CN217225542U - Bionic waist device of silence modularization intelligence based on step-by-step servo motor drive - Google Patents
Bionic waist device of silence modularization intelligence based on step-by-step servo motor drive Download PDFInfo
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- CN217225542U CN217225542U CN202220723888.1U CN202220723888U CN217225542U CN 217225542 U CN217225542 U CN 217225542U CN 202220723888 U CN202220723888 U CN 202220723888U CN 217225542 U CN217225542 U CN 217225542U
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Abstract
The utility model provides a bionical waist device of silence modularization intelligence based on step-by-step servo motor drive. Bionic waist device of silence modularization intelligence based on step-by-step servo motor drive includes: the mounting bracket, be provided with three drive assembly that is located not co-altitude on the mounting bracket, drive assembly includes the motor. The utility model provides a can drive first driven gear respectively through drive assembly, second driven gear and third driven gear rotate, first rotating collar, second rotating collar and third rotating collar pass through supporting component and drive the backup pad and rotate, make it can incline to a plurality of directions to go up the backup pad at the rotation in-process, the part that can drive the top is together movable to rotate the multi-angle through going up the backup pad, three sets of drive assembly mutually support, it realizes pseudo six degree of freedom motions to drive the backup pad, three sets of drive assembly realize six dimension driven motion effect basically promptly, make robot waist stable in structure reliable, the flexibility ratio is better, the fidelity is stronger.
Description
Technical Field
The utility model relates to a humanoid robot technical field especially relates to bionical waist device of silence modularization intelligence based on step-by-step servo motor drive.
Background
Robots designed and manufactured to simulate the shape and behavior of a human are humanoid robots, and generally have limbs and heads of the human respectively or simultaneously.
For the humanoid robot, the higher the similarity between the activity mode of each part of the body and a real person is, the more advantageous the human body is, the waist is used as the main connecting part of the body, and the fidelity of the motion is particularly important for the humanoid robot.
At present, products on the market mainly simulate waist movement by combining rotary movement and swing movement, the structure is only suitable for simple actions of bending waist, turning body and the like, and when the simulation of the waist of a real person is subjected to multi-coupling movement among degrees of freedom, the actions are too mechanical, and the simulation degree is unsatisfactory.
Therefore, there is a need to provide a silent modular intelligent bionic waist device based on a stepping servo motor drive to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a bionical waist device of silence modularization intelligence based on step-by-step servo motor drive has solved the bionical fidelity insufficient problem of robot waist telecontrol equipment.
In order to solve the technical problem, the utility model provides a bionical waist device of silence modularization intelligence based on step-by-step servo motor drive includes: the mounting rack is provided with three driving components positioned at different heights, the driving components comprise motors, the output end of the motor is fixedly connected with a driving gear above the mounting rack, the mounting rack is provided with a first driven gear and a first rotating ring rotating along with the first driven gear, the mounting rack is provided with a second driven gear and a second rotating ring rotating along with the second driven gear, the mounting rack is provided with a third driven gear and a third rotating ring rotating along with the third driven gear, the first rotating ring, the second rotating ring and the third rotating ring are all provided with a supporting component, the supporting component comprises a fixed frame, one end of the fixing frame is rotatably connected with a linkage crank, one end of the linkage crank is provided with a moving part, and one end of the moving part is movably connected with an upper supporting plate.
Preferably, the motor is fixed in the mounting bracket, and the three driving gears are respectively meshed with the first driven gear, the second driven gear and the third driven gear.
Preferably, the fixing frame is fixed on one side of the first rotating ring, and a plurality of fixing holes are uniformly formed in the upper supporting plate.
Preferably, the top of the first driven gear is fixedly connected with a communicating sleeve, and a positioning clamping groove is formed in the communicating sleeve.
Preferably, the inner surface of the first rotating ring is fixedly connected with a positioning ring sleeve, and the inner surface of the positioning ring sleeve is fixedly connected with a positioning clamping plate matched with the positioning clamping groove for use.
Preferably, still include the control tank, the inside of control tank is provided with tension spring, the equal fixedly connected with stopper in tension spring's both ends, one side fixedly connected with gangbar of stopper, the one end of gangbar just is located go up the top fixedly connected with location fastener of backup pad.
