A head assembly for a robot

Abstract

The utility model discloses a kind of head assembly of robot, it is related to robot field, comprising: fixed seat;Coupling, the coupling rotates and is installed on the fixed seat around first axis;Dynamic platform, the dynamic platform rotates and is installed on the coupling around second axis;Drive device, it is provided with two groups, and is installed on fixed seat, two groups The dynamic platform is driven along first axis rotation by connection portion when the drive device synchronous drive, two groups The dynamic platform is driven along second axis rotation by connection portion when the drive device asynchronous drive;The utility model realizes the double-shaft rotation around first, second axis by the synchronous / asynchronous drive of two groups of drive devices, realizes robot head rotation, without additional drive device, simplify structure, reduce assembly and control difficulty;Fixed seat provides two setting modes of U type and L type, and drive device can be installed symmetrically on both sides or single side.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a head assembly for a robot. Background Technology

[0002] With the rapid development of robotics technology, robots are increasingly being used in service, industry, and medical fields. As a key component that carries sensors (such as cameras and microphones) and interactive devices (such as displays and speakers), the robot head's rotational flexibility and motion stability directly affect the robot's perception capabilities and interactive experience.

[0003] The dual-axis rotation of a robot's head (such as left-right rotation in the horizontal direction and up-down rotation in the pitch direction) usually requires multiple independent drive units to control the movement of different axes. To achieve rotation around the first axis (horizontal rotation axis) and the second axis (pitch rotation axis), at least three drive units are often required: one to drive horizontal rotation, one to drive pitch rotation, and another to assist in support or coordinate movement. This results in a complex head assembly structure, increasing assembly difficulty and production costs.

[0004] The connection between the drive unit and the head's moving parts is mostly a rigid hinge or a common bushing connection, lacking flexible adaptive adjustment capability. During dual-axis compound motion, mechanical jamming or transmission backlash can easily occur due to angle changes, resulting in uneven head rotation, increased transmission error, and affecting the robot head's motion accuracy and response speed. Utility Model Content

[0005] This invention provides a robot head assembly to solve the problem that in the prior art, the dual-axis rotation of the robot head (such as left and right rotation in the horizontal direction and up and down rotation in the pitch direction) usually requires multiple independent drive devices to control the movement of different axes, which leads to a complex head assembly structure, increases assembly difficulty and production cost.

[0006] The technical problem solved by this utility model is achieved by the following technical solution:

[0007] A head assembly for a robot, comprising:

[0008] Fixed base;

[0009] A coupling, which is rotatably mounted on the fixed base about a first axis;

[0010] A movable platform, which is rotatably mounted on the coupling about a second axis;

[0011] The drive unit consists of two sets, which are mounted on a fixed base. When the two sets of drive units drive synchronously, they drive the moving platform to rotate along the first axis through the connecting part. When the two sets of drive units drive asynchronously, they drive the moving platform to rotate along the second axis through the connecting part.

[0012] Optionally, the second axis is arranged to intersect the first axis perpendicularly.

[0013] Optionally, the fixing seat is U-shaped, and a hinge frame that is rotatably connected to the coupling is provided at the top opening.

[0014] Optionally, the two sets of drive devices are respectively installed on both sides of the fixed base and arranged symmetrically with the fixed base as the axis.

[0015] Optionally, the fixed base is L-shaped, and a hinged frame that is rotatably connected to the coupling is fixedly installed on its top.

[0016] Optionally, the two drive units are mounted on one side of the fixed base and arranged symmetrically about the central axis of the fixed base.

[0017] Optionally, the connecting portion includes:

[0018] Two ball joint sleeves are provided, and they are respectively ball-hinged to the moving platform and the drive device;

[0019] The connecting rod is fixedly connected to two ball joints at both ends.

[0020] Optionally, the hinge point between the ball joint and the drive device is offset from the output center of the drive device.

[0021] Optionally, the coupling includes:

[0022] Central block;

[0023] Two sets of shafts are mounted on the center block via a receiving device, and the two sets of shafts are rotatably connected to a fixed seat or a moving platform, respectively.

