CN212601840U - Three-degree-of-freedom robot neck mechanism - Google Patents
Three-degree-of-freedom robot neck mechanism Download PDFInfo
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- CN212601840U CN212601840U CN202020699876.0U CN202020699876U CN212601840U CN 212601840 U CN212601840 U CN 212601840U CN 202020699876 U CN202020699876 U CN 202020699876U CN 212601840 U CN212601840 U CN 212601840U
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Abstract
The utility model provides a three-degree-of-freedom robot neck mechanism, which comprises an upper supporting plate, a lower supporting plate, a head supporting plate, a supporting rod and two connecting rods; the head supporting plate is rotatably arranged above the upper supporting plate; one end of the supporting rod is fixed on the lower supporting plate, and the other end of the supporting rod is hinged to one end of the bottom of the upper supporting plate through a ball; one end of the connecting rod can be arranged on the lower supporting plate in a vertically moving mode, and the other end of the connecting rod is hinged to the other end of the bottom of the upper supporting plate. The action of the rotary head is realized through the rotation of the head support plate relative to the upper support plate; the nodding and the swinging of the robot head are executed by controlling the rotating directions of the two connecting rods; the support rod provides a rotating fulcrum for the head to perform nodding and head swinging actions. Compared with the traditional mode of stacking through a plurality of motors, the neck mechanism of the design is more compact, and the neck mechanism is simple and reliable in structure and is more suitable for the design requirement of the neck of the simulation robot.
Description
Technical Field
The utility model relates to a simulation machine-building technical field especially relates to a robot neck mechanism of three degrees of freedom.
Background
Conventionally, the motion of a robot head is a difficult point in the problem of robot development, and in order to realize high anthropomorphic simulation of a human-simulated robot, the head needs to realize three-degree-of-freedom rotary motion such as up and down nodding, left and right swinging, turning and the like. If the head movement mechanism which is too complex is designed, the limited space of the robot head is occupied, and the weight of the robot head is greatly increased; and the excessively complicated structure also imposes a great burden on the stability of the motion system.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the utility model provides a pair of three degree of freedom's robot neck mechanism improves robot head motion's compactedness.
In order to solve the technical problem, the utility model discloses a technical scheme be:
a three-degree-of-freedom robot neck mechanism comprises an upper supporting plate, a lower supporting plate, a head supporting plate, a supporting rod and two connecting rods;
the head supporting plate is rotatably arranged above the upper supporting plate;
one end of the supporting rod is fixed on the lower supporting plate, and the other end of the supporting rod is hinged to one end of the bottom of the upper supporting plate through a ball;
one end of the connecting rod can be arranged on the lower supporting plate in a vertically moving mode, and the other end of the connecting rod is hinged to the other end of the bottom of the upper supporting plate.
Further, the device also comprises a top steering engine;
the top steering engine is fixedly arranged on the head supporting plate;
the head supporting plate is provided with a yielding hole of a rotating shaft of the top steering engine;
and a rotating shaft of the top steering engine penetrates through the abdicating hole and is fixedly connected with the upper supporting plate.
Further, the device also comprises two bottom steering engines and two rocker arms;
the bottom steering engine is fixedly arranged on the lower supporting plate;
one end of each rocker arm is correspondingly hinged with one end of one connecting rod;
the other end of each rocker arm is correspondingly and fixedly connected with a rotating shaft of the bottom steering engine.
Further, the device also comprises a spring;
one end of the spring is fixedly connected to the bottom of the upper supporting plate;
the other end of the spring is fixedly connected to the lower supporting plate.
Furthermore, the other end of the spring is provided with an adjusting bolt and a first adjusting nut;
one end of the adjusting bolt is fixedly connected to the lower supporting plate;
the first adjusting nut is in threaded connection with the adjusting bolt;
the other end of the spring is sleeved on the adjusting bolt and is connected with the first adjusting nut.
Further, the other end of the connecting rod is provided with an eyelet bolt and a second adjusting nut;
the second adjusting nut is rotatably arranged at the other end of the connecting rod;
the threaded end of the swing bolt is in threaded connection with the second adjusting nut;
and the eyelet end of the swing bolt is hinged with one end of the rocker arm.
Furthermore, one end of the rocker arm is provided with a plurality of hinge holes.
Furthermore, one end of the supporting rod is in threaded connection with a threaded rod;
the threaded rod is fixed on the lower supporting plate.
