Linkage type neck skeleton of mechanical dinosaur

Abstract

The utility model relates to the field of bionic robots, and particularly discloses a linkage type neck framework of a mechanical dinosaur. Comprising a rotary seat, a first steering engine, a second steering engine, a joint arm formed by joint seats, a head seat, a first cross-shaped ball joint connected between the joint seats, a first push rod, a second push rod, a second cross-shaped ball joint connected between the push rod and the joint seats, a fixed seat, a third steering engine and a fourth steering engine. The joint seats in the joint arm are connected through the first cross-shaped ball joint, then the first push rod and the second push rod are matched with the second cross-shaped ball joint to be connected with the joint seats, and the first steering engine and the second steering engine with the rotating directions perpendicular to each other drive the first push rod and the second push rod to drive the joint arm to be flexibly bent at multiple angles. And the push rod structure can lower the manufacturing cost and difficulty, so that the overall structural strength is improved.

Description

Technical Field

[0001] The utility model belongs to the field of bionic robots, and particularly relates to a linkage type mechanical dinosaur neck skeleton. Background Art

[0002] Dinosaur bionic robots are widely used in education, toys, amusement facilities, film and television props, etc. Among them, the neck of bionic dinosaurs such as the serpent dragon has a slender structure and needs flexible rotation, which has been a long-term research problem in the field of bionic dinosaurs. Among the existing structures, the ball-tooth connection structure is adopted by most designers because it can achieve flexible rotation. However, the existing ball-tooth structure has defects such as complex structure, high cost and low structural strength.

[0003] In the patent document with application number "CN201920109428.8", a flexible robotic arm based on ball gear transmission is disclosed, including an end effector, an arm unit, an actuator control unit, an arm control unit and a bracket, wherein the end effector shaft is connected to one end of the arm unit, the other end of the arm unit is connected to the actuator control unit, the arm control unit is fixed on both sides of the other end of the arm unit, and the bracket is used to fix and support the actuator control unit and the arm control unit; the use of ball gear transmission increases the flexibility of the robotic arm, facilitates exploration, increases flexibility, and reduces the complexity of joints. However, the comparative document connects the joints through a ball gear structure. Although a larger turning angle can be achieved, it still has defects such as complex structure, high processing and manufacturing costs, and low maintenance strength.

[0004] The disclosure of the above background technology content is only used to assist in understanding the utility model concept and technical solution of the utility model. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Utility Model Content

[0005] The utility model aims to provide a linkage type mechanical dinosaur neck skeleton, so as to overcome the defects of the existing mechanical dinosaur neck skeleton which can rotate flexibly, such as complex structure, high manufacturing cost and low strength.

[0006] To achieve the above-mentioned purpose, the utility model provides a linkage type mechanical dinosaur neck skeleton, including a swivel seat, a joint arm and a head seat, the joint arm is composed of a plurality of joint seats connected end to end through a first cross ball joint, the joint seat located at one end of the joint arm is fixedly connected to the swivel seat, and the joint seat located at the other end of the joint arm is connected to the head seat through the first cross ball joint, the swivel seat is provided with a first steering gear and a second steering gear, the output shaft of the first steering gear and the output shaft of the second steering gear are perpendicular to each other, the output shaft of the first steering gear is connected to a first swing arm, and the output shaft of the second steering gear is connected to a second swing arm; it also includes a first push rod and a second push rod, the first push rod and the The number of the second push rods corresponds to the number of the joint seats, the first push rod and the second push rod can pass through the middle part of the joint seat and the rod bodies are staggered with each other, the two ends of the first push rod and the two ends of the second push rod are respectively connected to the ends of the two joint seats adjacent to the joint seat through the second cross ball joint, the end of the first push rod located at one end of the joint arm is connected to the first swing arm through the second cross ball joint, the end of the second push rod located at one end of the joint arm is connected to the second swing arm through the second cross ball joint, and the end of the first push rod and the end of the second push rod located at the other end of the joint arm are connected to the head seat through the second cross ball joint.

