CN212553918U

CN212553918U - Three-degree-of-freedom bionic neck movement mechanism

Info

Publication number: CN212553918U
Application number: CN202021076110.3U
Authority: CN
Inventors: 张曈; 朱海飞; 闫靖予; 林熙烨; 宋浩
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2021-02-19
Anticipated expiration: 2030-06-11

Abstract

The utility model provides a three-degree-of-freedom bionic neck movement mechanism, comprising a base, a torsion mechanism arranged on the base, a pitching mechanism, a side swing mechanism and a connecting slider, wherein the connecting slider comprises a support, a roller and a head and neck connecting piece, the roller is arranged at one end of the support, one end of the head and neck connecting piece is movably arranged at the other end of the support in a penetrating way, the side swing mechanism comprises a pitching track matched with the roller and a side swing component arranged on the base and capable of driving the pitching track to swing, the connecting slider is connected on the pitching track in a rolling way through the roller, the pitching mechanism comprises a side swing head and a pitching component capable of driving the side swing head to swing, and the swing plane of the side swing head is vertical to; one end of the torsion mechanism is connected with the base, and the other end of the torsion mechanism penetrates through the side swinging head and is connected with the head-neck connecting piece. The utility model discloses in cooperate each other through every single move mechanism, side pendulum mechanism and torsion mechanism, bionical degree is high, and pivoted compliance is stronger, operates more in a flexible way.

Description

Three-degree-of-freedom bionic neck movement mechanism

Technical Field

The utility model relates to a bionical neck joint field of robot, more specifically relates to a bionical neck motion of three degrees of freedom.

Background

The robot is already assembled in daily life, the control and manipulation problems of the robot neck movement often occur in actual production, and the neck movement mainly carries out pitching movement, side swinging movement and horizontal rotation movement in three orthogonal planes respectively;

many machines have been provided with cylinder drives or steering engines connected in series to realize the motion of three orthogonal planes of the mechanical neck. However, the neck movement tracks of the equipment mechanisms are not bionic, the operation is not smooth enough, the bionic degree is not high, and the operation and the use are not flexible enough; for example, chinese patent No. cn201210574544.x discloses a three-degree-of-freedom movable joint mechanism capable of providing roll, pitch and yaw motions, but which accomplishes the roll, pitch and yaw motions by changing the length of each support to realize a change in angle; the bionic degree is not high when the bionic robot runs, the three-degree-of-freedom flexibility and the cooperativity are not sufficient, and the operation and the use are not flexible enough.

SUMMERY OF THE UTILITY MODEL

The utility model is to overcome the above background art and realize the change of the angle by changing the length of each supporting piece to finish the tilting, pitching and yawing actions; the bionic neck motion mechanism has the problems of low bionic degree, insufficient three-degree-of-freedom meat smoothness and cooperativity and inflexible operation and use when in operation, and provides the three-degree-of-freedom bionic neck motion mechanism. The utility model discloses well three degree of freedom mechanism: the pitching mechanism, the side-swinging mechanism and the twisting mechanism are mutually cooperated, so that the bionic degree is high, the rotating flexibility is stronger, and the operation is more flexible.

In order to solve the technical problem, the utility model discloses a technical scheme is: a three-degree-of-freedom bionic neck movement mechanism comprises a base, and a torsion mechanism, a pitching mechanism, a side swinging mechanism and a connecting slide block which are arranged on the base, wherein the connecting slide block comprises a support, a roller and a head and neck connecting piece, the roller is arranged at one end of the support, one end of the head and neck connecting piece is movably arranged at the other end of the support in a penetrating manner, the side swinging mechanism comprises a pitching track matched with the roller and a side swinging component which is arranged on the base and can drive the pitching track to swing, the connecting slide block is connected on the pitching track in a rolling manner through the roller, the pitching mechanism comprises a side swinging head and a pitching component which can drive the side swinging head to swing, and the swinging plane of the side swinging head is vertical to the swinging plane of the pitching track; one end of the torsion mechanism is connected with the base, and the other end of the torsion mechanism penetrates through the side swinging head and is connected with the head-neck connecting piece. Therefore, the head-neck connecting piece on the connecting sliding block is used for connecting an external mechanism, and the connecting sliding block can move along the pitching track on the pitching track; when the rotary motion is needed, the torsion mechanism directly drives the connecting slide block to rotate; when the pitching motion is needed, the side swing head clamps one end of the torsion mechanism, the torsion mechanism is connected with the connecting sliding block, and the pitching assembly can drive the connecting sliding block to roll along the pitching track to perform the pitching motion when driving the side swing head to swing; when the side swing motion is needed, the side swing component directly drives the pitching track to swing, and the connecting sliding block and the pitching track swing; through the mutual coordination and cooperation among the three mechanisms, the three-degree-of-freedom motions of rotation, lateral sway and pitching are realized instead of independent motions, the bionic degree is higher, and the operation is more flexible.

