Three degree-of-freedom bionic-eye neck mechanism with gravity torque being eliminated

Abstract

The invention relates to the technical field of bionic robots, in particular to a three degree-of-freedom bionic-eye neck mechanism with gravity torque being eliminated. According to the technical scheme of the three degree-of-freedom bionic-eye neck mechanism with the gravity torque being eliminated, an output shaft of a first motor is connected with a second rack, and the center of gravity of aload driven by the first motor is located on the central axis of the output shaft of the first motor; an output shaft of a second motor is connected with a third rack, and the center of gravity of a load driven by a third rack is located on the central axis of the output shaft of the second motor; and a supporting frame is connected with an output shaft of a third motor, bionic eyeballs are mounted at the left part and the right part of the supporting frame, and the center of gravity of a load driven by the supporting frame is located on the central axis of the output shaft of the third motor.According to the three degree-of-freedom bionic-eye neck mechanism with the gravity torque being eliminated, three degrees of freedom of a neck is achieved through driving of the three motors, meanwhile, the central axes of the output shafts of the three motors are pairwise orthogonal in space, the centers of gravity of the loads are on the central axes of the output shafts of the corresponding motors, the torque generated by the loaded gravity is eliminated, and reliability of motor driving is improved.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a three-degree-of-freedom bionic eye and neck mechanism. Background technique [0002] With the continuous development of robot technology, the user's requirements for the action of the bionic eye robot are gradually increasing, and the neck mechanism of the bionic eye robot is required to have the three degrees of freedom that the human neck has. Most of the neck mechanisms of bionic eye robots that have been proposed now only have one or two degrees of freedom, and the remaining neck mechanisms with three degrees of freedom also have the disadvantages of complex structure and large volume. The adverse effect on work efficiency is also an urgent problem to be solved. [0003] A search of prior art literature found that the patent CN103831828A proposed a robot neck structure, which kept the proportion of the robot neck coordinated and reduced the volume, but still had the ...

AI Technical Summary

Problems solved by technology

Most of the neck mechanisms of bionic eye robots that have been proposed now only have one or two degrees of freedom, and the remaining neck mechanisms with three degrees of freedom also have the disadvantages of complex structure and large volume. The adverse effect on work efficiency is also an urgent problem to be solved

[0003] A search of prior art literature found that the patent CN103831828A proposed a robot neck structure, which kept the proportion of the robot neck coordinated and reduced the volume, but still had the disadvantage of complicated internal structure, and the torque generated by the gravity of the load would The work of driving the motor increases the load, which affects the reliability of the motor; the patent CN107160413A proposes a humanoid head and neck robot, which can realize the movement of the head with three degrees of freedom, and has a simple structure and small size, but the torque generated by the gravity of the load will Affects the efficiency of the motor drive

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