CN215471144U - Three-freedom neck movement structure - Google Patents
Three-freedom neck movement structure Download PDFInfo
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- CN215471144U CN215471144U CN202121802487.7U CN202121802487U CN215471144U CN 215471144 U CN215471144 U CN 215471144U CN 202121802487 U CN202121802487 U CN 202121802487U CN 215471144 U CN215471144 U CN 215471144U
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Abstract
The utility model provides a three-degree-of-freedom neck movement structure, which relates to the technical field of robots and comprises an upper fixing plate, a lower fixing plate, three linear motors and a constraint mechanism, wherein the linear motors and the constraint mechanism are arranged between the upper fixing plate and the lower fixing plate, the head ends of the three linear motors are in driving rotary connection with the upper fixing plate, and the tail ends of the three linear motors are in rotary connection with the lower fixing plate. The structure of the utility model has strong load bearing capacity, and meanwhile, the linear motor is self-locked after power failure, the head structure arranged on the neck movement structure can not lose support due to power failure, and the constraint mechanism plays a supporting role after power failure, thereby achieving the purpose of further protecting the head structure.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a three-degree-of-freedom neck movement structure.
Background
The robot is very common in daily life, the control and manipulation problems of the robot neck movement often occur in actual production, and the neck movement mainly drives the head to respectively perform head lowering, head raising and left-right head turning movements in three orthogonal planes.
Traditional neck motion is realized through the steering wheel, specifically rotates in X direction, Y direction and Z direction, but some defects exist in the neck motion that the steering wheel supported: (1) each steering engine needs to bear the whole weight, so that the service life of the steering engine is shortened; (2) the head loses support after power failure; (3) when the steering engine supports to move, the degree of freedom and the authenticity are not optimized enough.
SUMMERY OF THE UTILITY MODEL
In view of the above, the present invention provides a three-degree-of-freedom neck movement structure, so as to solve the technical problems in the prior art that when a steering engine is used as a support for neck movement, the load bearing capacity is limited, the head loses support after power failure, and the degree of freedom and reality during movement are not optimized.
In order to achieve the above object, the present invention provides a three-degree-of-freedom neck movement structure, which includes an upper fixing plate, a lower fixing plate, and three linear motors and a constraint mechanism, which are disposed between the upper fixing plate and the lower fixing plate, wherein the head end of each linear motor is rotationally connected to the upper fixing plate in a driving manner, and the tail end of each linear motor is rotationally connected to the lower fixing plate.
According to a preferred embodiment, a rotary connection mechanism is arranged between the head end of the linear motor and the upper fixing plate, and the linear motor is rotatably connected with the upper fixing plate through the rotary connection mechanism.
According to a preferred embodiment, the rotary connection mechanism comprises a radial ball bearing and a bearing fixing cap, the bearing fixing cap penetrates through the radial ball bearing, and two ends of the bearing fixing cap are simultaneously connected with the upper fixing plate and the linear motor.
According to a preferred embodiment, the rotary connection is provided as a hook joint or a universal joint.
According to a preferred embodiment, the head and the tail of the constraint mechanism are fixedly connected with the upper fixed bottom plate and the lower fixed plate, and the constraint mechanism is located between the three linear motors and is simultaneously located at the gravity center position of the upper fixed plate and the lower fixed plate.
According to a preferred embodiment, the restraining mechanism comprises an upper connecting rod, a lower connecting rod and a joint bearing connected with the upper connecting rod and the lower connecting rod, the end of the upper connecting rod is mounted on the upper fixing plate, and the end of the lower connecting rod is mounted on the lower fixing plate.
According to a preferred embodiment, a radial ball bearing is mounted at the tail end of the linear motor, and the linear motor is mounted on the lower fixing plate through the radial ball bearing.
According to a preferred embodiment, the upper surface of the lower fixing plate is provided with a bearing fixing plate having a mounting hole through which the radial ball bearing is mounted on the lower fixing plate.
According to a preferable embodiment, a steering engine is arranged above the upper fixing plate and is in driving rotary connection with the upper fixing plate.
According to a preferred embodiment, a steering engine fixing frame is arranged on the upper fixing plate, and the steering engine is installed on the steering engine fixing frame.