Furthermore, the device also comprises a rudder disc;
the rudder disc is fixedly connected with the upper supporting plate;
and the rotating shaft of the top steering engine is inserted into a fixing hole on the rudder disc, which is matched with the rotating shaft of the top steering engine.
The beneficial effects of the utility model reside in that: the utility model provides a three-degree-of-freedom robot neck mechanism, which comprises an upper supporting plate, a lower supporting plate, a head supporting plate, a supporting rod and two connecting rods; the action of the rotary head is realized through the rotation of the head support plate relative to the upper support plate; the nodding and the swinging of the robot head are executed by controlling the rotating directions of the two connecting rods; the support rod provides a rotating fulcrum for the head to perform nodding and head swinging actions. Compared with the traditional mode of stacking through a plurality of motors, the neck mechanism of the design is more compact, and the neck mechanism is simple and reliable in structure and is more suitable for the design requirement of the neck of the simulation robot.
Drawings
Fig. 1 is a first structural diagram of a three-degree-of-freedom robot neck mechanism according to an embodiment of the present invention;
fig. 2 is a second structural diagram of a three-degree-of-freedom robot neck mechanism according to an embodiment of the present invention;
fig. 3 is a front view of a three-degree-of-freedom robot neck mechanism according to an embodiment of the present invention;
fig. 4 is a cross-sectional view of a three-degree-of-freedom robot neck mechanism according to an embodiment of the present invention;
description of reference numerals:
1. an upper support plate; 2. a lower support plate; 3. a head support plate; 4. a support bar; 5. a connecting rod; 6. a top steering engine; 7. a bottom steering engine; 8. a rocker arm; 9. a spring; 10. adjusting the bolt; 11. a first adjusting nut; 12. an eye bolt; 13. a second adjusting nut; 14. a threaded rod; 15. a rudder wheel; 16. steering wheel mount.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 and 2, a three-degree-of-freedom robot neck mechanism includes an upper support plate, a lower support plate, a head support plate, a support rod, and two connecting rods;
the head supporting plate is rotatably arranged above the upper supporting plate;
one end of the supporting rod is fixed on the lower supporting plate, and the other end of the supporting rod is hinged to one end of the bottom of the upper supporting plate through a ball;
one end of the connecting rod can be arranged on the lower supporting plate in a vertically moving mode, and the other end of the connecting rod is hinged to the other end of the bottom of the upper supporting plate.
From the above description, the beneficial effects of the present invention are: the utility model provides a three-degree-of-freedom robot neck mechanism, which comprises an upper supporting plate, a lower supporting plate, a head supporting plate, a supporting rod and two connecting rods; the action of the rotary head is realized through the rotation of the head support plate relative to the upper support plate; the nodding and the swinging of the robot head are executed by controlling the rotating directions of the two connecting rods; the support rod provides a rotating fulcrum for the head to perform nodding and head swinging actions. Compared with the traditional mode of stacking through a plurality of motors, the neck mechanism of the design is more compact, and the neck mechanism is simple and reliable in structure and is more suitable for the design requirement of the neck of the simulation robot.
Further, the device also comprises a top steering engine;
the top steering engine is fixedly arranged on the head supporting plate;
the head supporting plate is provided with a yielding hole of a rotating shaft of the top steering engine;
and a rotating shaft of the top steering engine penetrates through the abdicating hole and is fixedly connected with the upper supporting plate.
As can be seen from the above description, the rotation of the head supporting plate is realized through the top steering engine, and then the rotation of the robot head is realized.
Further, the device also comprises two bottom steering engines and two rocker arms;
the bottom steering engine is fixedly arranged on the lower supporting plate;
one end of each rocker arm is correspondingly hinged with one end of one connecting rod;
the other end of each rocker arm is correspondingly and fixedly connected with a rotating shaft of the bottom steering engine.
According to the description, the control of the posture of the upper supporting plate is realized by the crank connecting rod mechanism formed by the rocker arm and the connecting rod, the transmission mechanism is surface-contact low-pair transmission, and the transmission mechanism has the characteristics of small pressure, convenience in lubrication, small abrasion, long service life and large transmission power.
Further, the device also comprises a spring;
one end of the spring is fixedly connected to the bottom of the upper supporting plate;
the other end of the spring is fixedly connected to the lower supporting plate.
