Two-degree-of-freedom rotary motion mechanism and robot

Abstract

The utility model discloses a two-degree-of-freedom rotary motion mechanism and a robot, and the two-degree-of-freedom rotary motion mechanism comprises a gear box, a first limiting block, a second limiting block, a first connecting rod and a second connecting rod, the sleeve is rotatably arranged on the gear box, and a second limiting block is arranged on the periphery of the sleeve; a neck structure fixed to the sleeve; the head lower cover is rotatably arranged on the neck structure, and a third limiting block and a fourth limiting block are arranged on the head lower cover; and the driving assembly is arranged on the gear box and the head lower cover and used for driving the sleeve and the head lower cover to rotate. According to the two-degree-of-freedom rotary motion mechanism and the robot, the sleeve of the mechanism can rotate on the gearbox, the head lower cover can also rotate on the neck structure, the mechanism can adapt to various scenes, the overall structure is simple, and the cost is low.

Description

Technical Field

[0001] The utility model relates to the technical field of rotation mechanisms, and more specifically, to a two-degree-of-freedom rotational motion mechanism. In addition, the utility model also relates to a robot comprising the two-degree-of-freedom rotational motion mechanism. Background Art

[0002] Companion or service robots are gradually becoming popular in places such as shopping malls and hospitals. For the more common companion or service robots, the mainstream motion structure of their head mechanism adopts a reduction DC motor + pulley (or gear) transmission + photoelectric slot switch to achieve fixed angle control. However, this structure has many defects, such as: high structural cost; the need to design a support structure for the motor and slot-type photoelectric switch installation, which makes the overall structural solution complex; and high difficulty in installation and maintenance.

[0003] In summary, how to simplify the robot's head structure and reduce its cost is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of the present invention is to provide a two-degree-of-freedom rotational motion mechanism, the sleeve of which can rotate on the gear box, and the lower cover of the head can also rotate on the neck structure, which can adapt to different scenarios, has a relatively simple overall structure and low cost.

[0005] Another object of the present utility model is to provide a robot comprising the above-mentioned two-degree-of-freedom rotational motion mechanism.

[0006] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0007] A two-degree-of-freedom rotational motion mechanism, comprising:

[0008] a gear box, on which a first limiting block is provided;

[0009] a sleeve rotatably disposed on the gear box, wherein a second limiting block is disposed on the outer periphery of the sleeve;

[0010] a neck structure fixed to the sleeve;

[0011] A head lower cover is rotatably arranged on the neck structure, and a third limiting block and a fourth limiting block are provided on the head lower cover;

[0012] A driving assembly is provided on the gear box and the head lower cover, and the driving assembly is used for driving the sleeve and the head lower cover to rotate.

[0013] Preferably, the drive assembly includes a first drive assembly and a second drive assembly, the first drive assembly includes a first motor, a first gear, a second gear and a shaft sleeve, the first motor is fixed to the gear box, the first gear is fixed to the output end of the first motor, the second gear is fixedly connected to the sleeve, the first gear is meshed with the second gear, and the shaft sleeve is arranged between the sleeve and the second gear.

[0014] Preferably, a limiting component and a fixing component are provided on the inner periphery of the second gear, the limiting component is used to realize the clamping connection between the second gear and the sleeve, and the fixing component is used to realize the fixed connection between the second gear and the sleeve.

[0015] Preferably, a through hole is provided on the head lower cover, the neck structure is a U-shaped structure, one end of the neck structure is provided through the through hole on the head lower cover, and a mounting seat is provided on the head lower cover.

[0016] Preferably, the second drive assembly includes a second motor, a stepped shaft, a first bearing and a bearing seat, the second motor and the bearing seat are fixed to the lower cover of the head, the stepped shaft is clamped to the neck structure, the output end of the second motor is connected to the neck structure, and the first bearing is sleeved on the outer periphery of the stepped shaft.

[0017] Preferably, a control system is further included, which is connected to the first motor and the second motor signals and is used to control the opening or closing of the first motor and the second motor.

