Neck reversing mechanism of bionic robot

Abstract

The utility model relates to the technical field of bionic robot neck reversing mechanisms, and discloses a bionic robot neck reversing mechanism which comprises a base, a bionic cervical vertebra block is fixedly connected to the top of the base, a universal assembly is fixedly connected to the interior of the bionic cervical vertebra block, side bending assemblies are fixedly connected to the two ends of the bionic cervical vertebra block, and the side bending assemblies are fixedly connected to the top of the base. The bottom face of the base is fixedly connected with two rotating assemblies. According to the neck reversing mechanism of the bionic robot, through the arrangement of a universal assembly and a lateral bending assembly, when lateral bending action needs to be carried out, a hydraulic lifting rod is started, a connecting block deviates laterally, then an extension column is stretched, an extension column on the other side shrinks, and meanwhile a universal ball in the middle of a bionic cervical vertebra block rotates in a movable sleeve; the multiple sets of bionic cervical vertebra blocks are connected and rotate by corresponding angles, the side face bending effect is achieved, the multi-angle bending capacity of the neck of the bionic robot is improved, and the functional diversity of the mechanism is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of a bionic robot neck reversing mechanism, in particular to a bionic robot neck reversing mechanism. Background Art

[0002] Bionic robots refer to robots that imitate living things and perform work that is characteristic of living things. Robot architecture refers to the structural mode of information processing and control logic of one or more robots to complete a specified goal. Humanoid robots are a type of robot that has features similar to human appearance, such as head, torso, hands and feet. Humanoid robots have developed a variety of sizes and appearance designs. The design of the bionic robot neck reversing mechanism can be inspired by the neck structure of animals in biology to achieve more flexible and natural movement. Therefore, a bionic robot neck reversing mechanism is needed to facilitate the natural action of side bending and deflection angle.

[0003] A neck structure of a bionic robot disclosed in the publication number CN217256310U includes a chassis, a first motor is fixedly connected to the middle of the top of the chassis, a second adjustment block is fixedly connected to the driving end of the first motor, a second motor is fixedly connected to the inner wall of the right end of the second adjustment block, a rotating shaft is fixedly connected to the driving end of the second motor, and a second gear is fixedly connected to the middle of the shaft of the rotating shaft. In the utility model, the first motor drives the entire device to rotate to realize the robot's head swinging action, and then the second motor drives the rotating shaft and the second gear to rotate, and the second gear drives the column and the first adjustment block to rotate through the first gear to realize the robot's nodding and raising head actions. It is flexible to use, and the anti-collision arc plate is set to buffer the impact force when the device is impacted, and the slide rod drives the spring to shrink in the buffer, which can protect the device as a whole.

[0004] However, the neck structure of the bionic robot has the following disadvantages:

[0005] (1) When side bending is required, it is not convenient to perform side bending, thus improving functional diversity;

[0006] (2) When the bionic robot neck needs to change direction and deflect, it is not convenient to make the deflection angle natural and consistent with the movement trajectory and mechanical characteristics of biological organisms. Utility Model Content

[0007] 1. Technical issues to be solved

[0008] The technical problem solved by the utility model is to provide a bionic robot neck reversing mechanism which is highly practical, can be simply operated and has a relatively simple structure, thereby solving the problem of inconvenience in side bending and natural deflection angle raised in the above-mentioned background technology.

[0009] (II) Technical solution

[0010] To achieve the above objectives, the utility model is implemented through the following technical solutions: a bionic robot neck reversing mechanism, including a base, the top of the base is fixedly connected to a bionic cervical vertebra block, the inside of the bionic cervical vertebra block is fixedly connected to a universal assembly, both ends of the bionic cervical vertebra block are fixedly connected to side bending assemblies, the bottom surface of the base is fixedly connected to two groups of rotating assemblies, the top of the rotating assembly is fixedly connected to a movable bolt, the surface of the movable bolt is rotatably connected to a telescopic assembly, and the top of the telescopic assembly is rotatably connected to a support plate.

[0011] Optionally, the universal assembly includes a movable sleeve fixedly connected to the inside of the bionic cervical vertebrae block, and the inside of the movable sleeve is rotatably connected to a universal ball, which facilitates the rotation angle.

[0012] Optionally, the scoliosis component includes a connection block fixedly connected to one end of the bionic cervical vertebra block, and an extension column is fixedly connected to the interior of the connection block, and the extension column is convenient for supporting extension and retraction.

[0013] Optionally, the rotating assembly includes a motor housing fixedly connected to the bottom surface of the base, a servo motor is fixedly connected to the interior of the motor housing, an output end of the servo motor is splined to a transmission rod, one end of the transmission rod is fixedly connected to a rotating disk, and the rotating disk is easy to rotate.