[0024] Optionally, the receiving device includes:

[0025] The insertion groove is formed on the center block, and multiple U-shaped limiting blocks are provided inside the insertion groove;

[0026] A plug-in post is inserted into the interior of a plug-in groove, and multiple limiting blocks that engage with U-shaped limiting blocks are fixedly installed on the outer side of the plug-in post;

[0027] An elastic pad is placed between the inner wall of the insertion groove and the insertion post.

[0028] The beneficial effects of this utility model are:

[0029] The robot head can rotate by synchronous / asynchronous drive of two sets of drive devices to achieve dual-axis rotation around the first and second axes. This eliminates the need for additional drive devices, simplifies the structure, and reduces assembly and control difficulty.

[0030] The mounting base offers both U-shaped and L-shaped configurations, and the drive unit can be symmetrically installed on both sides or one side, suitable for robot needs of different sizes and installation spaces.

[0031] The connecting part adopts a ball joint sleeve structure, combined with an eccentric hinge design, to ensure flexible and smooth transmission and reduce transmission errors.

[0032] The device can be disassembled and installed by means of the cooperation of the U-shaped limit block and the limit block under rotation and compression, which simplifies the assembly process. In addition, the U-shaped limit block and the limit block will not separate during normal use and rotation, ensuring the stability of the coupling during use. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present utility model;

[0035] Figure 2 This is a schematic diagram of the fixed base structure in Embodiment 1 of this utility model;

[0036] Figure 3 This is a schematic diagram of the dynamic platform structure of this utility model;

[0037] Figure 4 This is a schematic diagram of the coupling structure of this utility model;

[0038] Figure 5 This is a schematic diagram of the receiving device structure of this utility model;

[0039] Figure 6 This is a schematic diagram of the structure of Embodiment 2 of this utility model.

[0040] In the diagram: 100, fixed base; 110, hinge frame;

[0041] 200. Coupling; 210. Center block; 220. Shaft body; 230. Receiving device; 231. Insertion groove; 232. U-shaped limit block; 233. Insertion post; 234. Limit block; 235. Elastic pad;

[0042] 300, dynamic platform;

[0043] 400. Drive unit;

[0044] 500, Connecting part; 510, Ball joint sleeve; 520, Connecting rod. Detailed Implementation

[0045] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the following description, in conjunction with specific illustrations, further elaborates on this utility model.

[0046] Example 1

[0047] Reference Figure 1-5 The robot head assembly shown includes:

[0048] The fixed base 100 serves as the base of the entire system, providing stable support.

[0049] Coupling 200 is rotatably mounted on fixed base 100 about a first axis;

[0050] In this invention, the coupling 200 can be connected using several existing structures; for example, by using two hinged frames to hinge together, the moving platform 300 can drive the robot head to rotate under the drive of the drive device 400, thereby realizing the rotation adjustment of the head.

[0051] Similarly, the coupling 200 can also adopt the cross-shaped column described below, so that the moving platform 300 can drive the robot head to rotate under the drive of the drive device 400, thereby realizing the rotation adjustment of the head;

[0052] As can be seen from the above, the coupling 200 can be implemented using several existing technologies, which will not be elaborated here;

[0053] The moving platform 300 is rotatably mounted on the coupling 200 around the second axis. The coupling 200 cooperates with the fixed base 100, so that they can transmit torque and rotational motion.

[0054] The drive unit 400 is provided in two sets and is mounted on the fixed base 100. When the two sets of drive units 400 are driven synchronously, they drive the moving platform 300 to rotate along the first axis through the connecting part 500. When the two sets of drive units 400 are driven asynchronously, they drive the moving platform 300 to rotate along the second axis through the connecting part 500.

[0055] In this embodiment, the drive device 400 can be implemented using various existing technologies such as linear motors, hydraulic rods, or electric push rods;

[0056] In this utility model, the connecting part 500 can adopt several existing structures to achieve linkage; for example, a plate is used, and the two ends of the plate are connected to the driving device 400 and the moving platform 300, so that the driving device 400 can pull or push the moving platform 300 to rotate and adjust normally when it is started.

