Neck driving mechanism with double-shaft synchronous belt drive

Abstract

The present application relates to a kind of neck driving mechanism with double-shaft synchronous belt drive, including mounting seat, front and rear swing seat is provided in mounting seat, front and rear swing axle is connected through in front and rear swing seat, the left and right sides of front and rear swing axle are respectively movably connected on the inner wall of mounting seat, fixed seat is connected above front and rear swing seat, left and right swing column is sleeved in fixed seat, the front and rear sides of left and right swing column are respectively connected with left and right swing axle, and the side, which is away from left and right swing column, of left and right swing axle is movably connected on the inner wall of fixed seat by bearing.The present application uses double-shaft servo motor to cooperate with double-side synchronous belt double-shaft transmission structure, replaces traditional single-shaft driving mode, double-shaft synchronous output power, can effectively guarantee the synchronism and balance of neck left and right swing, front and rear swing, completely solve the problem of traditional mechanism action deviation, jam, uneven stress, greatly improve neck posture adjustment precision and motion stability.

Description

Technical Field

[0001] This invention relates to the field of neck drive mechanism technology, and more specifically to a neck drive mechanism with dual-axis synchronous belt drive. Background Technology

[0002] Currently, the neck drive mechanisms of bionic robots and intelligent simulation devices mostly adopt single-axis drive, gear transmission, or direct linkage transmission structures. These are primarily used to achieve left-right and forward-backward swinging movements of the device's neck, completing posture adjustment and motion simulation. In practical applications, existing drive mechanisms suffer from uneven power output in traditional single-axis drive structures. One-sided drive easily leads to force deviation during neck swinging, poor synchronization of left-right and forward-backward swinging, frequent motion stuttering and deviation, and an inability to achieve high-precision, stable posture adjustment, failing to meet the motion simulation requirements of high-end simulation equipment and precision bionic robots. Secondly, gear transmission structures are noisy, wear quickly, and after long-term operation, gear backlash increases, transmission accuracy decreases significantly, and maintenance costs are high. Conventional linkage transmission structures have only one degree of freedom, poor linkage, and cannot achieve multi-dimensional coordinated swinging, resulting in insufficient neck movement flexibility. Meanwhile, existing neck drive mechanisms are difficult to assemble, disassemble, and maintain, and have low versatility. Furthermore, traditional drive mechanisms are mostly split-type layouts, resulting in poor structural compactness, large space occupation, and hindering the assembly and use of miniaturized and integrated equipment. Based on the aforementioned shortcomings of existing technologies, there is an urgent need to design a compact, smooth-transmitting, highly synchronized, and easy-to-assemble and maintain dual-axis synchronous belt drive neck drive mechanism. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this application proposes a neck drive mechanism with dual-axis synchronous belt drive. It adopts an integrated layout, integrating the dual-axis drive structure, synchronous transmission structure, and linkage structure into the mounting base and fixed base. The structure is compact, occupies little space, and is suitable for the assembly requirements of miniaturized and integrated intelligent equipment. Moreover, the components are precisely matched, the linkage logic is clear, the failure rate is low, and the later maintenance cost is low.

[0004] This invention provides the following technical solution: a neck drive mechanism with dual-axis synchronous belt drive, comprising a mounting base, a front and rear swing seat disposed within the mounting base, a front and rear swing shaft being connected through the front and rear swing seat, the left and right sides of the front and rear swing shaft being movably connected to the inner wall of the mounting base via bearings, a fixed base being connected above the front and rear swing seat, a left and right swing column being sleeved inside the fixed base, a left and right swing shaft being connected to the front and rear sides of the left and right swing column respectively, and the side of the left and right swing shaft that is away from the left and right swing column being movably connected to the inner wall of the fixed base via bearings, and a through groove being formed on the left and right swing column.

[0005] As a preferred embodiment of the present invention, driving wheels are provided on the left and right sides of the left and right swing columns near the top, and driven wheels are provided below the driving wheels. A drive belt is connected between the driving wheel and the driven wheel on the left or right side, and a protective cover is fitted over the fixed seat.

[0006] As a preferred embodiment of the present invention, a drive shaft is connected to the drive wheel, and the other end of the drive shaft is movably connected to the inner wall of the protective cover via a bearing. A dual-axis servo motor is arranged between the two drive wheels, and the two output shafts of the dual-axis servo motor are respectively connected to the drive shaft. A driven shaft is connected between the two driven wheels, and the driven shaft is hinged to the front and rear swing seats. A U-shaped column is connected between the dual-axis servo motor and the protective cover.

