CN111300474A - Three-degree-of-freedom neck structure of service robot - Google Patents
Three-degree-of-freedom neck structure of service robot Download PDFInfo
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- CN111300474A CN111300474A CN202010169294.6A CN202010169294A CN111300474A CN 111300474 A CN111300474 A CN 111300474A CN 202010169294 A CN202010169294 A CN 202010169294A CN 111300474 A CN111300474 A CN 111300474A
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- steering engine
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- bevel gear
- shaft
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- 230000005540 biological transmission Effects 0.000 claims abstract description 61
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 230000007704 transition Effects 0.000 claims description 6
- 241000282414 Homo sapiens Species 0.000 abstract description 7
- 230000009975 flexible effect Effects 0.000 abstract description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Abstract
The invention provides a three-degree-of-freedom neck structure of a service robot, which comprises a pitching and side-swinging joint, a rotary joint and a base. The pitching and side-swinging joint can realize the pitching and side-swinging movement of the neck part based on a spur gear transmission structure and a differential bevel gear structure; the rotary joint adopts the deep groove ball bearing and the thrust ball bearing to be matched for use, can bear radial force and axial force simultaneously, and realizes the neck rotary motion. The base can be connected with the body of the robot, the pitching and side-swinging joint is connected with the base, the rotary joint is connected with the pitching and side-swinging joint, and the head of the robot is connected with the rotary joint, so that three-degree-of-freedom neck movement of the service robot is realized. The neck has compact structure and flexible action, can truly simulate the head swinging, head shaking and head nodding actions of human beings, and leads the service robot to be more easily accepted by people.
Description
Technical Field
This product belongs to the robot technology field, especially relates to a three degree of freedom neck structures of service robot.
Background
With the development of the robot industry, the service robot can walk into our lives, the development is rapid, and the application is more and more extensive and various. In order to make it easier to get people's favor, it needs to serve people and realize some basic human-like actions. The joint structure and distribution of the humanoid service robot are closer to those of a human body, natural and smooth motion of the human body can be better simulated, some complex and flexible limb actions can be completed, and the nodding, shaking and head swinging actions need to be completed by a mechanical structure with three degrees of freedom. Therefore, the design of the neck structure capable of realizing three-degree-of-freedom humanoid motion of the head has important significance.
Disclosure of Invention
The invention provides a three-degree-of-freedom neck design of a service robot, which is used for realizing nodding, shaking and head swinging actions of a head of a humanoid robot.
The specific scheme provided by the invention is as follows:
a three-degree-of-freedom neck structure of a service robot comprises a pitching and side-swinging joint, a rotary joint and a base; the pitching and side-swinging joint is connected with the base, and the rotary joint is connected with the pitching and side-swinging joint, so that the coupled motion of neck pitching, side swinging and rotation is realized.
The pitching and side-swinging joint comprises a steering engine transmission part and a differential bevel gear structure part; the steering engine transmission part adopts large and small spur gears for transmission, so that the human-simulated design is realized; the differential bevel gear structure part adopts four bevel gears with equal diameters to be meshed with each other, and utilizes the differential characteristic of the bevel gears to realize the pitching, the side swinging and the rotary motion of the neck by combining a rotary joint.
The steering engine transmission part adopts a large and small spur gear transmission design and comprises a large steering engine I, a steering engine shaft I, a small spur gear I, a small bearing seat I, a gear transmission shaft I, a large spur gear I, a large bearing seat I, a large steering engine II, a steering engine shaft II, a small spur gear II, a small bearing seat II, a gear transmission shaft II, a large spur gear II and a large bearing seat II; the large steering engine I and the large steering engine II are respectively connected with the small spur gear I and the small spur gear II through a steering engine shaft I and a steering engine shaft II, and a small bearing seat I and a small bearing seat II are arranged on two sides of the small spur gear I and the small spur gear II; the small spur gear I and the small spur gear II are respectively in meshing transmission with the large spur gear I and the large spur gear II; the first large spur gear and the second large spur gear are respectively connected with the differential bevel gear structure part through a first gear transmission shaft and a second gear transmission shaft; the first large bearing seat and the second large bearing seat are arranged on the first gear transmission shaft and the second gear transmission shaft to bear radial force.