Preferably, the pitch track comprises two parallel arcuate tracks. Therefore, the plane of the arc-shaped rail is vertical to the plane of the base, and when the roller rolls on the rail, the roller equivalently performs pitching motion.

Further, torsion mechanism includes first drive arrangement, first universal joint, transmission shaft, second universal joint and connecting axle, first drive arrangement includes first drive main part and first output, first drive main part is fixed on the base, first output is connected the one end of first universal joint, the other end of first universal joint passes through the transmission shaft is connected the one end of second universal joint, the other end of second universal joint is connected the one end of connecting axle, the other end of connecting axle passes the side pendulum head is connected on the neck connecting piece, the side pendulum head is held the connecting axle. Therefore, the first driving device can drive the connecting slide block to rotate in all directions through the transmission of the two universal joints; when the connecting shaft is clamped by the side swinging head to swing for an angle, the rotation of the rotary motion is not influenced.

Further, the side swinging head comprises two parallel clamping rails, and the connecting shaft is clamped between the two clamping rails. Therefore, the side swinging head can be connected with the sliding block to swing by driving the connecting shaft.

Further, the side pendulum subassembly includes second drive arrangement, first connection swing arm and first bearing structure, every single move track both ends are equipped with a every single move seat respectively, be equipped with first axis of rotation on the first bearing structure, every single move seat one end is connected simultaneously two arc tracks, first axis of rotation activity is worn to locate the other end of every single move seat, second drive arrangement includes second drive main part and second output, second drive main part is located on the base, linking arm one end fixed connection be in on the second output, other end fixed connection be one of them on the every single move seat. Thus, the second driving device is similar to the first driving device, and the second driving device drives the pitching rail to swing around the first rotating shaft by driving the first connecting swing arm to swing.

Further, every single move subassembly includes that third drive arrangement, second connect swing arm and second bearing structure, centre gripping track both ends are equipped with a side pendulum seat respectively, be equipped with the second axis of rotation on the second bearing structure, side pendulum seat one end is connected simultaneously two centre gripping tracks, the axis of rotation activity is worn to locate the other end of side pendulum seat, third drive arrangement includes third drive main part and third output, third drive main part is located on the base, second linking arm one end fixed connection be in on the third output, other end fixed connection be in one of them on the side pendulum seat. Like this, third drive arrangement is also similar with first drive arrangement, and third drive arrangement indirectly drives the side pendulum head of bowing through the swing that drives the second connection swing arm and swings round the second axis of rotation, and during the swing of side pendulum head, the gyro wheel that can drive link block rolls along the every single move track.

Further, the neck connecting piece is including rotating connection pad and thrust ball bearing, it is equipped with the rotation connector to rotate connection pad one end, thrust ball bearing locates in the bearing position that is equipped with on the support, it wears to establish to rotate the connector in the thrust ball bearing, the connecting axle passes the support is connected the rotation connection pad is located one end in the thrust ball bearing. Therefore, the rotating connector is movably arranged in the thrust ball bearing in a penetrating mode and is connected with the thrust ball bearing in a rotating mode, and the connecting shaft is connected with the rotating connector, so that the rotating connector and the rotating connecting disc can be driven to rotate.

Furthermore, the first driving device, the second driving device and the third driving device are all steering engines or speed reduction motors. Thus, the first driving device, the second driving device and the third driving device are all common robot drivers, and can be electric drivers, hydraulic drivers, pneumatic drivers or special drivers, the electric drivers drive joints of the robot directly or through a speed reducing mechanism by utilizing force or torque generated by a motor to obtain required position, speed and acceleration, and can be direct current servo motors, stepping motors or alternating current servo motors, the hydraulic drivers can be electro-hydraulic stepping motors or oil cylinders, the pneumatic drivers can be air cylinders or pneumatic motors, and the special drivers can be piezoelectrics, ultrasonic motors, rubber drivers or shape memory alloys; in the technical scheme, the steering engine and the speed reducing motor are adopted, the most basic transmission function can be achieved, and the cost performance is high.