[0018] Preferably, a second bearing is provided between the sleeve and the gear box.

[0019] Preferably, a limiting cabin is provided on the head lower cover, the third limiting block is provided at a through hole on the head lower cover near the mounting seat, and the fourth limiting block is provided in the limiting cabin.

[0020] Preferably, the first limiting block is an arc-shaped plate structure, the rotation angle range of the sleeve is 0-260°, and the rotation angle range of the head lower cover is 0-60°.

[0021] A robot comprises a two-degree-of-freedom rotational motion mechanism, wherein the two-degree-of-freedom rotational motion mechanism is any one of the two-degree-of-freedom rotational motion mechanisms described above.

[0022] The utility model provides a two-degree-of-freedom rotational motion mechanism, wherein a first limit block is provided on the gear box, and a second limit block is provided on the outer periphery of the sleeve. When the sleeve rotates on the gear box, it is restricted by the first limit block and the second limit block. The lower cover of the head can rotate on the neck structure, and the rotation range of the lower cover of the head is restricted by the second limit block and the third limit block. Both the lower cover of the head and the sleeve are rotated by the action of the driving component, and can adapt to different scenarios. As for the overall structure, the structure is simple and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1 This is a schematic structural diagram of the two-degree-of-freedom rotational motion mechanism provided by the present invention;

[0025] Figure 2 This is a structural schematic diagram of the sleeve provided by the present invention rotating to the first horizontal limit position;

[0026] Figure 3 This is a structural schematic diagram of the sleeve provided by the present invention rotating to the second horizontal limit position;

[0027] Figure 4 This is a structural schematic diagram of the head lower cover provided by the present invention rotated to the first pitch limit position;

[0028] Figure 5 This is a structural diagram of the head lower cover provided by the present invention rotated to the second pitch limit position;

[0029] Figure 6 This is an exploded view of the two-degree-of-freedom rotational motion mechanism provided by the utility model.

[0030] Reference numerals:

[0031] 1-gearbox; 101-first limit block; 2-sleeve; 201-second limit block; 3-neck structure; 4-head lower cover; 401-third limit block; 402-fourth limit block; 5-first motor; 6-first gear; 7-second gear; 8-sleeve; 9-second motor; 10-stepped shaft; 11-first bearing; 12-bearing seat; 13-second bearing. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] The core of the utility model is to provide a two-degree-of-freedom rotational motion mechanism, which can be applied to a variety of different scenarios and has a simple structure and low cost.

[0034] Another core of the present invention is to provide a robot comprising the above-mentioned two-degree-of-freedom rotational motion mechanism.

[0035] It should be noted that the directions or positional relationships indicated by “upper”, “lower”, “front”, “back”, etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application.

[0036] The present application provides a two-degree-of-freedom rotational motion mechanism, comprising: a gearbox 1, a sleeve 2, a neck structure 3, a head lower cover 4 and a drive assembly;

[0037] Among them, the gear box 1 is provided with a first limit block 101;

[0038] The sleeve 2 is rotatably mounted on the gear box 1, and a second limiting block 201 is provided on the outer periphery of the sleeve;

[0039] The neck structure 3 is fixed to the sleeve 2;

[0040] The head lower cover 4 is rotatably mounted on the neck structure 3 , and a third limiting block 401 and a fourth limiting block 402 are provided on the head lower cover 4 ;

[0041] The driving assembly is provided between the gear box 1 and the head lower cover 4 , and is used for driving the sleeve 2 and the head lower cover 4 to rotate.