Preferably, the control groove is arranged in the upper supporting plate, the bottom of the control groove is provided with a limiting sliding groove, and the limiting sliding groove is connected with the limiting block in a sliding mode.
Compared with the prior art, the utility model provides a bionical waist device of silence modularization intelligence based on step-by-step servo motor drive has following beneficial effect:
the utility model provides a silence modularization intelligent bionic waist device based on step-by-step servo motor drive, can drive first driven gear, second driven gear and third driven gear rotation respectively through the drive assembly, make first rotating ring, second rotating ring and third rotating ring along with rotating, first rotating ring, second rotating ring and third rotating ring drive the rotation of upper support plate through the support assembly, because the moving part is in the tilt state, the direction of stress of upper support plate can change when the moving part drives the upper support plate to rotate, make the upper support plate can incline to a plurality of directions in the rotation process, the part of upper portion can be driven to move together through the multi-angle rotation of upper support plate, three sets of drive assemblies cooperate with each other, drive the upper support plate to realize pseudo six-degree of freedom motion, namely three sets of drive assemblies basically realize the motion effect of six-degree of freedom drive, the robot has the advantages of stable and reliable waist structure, better flexibility and stronger fidelity.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of a mute modularized intelligent bionic waist device based on a stepping servo motor drive provided by the utility model;
FIG. 2 is a schematic view of the connection of the drive assembly and the first driven gear of FIG. 1;
FIG. 3 is a schematic view of the structure of the communication sleeve portion shown in FIG. 2;
FIG. 4 is a schematic structural view of the portion of the position collar shown in FIG. 3;
FIG. 5 is a schematic view of the bottom portion of the mounting station of FIG. 1;
fig. 6 is the utility model provides a structural schematic of bionical waist device second embodiment of silence modularization intelligence based on step-by-step servo motor drive.
The reference numbers in the figures:
1. a mounting frame;
2. a driving component 21, a motor 22 and a driving gear;
3. a first driven gear 4, a first rotating ring;
5. a second driven gear 6, a second rotating ring 7, a third driven gear 8 and a third rotating ring;
9. the supporting component 91, the fixed frame 92, the movable piece 93 and the movable piece;
10. go up backup pad, 11, fixed orifices, 12, intercommunication sleeve, 13, positioning card groove, 14, positioning ring cover, 15, location cardboard, 16, control slot, 17, tension spring, 18, stopper, 19, gangbar, 201, location fastener.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and embodiments.
First embodiment
Please refer to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5 in combination, wherein fig. 1 is a schematic structural diagram of a first embodiment of a mute modularized intelligent bionic waist device based on a stepping servo motor drive according to the present invention; FIG. 2 is a schematic view of the connection of the drive assembly and the first driven gear of FIG. 1; FIG. 3 is a schematic view of the structure of the communication sleeve portion shown in FIG. 2; FIG. 4 is a schematic structural view of the portion of the position collar shown in FIG. 3; fig. 5 is a schematic view of the structure of the bottom portion of the mounting table shown in fig. 1. Bionic waist device of silence modularization intelligence based on step-by-step servo motor drive includes: mounting bracket 1, be provided with three drive assembly 2 that are located not co-altitude on mounting bracket 1, drive assembly 2 includes motor 21, the output of motor 21 just is located the top fixedly connected with drive gear 22 of mounting bracket 1, be provided with first driven gear 3 on mounting bracket 1 and along with first driven gear 3 pivoted first rotating ring 4, be provided with second driven gear 5 on mounting bracket 1 and along with second driven gear 5 pivoted second rotating ring 6, be provided with third driven gear 7 on mounting bracket 1 and along with third driven gear 7 pivoted third rotating ring 8, all be provided with supporting component 9 on first rotating ring 4, second rotating ring 6 and the third rotating ring 8, supporting component 9 includes mount 91, the one end of mount 91 is rotated and is connected with linkage crank 92, the one end of linkage crank 92 is provided with moving part 93, one end of the movable member 93 is movably connected with an upper support plate 10.
