmission rod away from the movable shaft is fitted onto the first rotating shaft.

5. The neck joint mechanism of the robot as described in claim 3, characterized in that, The neck has a limiting groove, and the transmission rod is embedded in the corresponding limiting groove.

6. The neck joint mechanism of the robot as described in claim 1, characterized in that, The first rotating shaft is fixed to the neck, and the first fixing seat includes: plate body; Two bearing bases are fixed to the plate at intervals, and the two ends of the first rotating shaft are rotatably mounted on the two bearing bases respectively through rotating bearings.

7. The neck joint mechanism of the robot as described in claim 6, characterized in that, The two ends of the connecting shaft are respectively mounted on two bearing bases; The neck has an arc-shaped clearance hole through which the connecting shaft passes.

8. The neck joint mechanism of the robot as described in claim 6, characterized in that, The plate has a through hole, through which the first transmission rod passes. The neck is located on the side of the plate where the bearing base is located, and the drive assembly is located on the side of the plate opposite to the bearing base.

9. The neck joint mechanism of the robot as described in claim 1, characterized in that, The neck has a mounting shaft arranged parallel to the second rotating shaft, and one end of the second transmission rod is sleeved on the mounting shaft.

10. A robot, characterized in that, Includes the neck joint mechanism of the robot as described in any one of claims 1 to 9.

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