CN212044764U - Machine bird neck torsion device - Google Patents
Machine bird neck torsion device Download PDFInfo
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- CN212044764U CN212044764U CN202020729876.0U CN202020729876U CN212044764U CN 212044764 U CN212044764 U CN 212044764U CN 202020729876 U CN202020729876 U CN 202020729876U CN 212044764 U CN212044764 U CN 212044764U
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- neck
- mounting plate
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Abstract
The utility model belongs to the technical field of bionic robot, concretely relates to machine bird neck torsion device, this machine bird neck torsion device includes: the head part mounting plate and the neck torsion mechanism are connected with the head part mounting plate; the neck twisting mechanism is suitable for driving the head of the machine bird on the head mounting plate to twist; the utility model discloses a three driving motor drives corresponding gear train and carries out the transmission, can realize the function of machine bird head arbitrary rotation in three-dimensional space to three driving motor can carry out the individual drive, does and realizes the cooperation drive, makes machine bird head carry out the head action of different forms, possesses simple structure, the diversified, the good advantage of machine bird flexibility of neck movement track.
Description
Technical Field
The utility model belongs to the technical field of bionic robot, concretely relates to machine bird neck torsion device.
Background
The conventional neck is basically supported by a flexible structure, such as a spring or is realized in a mode of a single drive plus a scissor structure, so that the problem is caused that the neck mechanism of the bionic robot bird has single action and cannot embody the flexibility of the bird.
Therefore, it is necessary to develop a new device for twisting the neck of a bird to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a machine bird neck torsion device to solve and how to realize the torsional problem of machine bird neck.
In order to solve the technical problem, the utility model provides a machine bird neck torsion device, it includes: the head part mounting plate and the neck torsion mechanism are connected with the head part mounting plate; wherein the neck twisting mechanism is suitable for driving the head of the machine bird on the head mounting plate to twist.
Further, the neck twisting mechanism includes: a first actuator coupled to the head mounting plate; the first actuating mechanism is suitable for driving the head mounting plate to deflect.
Further, the first actuator includes: the device comprises a first driving motor, a first gear set, a first rotating shaft, a first crank and a first connecting rod; the output shaft of the first driving motor is connected with a first gear set, the first gear set is connected with a first rotating shaft through a first bearing, the other end of the first rotating shaft is connected with a first crank, the other end of the first crank is connected with a first connecting rod, the other end of the first connecting rod is connected with a head mounting plate, and the head mounting plate is driven to deflect when the first driving motor rotates.
Further, the first gear set includes: a first driving gear connected to an output shaft of the first driving motor and a first driven gear engaged with the first driving gear; the first driven gear is connected with the first rotating shaft through a first bearing.
Further, the neck twisting mechanism includes: a second actuator coupled to the head mounting plate; the second actuator includes: the second driving motor, the second gear set, the second rotating shaft, the second crank and the second connecting rod; the second gear set includes: the second driving gear is connected with an output shaft of the second driving motor, and the second driven gear is meshed with the second driving gear and is connected with a second rotating shaft through a second bearing; the other end of the second rotating shaft is connected with a second crank, the other end of the second crank is connected with a second connecting rod, and the other end of the second connecting rod is connected with a head mounting plate, namely, the head mounting plate is driven to deflect when the second driving motor rotates.
Further, the neck twisting mechanism includes: a third actuator connected to the head mounting plate; the third actuator includes: the third driving motor, the third gear set, the third crank and the third connecting rod; the third gear set includes: a third driving gear connected with an output shaft of the third driving motor and a third driven gear engaged with the third driving gear, wherein the third driven gear is connected with a third crank through a third bearing; the other end of the third crank is connected with a third connecting rod, the other end of the third connecting rod is connected with a head mounting plate, namely, the head mounting plate is driven to deflect when the third driving motor rotates.
Further, first driven gear and second are piled up the alignment setting from the driving wheel, and the second axis of rotation cover is established on first axis of rotation.
Further, the third driven gear stack is arranged on the other side of the second driven gear in alignment.
Further, the first driving motor, the second driving motor and the third driving motor are installed on the motor installation plate.
Further, head mounting panel, neck torsion mechanism, motor mounting panel all set up on the machine bird body.
The beneficial effects of the utility model are that, the utility model discloses a three driving motor drives corresponding gear train and carries out the transmission, can realize the function of machine bird head arbitrary rotation in three-dimensional space to three driving motor can carry out the individual drive, does and realizes the cooperation drive, makes machine bird head carry out the head action of different forms, possesses simple structure, the diversified, the good advantage of machine bird flexibility of neck movement track.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a view showing the structure of a neck twisting device for a robot bird according to the present invention;
fig. 2 is an exploded view of the robot bird neck twisting device of the present invention;
fig. 3 is a structural view of the robot bird of the present invention.