[0042] For details, please refer to the attached Figure 1 With attached Figure 6 The gear box 1 is provided with a circular through hole in the middle, and a first limit block 101 is provided on the outer periphery of the upper end of the circular through hole. The structure of the first limit block 101 can be referred to the attached Figure 2 With attached Figure 3The outer peripheral side wall of the sleeve 2 is provided with a second limit block 201, and the sleeve 2 is arranged in the circular through hole on the gear box 1. The sleeve 2 can rotate in the circular through hole, and when the first limit block 101 abuts against the second limit block 201, the sleeve 2 will reach the limit position and cannot continue to rotate. There are two cases for the limit rotation position of the sleeve 2. Please refer to the attached Figure 2 With attached Figure 3 When the second limit blocks 201 on the sleeve 2 are respectively against the two sides of the first limit block 101, that is, the sleeve 2 is at the first horizontal limit position and the second horizontal limit position, the rotation of the head lower cover 4 can be referred to the attached Figure 4 With attached Figure 5 The neck structure 3 can be in the first pitch limit position and the second pitch limit position respectively when it abuts against the third limit block 401 and the fourth limit block 402. The sleeve 2 and the head lower cover 4 are both rotated by the driving assembly. The overall structure is relatively simple, the cost is low and it can be applied to multiple different scenarios.

[0043] Based on the above embodiment, the drive assembly includes a first drive assembly and a second drive assembly. The first drive assembly includes a first motor 5, a first gear 6, a second gear 7 and a sleeve 8. The first motor 5 is fixed to the gear box 1, the first gear 6 is fixed to the output end of the first motor 5, the second gear 7 is fixedly connected to the sleeve 2, the first gear 6 is meshed with the second gear 7, and the sleeve 8 is arranged between the sleeve 2 and the second gear 7.

[0044] Specifically, the first motor 5 is generally a micro stepping reduction motor, which is fixed to the lower end of the gear box 1. The output end of the micro stepping reduction motor is set upward, and the output end is engaged with the first gear 6. The lower end of the sleeve 2 is engaged with the second gear 7, and the first gear 6 is engaged with the second gear 7. When the micro stepping reduction motor rotates, it can drive the first gear 6 and the second gear 7 to rotate at the same time, and then drive the sleeve 2 to rotate in the circular hole on the gear box 1. The sleeve 8 can be sleeved on the outer periphery of the sleeve 2 to support the sleeve 2, protect the outer side wall of the sleeve 2, and prevent damage caused by friction.

[0045] Based on the above embodiment, a limiting component and a fixing component are provided on the inner periphery of the second gear 7. The limiting component is used to realize the clamping connection between the second gear 7 and the sleeve 2, and the fixing component is used to realize the fixed connection between the second gear 7 and the sleeve 2.

[0046] Specifically, the lower end of the sleeve 2 is clamped with the second gear 7 through a limiting assembly, and a fixing assembly is provided on the inner periphery of the second gear 7. The fixing assembly can be a protrusion with a threaded hole, and the second gear 7 is fixedly connected to the second gear 7 by screws, so that the second gear 7 and the sleeve 2 can rotate synchronously.

[0047] On the basis of the above embodiment, a through hole is provided on the head lower cover 4, the neck structure 3 is a U-shaped structure, one end of the neck structure 3 is provided through the through hole on the head lower cover 4, and a mounting seat is provided on the head lower cover 4.

[0048] Specifically, a square through hole is provided on the lower cover 4 of the head, and the neck structure 3 is a U-shaped structure. The upper end of the neck structure 3 can just pass through the through hole on the lower cover 4 of the head, and the neck structure 3 and the lower cover 4 of the head can rotate with each other. A mounting seat is provided on the lower cover 4 of the head, and the mounting seat is used to install a second drive component for realizing the rotation of the lower cover 4 of the head.

[0049] Based on the above embodiment, the second drive assembly includes a second motor 9, a stepped shaft 10, a first bearing 11 and a bearing seat 12. The second motor 9 and the bearing seat 12 are both fixed to the lower cover 4 of the head, the stepped shaft 10 is clamped to the neck structure 3, the output end of the second motor 9 is connected to the neck structure 3, and the first bearing 11 is sleeved on the outer periphery of the stepped shaft 10.