As shown in fig. 1, the first driven gear 3, the second driven gear 5 and the third driven gear 7 are sequentially arranged from bottom to top, and the first rotating ring 4, the second rotating ring 6 and the third rotating ring 8 are sequentially arranged from bottom to top, so that the driving gears 22 on the driving assembly 2 with three different heights are respectively arranged at the corresponding heights of the first driven gear 3, the second driven gear 5 and the third driven gear 7, and respectively drive the first driven gear 3, the second driven gear 5 and the third driven gear 7 to rotate.
The motor 21 is fixed in the mounting rack 1, and the three driving gears 22 are respectively meshed with the first driven gear 3, the second driven gear 5 and the third driven gear 7.
The fixing frame 91 is fixed on one side of the first rotating ring 4, and a plurality of fixing holes 11 are uniformly formed in the upper supporting plate 10.
The equipment to be detected is conveniently fixed on the upper supporting plate 10 through the fixing holes 11 and moves together with the upper supporting plate 10.
The top of the first driven gear 3 is fixedly connected with a communicating sleeve 12, and a positioning clamping groove 13 is formed in the communicating sleeve 12.
The first driven gear 3, the second driven gear 5, the third driven gear 7, the first rotating ring 4, the second rotating ring 6 and the third rotating ring 8 are all internally provided with annular cavities, so that the communicating sleeve 12 can conveniently penetrate through the annular cavities.
The inner surface of the first rotating ring 4 is fixedly connected with a positioning ring sleeve 14, and the inner surface of the positioning ring sleeve 14 is fixedly connected with a positioning clamping plate 15 matched with the positioning clamping groove 13 for use.
As shown in fig. 3 and 4, the positioning clamping plate 15 is clamped into the positioning clamping groove 13, so that when the first driven gear 3 rotates, the communicating sleeve 12 is driven to rotate, the communicating sleeve 12 drives the positioning ring sleeve 14 to rotate, and the positioning ring sleeve 14 drives the first rotating ring 4 to rotate.
Compared with the prior art, the utility model provides a bionical waist device of silence modularization intelligence based on step-by-step servo motor drive has following beneficial effect:
the first driven gear 3, the second driven gear 5 and the third driven gear 7 can be respectively driven to rotate through the driving component 2, so that the first rotating ring 4, the second rotating ring 6 and the third rotating ring 8 rotate along with the rotation, the first rotating ring 4, the second rotating ring 6 and the third rotating ring 8 drive the upper supporting plate 10 to rotate through the supporting component 9, because the moving part 93 is in an inclined state (as shown in figures 2 and 4), the stress direction of the upper supporting plate 10 can be changed when the moving part 93 drives the upper supporting plate 10 to rotate, so that the upper supporting plate 10 can incline towards multiple directions in the rotating process, the parts above the upper supporting plate can be driven to move together through multi-angle rotation of the upper supporting plate 10, the three sets of driving components 2 are mutually matched to drive the upper supporting plate 10 to realize pseudo-six-degree-of-freedom motion, namely, the three sets of driving components 2 basically realize the motion effect of six-dimension driving, the robot waist structure is stable and reliable, the flexibility is better, and the fidelity is stronger.
Second embodiment
Referring to fig. 6, based on the mute modular intelligent bionic waist device based on stepping servo motor driving provided in the first embodiment of the present application, a second embodiment of the present application provides a mute modular intelligent bionic waist device based on stepping servo motor driving. The second embodiment is only the preferred mode of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.
Specifically, the difference between the silence modular intelligent bionic waist device based on the driving of the stepping servo motor provided by the second embodiment of the present application is that the silence modular intelligent bionic waist device based on the driving of the stepping servo motor further comprises
The control groove 16, the inside of control groove 16 is provided with tension spring 17, the equal fixedly connected with stopper 18 in both ends of tension spring 17, one side fixedly connected with gangbar 19 of stopper 18, the one end of gangbar 19 just is located go up the top fixedly connected with location fastener 20 of backup pad 10.
The control groove 16 is arranged in the upper supporting plate 10, the bottom of the control groove 16 is provided with a limiting sliding groove 201, and the limiting sliding groove 201 is connected with the limiting block 18 in a sliding manner.
