CN109318258B - Motion mechanism and movable device - Google Patents
Motion mechanism and movable device Download PDFInfo
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- CN109318258B CN109318258B CN201811265528.6A CN201811265528A CN109318258B CN 109318258 B CN109318258 B CN 109318258B CN 201811265528 A CN201811265528 A CN 201811265528A CN 109318258 B CN109318258 B CN 109318258B
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- rotating frame
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- 230000007246 mechanism Effects 0.000 title claims abstract description 146
- 230000033001 locomotion Effects 0.000 title claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000003014 reinforcing effect Effects 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses a motion mechanism and movable equipment applying the motion mechanism, wherein the motion mechanism comprises: a base; the driving assembly is arranged on the base and is in transmission connection with a rotating shaft; the rotating frame is fixedly connected to the rotating shaft; the telescopic mechanism is telescopically arranged on the rotating frame; the stop structure is arranged on the base; when the rotating shaft rotates, the rotating frame rotates relative to the base, and the stop structure pushes the telescopic mechanism to extend relative to the rotating frame; when the rotating shaft rotates in the opposite direction, the rotating frame rotates in the opposite direction relative to the base, and the stop structure pushes the telescopic mechanism to retract relative to the rotating frame. The technical scheme of the invention can realize the driving control of multiple movement modes of one movement mechanism by using one driving unit.
Description
Technical Field
The invention relates to the technical field of mechanical structures, in particular to a motion mechanism and movable equipment applying the motion mechanism.
Background
In recent years, industries such as unmanned aerial vehicles and robots, which use a large number of movement mechanisms (for example, a telescopic mechanism and a folding mechanism), have rapidly progressed. However, most of the motion mechanisms currently adopt a matching mode that one driving unit drives one motion mechanism to perform one type of motion, that is, a plurality of driving units are required to be arranged in order to realize various types of motion. Thus, not only can some institutions or equipment be huge, but also the serious resource waste situation is caused. Therefore, it has been a popular problem in these industries to realize drive control of various movement forms of a movement mechanism by one drive unit.
Disclosure of Invention
The invention mainly aims to provide a motion mechanism, which aims to realize the driving control of multiple motion forms of one motion mechanism by using one driving unit.
In order to achieve the above object, the present invention provides a movement mechanism comprising:
A base;
The driving assembly is arranged on the base and is in transmission connection with a rotating shaft;
the rotating frame is fixedly connected to the rotating shaft;
the telescopic mechanism is telescopically arranged on the rotating frame;
the stop structure is arranged on the base;
When the rotating shaft rotates, the rotating frame rotates relative to the base, and the stop structure pushes the telescopic mechanism to extend relative to the rotating frame; when the rotating shaft rotates in the opposite direction, the rotating frame rotates in the opposite direction relative to the base, and the stop structure pushes the telescopic mechanism to retract relative to the rotating frame.
Optionally, the base comprises a bottom plate and two side plates convexly arranged on the bottom plate, and the two side plates are oppositely arranged;
The driving assembly is arranged between the two side plates, and two ends of the rotating shaft respectively penetrate through the two side plates.
Optionally, the rotating frame includes:
the main body frame is erected on the two side plates;
the connecting rod, the one end fixed connection of connecting rod in the main part frame, the other end orientation deviates from the direction extension setting of main part frame, the connecting rod with axis of rotation fixed connection.
Optionally, the rotating frame comprises two connecting rods, wherein one connecting rod is arranged at the outer side of one side plate and fixedly connected with the end part of the rotating shaft penetrating through the side plate;
The other connecting rod is arranged on the outer side of the other side plate and fixedly connected with the end part of the rotating shaft penetrating through the side plate.
Optionally, the telescopic machanism is located one side of swivel mount rotation path, the telescopic machanism includes extensible member and at least two connecting rods, the connecting rod is located the outside of curb plate, the one end of connecting rod with the connecting rod rotates to be connected, and the other end orientation deviates from the direction extension setting of curb plate, and with extensible member rotates to be connected, the connecting rod the extensible member, and the connecting rod jointly forms four bar linkage.