[0007] As a preferred embodiment of the present invention, rectangular sleeves are respectively connected to the two drive belts near their front and rear sides, and a drive connecting rod is hinged to the front side of the left and right swing columns. The right end of the drive connecting rod is hinged to the adjacent rectangular sleeve on the right side, and the rectangular sleeve is equipped with a mounting hole.

[0008] As a preferred embodiment of the present invention, an L-shaped sliding plate is connected to the rectangular sleeve on the front right side, and a sliding groove matching the L-shaped sliding plate is provided on the right side of the fixed base.

[0009] As a preferred embodiment of the present invention, a first docking ring is sleeved on the driven shaft near the left and right sides respectively, and a second docking ring is sleeved on the front and rear swing shaft near the left and right sides respectively. A docking connecting rod is hinged between the first docking ring and the second docking ring on the left or right side, and a rectangular groove is formed at the bottom of the inner cavity of the front and rear swing seat.

[0010] As a preferred embodiment of the present invention, the top of the left and right swing columns is connected to a mounting flange, and the mounting flange is provided with a plurality of evenly distributed connection holes.

[0011] As a preferred embodiment of the present invention, the left and right swinging column is covered with a flexible protective pad, and a flexible column connects the flexible protective pad and the protective cover.

[0012] As a preferred embodiment of the present invention, a fixing post is connected to each of the four corners of the bottom of the mounting base, and the bottom ends of the four fixing posts are connected to the same bonding plate. A rotating shaft is connected to the middle of the bottom of the mounting base, and a docking rotating disk is connected to the bottom end of the rotating shaft. The docking rotating disk has a docking hole and is connected through the bonding plate.

[0013] The beneficial effects of this invention are: 1. This invention adopts a dual-axis servo motor with dual-side synchronous belt dual-axis transmission structure to replace the traditional single-axis drive mode. The dual-axis synchronous power output can effectively ensure the synchronicity and balance of the left and right swing and the forward and backward swing of the neck, completely solve the problems of motion deviation, jamming and uneven force of traditional mechanisms, greatly improve the accuracy of neck posture adjustment and motion stability, and adapt to the use requirements of high-precision bionic simulation equipment. 2. This invention replaces traditional gear transmission with synchronous belt transmission, resulting in low transmission noise, low wear, no transmission backlash, and stable long-term operating accuracy. In addition, it can achieve multi-dimensional linkage with drive linkage and docking linkage, and can simultaneously complete the left and right swinging and forward and backward swinging movements of the neck, with higher degree of freedom of movement and greater flexibility, effectively improving the realism of the neck movement simulation of the equipment. 3. The present invention is equipped with a protective cover, a flexible protective pad and a flexible column to form an all-round protective structure, which can effectively protect the internal transmission and drive components and improve the operational stability; at the same time, the bottom is equipped with a bonding plate and a docking rotating disk, which, together with the top mounting flange, realizes standardized docking installation, making assembly, disassembly and maintenance convenient, and enhancing the equipment's versatility and adaptability. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 A frontal plan view; Figure 3 for Figure 1 Partial 3D view of components such as the drive belt; Figure 4 for Figure 1 Partial 3D view of components such as the flexible protective pad; Figure 5 for Figure 1 Partial 3D view of components such as the central rotating shaft; Figure 6 for Figure 1 Partial 3D view of components such as the front and rear swing shaft; Figure 7 for Figure 1 Partial 3D view of components such as the left and right swing axis.

[0015] In the diagram: 1. Mounting base; 2. Front and rear swing shaft; 3. Front and rear swing seat; 4. Driven wheel; 5. Fixed base; 6. Drive belt; 7. Rectangular sleeve; 8. Left and right swing column; 9. Mounting flange; 10. Connecting hole; 11. Flexible protective pad; 12. Flexible column; 13. Protective cover; 14. Sliding groove; 15. L-shaped sliding plate; 16. Fixed column; 17. Adhesive plate; 18. Docking hole; 19. Docking rotary disk; 20. Rotating shaft; 21. Driven shaft; 22. Left and right swing shaft; 23. Through groove; 24. Rectangular groove; 25. Mounting hole; 26. Drive linkage; 27. Docking linkage; 28. First docking ring; 29. ​​Second docking ring; 30. Dual-axis servo motor; 31. U-shaped column; 32. Drive shaft; 33. Drive wheel. Detailed Implementation