As can be seen from the above description, the elastic force of the spring can prevent the head of the robot from drooping under the action of gravity after the bottom steering engine is powered off, so that the head of the robot keeps a normal posture.
Furthermore, the other end of the spring is provided with an adjusting bolt and a first adjusting nut;
one end of the adjusting bolt is fixedly connected to the lower supporting plate;
the first adjusting nut is in threaded connection with the adjusting bolt;
the other end of the spring is sleeved on the adjusting bolt and is connected with the first adjusting nut.
As can be seen from the above description, the initial compression amount of the spring is adjusted by adjusting the position of the first adjusting nut on the adjusting bolt, so as to control the elastic force of the spring. The posture of the head of the robot after power failure is adjusted by controlling the elastic force of the spring.
Further, the other end of the connecting rod is provided with an eyelet bolt and a second adjusting nut;
the second adjusting nut is rotatably arranged at the other end of the connecting rod;
the threaded end of the swing bolt is in threaded connection with the second adjusting nut;
and the eyelet end of the swing bolt is hinged with one end of the rocker arm.
From the above description, it can be seen that the length of the swing bolt extending beyond the other end of the connecting rod is achieved by the action of the thread pair by rotating the second adjusting nut, thereby achieving a control of the length of the connecting rod and swing bolt combination. The motion trail at the tail end of the crank-link mechanism is adjusted by adjusting the length of the connecting rod, and then the motion posture of the head of the robot is adjusted.
Furthermore, one end of the rocker arm is provided with a plurality of hinge holes.
According to the above description, the design of the plurality of hinge holes enables the hinge position of the connecting rod and the rocker arm to be adjustable, the hinge position of the connecting rod and the rocker arm can be adjusted according to a specific motion posture, and the applicability of the mechanism is improved.
Furthermore, one end of the supporting rod is in threaded connection with a threaded rod;
the threaded rod is fixed on the lower supporting plate.
According to the above description, the position of the supporting rod on the threaded rod is adjusted through the rotation of the supporting rod, so that the height of the spherical hinge position of the upper supporting plate is adjusted, and the movement posture of the upper supporting plate is controlled and adjusted.
Furthermore, the device also comprises a rudder disc;
the rudder disc is fixedly connected with the upper supporting plate;
and the rotating shaft of the top steering engine is inserted into a fixing hole on the rudder disc, which is matched with the rotating shaft of the top steering engine.
As can be seen from the above description, the rudder disk plays the role of a coupler and transmits the torque output by the top steering engine to the head support plate.
Referring to fig. 1 to 4, a first embodiment of the present invention is: a three-degree-of-freedom robot neck mechanism comprises an upper supporting plate 1, a lower supporting plate 2, a head supporting plate 3, a supporting rod 4 and two connecting rods 5;
the head support plate 3 is rotatably arranged above the upper support plate 1;
one end of the support rod 4 is fixed on the lower support plate 2, and the other end of the support rod is hinged to one end of the bottom of the upper support plate 1;
one end of the connecting rod 5 can be arranged on the lower supporting plate 2 in a vertically moving mode, and the other end of the connecting rod is hinged to the other end of the bottom of the upper supporting plate 1.
Wherein the head support plate 3 is used for mounting a robot head, and the components of the robot head can be fixed on the head support plate 3 through fastening screws.
Preferably, the two connecting rods 5 are symmetrically hinged to the other end of the bottom of the upper supporting plate 1, and the supporting rod 4 is spherically hinged to one end of the bottom of the upper supporting plate 1 and is located on a virtual symmetrical plane of the two connecting rods 5, so that a connecting line between the two connecting rods 5 and the supporting rod 4 forms an isosceles triangle.
Referring to fig. 1 to 4, specifically, the device further includes a top steering engine 6;
the top steering engine 6 is fixedly arranged on the head supporting plate 3;
the head supporting plate 3 is provided with a abdicating hole of the rotating shaft of the top steering engine 6;
and a rotating shaft of the top steering engine 6 penetrates through the abdicating hole and the upper supporting plate 1 to be fixedly connected.
Wherein, the top steering engine 6 selects a corresponding model according to the output torque of specific requirements.
