Robot neck structure

Abstract

The present utility model relates to the technical field of robots. Disclosed is a robot neck structure, comprising a rotating frame, a support base, a support configured to be connected to a robot trunk, and a fixing plate configured to be connected to a robot head, wherein the support base is connected to the upper end of the rotating frame; the fixing plate is rotatably articulated with the support base, so as to enable the pitch motion of the robot head; and the lower end of the rotating frame is rotatably connected to the support, so as to enable the yaw motion of the robot head. According to the present utility model, the support base is connected to the upper end of the rotating frame, and the fixing plate configured to be connected to the robot head is rotatably articulated with the support base, so that the pitch motion of the robot head is achieved; and the lower end of the rotating frame is rotatably connected to the support, and when the rotating frame rotates relative to the support, the fixing plate is driven to move left and right, so that the yaw motion of the robot head is achieved, thereby enabling the robot neck to drive the robot head to achieve motions of two degrees of freedom, i.e., pitch motion and yaw motion, thus fully replicating or achieving a human-like motion pattern.

Description

Robot neck structure Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot neck structure. Background Art

[0002] Robotics are developing rapidly, and robots with various functions are already available. However, for humanoid or humanoid robots, the robot neck structure is a key mechanical structure. However, existing neck structures cannot achieve two-degree-of-freedom movement of the robot's head in pitch and left and right directions, and cannot fully realize or achieve human-like movement patterns.

[0003] Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a robot neck structure, which realizes the two-degree-of-freedom movement of the robot head in pitch and left and right, and fully realizes or achieves the movement form of humans.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A robot neck structure includes a rotating frame, a support, a bracket for connecting to the robot torso, and a fixed plate for connecting to the robot head. The support is connected to the upper end of the rotating frame, and the fixed plate rotates to connect to the support to achieve the pitch movement of the robot head. The lower end of the rotating frame rotates to connect to the bracket to achieve the left and right movement of the robot head.

[0007] Preferably, a first bearing is provided in the support, a first motor is fixed on the support, and an output shaft of the first motor and the fixing plate are both connected to the first bearing.

[0008] Preferably, a driving plate is connected to one side of the fixing plate, a driving shaft is provided on the driving plate, the driving shaft is inserted into the first bearing, and an output shaft of the first motor is connected to one end of the driving shaft.

[0009] Preferably, a connecting plate is provided on the other side of the fixing plate, and one end of the connecting plate away from the fixing plate is connected to the other end of the driving shaft.

[0010] Preferably, the upper and lower ends of the support are respectively provided with a first photoelectric limiter electrically connected to the first motor, and the driving board is provided with a limit block cooperating with the first photoelectric limiter. When the limit block contacts the first photoelectric limiter, the first photoelectric limiter controls the first motor to stop.

[0011] Preferably, a bearing hole is provided on the support, the first bearing is arranged in the bearing hole, the first motor is arranged at one end of the bearing hole, and the other end of the bearing hole is covered with a cover plate.

[0012] Preferably, a second bearing is provided in the bracket, a second motor and a bearing cover covering the second bearing are provided on the bracket, and the output shaft of the second motor and the rotating frame are both connected to the second bearing.

[0013] Preferably, a rotating shaft is inserted into the second bearing, the second motor is connected to the lower end of the rotating shaft, the rotating frame is connected to the upper end of the rotating shaft, and a gasket is sleeved on the rotating shaft, and the gasket is located between the second bearing and the rotating frame.

[0014] Preferably, a second photoelectric limiter electrically connected to the second motor is provided on both sides of the bracket, and a limit plate cooperating with the second photoelectric limiter is provided on the rotating frame. When the limit plate contacts the second photoelectric limiter, the second photoelectric limiter controls the second motor to stop.

[0015] Preferably, the rotating frame includes a main body, and a first connecting part and a second connecting part are respectively provided at both ends of the main body, and the first connecting part is provided with a first fixing hole for connecting the support; the second connecting part is provided with second fixing holes for fixing the second photoelectric limiter on both sides of an end away from the main body, and the second connecting part is also provided with a rotating frame positioning hole and a third fixing hole for fixing the bracket; the main body is provided with a wiring harness hole extending along its length direction, and wiring harness fixing holes are provided on both sides of the wiring harness hole.

[0016] Compared with the prior art, a robot neck structure of an embodiment of the present invention has the following beneficial effects: by connecting a support to the upper end of the rotating frame and rotating the fixed plate used to connect the robot head to the support, the pitch movement of the robot head is realized; by rotating the lower end of the rotating frame to connect the bracket, when the rotating frame rotates relative to the bracket, the fixed plate is driven to move left and right, thereby realizing the left and right movement of the robot head, so that the robot neck drives its head to realize the two-degree-of-freedom movement of pitch and left and right, fully realizing or achieving the human movement form. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic structural diagram of the robot neck structure of the present invention.

[0018] FIG2 is an exploded view of the robot neck structure of the present invention.

[0019] FIG3 is a schematic structural diagram of the connection between the fixing plate and the first motor of the robot neck structure of the present invention.

[0020] FIG4 is a partial cross-sectional view of the robot neck structure of the present invention.