Optionally, positioning columns are convexly arranged between two ends of the connecting rod, the two positioning columns are located on the same side of the deformation plane of the four-bar mechanism, the stop structure comprises a stop column, and the stop column is convexly arranged on the outer surface of the side plate and is located between the two positioning columns;
when the rotating frame rotates, the stop post abuts against and stops the positioning post, so that the telescopic piece extends or retracts relative to the rotating frame.
Optionally, the telescopic mechanism further comprises a reinforcing rod, two ends of the reinforcing rod are respectively connected with the main body frame and the telescopic piece in a rotating mode, and the reinforcing rod, the telescopic piece, the connecting rod and the rotating frame form a four-bar mechanism together.
Optionally, the motion mechanism includes two telescopic mechanisms, two telescopic mechanisms are located respectively the both sides of swivel mount rotation path.
Optionally, the driving assembly includes:
the driver is positioned between the two side plates and is fixed on the bottom plate and/or the side plates, and the driver is provided with an output shaft;
The transmission gear is sleeved on the output shaft;
and the driven gear is sleeved between the two ends of the rotating shaft and meshed with the transmission gear.
Optionally, the driver is a steering engine.
The invention also proposes a mobile device comprising a movement mechanism comprising:
A base;
The driving assembly is arranged on the base and is in transmission connection with a rotating shaft;
the rotating frame is fixedly connected to the rotating shaft;
the telescopic mechanism is telescopically arranged on the rotating frame;
the stop structure is arranged on the base;
When the rotating shaft rotates, the rotating frame rotates relative to the base, and the stop structure pushes the telescopic mechanism to extend relative to the rotating frame; when the rotating shaft rotates in the opposite direction, the rotating frame rotates in the opposite direction relative to the base, and the stop structure pushes the telescopic mechanism to retract relative to the rotating frame.
In the technical scheme of the invention, when the driving assembly on the base operates, the driving assembly drives the rotating shaft to rotate, and the rotating shaft rotates to drive the rotating frame to rotate relative to the base, so that the rotating frame can be changed between the initial position and the folding position, namely, the folding and unfolding of the rotating frame are realized. At the same time, the telescopic mechanism arranged on the rotating frame rotates along with the rotating frame relative to the base, and the telescopic mechanism also has two positions, namely an extending position and a retracting position, in the rotating process of the telescopic mechanism relative to the base. When the telescopic mechanism rotates from the initial position to the folding position along with the rotating frame and reaches the extending position, the stop structure pushes the telescopic mechanism to extend relative to the rotating frame through the stop function; when the telescopic mechanism rotates from the folding position to the initial position along with the rotating frame and reaches the retraction position, the stop structure pushes the telescopic mechanism to retract relative to the rotating frame through the stop action in the other direction. Therefore, the technical scheme of the invention not only realizes folding and unfolding of the rotating frame, but also realizes extension and retraction of the telescopic mechanism through one driving component, namely, the driving control of various movement forms of the movement mechanism is realized by only using one driving unit. Therefore, the structure of the moving mechanism and the equipment with the moving mechanism can be simplified, the volumes of the moving mechanism and the equipment with the moving mechanism can be reduced, the waste of resources can be avoided, the reasonable utilization of the resources can be realized, and the aim of reducing the cost can be achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an embodiment of a motion mechanism according to the present invention; wherein the rotating frame is at an initial position;
FIG. 2 is a schematic view of the movement mechanism of FIG. 1 from another perspective;
FIG. 3 is a schematic view of the movement mechanism of FIG. 1 when the telescoping mechanism rotates with the rotating frame from the initial position to the collapsed position and to the extended position;
FIG. 4 is a schematic view of the movement mechanism of FIG. 3 when the rotating frame is rotated to a folded position;
FIG. 5 is a schematic view of the movement mechanism of FIG. 4 from another perspective;
FIG. 6 is a schematic view of the movement mechanism of FIG. 4 when the telescoping mechanism rotates with the rotating frame from the collapsed position to the initial position and to the retracted position;
Fig. 7 is a schematic view of the movement mechanism of fig. 6 from another view.
