A robot head roll-over mechanism

Abstract

The utility model discloses a robot head turnover mechanism, including head casing, clutch drive assembly and drive assembly, and the inside formation of head casing installs the cavity, clutch drive assembly has at least clutch axle and big gear, and the both ends of clutch axle are out of head casing and are arranged in the installation cavity, and big gear is arranged in one end of clutch axle, drive assembly includes driving part and output gear, and output gear is connected in driving part, and big gear is engaged in output gear. The utility model technical scheme is designed to realize the head -raising and the action of bowing, and prevent head from the impact protection head from the overload damage of external force.

Description

Technical Field

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

[0002] Existing robot head motion structures mostly use direct drive servo motors or stepper motors combined with gear / linkage transmission. Although they can achieve basic pitch and rotation movements, they still have the following problems: lack of mechanical clutch protection, poor overload resistance, and external impacts can easily cause gear breakage or motor stalling. Utility Model Content

[0003] The main purpose of this utility model is to provide a robot head flipping mechanism, which aims to realize the head raising and lowering movements, and prevent the head from being damaged by external force impact.

[0004] To achieve the above objectives, this utility model proposes a robot head flipping mechanism, comprising: A head housing, wherein an installation cavity is formed inside the head housing; A clutch transmission assembly, the clutch transmission assembly including at least a clutch shaft and a large gear, the clutch shaft passing through the mounting cavity and extending out of the head housing at both ends, the large gear being disposed at one end of the clutch shaft; A drive assembly, comprising a drive element and an output gear, wherein the output gear is connected to the drive element and the large gear meshes with the output gear.

[0005] In one possible implementation, the clutch transmission assembly further includes a pinion gear passing through the clutch shaft, the pinion gear being in contact with the large gear and both of their connecting surfaces being provided with meshing portions, and the two meshing portions being able to rotate relative to each other.

[0006] In one possible implementation, the clutch transmission assembly further includes a spring and a support member, the support member being disposed at the end of the clutch shaft, the spring being sleeved on the clutch shaft, with one end abutting against the support member and the other end abutting against the large gear.

[0007] In one possible implementation, the clutch shaft is further provided with a potentiometer at the other end away from the support member to monitor the head rotation angle.

[0008] This utility model's technical solution achieves efficient power transmission, overload protection, and precise angle control through the coordinated design of the clutch transmission assembly and drive assembly. The motor drives the clutch shaft via a gear set, causing the head housing to rotate smoothly, suitable for frequent pitching movements. The spring preload engagement part is designed to automatically disengage in case of overload or external force intervention, protecting the motor and gears from damage. The potentiometer at the end of the clutch shaft directly monitors the rotation angle, providing closed-loop feedback to the control system and ensuring precise and controllable head posture. Attached Figure Description

[0009] 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 based on the structures shown in these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the structure of an embodiment of the robot head flipping mechanism of this utility model; Figure 2 This is an exploded view of an embodiment of the robot head flipping mechanism of this utility model; Figure 3 This is an exploded view of an embodiment of the clutch transmission assembly of this utility model.

[0011] Explanation of icon numbers: 1. Head housing; 21. Clutch shaft; 22. Large gear; 23. Small gear; 24. Meshing part; 25. Spring; 26. Support component; 31. Drive component; 32. Output gear; 4. Potentiometer.

[0012] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0014] Reference Figures 1 to 3This utility model proposes a robot head flipping mechanism, including a head shell 1, a clutch transmission assembly, and a drive assembly. The head shell 1 has an internal mounting cavity. The clutch transmission assembly includes at least a clutch shaft 21 and a large gear 22. The clutch shaft 21 passes through the mounting cavity and extends out of the head shell 1 at both ends. The large gear 22 is located at one end of the clutch shaft 21. The drive assembly includes a drive member 31 and an output gear 32. The output gear 32 is connected to the drive member 31, and the large gear 22 meshes with the output gear 32.

[0015] Understandably, the head shell 1, serving as the robot's head cover, protects the internal mechanisms. It contains a mounting cavity to accommodate part of the clutch transmission components. Holes on both sides of the shell allow the clutch shaft 21 to pass through and extend out at both ends, supporting the head's tilting motion. The clutch shaft 21 is a shaft that penetrates the head shell 1, extending out of the shell at both ends; it is the rotational axis for head tilting. A large gear 22 is fixed to one end of the clutch shaft 21, transmitting power through gear meshing.

[0016] The drive unit 31 can be a motor, such as a stepper motor or a servo motor, to provide rotational power; in this example, it is a reducer. The output gear 32 is mounted on the output shaft of the drive unit 31. Through gear meshing, the rotation of the motor is converted into the up-and-down tilting motion of the head around the clutch shaft 21. The rotation of the clutch shaft 21 drives the entire head housing 1 to swing up and down around the axis, thus achieving the pitching motion.