The moving distance of the limiting block 18 can be limited by the limiting sliding groove 201,
the utility model provides a bionical waist device of silence modularization intelligence based on step-by-step servo motor driven theory of operation as follows:
the top slope of location fastener 20 sets up, when the work piece top-down that makes required maintenance puts into backup pad 10 top, can strut location fastener 20 to both sides, make two location fasteners 20 to the direction removal of keeping away from each other, when the work piece is put into backup pad 10 top, tension spring 17 contracts, through gangbar 19 pulling location fastener 20, make two location fasteners 20 be close to each other, accomplish the location to the work piece, direct upwards pulling work piece, then can directly take off the work piece.
Compared with the prior art, the utility model provides a bionical waist device of silence modularization intelligence based on step-by-step servo motor drive has following beneficial effect:
the workpiece can be conveniently and quickly positioned by the two positioning clamping pieces 20 close to each other, so that the workpiece cannot fall off along with the rotation of the upper supporting plate 10 in different directions, and the workpiece can be directly clamped between the two positioning clamping pieces 20 from top to bottom, and the positioning device is simple in operation and convenient to use.
The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.
Claims (7)
1. Bionic waist device of silence modularization intelligence based on step-by-step servo motor drive, its characterized in that includes:
the mounting rack is provided with three driving components positioned at different heights, the driving components comprise motors, the output end of the motor and the upper part of the mounting rack are fixedly connected with a driving gear, the mounting rack is provided with a first driven gear and a first rotating ring rotating along with the first driven gear, the mounting rack is provided with a second driven gear and a second rotating ring rotating along with the second driven gear, the mounting rack is provided with a third driven gear and a third rotating ring rotating along with the third driven gear, the first rotating ring, the second rotating ring and the third rotating ring are all provided with a supporting component, the supporting component comprises a fixed frame, one end of the fixing frame is rotatably connected with a linkage crank, one end of the linkage crank is provided with a moving part, and one end of the moving part is movably connected with an upper supporting plate.
2. The intelligent bionic waist device based on silence modularization of stepping servo motor drive of claim 1, wherein the motor is fixed in the inside of the mounting bracket, and three driving gears are respectively meshed with the first driven gear, the second driven gear and the third driven gear.
3. The bionic waist device with the mute modularization and the intelligence based on the driving of the stepping servo motor as claimed in claim 1, wherein the fixing frame is fixed on one side of the first rotating ring, and a plurality of fixing holes are uniformly formed on the upper supporting plate.
4. The bionic waist device based on the mute modularization intelligence of the stepping servo motor drive of claim 1, wherein a communication sleeve is fixedly connected to the top of the first driven gear, and a positioning clamping groove is formed in the communication sleeve.
5. The intelligent bionic waist device based on silence modularization of step servo motor drive of claim 4, wherein the inner surface of the first rotating ring is fixedly connected with a positioning ring sleeve, and the inner surface of the positioning ring sleeve is fixedly connected with a positioning clamping plate used with the positioning clamping groove.
6. The bionic waist device based on the mute modularization intelligence and driven by the stepping servo motor of claim 1, further comprising a control groove, wherein a tension spring is arranged inside the control groove, both ends of the tension spring are fixedly connected with limiting blocks, one side of each limiting block is fixedly connected with a linkage rod, and one end of each linkage rod is fixedly connected with a positioning clamping piece above the upper supporting plate.
7. The bionic waist device with the mute modularization and the intelligence based on the driving of the stepping servo motor as claimed in claim 6, wherein the control groove is opened inside the upper support plate, a limiting sliding groove is opened at the bottom of the control groove, and the limiting sliding groove is connected with the limiting block in a sliding manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220723888.1U CN217225542U (en) | 2022-03-31 | 2022-03-31 | Bionic waist device of silence modularization intelligence based on step-by-step servo motor drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220723888.1U CN217225542U (en) | 2022-03-31 | 2022-03-31 | Bionic waist device of silence modularization intelligence based on step-by-step servo motor drive |
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| CN217225542U true CN217225542U (en) | 2022-08-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383790A (en) * | 2022-10-27 | 2022-11-25 | 中汽研汽车检验中心(宁波)有限公司 | Waist assembly of humanoid robot for automobile test |
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2022
- 2022-03-31 CN CN202220723888.1U patent/CN217225542U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383790A (en) * | 2022-10-27 | 2022-11-25 | 中汽研汽车检验中心(宁波)有限公司 | Waist assembly of humanoid robot for automobile test |
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