[0050] Specifically, the second motor 9 also uses a micro stepping reduction motor, which is installed at the mounting seat on the head lower cover 4. The neck structure 3 is provided with two grooves at one end through the gear box 1. The micro stepping reduction motor is inserted into one of the grooves. The bearing seat 12 is provided on the side of the head lower cover 4 away from the mounting seat. The inner periphery of the bearing seat 12 is provided with a first bearing 11 and a stepped shaft 10. The stepped shaft 10 is inserted into another groove of the neck structure 3. Since the second motor 9 is fixed on the head lower cover 4, the second motor 9 can drive the neck structure 3 and the head lower cover 4 to rotate relative to each other when it rotates.

[0051] On the basis of the above embodiment, a control system is further included. The control system is connected to the first motor 5 and the second motor 9 by signals and is used to control the opening or closing of the first motor 5 and the second motor 9.

[0052] Specifically, the first and second motors 5 and 9 are controlled by a control system and motor driver. The motor driver sends pulse signals to the first and second motors 5 and 9 to control the angle and direction of motor rotation, and physical limit stops are set at the extreme rotation positions of the motors. When the pitch or horizontal rotation reaches the extreme position, the current of the first and second motors 5 and 9 increases. An additional ammeter can be provided to monitor the current. At this point, the control system stops the motors, achieving the automatic extreme position control function. This simple drive solution uses a low-cost deceleration stepper motor and can achieve fixed-angle automatic rotation control without the need for additional sensors.

[0053] In some embodiments, a second bearing 13 is provided between the sleeve 2 and the gearbox 1 .

[0054] Specifically, a second bearing 13 is arranged between the sleeve 2 and the gear box 1. The second bearing 13 has the same function as the sleeve 8. The two are used together to support the sleeve 2 at the upper and lower positions of the gear box 1 and reduce the friction between the sleeve 2 and the gear box 1, while ensuring the rotation accuracy of the sleeve 2.

[0055] In some embodiments, a limiting cabin is provided on the head lower cover 4 , a third limiting block 401 is provided near the mounting seat at the through hole on the head lower cover 4 , and a fourth limiting block 402 is provided in the limiting cabin.

[0056] Specifically, a limit cabin is provided on the head lower cover 4, and a fourth limit block 402 is provided on the top of the inner portion of the limit cabin. The position of the fourth limit block 402 can be referred to in the attached Figure 5 A third limiting block 401 is provided in the through hole on the head lower cover 4. The position of the third limiting block 401 can be referred to in the attached Figure 4 With attached Figure 6 The third limiting block 401 is arranged close to the mounting seat to cooperate with the fourth limiting block 402 to limit the rotation range of the head lower cover 4.

[0057] On the basis of the above embodiment, the first limiting block 101 is an arc-shaped plate structure, the rotation angle range of the sleeve 2 is 0-260°, and the rotation angle range of the head lower cover 4 is 0-60°.

[0058] Specifically, the structure of the first limit block 101 can be referred to in the attached Figure 1 To the attached Figure 3 , the rotation of the sleeve 2 and the head lower cover 4 is further explained. During horizontal rotation, the first motor 5 and the first gear 6 and the second gear 7 are installed on the gear box 1. The gear box 1 is connected to the plastic shell and the supporting sheet metal through the hanging ear. The second gear 7 is fixedly connected to the sleeve under the neck structure 3. The head wiring harness can pass through the sleeve 2 to achieve hidden wiring. The sleeve 2 is fixedly connected to the neck structure 3 and rotates under the action of the driving motor. This driving method can be miniaturized and beautiful. The sleeve 2 serves as a transmission shaft to achieve internal wiring and structural miniaturization; for pitch rotation, the second motor 9 is fixed on the head lower cover 4. When the second motor 9 is started, it can drive the head lower cover 4 to rotate relative to the neck structure 3. This transmission chain is simple and easy to assemble and maintain. It does not require sensors or additional reducers, and can achieve automatic rotation control at a fixed angle.

[0059] The above-mentioned two-degree-of-freedom rotational motion mechanism also has the following technical advantages: it can quickly and flexibly replace different types of stepper reduction motors to meet the torque requirements of different products; the structure is compact and occupies very little internal space, and other robot components can be flexibly stacked; the structure is simple, and the maintenance and after-sales costs have obvious advantages; the stepper reduction motor is low in cost, and compared with the solution of reduction DC motor + photoelectric slot switch, the cost is orders of magnitude different.