In the figure:
a head mounting plate 1;
a neck twisting mechanism 2;
a first actuator 21, a first driving motor 211, a first gear set 212, a first driving gear 2121, a first driven gear 2122, a first rotating shaft 213, a first crank 214, a first link 215, and a first bearing 216;
the second actuator 22, the second driving motor 221, the second gear set 222, the second driving gear 2221, the second driven gear 2222, the second rotation shaft 223, the second crank 224, the second link 225, and the second bearing 226;
a third actuator 23, a third driving motor 231, a third gear set 232, a third driving gear 2321, a third driven gear 2322, a third crank 233, a third link 234, and a third bearing 235;
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Fig. 1 is a structural view of the robot bird neck twisting device of the present invention.
In this embodiment, as shown in fig. 1, the present embodiment provides a robot bird neck twisting device, which includes: the head part mounting plate 1 and the neck torsion mechanism 2 connected with the head part mounting plate 1; wherein the neck twisting mechanism 2 is suitable for driving the head of the machine bird on the head mounting plate 1 to twist.
In this embodiment, this embodiment drives corresponding gear train through three driving motor and carries out the transmission, can realize the function of machine bird head rotation wantonly in three-dimensional space to three driving motor can drive alone, also can realize the cooperation drive, makes machine bird head carry out the head action of different forms, possesses simple structure, the diversified, the good advantage of machine bird flexibility of neck movement track.
In the present embodiment, the neck twisting mechanism 2 includes: a first actuator 21 connected to the head mounting plate 1; the first actuator 21 is adapted to drive the head mounting plate 1 to deflect.
Fig. 2 is an exploded view of the robot bird neck twisting device of the present invention.
In the present embodiment, as shown in fig. 1 and 2, the first actuator 21 includes: a first driving motor 211, a first gear set 212, a first rotating shaft 213, a first crank 214, a first link 215; an output shaft of the first driving motor 211 is connected to a first gear set 212, the first gear set 212 is connected to a first rotating shaft 213 through a first bearing 216, the other end of the first rotating shaft 213 is connected to a first crank 214, the other end of the first crank 214 is connected to a first connecting rod 215, and the other end of the first connecting rod 215 is connected to the head mounting plate 1, that is, when the first driving motor 211 rotates, the head mounting plate 1 is driven to deflect.
In the present embodiment, the first driving motor 211 may be, but is not limited to, a 103h8221-5141 type motor.
In this embodiment, the first crank 214 is hinged to the first connecting rod 215, and the first connecting rod 215 is hinged to the head mounting plate 1, so that the structure is simple and the flexibility is good.
In this embodiment, the first gear set 212 includes: a first driving gear 2121 connected to an output shaft of the first driving motor 211 and a first driven gear 2122 engaged with the first driving gear 2121; the first driven gear 2122 is connected to the first rotating shaft 213 via a first bearing 216.
In the present embodiment, the neck twisting mechanism 2 includes: a second actuator 22 connected to the head mounting plate 1; the second actuator 22 includes: a second driving motor 221, a second gear set 222, a second rotation shaft 223, a second crank 224, and a second link 225; the second gear set 222 includes: a second driving gear 2221 connected to the output shaft of the second driving motor 221 and a second driven gear 2222 engaged with the second driving gear 2221, the second driven gear 2222 being connected to a second rotating shaft 223 through a second bearing 226; the other end of the second rotating shaft 223 is connected to a second crank 224, the other end of the second crank 224 is connected to a second connecting rod 225, and the other end of the second connecting rod 225 is connected to the head mounting plate 1, that is, when the second driving motor 221 rotates, the head mounting plate 1 is driven to deflect.
In the present embodiment, the second driving motor 221 may be, but is not limited to, a 103h8221-5141 type motor.
In this embodiment, the second crank 224 is hinged to the second connecting rod 225, and the second connecting rod 225 is hinged to the head mounting plate 1, so that the structure is simple and the flexibility is good.
In the present embodiment, the neck twisting mechanism 2 includes: a third actuator 23 connected to the head mounting plate 1; the third actuator 23 includes: a third driving motor 231, a third gear set 232, a third crank 233, and a third link 234; the third gear set 232 includes: a third driving gear 2321 connected to an output shaft of the third driving motor 231 and a third driven gear 2322 engaged with the third driving gear 2321, wherein the third driven gear 2322 is connected to the third crank 233 through a third bearing 235; the other end of the third crank 233 is connected to a third link 234, and the other end of the third link 234 is connected to the head mounting plate 1, that is, the third driving motor 231 rotates to drive the head mounting plate 1 to deflect.
In the present embodiment, the third driving motor 231 may be, but not limited to, a 103h8221-5141 type motor.
In this embodiment, the third crank 233 is hinged to the third link 234, and the third link 234 is hinged to the head mounting plate 1, so that the structure is simple and the flexibility is good.
In the present embodiment, the first actuator 21, the second actuator 22, and the third actuator 23 control the head mounting plate 1 by nine rotary joints, and can realize omnidirectional rotation of the robot head; when the single driving motor is used for driving, the spatial swing of the head of the robot bird can be realized; when the two driving motors are driven, the head of the machine bird can swing in a larger angle space, when the three driving motors are driven simultaneously, the head of the machine bird can rotate, and when the starting angles of the rotary joints are inconsistent, the head nodding and shaking actions of the head of the machine bird can be realized; the rotation sequence of the three driving motors or the rotation of the three driving motors can obtain the head actions of the machine bird in different forms.