Reference numerals illustrate:
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
The invention provides a motion mechanism 100, which can be applied to the fields of unmanned aerial vehicles, robots and the like, and aims to realize the driving control of multiple motion modes of one motion mechanism 100 by using one driving unit.
The specific structure of the movement mechanism 100 of the present invention will be described below.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, the movement mechanism 100 includes:
A base 10;
the driving assembly 20 is arranged on the base 10, and is in transmission connection with a rotating shaft 30;
a rotating frame 40, wherein the rotating frame 40 is fixedly connected to the rotating shaft 30;
a telescopic mechanism 50, wherein the telescopic mechanism 50 is telescopically arranged on the rotating frame 40;
a stop structure 60, wherein the stop structure 60 is arranged on the base 10;
When the rotating shaft 30 rotates, the rotating frame 40 rotates relative to the base 10, and the stop structure 60 pushes the telescopic mechanism 50 to extend relative to the rotating frame 40; when the rotation shaft 30 rotates in the opposite direction, the rotation frame 40 rotates in the opposite direction with respect to the base 10, and the stopper structure 60 pushes the telescopic mechanism 50 to retract with respect to the rotation frame 40.
The following description will be given by taking the example in which the movement mechanism 100 of the present invention is horizontally disposed:
the base 10 comprises a bottom plate 11 and two side plates 13 protruding from the surface of the bottom plate 11, the bottom plate 11 is horizontally arranged, and the two side plates 13 are vertically and oppositely arranged. The bottom plate 11 is substantially rectangular, and the two side plates 13 are respectively located at two short sides of the bottom plate 11, at this time, the two side plates 13 jointly clamp the bottom plate 11 and form an installation space, and the installation space can be used for installing components such as the driving assembly 20, the rotating shaft 30 and the like. It will be appreciated that the drive assembly 20 may be a combination of a motor and a transmission assembly, a combination of a steering engine and a transmission assembly, or other reasonable and efficient drive assemblies 20. When the drive assembly 20 is in operation, the drive assembly 20 will drive the rotatable shaft 30 to rotate.
The rotating frame 40 is erected on the base 10 and is vertically arranged, and the lower end of the rotating frame is fixedly connected with the rotating shaft 30. When the rotating shaft 30 rotates, the rotating shaft 30 drives the rotating frame 40 to rotate, so that the rotating frame 40 rotates relative to the base 10 and has two positions, namely an initial position and a folding position. In this embodiment, at the initial position, the rotating frame 40 is in a vertical state; in the folded position, the rotating frame 40 is in a horizontal state. Of course, in other embodiments, the angle of the rotating frame 40 at the initial position and the angle of the rotating frame at the folded position can be adjusted according to the actual situation to meet the use requirements of different conditions.
Further, the rotating frame 40 is further provided with a telescopic mechanism 50, and the telescopic mechanism 50 is telescopic with respect to the rotating frame 40. The base 10 is further provided with a stop structure 60, and the stop structure 60 can push the telescopic mechanism 50 to extend and retract. Specifically, the telescopic mechanism 50 has an extended position during rotation of the rotating frame 40 from the initial position to the folded position, and at this time, the stopper structure 60 pushes the telescopic mechanism 50 to extend relative to the rotating frame 40; meanwhile, the telescopic mechanism 50 has a retracted position during rotation of the rotating frame 40 from the folded position to the initial position, and at this time, the stopper 60 pushes the telescopic mechanism 50 to retract with respect to the rotating frame 40.