Referring to fig. 1 to 3, specifically, the steering engine further includes two bottom steering engines 7 and two rocker arms 8;
the bottom steering engine 7 is fixedly arranged on the lower supporting plate 2;
one end of each rocker arm 8 is correspondingly hinged with one end of one connecting rod 5;
the other end of each rocker arm 8 is correspondingly and fixedly connected with a rotating shaft of the bottom steering engine 7.
Wherein, the two bottom steering engines 7 are fixed on the lower supporting plate 2 side by side; specifically, two bottom steering engines 7 are fixed on the lower supporting plate 2 through steering engine fixing frames 16, and the steering engine fixing frames 16 are fixed with the lower supporting plate 2 through screws.
Referring to fig. 1, in particular, the other end of the connecting rod 5 is provided with a swing bolt 12 and a second adjusting nut 13;
the second adjusting nut 13 is rotatably arranged at the other end of the connecting rod 5;
the threaded end of the swing bolt 12 is threadedly engaged with the second adjustment nut 13;
the eye end of the swing bolt 12 is hinged to one end of the rocker arm 8.
The eye of the swing bolt 12 is provided with a joint bearing, and the joint bearing can rotate with multiple degrees of freedom to meet the requirement of space motion of the connecting rod 5.
Referring to fig. 1 to 3, in particular, one end of the rocker arm 8 is provided with a plurality of hinge holes.
Referring to fig. 2 to 4, in particular, a threaded rod 14 is screwed to one end of the support rod 4;
the threaded rod 14 is fixed to the lower support plate 2.
Specifically, the threaded rod 14 may be fixed to the lower support plate 2 by welding, or the threaded rod 14 may be fixed to the lower support plate 2 by a nut.
Referring to fig. 4, in particular, the rudder stock 15 is further included;
the rudder disc 15 is fixedly connected with the upper support plate 1;
and the rotating shaft of the top steering engine 6 is inserted into a fixing hole which is matched with the rotating shaft of the top steering engine 6 on the rudder plate 15.
Specifically, four screws sequentially penetrate through the upper support plate 1 and are locked with threads on a steering wheel 15, and the steering wheel 15 is fixedly connected with an output shaft of the top steering engine 6 in an interference fit manner;
wherein, still including lantern ring, locking lid, be equipped with the bearing between lantern ring and the locking lid, locking lid passes through screw fixed mounting on head backup pad 3 to play the play of 6 output shafts of adjustment top steering wheel, reduce the robot head and rock.
Referring to fig. 1 and 4, a second embodiment of the present invention is: the embodiment further comprises a spring 9 on the basis of the first embodiment;
one end of the spring 9 is fixedly connected to the bottom of the upper supporting plate 4;
the other end of the spring 9 is fixedly connected to the lower support plate 2.
Referring to fig. 1 and 4, an adjusting bolt 10 and a first adjusting nut 11 are disposed at the other end of the spring 9;
one end of the adjusting bolt 10 is fixedly connected to the lower support plate 2;
the first adjusting nut 11 is screwed on the adjusting bolt 10;
the other end of the spring 9 is sleeved on the adjusting bolt 10 and is connected with the first adjusting nut 11.
Preferably, the spring 9 is placed at the center of gravity of the head to prevent the head from sagging under the action of gravity after the bottom steering engine 7 is powered off.
Wherein, first adjusting nut 11 includes two, and two nuts can play locking effect.
The neck mechanism controls the three-freedom-degree rotation of the robot head in a specific process: if the top steering engine 6 rotates forwards or backwards, the head supporting plate 3 can rotate forwards or backwards, namely the robot can rotate (swing) head; when the bottom steering engines 7 rotate forwards and reversely, the head supporting plate 3 swings up and down, namely the robot nods to move; when the bottom steering engine 7 rotates forwards or reversely at the same time, the head supporting plate 3 swings left and right, namely the head of the robot swings.
To sum up, the utility model provides a three-degree-of-freedom robot neck mechanism, which comprises an upper support plate, a lower support plate, a head support plate, a support rod and two connecting rods; the action of the rotary head is realized through the rotation of the head support plate relative to the upper support plate; the nodding and the swinging of the robot head are executed by controlling the rotating directions of the two connecting rods; the support rod provides a rotating fulcrum for the head to perform nodding and head swinging actions. The control of the posture of the upper supporting plate is realized by the crank-connecting rod mechanism formed by the rocker arm and the connecting rod, the transmission mechanism is a low-pair transmission with surface contact, and the transmission mechanism has the characteristics of small pressure intensity, convenience in lubrication, small abrasion, long service life and large transmission power. Furthermore, a spring is arranged at the bottom of the lower supporting plate, and the head of the robot can be prevented from drooping under the action of gravity after the bottom steering engine is powered off under the action of the elastic force of the spring, so that the head of the robot can keep a normal posture. Compared with the traditional mode of stacking through a plurality of motors, the neck mechanism of the design is more compact, and the neck mechanism is simple and reliable in structure and is more suitable for the design requirement of the neck of the simulation robot.