[0060] In addition to the above-mentioned two-degree-of-freedom rotational motion mechanism, the present invention also provides a robot including the two-degree-of-freedom rotational motion mechanism disclosed in the above-mentioned embodiment. For the structures of other parts of the robot, please refer to the prior art and will not be described in detail herein.

[0061] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0062] The above is a detailed introduction to the two-degree-of-freedom rotational motion mechanism and robot provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be pointed out that, for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A two-degree-of-freedom rotational motion mechanism, characterized in that: include: A gear box (1) having a first limit block (101) provided thereon; A sleeve (2) is rotatably disposed on the gear box (1), and a second limiting block (201) is provided on the outer periphery of the sleeve; A neck structure (3) fixed to the sleeve (2); A head lower cover (4) is rotatably arranged on the neck structure (3), and a third limiting block (401) and a fourth limiting block (402) are provided on the head lower cover (4); A drive assembly is provided on the gear box (1) and the head lower cover (4), and the drive assembly is used to drive the sleeve (2) and the head lower cover (4) to rotate.

2. The two-degree-of-freedom rotational motion mechanism according to claim 1, characterized in that: The drive assembly comprises a first drive assembly and a second drive assembly, wherein the first drive assembly comprises a first motor (5), a first gear (6), a second gear (7) and a shaft sleeve (8), wherein the first motor (5) is fixed to the gear box (1), the first gear (6) is fixed to the output end of the first motor (5), the second gear (7) is fixedly connected to the sleeve (2), the first gear (6) is meshed with the second gear (7), and the shaft sleeve (8) is arranged between the sleeve (2) and the second gear (7).

3. The two-degree-of-freedom rotational motion mechanism according to claim 2, characterized in that: A limiting component and a fixing component are provided on the inner periphery of the second gear (7), the limiting component being used to realize the clamping connection between the second gear (7) and the sleeve (2), and the fixing component being used to realize the fixed connection between the second gear (7) and the sleeve (2).

4. The two-degree-of-freedom rotational motion mechanism according to claim 3, characterized in that: The head lower cover (4) is provided with a through hole, the neck structure (3) is a U-shaped structure, one end of the neck structure (3) is provided through the through hole on the head lower cover (4), and a mounting seat is provided on the head lower cover (4).

5. The two-degree-of-freedom rotational motion mechanism according to claim 4, characterized in that: The second driving assembly includes a second motor (9), a stepped shaft (10), a first bearing (11) and a bearing seat (12); the second motor (9) and the bearing seat (12) are both fixed to the head lower cover (4); the stepped shaft (10) is engaged with the neck structure (3); the output end of the second motor (9) is connected to the neck structure (3); and the first bearing (11) is sleeved on the outer periphery of the stepped shaft (10).

6. The two-degree-of-freedom rotational motion mechanism according to claim 5, characterized in that: It also includes a control system, which is connected to the first motor (5) and the second motor (9) via signals and is used to control the opening or closing of the first motor (5) and the second motor (9).

7. The two-degree-of-freedom rotational motion mechanism according to claim 1, characterized in that: A second bearing (13) is provided between the sleeve (2) and the gear box (1).

8. The two-degree-of-freedom rotational motion mechanism according to claim 6, characterized in that: A limiting cabin is provided on the head lower cover (4), the third limiting block (401) is provided at a through hole on the head lower cover (4) near the mounting seat, and the fourth limiting block (402) is provided in the limiting cabin.

9. The two-degree-of-freedom rotational motion mechanism according to any one of claims 1 to 8, characterized in that: The first limiting block (101) is an arc-shaped plate-like structure, the rotation angle range of the sleeve (2) is 0-260°, and the rotation angle range of the head lower cover (4) is 0-60°.

10. A robot comprising a two-degree-of-freedom rotational motion mechanism, characterized in that: The two-degree-of-freedom rotational motion mechanism is the two-degree-of-freedom rotational motion mechanism according to any one of claims 1 to 9.

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