Therefore, it can be understood that, in the technical solution of the present invention, when the driving assembly 20 on the base 10 is operated, the driving assembly 20 will drive the rotation shaft 30 to rotate, and the rotation of the rotation shaft 30 will drive the rotating frame 40 to rotate relative to the base 10, so that the rotating frame 40 can be changed between its initial position and the folded position, that is, folding and unfolding of the rotating frame 40 are achieved. At the same time, the telescopic mechanism 50 provided to the rotating frame 40 will also rotate with the rotating frame 40 relative to the base 10, and the telescopic mechanism 50 also has two positions, an extended position and a retracted position, during the rotation of the telescopic mechanism 50 relative to the base 10. When the telescopic mechanism 50 rotates from the initial position to the folded position along with the rotating frame 40 and reaches the extended position, the stop structure 60 pushes the telescopic mechanism 50 to extend relative to the rotating frame 40 through the stop action; when the telescopic mechanism 50 rotates from the folded position to the initial position along with the rotating frame 40 and reaches the retracted position, the stop structure 60 pushes the telescopic mechanism 50 to retract relative to the rotating frame 40 through the stop action of the other direction. Thus, the technical scheme of the invention realizes not only folding and unfolding of the rotating frame 40 but also extending and retracting of the telescopic mechanism 50 through one driving assembly 20, namely, realizes driving control of multiple movement forms of the movement mechanism 100 by only using one driving unit. In this way, the structure of the movement mechanism 100 and the equipment applying the movement mechanism 100 of the invention can be simplified, the volumes of the movement mechanism 100 and the equipment applying the movement mechanism 100 of the invention can be reduced, the waste of resources can be avoided, the reasonable utilization of resources can be realized, and the aim of reducing the cost can be achieved.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, the base 10 includes a bottom plate 11 and two side plates 13 protruding from the bottom plate 11, where the two side plates 13 are disposed opposite to each other;
The driving assembly 20 is disposed between the two side plates 13, and two ends of the rotation shaft 30 respectively penetrate through the two side plates 13.
In this embodiment, the bottom plate 11 is horizontally disposed, and the two side plates 13 are vertically disposed opposite to each other. The bottom plate 11 is substantially rectangular, and the two side plates 13 are respectively located at two short sides of the bottom plate 11, at this time, the two side plates 13 jointly clamp the bottom plate 11 and form an installation space, and the installation space can be used for installing components such as the driving assembly 20, the rotating shaft 30 and the like. Further, the rotation shaft 30 is provided to extend in the arrangement direction of the both side plates 13. The portion between the two ends of the rotation shaft 30 is located between the two side plates 13, one end of the rotation shaft 30 extends toward one side plate 13 and penetrates the side plate 13, and the other end of the rotation shaft 30 extends toward the other side plate 13 and penetrates the side plate 13.
In this way, the two side plates 13 can support and position the rotation shaft 30. In this way, the rotational stability of the rotary shaft 30 can be improved, so that the reliability of the power output of the driving assembly 20 can be improved.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, the rotating frame 40 includes:
a main body frame 41, wherein the main body frame 41 is arranged on the two side plates 13;
The connecting rod 43, one end of the connecting rod 43 is fixedly connected to the main body frame 41, the other end extends towards the direction away from the main body frame 41, and the connecting rod 43 is fixedly connected with the rotating shaft 30.
In the present embodiment, the connection rods 43 connect the rotation shaft 30 and the main body frame 41, respectively, that is, the connection rods 43 are used to transmit the power transmitted from the rotation shaft 30 to the rotating frame 40, so that the rotating frame 40 can obtain the power to rotate. In this case, the telescopic mechanism 50 may be provided at the connecting rod 43, the main body frame 41, or at other reasonable and effective positions on the rotating frame 40.
Therefore, the power transmission process from the rotating shaft 30 to the rotating frame 40 can be realized, the rotating frame 40 can obtain power to rotate, and the rotary machine has a simple structure and is convenient to produce and manufacture.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, the rotating frame 40 includes two connecting rods 43, and one connecting rod 43 is disposed outside one side plate 13 and fixedly connected to the end portion of the rotating shaft 30 penetrating through the side plate 13;
The other connecting rod 43 is disposed outside the other side plate 13 and fixedly connected to an end portion of the rotation shaft 30 penetrating the side plate 13.
In this way, the stability of the fixed connection between the rotating frame 40 and the rotating shaft 30 can be improved, and the reliability of the power transmission of the rotating shaft 30 can be improved, so that the rotating stability and reliability of the rotating frame 40 can be improved.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, the telescopic mechanism 50 is located at one side of the rotation path of the rotating frame 40, the telescopic mechanism 50 includes a telescopic member 51 and at least two connecting rods 53, the connecting rods 53 are located at the outer sides of the side plates 13, one ends of the connecting rods 53 are rotatably connected with the connecting rods 43, the other ends extend towards a direction away from the side plates 13, and are rotatably connected with the telescopic member 51, and the connecting rods 53, the telescopic member 51, and the connecting rods 43 together form a four-bar mechanism.