[0014] Optionally, the telescopic assembly includes a hydraulic telescopic rod rotatably connected to the surface of a movable bolt, and a movable disk is hinged on the top of the hydraulic telescopic rod, and the movable disk is easy to rotate.

[0015] Optionally, a connecting rod is fixedly connected to one side of the connecting block, and a hydraulic lifting rod is fixedly connected to one end of the connecting rod, so that the hydraulic lifting rod facilitates lifting and lowering to produce side bending.

[0016] Optionally, the surface of the base is provided with two groups of grooves adapted to the rotating disk, and the connecting block is convenient for connection and fixation.

[0017] (III) Beneficial effects

[0018] The utility model provides a bionic robot neck reversing mechanism, which has the following beneficial effects:

[0019] 1. The bionic robot neck reversing mechanism, through the setting of the universal assembly and the side bending assembly, starts the hydraulic lifting rod when side bending is required, so that the connecting block deflects to the side, thereby stretching the extension column, and the extension column on the other side contracts. At the same time, the universal ball in the middle of the bionic cervical vertebrae block rotates inside the movable sleeve, so that multiple groups of bionic cervical vertebrae blocks are connected and rotated at corresponding angles, achieving the effect of side bending, increasing the multi-angle bending ability of the bionic robot neck, and improving the functional diversity of the mechanism.

[0020] 2. The bionic robot neck reversing mechanism, through the setting of the rotating component and the telescopic component, when the bionic robot neck needs to be reversing and deflecting, the hydraulic telescopic rod is started according to the angle to be deflected, and the hydraulic telescopic rod is extended, so that the movable disk hinged on the top of the telescopic rod rotates, and at the same time, the universal ball on the bionic cervical vertebra block deflects in the movable sleeve, thereby driving the support disk to rotate. When deflection occurs, the servo motor is started to drive the rotating disk to rotate a certain angle, so that the neck of the bionic robot can change direction more smoothly and naturally during movement, simulating the movement trajectory and mechanical properties of biological organisms, and improving the flexibility of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0022] Figure 2 This is a schematic diagram of the split structure of the utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the side bending component of the utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the rotating assembly and the telescopic assembly of the utility model;

[0025] Figure 5 It is a schematic diagram of the structure of the universal assembly of the utility model.

[0026] In the figure: 1. base; 2. bionic cervical vertebra block; 3. universal joint assembly; 301. movable sleeve; 302. universal ball; 4. lateral bending assembly; 401. connecting block; 402. extension column; 5. rotating assembly; 501. motor housing; 502. servo motor; 503. transmission rod; 504. rotating disk; 6. movable bolt; 7. telescopic assembly; 701. hydraulic telescopic rod; 702. movable disk; 8. support disk; 9. connecting rod; 10. hydraulic lifting rod. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figures 1 to 5The utility model provides a technical solution: a bionic robot neck reversing mechanism, comprising a base 1, a bionic cervical vertebra block 2 is fixedly connected to the top of the base 1, a universal assembly 3 is fixedly connected to the inside of the bionic cervical vertebra block 2, and when a side bending action is required, the hydraulic lifting rod 10 is started to make the connecting block 401 deflect to the side, thereby stretching the extension column 402, and the extension column 402 on the other side contracts, and at the same time, the universal ball 302 in the middle of the bionic cervical vertebra block 2 rotates inside the movable sleeve 301, so that multiple groups of bionic cervical vertebra blocks 2 are connected and rotated to corresponding angles, so as to achieve the effect of side bending, increase the multi-angle bending ability of the bionic robot neck, and improve the mechanism. Functional diversity: both ends of the bionic cervical vertebrae block 2 are fixedly connected with a lateral bending assembly 4. Through the arrangement of the universal assembly 3 and the lateral bending assembly 4, when a lateral bending action is required, the hydraulic lifting rod 10 is started to make the connecting block 401 deflect to the side, thereby stretching the extension column 402, and the extension column 402 on the other side contracts. At the same time, the universal ball 302 in the middle of the bionic cervical vertebrae block 2 rotates inside the movable sleeve 301, so that multiple groups of bionic cervical vertebrae blocks 2 are connected and rotated to corresponding angles to achieve the effect of lateral bending, increase the multi-angle bending ability of the bionic robot neck, and improve the functional diversity of the mechanism. The bottom surface of the base 1 is fixedly connected with two groups of rotating assemblies 5. Through the arrangement of the rotating assembly 5 and the telescopic assembly 7, when the bionic robot is required to When the robot neck changes direction and deflects, according to the angle to be deflected, the hydraulic telescopic rod 701 is started, and the hydraulic telescopic rod 701 is extended, so that the movable disk 702 hinged on the top of the hydraulic telescopic rod 701 rotates, and at the same time, the universal ball 302 on the bionic cervical vertebra block 2 deflects in the movable sleeve 301, thereby driving the support disk 8 to rotate. When deflection occurs, the servo motor 502 is started to drive the rotating disk 504 to rotate a certain angle, so that the neck of the bionic robot can change direction more smoothly and naturally during movement, simulating the movement trajectory and mechanical properties of biological organisms, and improving the flexibility of the device. The top of the rotating component 5 is fixedly connected to the movable bolt 6, and the surface of the movable bolt 6 is rotatably connected to the telescopic component 7. The arrangement of the rotating assembly 5 and the telescopic assembly 7 is such that when the bionic robot neck needs to be deflected, the hydraulic telescopic rod 701 is started according to the angle to be deflected, and the hydraulic telescopic rod 701 is extended, so that the movable disk 702 hinged on the top of the hydraulic telescopic rod 701 rotates, and at the same time, the universal ball 302 on the bionic cervical vertebra block 2 deflects in the movable sleeve 301, thereby driving the support disk 8 to rotate. When deflection occurs, the servo motor 502 is started to drive the rotating disk 504 to rotate a certain angle, so that the bionic robot neck can change direction more smoothly and naturally during movement, simulating the movement trajectory and mechanical characteristics of biological organisms, and improving the flexibility of the device. The top of the telescopic assembly 7 is rotatably connected to the support disk 8;