[0057] Similarly, the connecting part 500 can also adopt the column and ball joint as described below. The ball joint is connected to the drive device 400 and the moving platform 300 so that the drive device 400 can pull or push the moving platform 300 to rotate and adjust normally when it is started.

[0058] As can be seen from the above, the connecting part 500 can be implemented using several existing technologies, which will not be elaborated here.

[0059] The robot head can rotate by synchronous / asynchronous drive of two sets of drive devices 400 to achieve dual-axis rotation around the first and second axes, without the need for additional drive devices, which simplifies the structure and reduces the difficulty of assembly and control.

[0060] The connecting part 500 adopts a ball joint sleeve structure, combined with an eccentric hinge design, to ensure flexible and smooth transmission and reduce transmission errors.

[0061] The working principle of this embodiment is as follows:

[0062] Connect the coupling 200 to the fixed base 100 and the moving platform 300. Then, install the rotating robot head and motor on the moving platform 300. When the robot head rotates, start the drive device 400. When the two sets of drive devices 400 drive synchronously, they drive the moving platform 300 to rotate along the first axis through the connecting part 500. When the two sets of drive devices 400 drive asynchronously, they drive the moving platform 300 to rotate along the second axis through the connecting part 500.

[0063] In some embodiments of this utility model, reference is made to Figure 2 As shown, the second axis is perpendicularly intersecting the first axis to form an orthogonal dual-axis rotation structure, which expands the range of motion of the head and enables the robot head to achieve compound movements in the pitch and horizontal directions. This can accurately simulate the multi-angle observation posture of the human head and effectively meet the visual detection and interaction needs in complex environments.

[0064] In some embodiments of this utility model, reference is made to Figure 2 As shown, the fixed base 100 is U-shaped, and a hinge frame 110 that is rotatably connected to the coupling 200 is provided at the top opening. The U-shaped design allows the fixed base 100 to better support and stabilize the entire structure, while providing enough space for installation and maintenance. The design of the hinge frame 110 allows it to swing freely within a certain angle range, thereby adapting to different working environments and needs.

[0065] In some embodiments of this utility model, reference is made to Figure 2 As shown, the two sets of drive units 400 are respectively installed on both sides of the fixed base 100 and are symmetrically arranged with the fixed base 100 as the axis. The symmetrical design ensures the balance of the equipment during operation and reduces vibration. The symmetrical arrangement also facilitates maintenance and repair, because the components on both sides can be interchanged, which improves the reliability and maintainability of the overall system. Since the components on the left and right sides have the same structure, the operator can refer to the operating steps on one side to perform maintenance on the other side.

[0066] In some embodiments of this utility model, reference is made to Figure 2 As shown, the connecting part 500 includes:

[0067] Two ball joint sleeves 510 are provided, and they are respectively ball-hinged to the moving platform 300 and the driving device 400. The ball joint sleeves 510 are allowed to rotate freely within a certain range, thereby providing greater flexibility and adaptability, and avoiding mutual interference between the movements of the two sets of connecting parts 500.

[0068] The connecting rod 520 is fixedly connected to two ball joint sleeves 510 at both ends to ensure stability and reliability during movement, so that the drive device 400 can drive the moving platform 300 to rotate when it starts.

[0069] The moving platform 300 is fixedly equipped with two ball joints that are assembled with the ball joint sleeve 510, so that when the drive device 400 starts, it drives the moving platform 300 to rotate through the connecting rod 520 and the ball joint sleeve 510, and realizes the rotation of the moving platform 300 in different directions according to the synchronous and asynchronous states of the two sets of drive devices 400.

[0070] In some embodiments of this utility model, reference is made to Figure 2 As shown, the hinge point between the ball joint sleeve 510 and the drive device 400 is offset from the output center of the drive device 400. When the drive device 400 rotates, since the hinge point of the ball joint sleeve 510 is not on the output center, it can swing freely within a certain range, thereby achieving a more flexible motion trajectory.