Furthermore, the roller is a U-groove roller, and the pitching rail is positioned in a roller groove of the U-groove roller and is in limit contact with two sides of the U-groove roller. Therefore, pitching is clamped by the two sides of the roller, when the pitching rail swings, the U-groove roller can drive the whole connecting sliding block to do side swinging movement, and the U-groove roller can do pitching rolling on the pitching rail.

Furthermore, the quantity of gyro wheel is 4, 4 gyro wheels are the rectangle and set up the one end of support. Like this, two arc track symmetry parallel arrangement set up 2 gyro wheels on every track, and whole link block has been propped up steadily.

Compared with the prior art, the beneficial effects are:

1. the utility model discloses a mutual coordination between torsion mechanism, sidesway mechanism and the every single move mechanism, three mechanism are not independent action, realize the action of the three degree of freedom of rotation, sidesway and every single move, and bionical degree is higher, operates more in a flexible way.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of the torsion mechanism of the present invention.

Fig. 3 is a schematic structural diagram of the middle side-swinging mechanism of the present invention.

Fig. 4 is a schematic structural diagram of the pitch mechanism of the present invention.

Fig. 5 is a schematic view of the connection block according to the present invention.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.

Example 1

As shown in fig. 1, a three-degree-of-freedom bionic neck motion mechanism includes a base 1, a torsion mechanism 2, a pitching mechanism 4, a side-swinging mechanism 3 and a connecting slider 7, the connecting slider 7 includes a support 701, a roller 702 and a head-neck connecting piece 703, the roller 702 is disposed at one end of the support 701, one end of the head-neck connecting piece 703 is movably inserted into the other end of the support 701, the side-swinging mechanism 3 includes a pitching track 301 used in cooperation with the roller 702 and a side-swinging component disposed on the base 1 and capable of driving the pitching track 301 to swing, the connecting slider 7 is connected to the pitching track 301 in a rolling manner through the roller 702, the pitching mechanism 4 includes a side-swinging head 401 and a pitching component 6 capable of driving the side-swinging head 401 to swing, and a swing plane of the side-swinging head 401 is perpendicular to a swing plane; one end of the torsion mechanism 2 is connected with the base 1, and the other end of the torsion mechanism passes through the side swinging head 401 and is connected with the head and neck connecting piece 703; the roller 702 is a U-groove roller, and the pitching rail 301 is positioned in a groove of the roller 702 and is in limit contact with two sides of the roller 702; the number of the rollers 702 is 4, and the 4 rollers 702 are arranged at one end of the support 701 in a rectangular shape;

in the yaw mechanism 3, the pitch track 301 includes two parallel arc tracks; the side pendulum subassembly includes second drive arrangement 305, first connection swing arm 306 and first bearing structure 303, every single move seat 302 is equipped with respectively at every single move track 301 both ends, be equipped with first axis of rotation 304 on the first bearing structure 303, two arc tracks are connected simultaneously to every single move seat 302 one end, the other end of every single move seat 302 is worn to locate in the activity of first axis of rotation 304, second drive arrangement 305 includes second drive main part and second output, second drive main part is located on base 1, linking arm one end fixed connection is on the second output, other end fixed connection is on one of them every single move seat 302.

The torsion mechanism 2 comprises a first driving device 201, a first universal joint 203, a transmission shaft 204, a second universal joint 205 and a connecting shaft, the first driving device 201 comprises a first driving main body and a first output end, the first driving main body is fixed on the base 1, the first output end is connected with one end of the first universal joint 203 through a turntable assembly 202, the other end of the first universal joint 203 is connected with one end of the second universal joint 205 through the transmission shaft 204, the other end of the second universal joint 205 is connected with one end of the connecting shaft, the other end of the connecting shaft penetrates through a side swinging head 401 to be connected onto a head and neck connecting piece 703, and the side swinging head 401 clamps the connecting shaft.