[0029] The universal assembly 3 includes a movable sleeve 301 fixedly connected to the inside of the bionic cervical vertebra block 2, and the internal rotation of the movable sleeve 301 is connected to a universal ball 302. Through the arrangement of the universal assembly 3 and the lateral bending assembly 4, when a lateral bending action is required, the hydraulic lifting rod 10 is started to make the connecting block 401 deflect to the side, thereby stretching the extension column 402, and the extension column 402 on the other side is contracted. At the same time, the universal ball 302 in the middle of the bionic cervical vertebra block 2 rotates inside the movable sleeve 301, so that multiple groups of bionic cervical vertebra blocks 2 are connected and rotated to corresponding angles, so as to achieve the effect of lateral bending, increase the multi-angle bending ability of the bionic robot neck, and improve the functional diversity of the mechanism;

[0030] The lateral bending assembly 4 includes a connecting block 401 fixedly connected to one end of the bionic cervical vertebra block 2, and an extension column 402 is fixedly connected inside the connecting block 401. Through the arrangement of the universal assembly 3 and the lateral bending assembly 4, when a lateral bending action is required, the hydraulic lifting rod 10 is started to make the connecting block 401 deflect to the side, thereby stretching the extension column 402, and the extension column 402 on the other side contracts. At the same time, the universal ball 302 in the middle of the bionic cervical vertebra block 2 rotates inside the movable sleeve 301, so that multiple groups of bionic cervical vertebra blocks 2 are connected and rotated at corresponding angles, so as to achieve the effect of lateral bending, increase the multi-angle bending ability of the bionic robot neck, and improve the functional diversity of the mechanism;

[0031] The rotating assembly 5 includes a motor housing 501 fixedly connected to the bottom surface of the base 1, a servo motor 502 is fixedly connected inside the motor housing 501, a transmission rod 503 is splinedly connected to the output end of the servo motor 502, and a rotating disk 504 is fixedly connected to one end of the transmission rod 503. Through the arrangement of the rotating assembly 5 and the telescopic assembly 7, when the bionic robot neck needs to be reversing and deflecting, the hydraulic telescopic rod 701 is started according to the angle to be deflected, and the hydraulic telescopic rod 701 is extended, so that the movable disk 702 hinged on the top of the hydraulic telescopic rod 701 rotates, and at the same time, the universal ball 302 on the bionic cervical vertebra block 2 deflects in the movable sleeve 301, thereby driving the support disk 8 to rotate. When deflection occurs, the servo motor 502 is started to drive the rotating disk 504 to rotate a certain angle, so that the neck of the bionic robot can change direction more smoothly and naturally during movement, simulate the movement trajectory and mechanical characteristics of biological organisms, and improve the flexibility of the device;

[0032] The telescopic assembly 7 includes a hydraulic telescopic rod 701 rotatably connected to the surface of the movable bolt 6, and a movable disk 702 is hinged on the top of the hydraulic telescopic rod 701. Through the arrangement of the rotating assembly 5 and the telescopic assembly 7, when the bionic robot neck needs to change direction and deflect, the hydraulic telescopic rod 701 is started according to the angle to be deflected, and the hydraulic telescopic rod 701 is extended, so that the movable disk 702 hinged on the top of the hydraulic telescopic rod 701 rotates, and at the same time, the universal ball 302 on the bionic cervical vertebra block 2 deflects in the movable sleeve 301, thereby driving the support disk 8 to rotate. When deflection occurs, the servo motor 502 is started to drive the rotating disk 504 to rotate a certain angle, so that the neck of the bionic robot can change direction more smoothly and naturally during movement, simulating the movement trajectory and mechanical properties of biological organisms, and improving the flexibility of the device;

[0033] A connecting rod 9 is fixedly connected to one side of the connecting block 401, and a hydraulic lifting rod 10 is fixedly connected to one end of the connecting rod 9. The hydraulic lifting rod 10 is provided to achieve lifting and lowering to generate lateral bending.