The above mentioned is only the embodiment of the present invention, and not the limitation of the patent scope of the present invention, all the equivalent transformations made by the contents of the specification and the drawings, or the direct or indirect application in the related technical field, are included in the patent protection scope of the present invention.
Claims (9)
1. A three-degree-of-freedom robot neck mechanism is characterized by comprising an upper supporting plate, a lower supporting plate, a head supporting plate, a supporting rod and two connecting rods;
the head supporting plate is rotatably arranged above the upper supporting plate;
one end of the supporting rod is fixed on the lower supporting plate, and the other end of the supporting rod is hinged to one end of the bottom of the upper supporting plate through a ball;
one end of the connecting rod can be arranged on the lower supporting plate in a vertically moving mode, and the other end of the connecting rod is hinged to the other end of the bottom of the upper supporting plate.
2. The three-degree-of-freedom robot neck mechanism according to claim 1, further comprising a top steering engine;
the top steering engine is fixedly arranged on the head supporting plate;
the head supporting plate is provided with a yielding hole of a rotating shaft of the top steering engine;
and a rotating shaft of the top steering engine penetrates through the abdicating hole and is fixedly connected with the upper supporting plate.
3. The three-degree-of-freedom robot neck mechanism according to claim 1, further comprising two bottom steering engines and two rocker arms;
the bottom steering engine is fixedly arranged on the lower supporting plate;
one end of each rocker arm is correspondingly hinged with one end of one connecting rod;
the other end of each rocker arm is correspondingly and fixedly connected with a rotating shaft of the bottom steering engine.
4. The three degree of freedom robot neck mechanism of claim 1, further comprising a spring;
one end of the spring is fixedly connected to the bottom of the upper supporting plate;
the other end of the spring is fixedly connected to the lower supporting plate.
5. The three-degree-of-freedom robot neck mechanism according to claim 4, wherein the other end of the spring is provided with an adjusting bolt and a first adjusting nut;
one end of the adjusting bolt is fixedly connected to the lower supporting plate;
the first adjusting nut is in threaded connection with the adjusting bolt;
the other end of the spring is sleeved on the adjusting bolt and is connected with the first adjusting nut.
6. The three-degree-of-freedom robot neck mechanism according to claim 3, characterized in that the other end of the connecting rod is provided with an eye bolt and a second adjusting nut;
the second adjusting nut is rotatably arranged at the other end of the connecting rod;
the threaded end of the swing bolt is in threaded connection with the second adjusting nut;
and the eyelet end of the swing bolt is hinged with one end of the rocker arm.
7. The three degree of freedom robot neck mechanism of claim 3, wherein one end of the rocker arm is provided with a plurality of hinge holes.
8. The three-degree-of-freedom robot neck mechanism according to claim 1, wherein a threaded rod is screwed to one end of the support rod;
the threaded rod is fixed on the lower supporting plate.
9. The three-degree-of-freedom robot neck mechanism according to claim 2, further comprising a rudder disc;
the rudder disc is fixedly connected with the upper supporting plate;
and the rotating shaft of the top steering engine is inserted into a fixing hole on the rudder disc, which is matched with the rotating shaft of the top steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020699876.0U CN212601840U (en) | 2020-04-30 | 2020-04-30 | Three-degree-of-freedom robot neck mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020699876.0U CN212601840U (en) | 2020-04-30 | 2020-04-30 | Three-degree-of-freedom robot neck mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212601840U true CN212601840U (en) | 2021-02-26 |
Family
ID=74711722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020699876.0U Active CN212601840U (en) | 2020-04-30 | 2020-04-30 | Three-degree-of-freedom robot neck mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212601840U (en) |
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2020
- 2020-04-30 CN CN202020699876.0U patent/CN212601840U/en active Active
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