The differential bevel gear structure part comprises a differential bevel gear mechanism, a fixed shaft, a symmetrical shaft, a deep groove ball bearing I, a connecting plate I and a connecting plate II; the differential bevel gear mechanism consists of a bevel gear I, a bevel gear II, a bevel gear III and a bevel gear IV; the first bevel gear and the third bevel gear are in transition fit with the first gear transmission shaft and the second gear transmission shaft; the bevel gear IV, the fixed shaft and the connecting plate are fixedly connected; the symmetrical shaft is in transition fit with the bevel gear II and is connected with the connecting plate II through the deep groove ball bearing I.
The rotary joint comprises a small steering engine, a first steering engine support, a second steering engine support, a steering wheel disc, a connecting piece, a third connecting plate, an end cover flange, a first head and neck connecting piece, a second deep groove ball bearing, a thrust ball bearing and a rotary shaft; the connecting plate tee is fixedly connected with the first connecting plate and the second connecting plate through screws; the small steering engine is fixed on the third connecting plate through a first steering engine support and a second steering engine support and is connected with the rotating shaft through a steering wheel disc and a connecting piece; the end cover flange is arranged on the third connecting plate; the second deep groove ball bearing is arranged in an inner hole of the third connecting plate, and the thrust ball bearing is arranged between the end cover flange and the first head-neck connecting piece and matched with the rotating shaft. The steering engine transmission part adopts a large spur gear and a small spur gear for transmission. The steering engine transmission part moves the required steering engine mounting position downwards through the meshing transmission of the first small spur gear, the first large spur gear, the second small spur gear and the second large spur gear, so that the space on two sides of the neck of the robot is saved, the neck of the robot is similar to the neck of a human, and the humanoid design is realized. The small bearing seat I, the large bearing seat I, the small bearing seat II and the large bearing seat II play a role in bearing and well bear the radial force borne by the neck.
The differential bevel gear structure part has differential characteristics and can output movement in two directions. The sum of the rotation angles of the first bevel gear and the third bevel gear is the rotation angle of the fourth bevel gear around the first gear transmission shaft and the second gear transmission shaft, so that the side-sway motion of the neck is output; the difference between the two is the rotation angle of the four autorotations of the bevel gear, so that the pitching motion of the neck is output. The symmetrical shaft is connected with the connecting plate phase II through the deep groove ball bearing phase I, so that the structure is symmetrical, and the stress is improved.
The rotary joint adopts the matching use of the thrust ball bearing and the deep groove ball bearing, and can simultaneously bear the axial force and the radial force from the head of the robot.
The invention has the beneficial effects that: the neck structure has three degrees of freedom, and can realize pitching, side swinging and rotary motion, thereby realizing human-simulated nodding, shaking and head swinging motions. The mechanism adopts spur gear transmission, so that the space around the neck is effectively reduced; the differential bevel gear mechanism is adopted to realize the coupled motion of pitching and side swinging, the two are combined to realize the three-degree-of-freedom motion of the neck, the shape and the size are similar to those of a normal human neck, the structure is compact, the performance is reliable, and the three-degree-of-freedom neck motion mechanism can be well combined with other elements of a service robot.
Drawings
Fig. 1 is a schematic diagram of a three-degree-of-freedom neck structure of a service robot.
Fig. 2 is a schematic view of pitch and yaw joints.
Fig. 3 is an elevation view of a pitch and yaw joint.
FIG. 4 is a right side view of the pitch and yaw joints.
FIG. 5 is a schematic view of a differential bevel gear mechanism.
Fig. 6 is a front view of a revolute joint.
Fig. 7 is a cross-sectional view of a revolute joint.