The three-degree-of-freedom neck movement structure provided by the utility model has the following technical effects:
the three-degree-of-freedom neck movement structure mainly comprises an upper fixing plate, a lower fixing plate, a constraint mechanism and three linear motors, wherein the linear motors and the constraint mechanism are arranged between the upper fixing plate and the lower fixing plate, the head ends of the linear motors are in driving rotary connection with the upper fixing plate, the tail ends of the linear motors are in rotary connection with the lower fixing plate, the supportable weight of the whole structure is distributed in the three linear motors and the constraint mechanism and is mainly distributed in the constraint mechanism, compared with the traditional steering engine support structure, each steering engine needs to bear the whole weight, the structure of the utility model has strong load bearing capacity, meanwhile, the linear motor is self-locked after power failure, the head structure arranged on the neck movement structure can not lose support due to power failure, after power failure, the constraint mechanism plays a supporting role to further protect the head structure, and the neck movement structure has more authenticity and flexibility.
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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a three-degree-of-freedom neck movement structure according to an embodiment of the present invention;
FIG. 2 is a side view of the three degree-of-freedom neck motion configuration of FIG. 1;
FIG. 3 is an exploded view of the three-degree-of-freedom neck motion structure of FIG. 1;
FIG. 4 is a schematic structural diagram of a joint bearing of the three-degree-of-freedom neck motion structure of FIG. 1;
FIG. 5 is a cross-sectional view of the spherical plain bearing of FIG. 4 taken along line A-A;
FIG. 6 is a schematic structural diagram of a radial ball bearing of the three-degree-of-freedom neck motion structure of FIG. 1;
FIG. 7 is a low head schematic view of the three degree-of-freedom neck motion configuration of FIG. 1;
FIG. 8 is a head-up schematic view of the three-degree-of-freedom neck motion structure of FIG. 1;
fig. 9 is a schematic view of a swivel of the three-degree-of-freedom neck motion structure of fig. 1.
Wherein, fig. 1-9:
1. an upper fixing plate; 2. a lower fixing plate; 3. a linear motor; 4. a restraint mechanism; 41. a knuckle bearing; 42. an upper connecting rod; 43. a lower connecting rod; 5. a rotary connection mechanism; 51. a radial ball bearing; 52. a bearing fixing cap; 53. a bearing fixing plate; 531. mounting holes; 61. a steering engine; 62. steering wheel mount.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the utility model, and not restrictive of the full scope of the utility model. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the utility model. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, 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; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
As mentioned in the background, the neck movement in the prior art is realized by the steering engine, specifically, the neck movement is realized in the X direction, the Y direction and the Z direction, but the neck movement supported by the steering engine has the following defects: (1) each steering engine needs to bear the whole weight, so that the service life of the steering engine is shortened; (2) the head loses support after power failure; (3) when the steering engine supports to move, the degree of freedom and the authenticity are not optimized enough.
Based on the above, the utility model provides a three-degree-of-freedom neck movement structure, wherein a linear motor and a constraint mechanism are arranged between an upper fixed plate and a lower fixed plate, the number of the linear motors is three, the head end of the linear motor is in driving rotary connection with the upper fixed plate, the tail end of the linear motor is in rotary connection with the lower fixed plate, the supportable weight of the whole structure is distributed in the three linear motors and the constraint mechanism and is mainly distributed in the constraint mechanism, compared with the traditional steering engine support structure, each steering engine needs to bear the whole weight, the structure of the utility model has strong load bearing capacity, meanwhile, the linear motor is self-locked after power failure, the head structure arranged on the neck movement structure can not lose support due to power failure, after power failure, the constraint mechanism plays a supporting role to further protect the head structure, and the neck movement structure has more authenticity and flexibility.
The technical solution of the present invention will be described in detail with reference to the accompanying drawings 1-9.
The utility model provides a three-degree-of-freedom neck movement structure, which is used as a part of a robot and is arranged between a head structure and a body structure, so that the three-degree-of-freedom neck movement structure has the functions of connecting the head structure and the body structure, and can drive the head structure to realize the effects of lowering, raising and turning left and right.