In this embodiment, the first driven gear 2122 and the second driven gear are stacked and aligned, and the second rotating shaft 223 is sleeved on the first rotating shaft 213.
In this embodiment, the third driven gear 2322 is disposed on the other side of the second driven gear in stacked alignment.
In this embodiment, the first actuator 21, the second actuator 22 and the third actuator 23 are provided by a gear set, which not only has a simple structure, but also saves space and makes the robot bird more compact.
In the present embodiment, the first driving motor 211, the second driving motor 221, and the third driving motor 231 are mounted on the motor mounting plate 3.
Fig. 3 is a structural view of the robot bird of the present invention.
In the present embodiment, as shown in fig. 3, the head mounting plate 1, the neck twisting mechanism 2, and the motor mounting plate 3 are all provided on the bird body 4, and the bird head can be twisted.
To sum up, the utility model discloses a three driving motor drives corresponding gear train and carries out the transmission, can realize the function of machine bird head arbitrary rotation in three-dimensional space to three driving motor can drive alone, does and realizes the cooperation drive, makes machine bird head carry out the head action of different forms, possesses simple structure, the diversified, the good advantage of machine bird flexibility of neck movement track.
The components selected for use in the present application (components not illustrated for specific structures) are all common standard components or components known to those skilled in the art, and the structure and principle thereof can be known to those skilled in the art through technical manuals or through routine experimentation.
In the description of the embodiments of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A robot bird neck torsion device, characterized by comprising:
the head part mounting plate and the neck torsion mechanism are connected with the head part mounting plate; wherein
The neck torsion mechanism is suitable for driving the head of the machine bird on the head mounting plate to twist.
2. The device for twisting a neck of a robot bird of claim 1,
the neck twisting mechanism comprises: a first actuator coupled to the head mounting plate;
the first actuating mechanism is suitable for driving the head mounting plate to deflect.
3. The device for twisting a neck of a robot bird of claim 2,
the first actuator includes: the device comprises a first driving motor, a first gear set, a first rotating shaft, a first crank and a first connecting rod;
the output shaft of the first driving motor is connected with a first gear set, the first gear set is connected with a first rotating shaft through a first bearing, the other end of the first rotating shaft is connected with a first crank, the other end of the first crank is connected with a first connecting rod, and the other end of the first connecting rod is connected with a head mounting plate, namely
When the first driving motor rotates, the head mounting plate is driven to deflect.
4. The device for twisting a neck of a robot bird of claim 3,
the first gear set includes: a first driving gear connected to an output shaft of the first driving motor and a first driven gear engaged with the first driving gear;
the first driven gear is connected with the first rotating shaft through a first bearing.
5. The device for twisting a neck of a robot bird of claim 4,
the neck twisting mechanism comprises: a second actuator coupled to the head mounting plate;
the second actuator includes: the second driving motor, the second gear set, the second rotating shaft, the second crank and the second connecting rod;
the second gear set includes: the second driving gear is connected with an output shaft of the second driving motor, and the second driven gear is meshed with the second driving gear and is connected with a second rotating shaft through a second bearing;
the other end of the second rotating shaft is connected with a second crank, the other end of the second crank is connected with a second connecting rod, and the other end of the second connecting rod is connected with a head mounting plate, namely
When the second driving motor rotates, the head mounting plate is driven to deflect.
6. The device for twisting a neck of a robot bird of claim 5,
the neck twisting mechanism comprises: a third actuator connected to the head mounting plate;
the third actuator includes: the third driving motor, the third gear set, the third crank and the third connecting rod;
the third gear set includes: a third driving gear connected with an output shaft of the third driving motor and a third driven gear engaged with the third driving gear, wherein the third driven gear is connected with a third crank through a third bearing;
the other end of the third crank is connected with a third connecting rod, and the other end of the third connecting rod is connected with a head mounting plate, namely
And when the third driving motor rotates, the head mounting plate is driven to deflect.
7. The device for twisting a neck of a robot bird of claim 6,
the first driven gear and the second driven gear are stacked and aligned, and the second rotating shaft is sleeved on the first rotating shaft.
8. The device for twisting a neck of a robot bird of claim 7,
the third driven gear stack is arranged on the other side of the second driven gear in alignment.
9. The device for twisting a neck of a robot bird of claim 6,
the first driving motor, the second driving motor and the third driving motor are installed on the motor installation plate.
10. The device for twisting a neck of a robotic bird of claim 9,
the head mounting plate, the neck torsion mechanism and the motor mounting plate are all arranged on the machine bird body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020729876.0U CN212044764U (en) | 2020-05-06 | 2020-05-06 | Machine bird neck torsion device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020729876.0U CN212044764U (en) | 2020-05-06 | 2020-05-06 | Machine bird neck torsion device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212044764U true CN212044764U (en) | 2020-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020729876.0U Active CN212044764U (en) | 2020-05-06 | 2020-05-06 | Machine bird neck torsion device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212044764U (en) |
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2020
- 2020-05-06 CN CN202020729876.0U patent/CN212044764U/en active Active
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