In this embodiment, the telescopic mechanism 50 includes two links 53, the two links 53 are spaced apart and parallel to each other, the two links 53, the connecting rod 43 of the rotating frame 40 and the telescopic member 51 together form a parallel four-bar mechanism, and a deformation plane of the parallel four-bar mechanism is perpendicular to the side plate 13. Specifically, the telescopic member 51 has a substantially elongated arc-shaped plate structure, and the lower portion thereof is disposed opposite to the side plate 13, and forms the parallel four-bar mechanism together with the two links 53 and the connecting rod 43 of the rotating frame 40. Further, a platform 411 is provided on the top of the rotating frame 40, and when the rotating frame 40 is in the initial position, the upper portion of the telescopic member 51 is flush with the platform 411. Of course, in other embodiments, the telescopic member 51 and the rotating frame 40 may be arranged in other forms, for example, the telescopic member 51 may be arranged in a quarter-sphere shell shape, and correspondingly, the top of the rotating frame 40 may be arranged in a half-circle for smooth docking with the telescopic member 51.
Thus, the telescopic function of the telescopic mechanism 50 can be realized through the four-bar mechanism, and the telescopic process of the telescopic mechanism 50 can be more stable and reliable.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, a positioning post 55 is protruding between two ends of the connecting rod 53, two positioning posts 55 are located on the same side of the deformation plane of the four-bar mechanism, the stop structure 60 includes a stop post 61, and the stop post 61 is protruding on the outer surface of the side plate 13 and located between two positioning posts 55;
When the rotating frame 40 rotates, the stop post 61 abuts against and stops the positioning post 55, so that the telescopic member 51 extends or retracts relative to the rotating frame 40.
In this embodiment, the two positioning posts 55 are spaced apart and parallel to each other, and the plane formed by the axes of the two positioning posts is parallel to the side plate 13. Specifically, when the rotating frame 40 is at the initial position, one positioning column 55 is located above the stopper column 61 (defined as a first positioning column 55), and the other positioning column 55 is located below the stopper column 61 (defined as a second positioning column 55); at this time, the positioning post 55 (i.e., the second positioning post 55) located below the stopper post 61 abuts against the stopper post 61.
Further, when the telescopic mechanism 50 rotates from the initial position to the folded position along with the rotating frame 40 and reaches the extended position, the second positioning post 55 has moved away from the stop post 61, and at this time, the first positioning post 55 starts to abut against the stop post 61; when the telescopic mechanism 50 continues to rotate along with the rotating frame 40 towards the folding position, the stop post 61 pushes the telescopic mechanism 50 to extend relative to the rotating frame 40 until the rotating frame 40 reaches the folding position through the stop action of the first positioning post 55. Accordingly, when the telescopic mechanism 50 rotates from the folded position to the initial position along with the rotating frame 40 and reaches the retracted position, the first positioning column 55 has moved away from the stop column 61, and at this time, the second positioning column 55 starts to abut against the stop column 61; when the telescopic mechanism 50 continues to rotate along with the rotating frame 40 to the initial position, the stop post 61 pushes the telescopic mechanism 50 to retract relative to the rotating frame 40 by stopping the second positioning post 55 until the rotating frame 40 reaches the initial position.
In this way, the supporting and stopping cooperation of the stopping post 61 and the two positioning posts 55 makes the telescopic mechanism 50 successfully complete the process of extension and retraction in the process of rotating along with the rotation of the rotating frame 40, namely, the telescopic function of the telescopic mechanism 50 is realized only by means of limiting, and the telescopic mechanism has a simple structure and a stable and reliable process. That is, according to the technical solution of the present embodiment, the driving control of one driving unit on the multiple movement forms of the movement mechanism 100 can be effectively realized through the four-bar mechanism and the limiting manner.