[0016] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Example 1 like Figures 1 to 7 As shown, a neck drive mechanism with dual-axis synchronous belt drive includes a mounting base 1. A front-to-back swing seat 3 is movably mounted inside the mounting base 1. A front-to-back swing shaft 2 passes through the front-to-back swing seat 3. The left and right ends of the front-to-back swing shaft 2 are rotatably connected to the inner wall of the mounting base 1 via bearings, allowing the front-to-back swing seat 3 to swing back and forth around the front-to-back swing shaft 2. A fixed base 5 is fixedly connected to the top of the front-to-back swing seat 3. A left-to-right swing column 8 is sleeved inside the fixed base 5. Left-to-right swing shafts 22 are fixedly connected to the front and rear sides of the left-to-right swing column 8. The outer ends of the left-to-right swing shafts 22 are rotatably connected to the inner wall of the fixed base 5 via bearings, ensuring that the left-to-right swing column 8 can swing stably left and right around the left-to-right swing shafts 22. A through slot 23 is provided in the middle of the left-to-right swing column 8 for weight reduction and to accommodate the linkage assembly of internal components. Both sides of the left and right swing column 8 are equipped with driving wheels 33 at their top, and driven wheels 4 are correspondingly located directly below the driving wheels 33. The driving wheels 33 and driven wheels 4 on the same side are synchronously connected by a drive belt 6. A protective cover 13 is sleeved on the outside of the fixed base 5 to protect the dual-sided transmission structure. The center of the driving wheel 33 is fixedly connected to the driving shaft 32. The outer end of the driving shaft 32 is rotatably connected to the inner wall of the protective cover 13 through a bearing. A dual-axis servo motor 30 is assembled between the two driving wheels 33. The output shafts on both sides of the dual-axis servo motor 30 are fixedly connected to the corresponding driving shaft 32 to provide power for the dual-sided synchronous transmission. A U-shaped column 31 is fixedly connected between the dual-axis servo motor 30 and the protective cover 13 to ensure stable motor fixation and prevent vibration during operation. A driven shaft 21 is fixedly connected between the two driven wheels 4 on both sides. The two ends of the driven shaft 21 are hinged and fixed to the front and rear swing seats 3 to realize the linkage between the transmission structure and the front and rear swing structure. Rectangular sleeves 7 are fixedly mounted on both the front and rear sides of the drive belt 6. The front side of the left and right swing columns 8 is hinged to the drive connecting rod 26. The right end of the drive connecting rod 26 is hinged to the adjacent rectangular sleeve 7 on the right side. The rectangular sleeve 7 has a mounting hole 25 to facilitate the disassembly and assembly of the components. The rectangular sleeve 7 on the right front is fixedly connected to an L-shaped sliding plate 15. A sliding groove 14 is opened on the right side of the fixed seat 5. The L-shaped sliding plate 15 is slidably engaged in the sliding groove 14 to limit and guide the transmission process of the drive belt 6 and ensure smooth transmission. First docking rings 28 are sleeved on both sides of the driven shaft 21, and second docking rings 29 are sleeved on both sides of the front and rear swing shaft 2. A docking link 27 is hinged between the first docking ring 28 and the second docking ring 29 on the same side to realize the linkage transmission between the driven shaft 21 and the front and rear swing shaft 2. A rectangular groove 24 is opened at the bottom of the inner cavity of the front and rear swing seat 3 to avoid the linkage components and avoid motion interference. A mounting flange 9 is fixedly connected to the top of the left and right swing column 8. Several connection holes 10 are evenly opened on the mounting flange 9 for fixed docking with the external neck actuator. A flexible protective pad 11 is sleeved on the outside of the left and right swing column 8. A flexible column 12 is fixedly connected between the flexible protective pad 11 and the protective cover 13 to form a flexible protective structure to buffer vibration and block dust. Mounting base 1 has four fixed corners at its bottom with fixed posts 16, and the bottom ends of the four fixed posts 16 are all fixed to the bonding plate 17 to achieve stable support for the entire mechanism. Mounting base 1 has a fixed center at its bottom with a rotating shaft 20, and the bottom end of the rotating shaft 20 is fixed to a docking rotating disk 19. The docking rotating disk 19 is set through the bonding plate 17 and has a docking hole 18, which facilitates the rotational docking and assembly of the entire mechanism with the external equipment base.