In the figure, 1 pitch and yaw joint, 2 rotation joint, 3 base, 101 large steering engine I, 102 connecting plate II, 103 connecting plate I, 104 fixed shaft, 105 large steering engine 2, 106 steering engine shaft I, 107 small spur gear I, 108 small bearing seat I, 109 gear transmission shaft I, 110 differential bevel gear mechanism, 111 large spur gear I, 112 large bearing seat I, 113 deep groove ball bearing I, 114 symmetrical shaft, 115 large bearing seat II, 116 large spur gear II, 117 gear transmission shaft II, 118 small bearing seat II, 119 small spur gear II, 120 rudder machine shaft II, 121 bevel gear I, 122 bevel gear II, 123 bevel gear III, 124 bevel gear IV, 201 small steering machine, 202 steering machine support I, 203 connecting piece, 204 connecting plate III, 205 head and neck connecting piece I, 206 head and neck connecting piece II, 207 end cover flange, 208 rudder disc, 209 steering machine support II, 210 deep groove ball bearing II, 211 thrust ball bearing and 212 rotating shaft.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, a three-degree-of-freedom neck structure of a service robot includes a pitch and yaw joint 1, a revolute joint 2 and a base 3; the pitching and side-swinging joint 1 is connected with the base 3, and the rotary joint 2 is connected with the pitching and side-swinging joint 1, so that the coupled motion of neck pitching, side swinging and rotation is realized.
As shown in fig. 2, the pitch and yaw joint 1 comprises a steering engine transmission part and a differential bevel gear structure part; the steering engine transmission part adopts large and small spur gears for transmission, so that the human-simulated design is realized; the differential bevel gear structure part adopts four bevel gears with equal diameters to be meshed with each other, and utilizes the differential characteristic of the bevel gears to realize the pitching, the side swinging and the rotary motion of the neck by combining a rotary joint.
As shown in fig. 3 and 4, the steering engine transmission part adopts a large and small spur gear transmission design, and comprises a large steering engine one 101, a steering engine shaft one 106, a small spur gear one 107, a small bearing seat one 108, a gear transmission shaft one 109, a large spur gear one 111, a large bearing seat one 112, a large steering engine two 105, a steering engine shaft two 120, a small spur gear two 119, a small bearing seat two 118, a gear transmission shaft two 117, a large spur gear two 116 and a large bearing seat two 115; the large steering engine I101 and the large steering engine II 105 are respectively connected with the small spur gear I107 and the small spur gear II 119 through a steering engine shaft I106 and a steering engine shaft II 120, and a small bearing seat I108 and a small bearing seat II 118 are mounted on two sides of the small spur gear I107 and the small spur gear II 119; the small spur gear I107 and the small spur gear II 119 are in meshing transmission with the large spur gear I111 and the large spur gear II 116 respectively; the first large spur gear 111 and the second large spur gear 116 are respectively connected with the differential bevel gear structure part through a first gear transmission shaft 109 and a second gear transmission shaft 117; the first large bearing seat 112 and the second large bearing seat 115 are mounted on the first gear transmission shaft 109 and the second gear transmission shaft 117 to bear radial force.
The differential bevel gear structure part comprises a differential bevel gear mechanism 110, a fixed shaft 104, a symmetrical shaft 114, a first deep groove ball bearing 113, a first connecting plate 103 and a second connecting plate 102; as shown in fig. 5, the differential bevel gear mechanism 110 is composed of a first bevel gear 121, a second bevel gear 122, a third bevel gear 123 and a fourth bevel gear 124; the first bevel gear 121 and the third bevel gear 123 are in transition fit with the first gear transmission shaft 109 and the second gear transmission shaft 117; the bevel gear IV 124, the fixed shaft 104 and the connecting plate I103 are fixedly connected; the symmetrical shaft 114 is in transition fit with the second bevel gear 122 and is connected with the second connecting plate 102 through the first deep groove ball bearing 113.
As shown in fig. 6, the revolute joint 2 includes a small steering engine 201, a first steering engine support 202, a second steering engine support 209, a steering wheel disc 208, a connecting piece 203, a third connecting plate 204, an end cover flange 207, a first head and neck connecting piece 205, a second head and neck connecting piece 206, a second deep groove ball bearing 210, a thrust ball bearing 211 and a revolute shaft 212; the third connecting plate 204 is fixedly connected with the first connecting plate 103 and the second connecting plate 102 through screws; the small steering engine 201 is fixed on a third connecting plate 204 through a first steering engine support 202 and a second steering engine support 209 and is connected with a rotating shaft 212 through a steering wheel 208 and a connecting piece 203; the end cover flange 207 is arranged on the third connecting plate 204; as shown in fig. 7, the second deep groove ball bearing 210 is installed in the inner hole of the third connecting plate 204, and the thrust ball bearing 211 is installed between the end cover flange 207 and the first neck connecting piece 205 and is matched with the rotating shaft 212.