[0034] The surface of the base 1 is provided with two groups of grooves adapted to the rotating disk 504 , and the connection block 401 is provided to achieve the function of connection and fixing.

[0035] In the utility model, the working steps of the device are as follows:

[0036] Step 1: When a lateral bending action is required, the hydraulic lifting rod 10 is started to make the connecting block 401 deflect to the side, thereby stretching the extension column 402, and the extension column 402 on the other side contracts. At the same time, the universal ball 302 in the middle of the bionic cervical vertebra block 2 rotates inside the movable sleeve 301, so that multiple groups of bionic cervical vertebra blocks 2 are connected and rotated to corresponding angles, thereby bending to the side, thereby increasing the multi-angle bending ability of the bionic robot neck and improving the functional diversity of the mechanism;

[0037] Step 2: When the bionic robot neck needs to be deflected, the hydraulic telescopic rod 701 is started according to the angle to be deflected, and the hydraulic telescopic rod 701 is extended, so that the movable plate 702 hinged on the top of the hydraulic telescopic rod 701 rotates, and at the same time, the universal ball 302 on the bionic cervical vertebra block 2 deflects in the movable sleeve 301, thereby driving the support plate 8 to rotate;

[0038] The third step: when deflection occurs, the servo motor 502 is started to drive the rotating disk 504 to rotate a certain angle, so that the neck of the bionic robot can change direction more smoothly and naturally during movement, simulating the movement trajectory and mechanical properties of biological organisms, and improving the flexibility of the device.

[0039] It should be noted that the equipment structure and drawings of the utility model mainly describe the principle of the utility model. In terms of the technology of the design principle, the settings of the power mechanism, power supply system and control system of the device are not fully described. On the premise that the technical personnel in this field understand the principle of the above utility model, the details of the power mechanism, power supply system and control system can be clearly known. The control method of the application document is automatic control through a controller, and the control circuit of the controller can be realized by simple programming by the technical personnel in this field;

[0040] The standard parts used therein can all be purchased from the market and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the structures and principles of the components known to technical personnel in this field can be known by these technical personnel through technical manuals or through conventional experimental methods.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic robot neck reversing mechanism, comprising a base (1), characterized in that: The top of the base (1) is fixedly connected to a bionic cervical vertebra block (2), the interior of the bionic cervical vertebra block (2) is fixedly connected to a universal assembly (3), both ends of the bionic cervical vertebra block (2) are fixedly connected to scoliosis assemblies (4), the bottom surface of the base (1) is fixedly connected to two groups of rotating assemblies (5), the top of the rotating assembly (5) is fixedly connected to a movable bolt (6), the surface of the movable bolt (6) is rotatably connected to a telescopic assembly (7), and the top of the telescopic assembly (7) is rotatably connected to a support plate (8).

2. The bionic robot neck reversing mechanism according to claim 1, characterized in that: The universal joint assembly (3) comprises a movable sleeve (301) fixedly connected to the interior of the bionic cervical vertebra block (2), and a universal ball (302) is rotatably connected to the interior of the movable sleeve (301).

3. The bionic robot neck reversing mechanism according to claim 1, characterized in that: The scoliosis component (4) comprises a connection block (401) fixedly connected to one end of the bionic cervical vertebra block (2), and an extension column (402) is fixedly connected inside the connection block (401).

4. The bionic robot neck reversing mechanism according to claim 1, characterized in that: The rotating assembly (5) comprises a motor housing (501) fixedly connected to the bottom surface of the base (1); a servo motor (502) is fixedly connected inside the motor housing (501); an output end of the servo motor (502) is spline-connected to a transmission rod (503); and one end of the transmission rod (503) is fixedly connected to a rotating disk (504).

5. The bionic robot neck reversing mechanism according to claim 1, characterized in that: The telescopic assembly (7) comprises a hydraulic telescopic rod (701) rotatably connected to the surface of a movable bolt (6), and a movable disk (702) is hinged on the top of the hydraulic telescopic rod (701).

6. The bionic robot neck reversing mechanism according to claim 3, characterized in that: A connecting rod (9) is fixedly connected to one side of the connecting block (401), and a hydraulic lifting rod (10) is fixedly connected to one end of the connecting rod (9).

7. The bionic robot neck reversing mechanism according to claim 1, characterized in that: The surface of the base (1) is provided with two groups of grooves adapted to the rotating disk (504).

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