Specifically, as shown in fig. 1-3, the three-degree-of-freedom neck movement structure includes an upper fixing plate 1, a lower fixing plate 2, a linear motor 3 and a constraining mechanism 4, the upper fixing plate 1 is disposed above the lower fixing plate 2, the linear motor 3 and the constraining mechanism 4 are installed between the upper fixing plate 1 and the lower fixing plate 2, and the linear motor 3 and the constraining mechanism 4 are both vertically installed.
The linear motors 3 are three, the head ends of the linear motors 3 are in driving rotary connection with the upper fixing plate 1, the linear motors 3 are started, the three linear motors 3 are different in length, the angles of the upper fixing plate 1 and the lower fixing plate 2 are different, and therefore head lowering, head raising or head swinging of the neck movement structure is achieved, as shown in fig. 7-9, the tail ends of the linear motors 3 are in rotary connection with the lower fixing plate 2, and the lower fixing plate 2 is not moved.
At least three points are required to define a plane, and therefore three linear motors 3 are used, and the restraint mechanism 4 is mounted between the three linear motors 3.
As shown in fig. 3 and 6, in order to realize rotation with three degrees of freedom in space, a rotation connection mechanism 5 is provided between the head end of the linear motor 3 and the upper fixing plate 1, and the linear motor 3 is rotatably connected to the upper fixing plate 1 through the rotation connection mechanism 5. The rotary connecting mechanism 5 comprises a radial ball bearing 51 and a bearing fixing cap 52, wherein the bearing fixing cap 52 penetrates through the radial ball bearing 51, and two ends of the bearing fixing cap are connected with the upper fixing plate 1 and the linear motor 3 simultaneously.
Since the upper and lower fixing plates 1 and 2 are spatially rotated with three degrees of freedom with respect to the linear motor 3, the radial ball bearing 51 is used to connect the upper and lower fixing plates 1 and 2 with the linear motor 3.
It should be noted that the rotary connection mechanism 5 may also be a hooke joint or a universal joint, and it is within the protection scope of the present invention as long as it can realize the three-degree-of-freedom rotary motion between the upper fixing plate 1 and the lower fixing plate 2 and the linear motor 3.
As shown in fig. 3-5, since the radial ball bearing 51 has three degrees of freedom, and the mechanism is an under-constrained mechanism, the constraining mechanism 4 is installed in the middle of the three linear motors 3, the head and tail ends of the constraining mechanism 4 are fixedly connected with the upper fixed bottom plate and the lower fixed plate 2, and the constraining mechanism 4 is located between the three linear motors 3 and at the center of gravity position of the upper fixed plate 1 and the lower fixed plate 2.
Specifically, the restraint mechanism 4 includes an upper connecting rod 42, a lower connecting rod 43 and a joint bearing 41, the joint bearing 41 is connected with the upper connecting rod 42 and the lower connecting rod 43 at the same time, the end of the upper connecting rod 42 is installed on the upper fixing plate 1, the end of the lower connecting rod 43 is installed on the lower fixing plate 2, and when the telescopic length of the linear motor 3 is not changed, the structure is a stable structure.
Further, as shown in fig. 3, a radial ball bearing 51 is installed at the tail end of the linear motor 3, the linear motor 3 is installed on the lower fixing plate 2 through the radial ball bearing 51, and the linear motor 3 is rotatably connected with the lower fixing plate 2 through the radial ball bearing 51.
As shown in fig. 3, in order to prevent the radial ball bearing 51 from being separated from the lower stationary plate 2, the upper surface of the lower stationary plate 2 is provided with a bearing stationary plate 53, the bearing stationary plate 53 has a mounting hole 531, and the radial ball bearing 51 is mounted on the lower stationary plate 2 through the mounting hole 531.
As shown in fig. 1-3, a steering engine 61 and a steering engine fixing frame 62 are arranged above the upper fixing plate 1, and the steering engine 61 is mounted on the steering engine fixing frame 62 and is in driving rotary connection with the upper fixing plate 1. The steering engine 61 is mainly used for assisting in turning, and the steering engine 61 can assist in turning at the moment because the moving angle of the radial ball bearing 51 has certain limitation.