[0018] A method of using a neck drive mechanism with dual-axis synchronous belt drive includes the following steps: S1. Equipment assembly and docking: The mechanism is placed stably as a whole by using the bottom bonding plate 17. The mechanism is fixedly docked with the external equipment base by using the docking holes 18 on the docking rotating plate 19 to complete the overall base assembly. The left and right swing columns 8 are fixedly connected with the equipment neck actuator by using the top mounting flange 9 and the connection hole 10 to ensure that the assembly is firm and without loosening. S2. Circuit and debugging preparation: Connect the dual-axis servo motor 30 to the external controller and power supply equipment. Check all transmission components, linkage structure and bearing connection parts to ensure that each component is assembled in place without jamming or interference. Check the sliding fit between the L-shaped sliding plate 15 and the sliding groove 14 to ensure smooth sliding. S3. No-load test run and debugging: Start the external controller and control the dual-axis servo motor 30 to run at low speed without load. Observe whether the dual-side drive wheel 33, drive belt 6, and driven wheel 4 are running synchronously. Check whether the left and right swing and forward and backward swing movements are smooth. Check for problems such as offset, jamming, and abnormal noise. If there is a deviation, fine-tune the motor synchronization parameters and the connecting rod assembly clearance to ensure that the dual-side transmission is completely synchronized. S4. Load Operation: After no-load debugging without any abnormalities, according to the equipment's working requirements, the swing angle, swing rate, and swing frequency parameters are set through the controller to control the dual-axis servo motor to operate precisely. Through the dual-axis synchronous belt drive and linkage structure, the equipment neck can achieve multi-dimensional swing posture adjustment in the left, right, front, and back directions to complete normal operation. S5. Operation monitoring and maintenance: During equipment operation, observe the operating status of the mechanism in real time, and check for abnormalities such as transmission belt misalignment and loose parts; after the operation is completed, turn off the power, clean the dust on the surface of the protective cover and transmission components, check the integrity of the flexible protective structure, connecting rod and bearing, and regularly add lubricating oil to the transmission components and rotating parts to ensure the long-term operating accuracy and stability of the mechanism.

[0019] Example 2 In this embodiment, the dual-axis servo motor 30 adopts a synchronous start-stop and synchronous speed control mode. The parameters of the dual-sided driving wheel 33, drive belt 6, and driven wheel 4 are completely consistent, ensuring that the transmission speed and transmission stroke on both sides are completely synchronized, thus completely eliminating single-sided transmission deviation. The gap between the L-shaped sliding plate 15 and the sliding groove 14 is controlled at 0.5-1mm, which not only ensures smooth sliding but also effectively limits the offset and jitter of the drive belt 6, further improving transmission stability. Meanwhile, both the docking link 27 and the drive link 26 are made of high-strength alloy material, which has high strength and small deformation, ensuring long-term linkage accuracy. The flexible column 12 is made of elastic rubber material, which can effectively absorb vibration during the operation of the mechanism, reduce noise, and improve the overall operational stability. The mounting flange 9 and the docking rotary disk 19 are designed with standardized dimensions, which can be adapted to the neck mounting interface of most bionic robots and simulation equipment, making them more versatile.

[0020] Working principle: When the present invention is working, the dual-axis servo motor 30 is used as the core power source. The dual axes output torque synchronously, which drives the two active shafts 32 and active wheel 33 to rotate synchronously. The active wheel 33 drives the driven wheel 4 below to rotate synchronously through the drive belt 6, realizing the dual-side synchronous belt transmission. During the left and right swinging motion, the drive belt 6 drives the rectangular sleeve 7 to move synchronously. The rectangular sleeve 7 pulls the left and right swinging column 8 through the drive linkage 26, causing the left and right swinging column 8 to deflect at an angle around the left and right swinging axis 22, thereby realizing the left and right swinging motion of the equipment neck. At the same time, the L-shaped sliding plate 15 slides synchronously along the sliding groove 14 to limit and guide the transmission stroke, avoiding deviation and jamming. During the back-and-forth swinging motion, the driven wheel 4 rotates, driving the driven shaft 21 to rotate. The driven shaft 21, through the linkage of the first docking ring 28, the docking link 27, and the second docking ring 29, drives the back-and-forth swinging shaft 2 to rotate, thereby driving the back-and-forth swinging seat 3 to complete the back-and-forth swinging motion around the back-and-forth swinging shaft 2, thus realizing the adjustment of the neck posture. During operation, the protective cover 13, flexible protective pad 11, and flexible column 12 provide all-around protection. The bottom-connected rotating disk 19 can drive the entire mechanism to rotate slightly around the rotating axis 20, which, combined with multi-dimensional swinging movements, enables high-precision simulation adjustment of the neck in multiple postures. The dual-axis synchronous transmission structure ensures balanced power output on both sides, and all linked components work together without motion interference, resulting in smooth overall operation and precise movements.