In the pitching mechanism 4, the side swing head 401 comprises two parallel clamping rails, and the connecting shaft is clamped between the two clamping rails; every single move subassembly 6 includes third drive arrangement 406, swing arm 405 and second bearing structure 404 are connected to the second, centre gripping track both ends are equipped with a side pendulum seat 402 respectively, be equipped with second axis of rotation 403 on the second bearing structure 404, two centre gripping tracks are connected simultaneously to side pendulum seat 402 one end, the other end of side pendulum seat 402 is worn to locate in the activity of second axis of rotation 403, third drive arrangement 406 includes third drive main part and third output, the third drive main part is located on base 1, second linking arm one end fixed connection is on the third output, other end fixed connection is on one of them side pendulum seat 402.

In this embodiment, the first driving device 201, the second driving device 305, and the third driving device 406 are all steering engines; the head-neck connecting piece 703 comprises a rotating connecting disc 704 and a thrust ball bearing 706, one end of the rotating connecting disc 704 is provided with a rotating connector 705, the thrust ball bearing 706 is arranged in a bearing position arranged on the support 701, the rotating connector 705 is movably arranged in the thrust ball bearing 706 in a penetrating manner and is rotatably connected with the thrust ball bearing, and the connecting shaft penetrates through the support 701 and is connected with the rotating connector 705; the connecting shaft is connected to the rotating connector 705, so as to drive the rotating connector 705 and the rotating connecting pad 704 to rotate. In the figure, two rollers are additionally arranged on two sides of a support 701, and the rollers on the two sides mainly play a connecting role on the two sides to prevent a connecting slide block from turning over from a pitching rail without rolling; other limiting structures can be replaced.

In this embodiment, the first driving device 201, the second driving device 305, and the third driving device 406 all adopt steering engines, which can perform the most basic transmission function, and have high cost performance. The first driving device 201 drives the connecting slide block 7 to rotate in all directions through the transmission of two universal joints; when the connecting shaft is clamped by the clamping track to swing for an angle, the rotation of the rotary motion is not influenced; the second driving device 305 drives the first connecting swing arm 306 to swing, and simultaneously drives the pitching rail 301 to swing around the first rotating shaft 304; the third driving device 406 indirectly drives the side oscillating head 401 to oscillate around the second rotating shaft 403 by driving the second connecting oscillating arm 405 to oscillate, and when the side oscillating head 401 oscillates, the third driving device can drive the roller 702 of the connecting slide block 7 to roll along the pitching track 301;

in the pitching rail 301, the plane of the arc rail is perpendicular to the plane of the base 1, and when the roller 702 rolls on the rail, the rolling is equivalent to pitching; the two arc-shaped rails are symmetrically arranged in parallel, and each rail is provided with 2 rollers 702 which stably support the whole connecting slide block 7.

In this embodiment, the head-neck connector 703 in the connection slider 7 is used for connecting an external mechanism, and the roller 702 in the connection slider 7 can roll along an arc-shaped track on the pitch track 301; when the rotation motion is needed, the torsion mechanism 2 directly drives the rotating connecting disc 704 to rotate; when the pitching motion is needed, the connecting shaft of the torsion mechanism 2 clamped by the clamping track is connected with the connecting slider 7, and the pitching component 6 can drive the connecting slider 7 to roll along the pitching track 301 to pitch when driving the side swinging head 401 to swing; when the pitching rail 301 swings, the rolling wheel 702 can drive the whole connecting slide block 7 to swing laterally, and the rolling wheel 702 can roll in a pitching manner on the pitching rail 301. Through the mutual coordination and cooperation among the three mechanisms, the three-degree-of-freedom motions of rotation, lateral sway and pitching are realized instead of independent motions, the bionic degree is higher, and the operation is more flexible.

Example 2

This example is similar to example 1, except that:

the first driving device 201, the second driving device 305 and the third driving device 406 are all speed reducing motors; the gear motor can play the most basic transmission function, and the price/performance ratio is higher.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The three-degree-of-freedom bionic neck movement mechanism is characterized by comprising a base (1), a torsion mechanism (2), a pitching mechanism (4), a side swinging mechanism (3) and a connecting slide block (7) which are arranged on the base (1), wherein the connecting slide block (7) comprises a support (701), a roller (702) and a head and neck connecting piece (703), the roller (702) is arranged at one end of the support (701), one end of the head and neck connecting piece (703) is movably arranged at the other end of the support (701) in a penetrating manner, the side swinging mechanism (3) comprises a pitching track (301) which is matched with the roller (702) and a side swinging component (5) which is arranged on the base (1) and can drive the pitching track (301) to swing, and the connecting slide block (7) is connected to the pitching track (301) in a rolling manner through the roller (702), the pitching mechanism (4) comprises a side swinging head (401) and a pitching assembly (6) capable of driving the side swinging head (401) to swing, and a swinging plane of the side swinging head (401) is perpendicular to a swinging plane of the pitching track (301); one end of the torsion mechanism (2) is connected with the base (1), and the other end of the torsion mechanism penetrates through the side swinging head (401) and is connected with the head and neck connecting piece (703).