The neck structure of the utility model can be regarded as a triangular prism, the bottom surface of the triangular prism is fixed, the top surface can move freely, however, a joint bearing 41 is arranged between the top surface of the triangular prism and the ground for limitation, so the freedom degree of the joint bearing 41 determines the freedom degree of the top surface of the triangular prism; therefore, the movement of the top surface of the mechanism can be realized by adjusting the lengths of the three linear motors 3;
in addition, the whole structure of the steering engine can support weight, particularly, the weight is distributed in the three linear motors 3 and the joint bearings 41 in the middle and mainly distributed in the joint bearings 41, and compared with the traditional steering engine 61 supporting structure in which each steering engine 61 needs to bear the whole weight, the structure has strong load bearing capacity.
By adopting the neck structure, the linear motor 3 is self-locked after being powered off, the head cannot lose support due to power off, and the head structure is further protected.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The three-degree-of-freedom neck movement structure is characterized by comprising an upper fixing plate, a lower fixing plate, a linear motor and a constraint mechanism, wherein the linear motor and the constraint mechanism are arranged between the upper fixing plate and the lower fixing plate, the number of the linear motors is three, the head end of each linear motor is in driving rotary connection with the upper fixing plate, and the tail end of each linear motor is in rotary connection with the lower fixing plate.
2. The three-degree-of-freedom neck motion structure of claim 1, wherein a rotary connection mechanism is arranged between the head end of the linear motor and the upper fixed plate, and the linear motor is rotatably connected with the upper fixed plate through the rotary connection mechanism.
3. The three-degree-of-freedom neck motion structure according to claim 2, wherein the rotation connection mechanism includes a radial ball bearing and a bearing fixing cap, the bearing fixing cap penetrates through the radial ball bearing, and both ends of the bearing fixing cap are connected with the upper fixing plate and the linear motor.
4. The three-degree-of-freedom neck motion structure of claim 2, wherein the rotation connection mechanism is a hooke joint or a universal joint.
5. The three-degree-of-freedom neck motion structure of claim 2, wherein the head and tail ends of the constraining mechanism are fixedly connected with the upper fixed base plate and the lower fixed plate, and the constraining mechanism is located between the three linear motors and is simultaneously located at the gravity center position of the upper fixed plate and the lower fixed plate.
6. The three-degree-of-freedom neck motion structure of claim 5, wherein the constraint mechanism comprises an upper connecting rod, a lower connecting rod and a joint bearing connected with the upper connecting rod and the lower connecting rod, the end of the upper connecting rod is mounted on the upper fixing plate, and the end of the lower connecting rod is mounted on the lower fixing plate.
7. The three-degree-of-freedom neck motion structure according to claim 1, wherein a radial ball bearing is installed at a tail end of the linear motor, and the linear motor is installed on the lower fixing plate through the radial ball bearing.
8. The three-degree-of-freedom neck motion structure of claim 7, wherein the upper surface of the lower fixed plate is provided with a bearing fixed plate having a mounting hole through which the radial ball bearing is mounted on the lower fixed plate.
9. The three-degree-of-freedom neck movement structure of any one of claims 1 to 8, wherein a steering engine is arranged above the upper fixed plate, and the steering engine is in driving rotary connection with the upper fixed plate.
10. The three-degree-of-freedom neck movement structure of claim 9, wherein a steering engine fixing frame is arranged on the upper fixing plate, and the steering engine is mounted on the steering engine fixing frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121802487.7U CN215471144U (en) | 2021-08-04 | 2021-08-04 | Three-freedom neck movement structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121802487.7U CN215471144U (en) | 2021-08-04 | 2021-08-04 | Three-freedom neck movement structure |
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| CN215471144U true CN215471144U (en) | 2022-01-11 |
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| CN202121802487.7U Active CN215471144U (en) | 2021-08-04 | 2021-08-04 | Three-freedom neck movement structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114290379A (en) * | 2022-02-09 | 2022-04-08 | 柳州铁道职业技术学院 | Flexible neck mechanism of bionic robot |
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2021
- 2021-08-04 CN CN202121802487.7U patent/CN215471144U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114290379A (en) * | 2022-02-09 | 2022-04-08 | 柳州铁道职业技术学院 | Flexible neck mechanism of bionic robot |
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