[0021] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0022] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A neck drive mechanism with dual-shaft synchronous belt drive, characterized in that, The device includes a mounting base (1), which contains a front-to-back swing seat (3). A front-to-back swing shaft (2) is connected through the front-to-back swing seat (3). The left and right sides of the front-to-back swing shaft (2) are movably connected to the inner wall of the mounting base (1) via bearings. A fixed seat (5) is connected above the front-to-back swing seat (3). A left-to-right swing column (8) is fitted inside the fixed seat (5). A left-to-right swing shaft (22) is connected to the front and back sides of the left-to-right swing column (8). The side of the left-to-right swing shaft (22) that is far away from the left-to-right swing column (8) is movably connected to the inner wall of the fixed seat (5) via bearings. A through groove (23) is provided on the left-to-right swing column (8).

2. The neck drive mechanism with dual-axis synchronous belt drive according to claim 1, characterized in that, The left and right swing column (8) is provided with a drive wheel (33) near the top on both sides. A driven wheel (4) is provided below the drive wheel (33). A drive belt (6) is connected between the drive wheel (33) on the left or right side and the driven wheel (4). The fixed seat (5) is covered with a protective cover (13).

3. A neck drive mechanism with dual-axis synchronous belt drive according to claim 2, characterized in that, The drive wheel (33) is connected to the drive shaft (32), and the other end of the drive shaft (32) is movably connected to the inner wall of the protective cover (13) through a bearing. A dual-axis servo motor (30) is provided between the two drive wheels (33). The output shafts on both sides of the dual-axis servo motor (30) are respectively connected to the drive shaft (32). A driven shaft (21) is connected between the two driven wheels (4). The driven shaft (21) is hinged to the front and rear swing seat (3). A U-shaped column (31) is connected between the dual-axis servo motor (30) and the protective cover (13).

4. A neck drive mechanism with dual-axis synchronous belt drive according to claim 2, characterized in that, Rectangular sleeves (7) are connected to the two drive belts (6) near the front and rear sides respectively. A drive link (26) is hinged to the front side of the left and right swing column (8). The right end of the drive link (26) is hinged to the adjacent rectangular sleeve (7) on the right side, and a mounting hole (25) is installed on the rectangular sleeve (7).

5. A neck drive mechanism with dual-axis synchronous belt drive according to claim 4, characterized in that, An L-shaped sliding plate (15) is connected to the rectangular sleeve (7) on the right front side, and a sliding groove (14) matching the L-shaped sliding plate (15) is opened on the right side of the fixed seat (5).

6. A neck drive mechanism with dual-axis synchronous belt drive according to claim 3, characterized in that, The driven shaft (21) is fitted with a first docking ring (28) near the left and right sides respectively, and the front and rear swing shaft (2) is fitted with a second docking ring (29) near the left and right sides respectively. A docking link (27) is hinged between the first docking ring (28) and the second docking ring (29) on the left or right side, and a rectangular groove (24) is opened at the bottom of the inner cavity of the front and rear swing seat (3).

7. A neck drive mechanism with dual-axis synchronous belt drive according to claim 2, characterized in that, The top of the left and right swing column (8) is connected to a mounting flange (9), and the mounting flange (9) has several evenly distributed connection holes (10).

8. A neck drive mechanism with dual-axis synchronous belt drive according to claim 1, characterized in that, The left and right swing column (8) is covered with a flexible protective pad (11), and a flexible column (12) is connected between the flexible protective pad (11) and the protective cover (13).

9. A neck drive mechanism with dual-axis synchronous belt drive according to claim 1, characterized in that, The mounting base (1) has four fixed posts (16) connected to the bottom corners respectively. The bottom ends of the four fixed posts (16) are connected to the same bonding plate (17). The mounting base (1) has a rotating shaft (20) connected to the bottom middle. The bottom end of the rotating shaft (20) is connected to a docking rotating disk (19). The docking rotating disk (19) has a docking hole (18) and is connected through the bonding plate (17).

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