In addition, it can be appreciated that the structure is simple, meaning that there are few parts and the cost is low.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, the telescopic mechanism 50 further includes a reinforcing rod 57, two ends of the reinforcing rod 57 are respectively rotatably connected to the main body frame 41 and the telescopic member 51, and the reinforcing rod 57, the telescopic member 51, the connecting rod 53, and the rotating frame 40 together form a four-bar mechanism.
In this embodiment, the length, shape and size of the reinforcing rod 57 are the same as those of the connecting rod 53, and the reinforcing rod 57 and the connecting rod 53 are arranged at intervals and parallel to each other, that is, the reinforcing rod 57, the connecting rod 53, the rotating frame 40 and the telescopic member 51 together form a parallel four-bar mechanism, and the deformation plane of the parallel four-bar mechanism is perpendicular to the side plate 13.
In this way, the stability of the connection of the rotating frame 40 with the telescopic mechanism 50 can be further enhanced, and the stability of the telescopic mechanism 50 during the extension and retraction can be further improved.
The rotation connection between the both ends of the link 53 and the both ends of the reinforcing rod 57 and the corresponding members is achieved by the rotation shaft penetrating and the fastening by the fastening buckle. The rotation axis is tightly matched with the connecting rod 53, the reinforcing rod 57, the telescopic piece 51 and the rotating frame 40, and the surface of the rotation axis is smooth, so that the rotation axis can be ensured not to loosen during rotation, the rotation stability is improved, and the positioning at any time is realized.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, the movement mechanism 100 includes two telescopic mechanisms 50, and the two telescopic mechanisms 50 are respectively located at two sides of the rotation path of the rotating frame 40. That is, the two telescopic mechanisms 50 are arranged in a laterally symmetrical manner, and correspondingly, the stop structures 60 are also arranged in a laterally symmetrical manner. The specific structural arrangement can be performed with reference to the above structures, and will not be described in detail herein. Thus, when the rotating frame 40 is located at the folding position, the two telescopic members 51 can be spliced to form a protective shell so as to hide the front surface of the rotating frame 40 and protect the front surface of the rotating frame 40, and when the rotating frame 40 is located at the initial position, the two telescopic members 51 can be opened so as to expose the front surface of the rotating frame 40; thus, the movement mechanism 100 of the present invention can be effectively applied to the engineering of protecting the camera lens of the unmanned aerial vehicle, simplifying the movement mechanism including various movement modes such as the robot, etc.
As shown in fig. 1 to 7, in an embodiment of the movement mechanism 100 of the present invention, the driving assembly 20 includes:
A driver 21, wherein the driver 21 is positioned between the two side plates 13 and is fixed on the bottom plate 11 and/or the side plates 13, and the driver 21 is provided with an output shaft;
The transmission gear 23 is sleeved on the output shaft;
and a driven gear 25, wherein the driven gear 25 is sleeved between two ends of the rotating shaft 30 and meshed with the transmission gear 23.
It will be appreciated that the driver 21 may be either a motor or a steering engine, or other effective and rational driver 21. Specifically, when the driver 21 is operated, the output shaft of the driver 21 will rotate, thereby driving the transmission gear 23 sleeved thereon to rotate. The rotation of the transmission gear 23 can drive the driven gear 25 meshed with the transmission gear to rotate, so as to drive the rotation shaft 30 penetrating through the driven gear 25 to rotate, and finally, the power is output through the rotation shaft 30.
Thus, not only can the effective transmission of the output power of the driver 21 be realized, but also the structure is simple, the production and the manufacture are convenient, the assembly is quick, and the stability and the reliability are excellent.
As shown in fig. 1 to 7, in an embodiment of the motion mechanism 100 of the present invention, the driver 21 is a steering engine.
It is understood that the steering engine is mainly composed of a shell, a circuit board, a driving motor, a speed reducer, an output shaft and a position detection element. The working principle is as follows: the receiver sends a signal to the steering engine, the circuit board of the steering engine controls the driving motor to start rotating after receiving the signal, power generated by the driving motor is transmitted to the output shaft through the speed reducer to be output, and meanwhile, the position detector sends back a signal to judge whether the positioning is achieved or not so as to control the stopping of the steering engine.