The steering engine transmission part adopts a large spur gear and a small spur gear for transmission. The steering engine transmission part moves the required steering engine mounting position downwards through the meshing transmission of the two groups of gears including the first small spur gear 107, the first large spur gear 111, the second small spur gear 119 and the second large spur gear 116, so that the space on two sides of the neck of the robot is saved, the neck of the robot is similar to the neck of a human, and the humanoid design is realized. The first small bearing seat 108, the first large bearing seat 112, the second small bearing seat 118 and the second large bearing seat 115 play a role in bearing and well bear the radial force borne by the neck.
The differential bevel gear structure part has differential characteristics and can output movement in two directions. The sum of the rotation angles of the first bevel gear 121 and the third bevel gear 123 is the rotation angle of the fourth bevel gear 124 around the first gear transmission shaft 109 and the second gear transmission shaft 117, so that the side-sway motion of the neck is output; the difference between the two is the rotation angle of the bevel gear four 124, thereby outputting the pitching motion of the neck. The symmetrical shaft 114 is connected with the second connecting plate 102 through the first deep groove ball bearing 113, so that the structure is symmetrical, and the stress is improved.
The rotary joint 2 adopts a thrust ball bearing and a deep groove ball bearing to be matched for use, and can simultaneously bear the axial force and the radial force from the head of the robot.
In the present embodiment, the differential bevel gear structure portion has a differential characteristic, and can output movements in two directions. The sum of the rotation angles of the first bevel gear and the third bevel gear is the rotation angle of the fourth bevel gear around the first gear transmission shaft and the second gear transmission shaft, so that the side-sway motion of the neck is output; the difference between the two is the rotation angle of the bevel gear 4, thereby outputting the pitching motion of the neck. The symmetrical shaft is connected with the connecting plate phase II through the deep groove ball bearing phase I, so that the structure is symmetrical, and the stress is improved.
In the embodiment, the rotary joint adopts a thrust ball bearing and a deep groove ball bearing which are matched for use, and can simultaneously bear the axial force and the radial force from the head of the robot.
Preferably, the neck structure has three degrees of freedom, and pitching, side swinging and rotary motion can be realized, so that human-simulated nodding, shaking and head swinging motion is realized. The mechanism adopts spur gear transmission, so that the space around the neck is effectively reduced; the differential bevel gear mechanism is adopted to realize the coupled motion of pitching and side swinging, the two are combined to realize the three-degree-of-freedom motion of the neck, the shape and the size are similar to those of a normal human neck, the structure is compact, the performance is reliable, and the three-degree-of-freedom neck motion mechanism can be well combined with other elements of a service robot.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (5)
1. A three-degree-of-freedom neck structure of a service robot is characterized by comprising a pitching and side-swinging joint (1), a rotary joint (2) and a base (3); the pitching and side-swinging joint (1) is connected with the base (3), and the rotary joint (2) is connected with the pitching and side-swinging joint (1), so that the coupled motion of the pitching, side-swinging and rotation of the neck is realized.
2. The three-degree-of-freedom neck structure of the service robot as claimed in claim 1, wherein the pitch and yaw joint (1) comprises a steering engine transmission part and a differential bevel gear structure part; the steering engine transmission part adopts large and small spur gears for transmission, so that the human-simulated design is realized; the differential bevel gear structure part adopts four bevel gears with equal diameters to be meshed with each other, and utilizes the differential characteristic of the bevel gears to realize the pitching, the side swinging and the rotary motion of the neck by combining a rotary joint.