[0017] Reference Figures 2 to 3 In one embodiment of the present invention, the clutch transmission assembly further includes a small gear 23 passing through the clutch shaft 21. The small gear 23 is in contact with the large gear 22, and both of their connecting surfaces are provided with meshing parts 24. The two meshing parts 24 can rotate relative to each other.

[0018] Understandably, the pinion 23 is mounted on the clutch shaft 21, coaxial with but independent of the large gear 22. The connection surface with the large gear 22 is provided with a meshing part 24, such as a tooth groove, a protrusion, or other mechanical interlocking structure. The large gear 22 is also provided with a corresponding meshing part 24 on the end face that mates with the pinion 23, which matches the meshing part 24 of the pinion 23.

[0019] The two components function as a clutch. In normal transmission mode, the meshing part 24 of the pinion 23 and the large gear 22 engages, and power is transmitted normally. At this time, the head rotates normally with the drive of the motor. In clutch disengagement mode, when the head is subjected to an overload impact, the large gear 22 and the pinion 23 will slide axially, disconnecting the transmission connection with the reducer. The two can rotate freely relative to each other. At this time, the reducer drives the large gear 22 to idle, while the clutch shaft 21 and the head remain stationary, thus interrupting the power.

[0020] Reference Figures 1 to 3In one embodiment of the present invention, the clutch transmission assembly further includes a spring 25 and a support member 26. The support member 26 is disposed at the end of the clutch shaft 21, and the spring 25 is sleeved on the clutch shaft 21, with one end abutting against the support member 26 and the other end abutting against the large gear 22.

[0021] Understandably, the support member 26 is fixed to the end of the clutch shaft 21, serving as the support reference point for the spring 25. The spring 25 is sleeved on the clutch shaft 21 and is in a compressed state, with one end abutting against the support member 26 and the other end abutting against the large gear 22, pushing the large gear 22 towards the small gear 23. Under normal transmission, the elastic force of the spring 25 pushes the large gear 22 towards the small gear 23, causing the meshing part 24 of the two to engage tightly, at which point the head rotates normally with the motor drive. When external force intervenes, if the externally applied torque exceeds the preload of the spring 25, the meshing part 24 of the large gear 22 and the small gear 23 is forced to disengage, the large gear 22 spins freely, and the motor power cannot be transmitted to the clutch shaft 21. When the external force disappears, the elastic force of the spring 25 pushes the large gear 22 back, the meshing part 24 engages again, and power transmission is restored.

[0022] Reference Figures 1 to 3 In one embodiment of this utility model, a potentiometer 4 is also provided at the other end of the clutch shaft 21 away from the support member 26 to monitor the head rotation angle.

[0023] Understandably, potentiometer 4 is installed at the end of clutch shaft 21 away from support member 26, located on opposite sides of clutch shaft 21, and rotates synchronously with clutch shaft 21. Its function is to indirectly measure the pitch angle of head housing 1 by detecting the rotation angle of clutch shaft 21, convert the angle signal into an electrical signal, and feed it back to the robot's control system.

[0024] This utility model's technical solution achieves efficient power transmission, overload protection, and precise angle control through the coordinated design of the clutch transmission assembly and drive assembly. The motor drives the clutch shaft 21 via a gear set, causing the head housing 1 to rotate smoothly, suitable for frequent pitching movements; the design of the spring 25's preload engagement part 24 allows for automatic disengagement in case of overload or external force intervention, protecting the motor and gears from damage; the potentiometer 4 at the end of the clutch shaft 21 directly monitors the rotation angle, providing closed-loop feedback to the control system and ensuring precise and controllable head posture.

[0025] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and 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, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0026] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot head flipping mechanism, characterized in that, include: A head housing, wherein an installation cavity is formed inside the head housing; A clutch transmission assembly, the clutch transmission assembly including at least a clutch shaft and a large gear, the clutch shaft passing through the mounting cavity and extending out of the head housing at both ends, the large gear being disposed at one end of the clutch shaft; A drive assembly, comprising a drive element and an output gear, wherein the output gear is connected to the drive element and the large gear meshes with the output gear; The clutch transmission assembly also includes a small gear passing through the clutch shaft. The small gear is in contact with the large gear and both of their connecting surfaces are provided with meshing parts. The two meshing parts can rotate relative to each other. The clutch transmission assembly further includes a spring and a support member. The support member is disposed at the end of the clutch shaft, and the spring is sleeved on the clutch shaft, with one end abutting against the support member and the other end abutting against the large gear.

2. The robot head flipping mechanism according to claim 1, characterized in that, A potentiometer is also provided at the other end of the clutch shaft, away from the support member, to monitor the head rotation angle.

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