The steering engine has the advantages of being waterproof, dustproof, capable of stably outputting larger torsion, preventing gears from collapsing due to overlarge load, and the like, and can realize light, rapid and accurate control, so that the components such as the positioning column 55, the stop structure 60 and the like can be well protected, the components from collapsing due to overload rotation can be prevented, and the stability and the reliability of the movement mechanism 100 can be further effectively ensured.
The invention also proposes a mobile device comprising a movement mechanism as described above, the specific structure of which refers to the embodiments described above. Because the mobile device adopts all the technical schemes of all the embodiments, the mobile device has at least all the beneficial effects brought by all the technical schemes of all the embodiments, and the detailed description is omitted.
In particular, the mobile device may be an unmanned aerial vehicle, a robot, or some other mobile device.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (5)
1. A movement mechanism, the movement mechanism comprising:
The base comprises a bottom plate and two side plates convexly arranged on the bottom plate, and the two side plates are oppositely arranged;
the driving assembly is arranged between the two side plates and is in transmission connection with a rotating shaft, and two ends of the rotating shaft respectively penetrate through the two side plates;
the rotating frame comprises a main body frame and two connecting rods, the main body frame is arranged on the two side plates, one end of each connecting rod is fixedly connected with the main body frame, the other end of each connecting rod extends towards the direction deviating from the main body frame, and the two connecting rods are respectively arranged on the outer sides of the two side plates and are respectively fixedly connected with the end parts of the rotating shaft, penetrating through the corresponding side plates;
the telescopic mechanism is positioned at one side of the rotating path of the rotating frame and comprises a telescopic piece and at least two connecting rods, the connecting rods are positioned at the outer sides of the side plates, one ends of the connecting rods are rotationally connected with the connecting rods, the other ends of the connecting rods extend towards the direction deviating from the side plates and are rotationally connected with the telescopic piece, and the connecting rods, the telescopic piece and the connecting rods form a parallel four-bar mechanism together;
The two ends of the connecting rod are convexly provided with positioning columns, the two positioning columns are positioned on the same side of the deformation plane of the four-bar mechanism, the stop structure comprises stop columns, and the stop columns are convexly arranged on the outer surface of the side plate and positioned between the two positioning columns;
When the rotating shaft rotates, the rotating frame rotates relative to the base, and the stop column pushes the telescopic mechanism to extend relative to the rotating frame by abutting and stopping one of the positioning columns; when the rotating shaft rotates in the opposite direction, the rotating frame rotates in the opposite direction relative to the base, and the stop post abuts against and stops the other positioning post to push the telescopic mechanism to retract relative to the rotating frame.
2. The movement mechanism of claim 1, wherein the telescopic mechanism further comprises a reinforcing rod, two ends of the reinforcing rod are respectively and rotatably connected with the main body frame and the telescopic member, and the reinforcing rod, the telescopic member, the connecting rod and the rotating frame form a four-bar mechanism together;
and/or the motion mechanism comprises two telescopic mechanisms which are respectively positioned at two sides of the rotating path of the rotating frame.
3. The movement mechanism of claim 1 or 2, wherein the drive assembly comprises:
the driver is positioned between the two side plates and is fixed on the bottom plate and/or the side plates, and the driver is provided with an output shaft;
The transmission gear is sleeved on the output shaft;
and the driven gear is sleeved between the two ends of the rotating shaft and meshed with the transmission gear.
4. A movement mechanism according to claim 3, wherein the actuator is a steering engine.
5. A mobile device comprising a movement mechanism as claimed in any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811265528.6A CN109318258B (en) | 2018-10-26 | 2018-10-26 | Motion mechanism and movable device |
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|---|---|---|---|
| CN201811265528.6A CN109318258B (en) | 2018-10-26 | 2018-10-26 | Motion mechanism and movable device |
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| CN109318258A CN109318258A (en) | 2019-02-12 |
| CN109318258B true CN109318258B (en) | 2024-04-30 |
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| CN109318258A (en) | 2019-02-12 |
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