[0007] Preferably, the above technical solution further includes a fixed seat, on which a third steering gear is provided, and an output shaft of the third steering gear is fixedly connected to one end of the rotating seat, and the output shaft of the third steering gear is parallel to the output shaft of the first steering gear.

[0008] Preferably, in the above technical solution, a first connecting pin is respectively provided at both ends of the first push rod, and the first connecting pin can be fixedly connected to the end of the second cross ball joint. The middle part of the first push rod is bent twice so that the axes of the first connecting pins at both ends of the first push rod can be staggered with each other and the axes of the two first connecting pins can remain parallel to each other.

[0009] Preferably, in the above technical solution, second connecting pins are respectively provided at both ends of the second push rod, and the second connecting pin can be fixedly connected to the end of the second cross ball joint. The middle part of the second push rod is bent twice so that the axes of the second connecting pins at both ends of the second push rod can be staggered with each other and the axes of the two second connecting pins can remain parallel to each other.

[0010] Preferably, in the above technical solution, the joint seat includes a seat plate and a connecting shell, the number of the seat plates is two, the two seat plates are parallel to each other and far away from each other, the connecting shell is connected between the two seat plates, and the connecting shell is provided with a clearance opening, and the first push rod and the second push rod can pass through the clearance opening.

[0011] Preferably, in the above technical solution, a third connecting pin and two fourth connecting pins are provided on the side of the seat plate facing away from the connecting shell, the axes of the two third connecting pins at both ends of the joint seat coincide, the third connecting pin is fixedly connected to the end of the first cross ball joint, and the fourth connecting pin is fixedly connected to the end of the second cross ball joint.

[0012] Preferably, in the above technical solution, the outer side surface of the connecting shell and the inner side surface of the connecting shell are both arc surfaces.

[0013] Preferably, in the above technical solution, a plurality of weight-reducing holes are provided on the connecting shell.

[0014] Preferably, in the above technical solution, the diameter of the outer side surface of the connecting shell decreases successively along the direction from one end of the articulated arm to the other end of the articulated arm.

[0015] Preferably, the above technical solution further comprises a fourth steering gear, the output shaft of the fourth steering gear is fixedly connected to an end of the head seat away from the joint arm, and the axis of the output shaft of the fourth steering gear is perpendicular to the end face of the head seat.

[0016] Compared with the existing technology, the utility model has the following beneficial effects:

[0017] 1. The joint seat in the joint arm of the linkage type mechanical dinosaur neck skeleton in the utility model is connected by a first cross ball joint, and then connected to the joint seat by a first push rod and a second push rod in cooperation with the second cross ball joint. The first push rod and the second push rod are driven by a first servo and a second servo whose rotation directions are perpendicular to each other to drive the joint arm to perform flexible bending at multiple angles. In addition, the push rod structure can reduce the manufacturing cost and difficulty, and improve the overall structural strength.

[0018] 2. The third servo and the fourth servo in the utility model can enable the joint arm and the head seat to move with more degrees of freedom, thereby enriching the movement posture of the entire neck skeleton and improving the realism of bionics.

[0019] 3. The first push rod and the second push rod in the utility model are respectively bent into an "S"-shaped structure, and can cross and pass through the make way opening in the middle of the connecting shell, so as to be received in the connecting shell without taking up additional space, thereby improving the integrity of the overall structure and making it easier to wrap external parts such as the skin outside the skeleton.

[0020] 4. The outer side and inner side of the connecting shell in the utility model are both arc surfaces, which can not only improve the structural strength of the joint seat, but also imitate the outline of the dinosaur neck. The diameter of the outer side of the connecting shell decreases from the rotating seat to the head seat, which is more in line with the shape characteristics of the real dinosaur neck, which is thin at the top and thick at the bottom.

[0021] 5. The connection shell in the utility model is provided with a plurality of weight-reducing holes, which can make the joint arm lighter as a whole and the action response faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of a linkage type mechanical dinosaur neck skeleton of the utility model.

[0023] Figure 2 This is a structural diagram of the joint seat.