3. The three-degree-of-freedom neck structure of the service robot as claimed in claim 2, wherein: the steering engine transmission part adopts a large and small spur gear transmission design and comprises a large steering engine I (101), a steering engine shaft I (106), a small spur gear I (107), a small bearing seat I (108), a gear transmission shaft I (109), a large spur gear I (111), a large bearing seat I (112), a large steering engine II (105), a steering engine shaft II (120), a small spur gear II (119), a small bearing seat II (118), a gear transmission shaft II (117), a large spur gear II (116) and a large bearing seat II (115); the large steering engine I (101) and the large steering engine II (105) are respectively connected with the small spur gear I (107) and the small spur gear II (119) through a steering engine shaft I (106) and a steering engine shaft II (120), and a small bearing seat I (108) and a small bearing seat II (118) are arranged on two sides of the small spur gear I (107) and the small spur gear II (119); the small spur gear I (107) and the small spur gear II (119) are respectively in meshing transmission with the large spur gear I (111) and the large spur gear II (116); the large spur gear I (111) and the large spur gear II (116) are respectively connected with the differential bevel gear structure part through a gear transmission shaft I (109) and a gear transmission shaft II (117); the first large bearing seat (112) and the second large bearing seat (115) are arranged on the first gear transmission shaft (109) and the second gear transmission shaft (117) to bear radial force.
4. The three-degree-of-freedom neck structure of the service robot as claimed in claim 2, wherein the differential bevel gear structure portion comprises a differential bevel gear mechanism (110), a fixed shaft (104), a symmetric shaft (114), a deep groove ball bearing I (113), a connecting plate I (103) and a connecting plate II (102); the differential bevel gear mechanism (110) is composed of a bevel gear I (121), a bevel gear II (122), a bevel gear III (123) and a bevel gear IV (124); the first bevel gear (121) and the third bevel gear (123) are in transition fit with the first gear transmission shaft (109) and the second gear transmission shaft (117); the bevel gear IV (124), the fixed shaft (104) and the connecting plate I (103) are fixedly connected; the symmetrical shaft (114) is in transition fit with the second bevel gear (122) and is connected with the second connecting plate (102) through the first deep groove ball bearing (113).
5. The three-degree-of-freedom neck structure of the service robot as claimed in claim 1, wherein the revolute joint (2) comprises a small steering engine (201), a first steering engine support (202), a second steering engine support (209), a rudder disc (208), a connecting piece (203), a third connecting plate (204), an end cover flange (207), a first head and neck connecting piece (205), a second head and neck connecting piece (206), a second deep groove ball bearing (210), a thrust ball bearing (211) and a revolute shaft (212); the third connecting plate (204) is fixedly connected with the first connecting plate (103) and the second connecting plate (102) through screws; the small steering engine (201) is fixed on the third connecting plate (204) through a first steering engine support (202) and a second steering engine support (209) and is connected with the rotating shaft (212) through a steering wheel disc (208) and a connecting piece (203); the end cover flange (207) is arranged on the third connecting plate (204); the second deep groove ball bearing (210) is arranged in an inner hole of the third connecting plate (204), and the thrust ball bearing (211) is arranged between the end cover flange (207) and the first head-neck connecting piece (205) and matched with the rotating shaft (212).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010169294.6A CN111300474A (en) | 2020-03-12 | 2020-03-12 | Three-degree-of-freedom neck structure of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010169294.6A CN111300474A (en) | 2020-03-12 | 2020-03-12 | Three-degree-of-freedom neck structure of service robot |
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| Publication Number | Publication Date |
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| CN111300474A true CN111300474A (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010169294.6A Pending CN111300474A (en) | 2020-03-12 | 2020-03-12 | Three-degree-of-freedom neck structure of service robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115338887A (en) * | 2022-09-16 | 2022-11-15 | 哈尔滨工业大学 | Three-degree-of-freedom humanoid robot head system |
| CN116214547A (en) * | 2023-05-08 | 2023-06-06 | 之江实验室 | Robot head movement mechanism and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115338887A (en) * | 2022-09-16 | 2022-11-15 | 哈尔滨工业大学 | Three-degree-of-freedom humanoid robot head system |
| CN116214547A (en) * | 2023-05-08 | 2023-06-06 | 之江实验室 | Robot head movement mechanism and robot |
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Application publication date: 20200619 |