2. The three-degree-of-freedom bionic neck motion mechanism according to claim 1, wherein the pitching rail (301) comprises two parallel arc rails.

3. The three-degree-of-freedom bionic neck movement mechanism according to claim 2, wherein the torsion mechanism (2) comprises a first driving device (201), a first universal joint (203), a transmission shaft (204), a second universal joint (205) and a connection shaft (206), the first driving device (201) comprises a first driving main body and a first output end, the first driving main body is fixed on the base (1), the first output end is connected with one end of the first universal joint (203), the other end of the first universal joint (203) is connected with one end of the second universal joint (205) through the transmission shaft (204), the other end of the second universal joint (205) is connected with one end of the connection shaft (206), and the other end of the connection shaft (206) passes through the side swing head (401) and is connected with the head and neck connection member (703), the side swing head (401) clamps the connecting shaft (206).

4. The three-degree-of-freedom bionic neck motion mechanism is characterized in that the yaw head (401) comprises two parallel clamping rails, and the connecting shaft (206) is clamped between the two clamping rails.

5. The three-degree-of-freedom bionic neck motion mechanism of claim 4, the side swing component (5) comprises a second driving device (305), a first connecting swing arm (306) and a first supporting structure (303), two ends of the pitching rail (301) are respectively provided with a pitching seat (302), the first supporting structure (303) is provided with a first rotating shaft (304), one end of the pitching seat (302) is simultaneously connected with the two arc-shaped tracks, the first rotating shaft (304) is movably arranged at the other end of the pitching seat (302) in a penetrating way, the second driving device (305) comprises a second driving main body and a second output end, the second driving main body is arranged on the base (1), one end of the first connecting swing arm (306) is fixedly connected to the second output end, and the other end of the first connecting swing arm is fixedly connected to one of the pitching seats (302).

6. The three-degree-of-freedom bionic neck motion mechanism of claim 5, the pitch assembly (6) comprises a third drive (406), a second connecting swing arm (405) and a second support structure (404), two ends of the clamping track are respectively provided with a side swing seat (402), the second supporting structure (404) is provided with a second rotating shaft (403), one end of the side swing seat (402) is simultaneously connected with the two clamping tracks, the second rotating shaft (403) is movably arranged at the other end of the side swing seat (402) in a penetrating way, the third driving device (406) comprises a third driving main body and a third output end, the third driving main body is arranged on the base (1), one end of the second connecting swing arm (405) is fixedly connected to the third output end, and the other end of the second connecting swing arm is fixedly connected to one of the side swing seats (402).

7. The three-degree-of-freedom bionic neck motion mechanism according to claim 3 is characterized in that the head and neck connecting piece (703) comprises a rotating connecting disc (704) and a thrust ball bearing (706), a rotating connecting head (705) is arranged at one end of the rotating connecting disc (704), the thrust ball bearing (706) is arranged in a bearing position arranged on the support (701), the rotating connecting head (705) is arranged in the thrust ball bearing (706) in a penetrating mode, and the connecting shaft (206) penetrates through the support (701) and is connected with the rotating connecting head (705).

8. The three-degree-of-freedom bionic neck motion mechanism as claimed in claim 6, wherein the first driving device (201), the second driving device (305) and the third driving device (406) are all steering engines or speed reduction motors.

9. The three-degree-of-freedom bionic neck motion mechanism is characterized in that the roller (702) is a U-groove roller, and the pitching rail (301) is located in a groove of the roller (702) and is in limit contact with two sides of the roller (702).

10. The three-degree-of-freedom bionic neck motion mechanism is characterized in that the number of the rollers (702) is 4, and the 4 rollers (702) are arranged at one end of the support (701) in a rectangular shape.