[0024] Figure 3 It is a structural diagram of the first push rod.

[0025] Figure 4 It is a structural diagram of the second push rod.

[0026] Figure 5 This is a diagram of the structure of transposition.

[0027] Description of main reference numerals:

[0028] 100-swivel seat, 110-first steering gear, 120-second steering gear, 130-first swing arm, 140-second swing arm;

[0029] 200-joint arm, 210-joint seat, 220-first cross ball joint, 230-seat plate, 231-third connecting pin, 232-fourth connecting pin, 240-connecting shell, 241-giving way, 242-weight reduction hole;

[0030] 300-head seat, 310-fourth steering gear;

[0031] 400 - first push rod, 410 - first connecting pin;

[0032] 500 - second push rod, 510 - second connecting pin;

[0033] 600-Second cross ball joint;

[0034] 700-fixed seat, 710-third servo. DETAILED DESCRIPTION

[0035] 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. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. 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.

[0036] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "top", "bottom", "top surface", "bottom surface", "inside", "outside", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0037] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is a description of the embodiments of the present invention based on its overall structure.

[0039] like Figures 1 to 5As shown, the linkage type mechanical dinosaur neck skeleton in this embodiment includes: a swivel seat 100, a first servo 110, a second servo 120, a first swing arm 130, a second swing arm 140, a joint arm 200, a joint seat 210, a first cross ball joint 220, a seat plate 230, a third connecting pin 231, a fourth connecting pin 232, a connecting shell 240, a clearance port 241, a weight reduction hole 242, a head seat 300, a fourth servo 310, a first push rod 400, a first connecting pin 410, a second push rod 500, a second connecting pin 510, a second cross ball joint 600, a fixed seat 700, and a third servo 710.

[0040] The articulated arm 200 is composed of a plurality of articulated seats 210, wherein the articulated seats 210 include two seat plates 230 and a connecting shell 240, wherein the two seat plates 230 are parallel to each other and away from each other, and the seat plates 230 are in the shape of a fan, and the connecting shell 240 is connected between the two seat plates 230, and the outer side surface of the connecting shell 240 and the inner side surface of the connecting shell 240 are both arc surfaces, and the curvatures of the inner side surface and the outer side surface are consistent, and the two ends of the connecting shell 240 are welded to the portion of the seat plate 230 close to its edge and are perpendicular to each other, and the curvature of the outer side surface of the connecting shell 240 is consistent with the curvature of the arc edge of the fan-shaped structure of the seat plate 230; the side lines of the two side portions of the connecting shell 240 are spiral lines with the same rotation direction, so that the side portions of the connecting shell 240 can be formed Yield 241; a third connecting pin 231 and two fourth connecting pins 232 are arranged on the side of the seat plate 230 facing away from the connecting shell 240, the axes of the two third connecting pins 231 at both ends of the joint seat 210 coincide, and the two fourth connecting pins 232 at both ends of the joint seat 210 are respectively arranged near the two ends of the arc edge of the seat plate 230; each joint seat 210 is connected end to end through a first cross ball joint 220, and the two ends of the first cross ball joint 220 are respectively fixedly connected to the third connecting pin 231, the joint seat 210 at one end of the joint arm 200 is fixedly connected to one end of the swivel seat 100, and the joint seat 210 at the other end of the joint arm 200 is connected to one end of the head seat 300 through the first cross ball joint 220.

[0041] A first servo 110 and a second servo 120 are mounted on the swivel seat 100 . The output shaft of the first servo 110 and the output shaft of the second servo 120 are perpendicular to each other. The output shaft of the first servo 110 is connected to a first swing arm 130 , and the output shaft of the second servo 120 is connected to a second swing arm 140 .