[0021] FIG5 is a schematic diagram of the robot neck structure of the present invention in pitch and elevation rotation.

[0022] FIG6 is a schematic diagram of the robot neck structure of the present invention rotating left and right respectively.

[0023] FIG7 is a schematic structural diagram of the rotating frame of the robot neck structure of the present invention.

[0024] Among them: 1-rotating frame, 2-support, 3-bracket, 4-fixed plate, 5-first bearing, 6-first motor, 7-drive plate, 8-drive shaft, 9-connecting plate, 10-first photoelectric limiter, 11-limiting block, 12-cover plate, 13-second bearing, 14-bearing cover, 15-second motor, 16-rotating shaft, 17-gasket, 18-second photoelectric limiter, 19-limiting plate, 20-first fixing hole, 21-second fixing hole, 22-rotating frame positioning hole, 23-third fixing hole, 24-wiring harness hole, 25-wiring harness fixing hole. DETAILED DESCRIPTION

[0025] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0026] As shown in Figures 1-2, a robot neck structure of a preferred embodiment of the present invention includes a rotating frame 1, a support 2, a bracket 3 for connecting to the robot torso and a fixed plate 4 for connecting to the robot head. The support 2 is connected to the upper end of the rotating frame 1, and the fixed plate 4 is rotatably connected to the support 2 to realize the pitch movement of the robot head. The lower end of the rotating frame 1 is rotatably connected to the bracket 3 to realize the left and right movement of the robot head.

[0027] The robot neck structure based on the above technical features realizes the pitching movement of the robot head by connecting the support 2 to the upper end of the rotating frame 1 and rotating the fixed plate 4 used to connect the robot head to the support 2; by rotating the lower end of the rotating frame 1 to connect the bracket 3, when the rotating frame 1 rotates relative to the bracket 3, it drives the fixed plate 4 to move left and right, thereby realizing the left and right movement of the robot head, so that the robot neck drives its head to realize the two-degree-of-freedom movement of pitch and left and right, fully realizing or achieving the human movement form.

[0028] Referring to Figure 3 , in this embodiment, a first bearing 5 is disposed within the support 2, and a first motor 6 is fixed to the support 2. The output shaft of the first motor 6 and the fixed plate 4 are both connected to the first bearing 5, thereby enabling the first motor 6 to drive the fixed plate 4 to rotate about the first bearing 5. Specifically, the rotating frame 1 is arranged vertically, and the central axis of the first bearing 5 is horizontal, thereby achieving pitch motion of the fixed plate 4.

[0029] In this embodiment, to facilitate the connection between the fixed plate 4 and the first bearing 5, a drive plate 7 is detachably connected to one side of the fixed plate 4. The drive plate 7 is provided with a drive shaft 8, which is inserted into the first bearing 5. The output shaft of the first motor 6 is connected to one end of the drive shaft 8. Meanwhile, a connecting plate 9 is provided on the other side of the fixed plate 4, with the end of the connecting plate 9 away from the fixed plate 4 connected to the other end of the drive shaft 8. The drive plate 7 and the connecting plate 9 are respectively arranged on either side of the fixed plate 4, and are connected by the drive shaft 8. The drive shaft 8 rotates under the drive of the first motor 6, thereby achieving force balance on both sides of the fixed plate 4 and ensuring its rotational stability. During installation, the support 2 is provided with a bearing hole, the first bearing 5 is disposed within the bearing hole, the first motor 6 is disposed at one end of the bearing hole, and the other end of the bearing hole is covered with a cover plate 12, thereby completely enclosing the first bearing 5 within the bearing hole, preventing dust contamination of the first bearing 5 and ensuring smooth rotation.

[0030] Referring to Figure 4 , in this embodiment, a second bearing 13 is disposed within the bracket 3 , and a second motor 15 and a bearing cap 14 are mounted on the bracket 3 , covering the second bearing 13 . The output shaft of the second motor 15 and the rotating frame 1 are both connected to the second bearing 13 , thereby enabling the second motor 15 to drive the rotating frame 1 to rotate about the second bearing 13 . Specifically, the central axis of the second bearing 13 is vertically disposed, enabling the rotating frame 1 to drive the fixed plate 4 to achieve left-right movement.

[0031] In a specific configuration, a rotating shaft 16 is inserted into the second bearing 13, the second motor 15 is connected to the lower end of the rotating shaft 16, the rotating frame 1 is connected to the upper end of the rotating shaft 16, and a gasket 17 is sleeved on the rotating shaft 16. The gasket 17 is located between the second bearing 13 and the rotating frame 1, thereby preventing the rotating frame 1 from directly abutting against the second bearing 13.