[0071] The drive unit 400 consists of a drive motor, a ball joint, and a rotating disk. The ball joint is fixed on the rotating disk and offset from the center of the rotating disk. When the drive motor starts, it will drive the rotating disk to rotate, so that the rotating disk drives the connecting rod 520 to rise and fall through the ball joint.

[0072] In some embodiments of this utility model, reference is made to Figure 4 As shown, the coupling 200 includes:

[0073] The center block 210 serves as the core support for the entire coupling 200, ensuring a stable connection between all components.

[0074] Two sets of shafts 220 are mounted on the center block 210 via a receiving device 230. The two sets of shafts 220 are rotatably connected to the fixed seat 100 or the moving platform 300 respectively to realize power transmission and angle adjustment. The receiving device 230 is responsible for firmly fixing the shafts 220 to the center block 210, and bearings are provided at the connection between the shafts 220 and the fixed seat 100 or the moving platform 300.

[0075] In this utility model, the receiving device 230 can be fixed by adopting several existing structures, such as using the cooperation of a screw and a threaded groove. During installation, the screw is rotated and inserted into the threaded groove under the action of the thread to fix the shaft 220.

[0076] Similarly, the receiving device 230 can also adopt two mutually cooperating limiting structures as described below. When the limiting structure is inserted into the center block 210, the two mutually cooperating limiting structures are fastened together by rotation to fix the receiving device 230 and realize the installation and fixation of the shaft 220.

[0077] As can be seen from the above, the receiving device 230 can be implemented using several existing technologies, which will not be elaborated here.

[0078] Each set of shafts 220 has two shafts, which are symmetrically arranged on both sides of the central block 210 and are arranged in a cross shape with the two shafts 220 of another set. The first axis and the second axis are the central axes of the two sets of shafts 220, respectively.

[0079] In some embodiments of this utility model, reference is made to Figure 5 As shown, the receiving device 230 includes:

[0080] The insertion groove 231 is formed on the center block 210 to provide space for the insertion of the insertion post 233, and the insertion groove 231 is provided with multiple U-shaped limiting blocks 232 inside;

[0081] The plug-in post 233 is inserted into the plug-in groove 231. Multiple limiting blocks 234 that engage with the U-shaped limiting block 232 are fixedly installed on the outside of the plug-in post 233. Through the cooperation of these limiting blocks 234 and the U-shaped limiting block 232, the plug-in post 233 is accurately positioned and fixed, preventing the plug-in post 233 from moving or rotating relative to the center block 210 under the action of external force.

[0082] The elastic pad 235 is placed between the inner wall of the insertion groove 231 and the insertion post 233 to buffer the impact during insertion and provide a certain degree of fastening effect to ensure the stability of the connection.

[0083] The working principle of this embodiment is as follows:

[0084] During installation, insert the plug pin 233 into the plug groove 231 and compress the elastic pad 235 to misalign the limiting block 234 with the U-shaped limiting block 232. Then, rotate the plug pin 233 so that the limiting block 234 aligns with the recessed part of the U-shaped limiting block 232. Release the pressure on the plug pin 233, and the elastic pad 235 will push the limiting block 234 into the U-shaped limiting block 232.

[0085] During disassembly, push the plug pin 233 to disengage the limiting block 234 from the U-shaped limiting block 232, and rotate the plug pin 233 to offset the limiting block 234 from the U-shaped limiting block 232. Then, remove the plug pin 233.

[0086] The working method of this utility model:

[0087] During installation, first place the center block 210 into the hinge frame 110, then pass the plug pin 233 and shaft 220 through the hinge frame 110. The plug pin 233 is inserted into the inside of the plug groove 231, and the elastic pad 235 is squeezed to make the limiting block 234 and the U-shaped limiting block 232 misalign. Then rotate the plug pin 233 so that the limiting block 234 corresponds to the recessed part of the U-shaped limiting block 232, and release the squeezing force on the plug pin 233. The elastic pad 235 will push the limiting block 234 to insert into the inside of the U-shaped limiting block 232 to fix the center block 210. Then, in sync with the above operations, connect the moving platform 300 to the coupling 200, and then ball joint sleeve 510 is ball hinged to the drive device 400 and the moving platform 300.