[0042] The number of the first push rod 400 and the second push rod 500 corresponds to the number of the joint seat 210, and a first connecting pin 410 is respectively provided at both ends of the first push rod 400, and the middle part of the first push rod 400 is bent twice to form an "S"-shaped structure, so that the axes of the first connecting pins 410 at both ends of the first push rod 400 are staggered with each other and the axes of the two first connecting pins 410 remain parallel to each other, and the first connecting pin 410 and the fourth connecting pin 232 are respectively fixedly connected to the two ends of the second cross ball joint 600; the second push rod 500 has a similar structure to the first push rod 400, and a second connecting pin 510 is respectively provided at both ends of the second push rod 500, and the middle part of the second push rod 500 is bent twice to form an "S"-shaped structure, so that the axes of the second connecting pins 510 at both ends of the second push rod 500 are staggered with each other and the axes of the two second connecting pins 510 remain parallel to each other. They are maintained parallel to each other, and the second connecting pin 510 and the fourth connecting pin 232 are fixedly connected to the two ends of the second cross ball joint 600 respectively; the first push rod 400 and the second push rod 500 can pass through the middle of any joint seat 210 and the rod bodies are staggered with each other, and the two ends of the first push rod 400 and the two ends of the second push rod 500 are respectively connected to the seat plates 230 of the two joint seats 210 adjacent to the joint seat 210 through the second cross ball joint 600, the end of the first push rod 400 located at one end of the joint arm 200 is connected to the first swing arm 130 through the second cross ball joint 600, the end of the second push rod 500 located at one end of the joint arm 200 is connected to the second swing arm 140 through the second cross ball joint 600, and the end of the first push rod 400 and the end of the second push rod 500 located at the other end of the joint arm 200 are connected to one end of the head seat 300 through the second cross ball joint 600.

[0043] In addition, it can be seen that the directions of the first push rods 400 are consistent with each other, and the directions of the second push rods 500 are also consistent with each other. When observed from the end of the joint seat 210, there is also a mutually perpendicular relationship between the first push rods 400 and the second push rods 500.

[0044] In more detail, along the direction from the rotating seat 100 to the head seat 300 , the diameter of the outer side surface of the connecting shell 240 decreases successively, and a plurality of weight-reducing holes 242 are opened on the connecting shell 240 .

[0045] In addition, it also includes a fixed seat 700, on which a third servo 710 is installed. The output shaft of the third servo 710 is fixedly connected to the end of the rotating seat 100 away from the joint arm 200, and the output shaft of the third servo 710 is parallel to the output shaft of the first servo 110. The fixed seat 700 is used to connect the joint arm 200 and the trunk skeleton of the mechanical dinosaur. When the third servo 710 rotates, it can imitate the large-scale pitching movement of the root of the neck of the mechanical dinosaur; a fourth servo 310 is also installed at the end of the head seat 300 away from the joint arm 200. The end of the output shaft of the fourth servo 310 is fixedly connected to the head seat 300 and the axis of the output shaft of the fourth servo 310 is perpendicular to the end face of the head seat 300. The head skeleton of the mechanical dinosaur is mounted outside the body of the fourth servo 310, and when it rotates, it can imitate the dinosaur's head turning action; the first servo 110 and the second servo 120 can drive the overall flexion and extension of the first push rod 400 and the second push rod 500 to make the joint arm 200 produce linked bending in the lateral, longitudinal and two directions, thereby imitating the twisting and bending action of the neck of the mechanical dinosaur.

[0046] To summarize, the joint seat 210 in the joint arm 200 in the linkage mechanical dinosaur neck skeleton in this embodiment is connected via the first cross ball joint 220, and then connected to the joint seat 210 via the first push rod 400 and the second push rod 500 in cooperation with the second cross ball joint 600. The first push rod 400 and the second push rod 500 are driven by the first servo 110 and the second servo 120 whose rotation directions are perpendicular to each other to drive the joint arm 200 to perform flexible bending at multiple angles. In addition, the push rod structure can reduce the manufacturing cost and difficulty, and improve the overall structural strength.