[0032] Referring to Figures 5 and 6, in this embodiment, in order to achieve the planned movement of the robot head within a predetermined range and realize or achieve the human motion form, the upper and lower ends of the support 2 are respectively provided with first photoelectric limiters 10 electrically connected to the first motor 6. The drive plate 7 is provided with a limit block 11 that cooperates with the first photoelectric limiter 10. When the limit block 11 contacts the first photoelectric limiter 10, the first photoelectric limiter 10 controls the first motor 6 to stop. There are also two limit blocks 11, corresponding one to one with the two first photoelectric limiters 10. When the upper limit block 11 contacts the first photoelectric limiter 10 at the upper end, the first motor 6 stops, and the robot head reaches the maximum upward viewing angle. When the lower limit block 11 contacts the first photoelectric limiter 10 at the lower end, the first motor 6 stops, and the robot head reaches the maximum downward viewing angle. A second photoelectric stopper 18 electrically connected to the second motor 15 is provided on each side of the bracket 3. A stopper plate 19 is provided on the rotating frame 1 to cooperate with the second photoelectric stopper 18. When the stopper plate 19 contacts the second photoelectric stopper 18, the second photoelectric stopper 18 controls the second motor 15 to stop. There are also two stopper plates 19, one corresponding to each second photoelectric stopper 18. The two second photoelectric stoppers 18 are used to control the leftmost and rightmost positions of the fixed plate 4.

[0033] Referring to FIG. 7 , in this embodiment, the rotating frame 1 includes a main body, with first and second connecting portions provided at either end. The first connecting portion is provided with a first fixing hole 20 for connecting to the support 2 and an assembly hole for assembly. The second connecting portion is provided with second fixing holes 21 for securing the second photoelectric stopper 18 on either side of the end away from the main body. The second connecting portion is also provided with a rotating frame positioning hole 22 and a third fixing hole 23 for securing the bracket 3. The end of the rotating shaft 16 away from the second motor 15 is provided with a locating pin. During installation, the locating pin is inserted into the rotating frame positioning hole 22 to determine the position of the rotating frame 1 and the bracket 3. The bracket 3 is then connected to the third fixing hole 23 using bolts or screws. The main body is provided with a wiring harness hole 24 extending along its length. The wiring harness hole 24 is primarily used to mount the board wiring harness. Wiring harness fixing holes 25 are provided on either side of the wiring harness hole 24. The corresponding wiring harness hole arrangement protects the wiring harness from physical collisions.

[0034] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and replacements can be made without departing from the technical principles of the present invention. These improvements and replacements should also be regarded as the scope of protection of the present invention.

Claims

1. A robot neck structure, characterized by: It includes a rotating frame, a support, a bracket for connecting to the robot torso and a fixed plate for connecting to the robot head. The support is connected to the upper end of the rotating frame, and the fixed plate rotates to connect to the support to achieve the pitch movement of the robot head. The lower end of the rotating frame rotates to connect to the bracket to achieve the left and right movement of the robot head.

2. The robot neck structure according to claim 1, wherein: A first bearing is provided in the support, a first motor is fixed on the support, and an output shaft of the first motor and the fixing plate are both connected to the first bearing.

3. The robot neck structure according to claim 2, wherein: One side of the fixing plate is connected to a driving plate, and a driving shaft is provided on the driving plate. The driving shaft is inserted into the first bearing, and the output shaft of the first motor is connected to one end of the driving shaft.

4. The robot neck structure according to claim 3, wherein: A connecting plate is provided on the other side of the fixing plate, and one end of the connecting plate away from the fixing plate is connected to the other end of the driving shaft.

5. The robot neck structure according to claim 3, wherein: The upper and lower ends of the support are respectively provided with a first photoelectric limiter electrically connected to the first motor, and the drive board is provided with a limit block that cooperates with the first photoelectric limiter. When the limit block contacts the first photoelectric limiter, the first photoelectric limiter controls the first motor to stop.

6. The robot neck structure according to claim 2, wherein: A bearing hole is provided on the support, the first bearing is arranged in the bearing hole, the first motor is arranged at one end of the bearing hole, and the other end of the bearing hole is covered with a cover plate.

7. The robot neck structure according to any one of claims 1 to 6, wherein: A second bearing is provided in the bracket, a second motor and a bearing cover provided on the bracket for covering the second bearing are provided, and an output shaft of the second motor and the rotating frame are both connected to the second bearing.

8. The robot neck structure according to claim 7, wherein: A rotating shaft is inserted into the second bearing, the second motor is connected to the lower end of the rotating shaft, the rotating frame is connected to the upper end of the rotating shaft, and a gasket is sleeved on the rotating shaft, and the gasket is located between the second bearing and the rotating frame.

9. The robot neck structure according to claim 7, wherein: A second photoelectric limiter electrically connected to the second motor is provided on both sides of the bracket, and a limit plate cooperating with the second photoelectric limiter is provided on the rotating frame. When the limit plate contacts the second photoelectric limiter, the second photoelectric limiter controls the second motor to stop.

10. The robot neck structure according to claim 9, wherein: The rotating frame includes a main body, and a first connecting part and a second connecting part are respectively provided at both ends of the main body, and the first connecting part is provided with a first fixing hole for connecting the support; the second connecting part is provided with second fixing holes for fixing the second photoelectric limiter on both sides of an end away from the main body, and the second connecting part is also provided with a rotating frame positioning hole and a third fixing hole for fixing the bracket; the main body is provided with a wiring harness hole extending along its length direction, and wiring harness fixing holes are provided on both sides of the wiring harness hole.

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