[0088] Then, the rotating robot head and motor are installed on the moving platform 300. When the robot head rotates, the drive device 400 is started. When the two sets of drive devices 400 drive synchronously, they drive the moving platform 300 to rotate along the first axis through the connecting part 500. When the two sets of drive devices 400 drive asynchronously, they drive the moving platform 300 to rotate along the second axis through the connecting part 500.

[0089] Example 2

[0090] In some embodiments of this utility model, reference is made to Figure 6 As shown, the fixed base 100 is L-shaped, and a hinged frame 110 that is rotatably connected to the coupling 200 is fixedly installed on its top.

[0091] The articulated frame 110 achieves low-friction rotation through a precision bearing and a coupling 200, ensuring that the angle and position can be flexibly adjusted during operation.

[0092] In some embodiments of this utility model, reference is made to Figure 6As shown, two drive units 400 are installed on one side of the fixed base 100 and are symmetrically arranged about the central axis of the fixed base 100. The symmetrical design ensures the balance of the equipment during operation, reduces vibration and noise, and the symmetrical installation makes the driving torque on both sides equal, thereby ensuring the stability and efficient operation of the equipment.

[0093] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A head assembly of a robot, characterized in that include: Fixture (100); A coupling (200) is rotatably mounted on the fixed base (100) about a first axis; A movable platform (300) is rotatably mounted on the coupling (200) about a second axis; Two sets of drive devices (400) are provided and mounted on a fixed base (100). When the two sets of drive devices (400) are driven synchronously, the moving platform (300) is driven to rotate along the first axis through the connecting part (500). When the two sets of drive devices (400) are driven asynchronously, the moving platform (300) is driven to rotate along the second axis through the connecting part (500).

2. The head assembly of a robot according to claim 1, characterized in that: The second axis is perpendicularly intersecting the first axis.

3. The head assembly of a robot according to claim 1, characterized in that: The fixed base (100) is U-shaped, and a hinge frame (110) that is rotatably connected to the coupling (200) is provided at the top opening.

4. The head assembly of a robot according to claim 1, characterized in that: The two sets of drive devices (400) are respectively installed on both sides of the fixed base (100) and are arranged symmetrically with the fixed base (100) as the axis.

5. The head assembly of a robot according to claim 1, characterized in that: The fixed base (100) is L-shaped, and a hinge frame (110) that is rotatably connected to the coupling (200) is fixedly installed on its top.

6. The head assembly of a robot according to claim 1, characterized in that: The two drive units (400) are mounted on one side of the fixed base (100) and are arranged symmetrically about the central axis of the fixed base (100).

7. The head assembly of a robot according to claim 1, characterized in that: The connecting part (500) includes: Two ball joint sleeves (510) are provided, and are respectively ball-hinged to the moving platform (300) and the drive device (400); The connecting rod (520) is fixedly connected at both ends to two ball joints (510).

8. The head assembly of a robot according to claim 7, characterized in that: The hinge point between the ball joint sleeve (510) and the drive device (400) is offset from the output center of the drive device (400).

9. The head assembly of a robot according to claim 1, characterized in that: The coupling (200) includes: Center block (210); Two sets of shafts (220) are mounted on the center block (210) via a receiving device (230), and the two sets of shafts (220) are rotatably connected to the fixed seat (100) or the moving platform (300) respectively.

10. The head assembly of a robot according to claim 9, characterized in that: The receiving device (230) includes: A insertion groove (231) is provided on the center block (210), and multiple U-shaped limiting blocks (232) are provided inside the insertion groove (231). A plug-in post (233) is inserted into the inside of the plug-in groove (231), and a plurality of limiting blocks (234) that engage with the U-shaped limiting block (232) are fixedly installed on the outside of the plug-in post (233). An elastic pad (235) is placed between the inner wall of the insertion groove (231) and the insertion post (233).

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