[0047] The foregoing descriptions of specific exemplary embodiments of the present invention are for the purpose of explanation and illustration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can make modifications, substitutions, variations and various selections and changes to the embodiments without creative contribution as needed after reading this specification without departing from the principles and purpose of the present invention, but they are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A linkage type mechanical dinosaur neck skeleton, comprising a swivel seat, a joint arm and a head seat, wherein the joint arm is composed of a plurality of joint seats connected end to end by a first cross ball joint, the joint seat at one end of the joint arm is fixedly connected to the swivel seat, and the joint seat at the other end of the joint arm is connected to the head seat by the first cross ball joint, characterized in that: The swivel seat is provided with a first steering gear and a second steering gear, the output shaft of the first steering gear and the output shaft of the second steering gear are perpendicular to each other, the output shaft of the first steering gear is connected to a first swing arm, and the output shaft of the second steering gear is connected to a second swing arm; It also includes a first push rod and a second push rod, the number of the first push rod and the second push rod corresponds to the number of the joint seats, the first push rod and the second push rod can pass through the middle part of the joint seat and the rod bodies are staggered, the two ends of the first push rod and the two ends of the second push rod are respectively connected to the ends of the two adjacent joint seats of the joint seat through the second cross ball joint, the end of the first push rod located at one end of the joint arm is connected to the first swing arm through the second cross ball joint, the end of the second push rod located at one end of the joint arm is connected to the second swing arm through the second cross ball joint, and the end of the first push rod and the end of the second push rod located at the other end of the joint arm are connected to the head seat through the second cross ball joint.

2. The linkage type mechanical dinosaur neck skeleton according to claim 1, characterized in that: It also includes a fixing seat, on which a third steering gear is arranged, an output shaft of the third steering gear is fixedly connected to one end of the rotating seat, and the output shaft of the third steering gear is parallel to the output shaft of the first steering gear.

3. The linkage type mechanical dinosaur neck skeleton according to claim 1, characterized in that: A first connecting pin is respectively provided at both ends of the first push rod, and the first connecting pin can be fixedly connected to the end of the second cross ball joint. The middle part of the first push rod is bent twice so that the axes of the first connecting pins at both ends of the first push rod can be staggered with each other and the axes of the two first connecting pins can remain parallel to each other.

4. The linkage type mechanical dinosaur neck skeleton according to claim 3, characterized in that: A second connecting pin is respectively provided at both ends of the second push rod, and the second connecting pin can be fixedly connected to the end of the second cross ball joint. The middle part of the second push rod is bent twice so that the axes of the second connecting pins at both ends of the second push rod can be staggered with each other and the axes of the two second connecting pins can remain parallel to each other.

5. The linkage type mechanical dinosaur neck skeleton according to claim 4, characterized in that: The joint seat includes a seat plate and a connecting shell. There are two seat plates. The two seat plates are parallel to each other and far away from each other. The connecting shell is connected between the two seat plates. The connecting shell is provided with a clearance opening, and the first push rod and the second push rod can pass through the clearance opening.

6. The linkage type mechanical dinosaur neck skeleton according to claim 5, characterized in that: A third connecting pin and two fourth connecting pins are provided on the side of the seat plate facing away from the connecting shell, the axes of the two third connecting pins at both ends of the joint seat coincide, the third connecting pin is fixedly connected to the end of the first cross ball joint, and the fourth connecting pin is fixedly connected to the end of the second cross ball joint.

7. The linkage type mechanical dinosaur neck skeleton according to claim 6, characterized in that: The outer side surface of the connecting shell and the inner side surface of the connecting shell are both arc surfaces.

8. The linkage type mechanical dinosaur neck skeleton according to claim 7, characterized in that: The connecting shell is provided with a plurality of weight-reducing holes.

9. The linkage type mechanical dinosaur neck skeleton according to claim 7, characterized in that: Along the direction from one end of the joint arm to the other end of the joint arm, the diameter of the outer side surface of the connecting shell decreases successively.

10. The linkage type mechanical dinosaur neck skeleton according to claim 1, characterized in that: It also includes a fourth steering gear, wherein the output shaft of the fourth steering gear is fixedly connected to an end of the head seat away from the joint arm, and the axis of the output shaft of the fourth steering gear is perpendicular to the end surface of the head seat.

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