Robot pan-tilt pitch shaft structure

Abstract

The utility model relates to the technical field of pitch shaft structures, in particular to a pitch shaft structure of a robot holder, which comprises a pitch rotating head, a pitch rotating head and a pitch rotating head, the base comprises two steel structure supporting plates which are oppositely arranged and a bottom plate for fixing the steel structure supporting plates; the driving unit comprises a driving motor, a lead screw and a lead screw nut; the linkage hinge assembly comprises a first linkage plate hinged to the lead screw nut and a rotating shaft hole in the steel structure supporting plate, a first transmission rod set fixedly connected with the first linkage plate, and a second transmission rod set hinged to the first transmission rod set. According to the cradle head pitch shaft, the lead screw and the lead screw nut serve as main structures for pitching adjustment, lead screw transmission has the remarkable advantage in the aspect of precision control, it is guaranteed that the pitching adjustment action of a robot is extremely fine and accurate, and the strict requirements of the robot for the height stability and the fine adjustment capacity are met.

Description

TECHNICAL FIELD

[0001] The utility model relates to pitch axis structure technical field especially relates to a kind of robot holder pitch axis structure. BACKGROUND

[0002] On the robot of existence holder pitch axis, for example, shooting robot, shooting robot.Pitch stability has been the key factor to ensure the functionality and safety of robot.

[0003] Existing structure is basically divided into two kinds: one is that holder motor is directly connected with pitch axis, the requirement of holder pid debugging is high, holder exists shaking situation, motor load is larger, and larger torque is needed to realize function;Second, holder motor is matched with four connecting rods assembly, compared with direct connection, four connecting rods can reduce the vibration load and rotation load including holder.And the relatively expensive holder motor involved in the two is sometimes damaged by motor overload.

[0004] Chinese patent publication No. CN212082160U discloses a launching robot, comprising a launching device, including a charging mechanism and a bracket mechanism for loading a to-be-launched body, the charging mechanism includes a launching track and an energy storage assembly arranged on the launching track, the bracket mechanism is slidingly arranged on the launching track, and the energy storage assembly includes a deformation body connected with the bracket mechanism. When the bracket mechanism moves along the launching track, the deformation body moves together to deform, so as to make the energy storage assembly generate elastic potential energy for driving the bracket mechanism to move reversely along the launching track. The elastic force generated by the deformation of the deformation body makes the energy storage assembly generate elastic potential energy for driving the bracket mechanism to move along the launching track, and then the to-be-launched body placed on the bracket mechanism can be launched along the launching track. It can be seen from the above patent that the pitch adopts a mechanical structure, which cannot be accurately adjusted. UTILITY MODEL CONTENTS

[0005] Therefore, the utility model provides a kind of robot holder pitch axis structure to overcome the problem of large electric control burden in prior art, and pitch axis precision, repeatability is lower.

[0006] To achieve the above purpose, the utility model provides a kind of robot holder pitch axis structure, comprising:

[0007] Pitching rotation head portion for carrying out pitch axis pitching movement, including terminal head portion rotating along pitching rotation center and connecting rod arranged on both sides of terminal head portion;

[0008] The base is used for supporting the pitch rotating head to rotate along the pitch axis, and comprises two oppositely arranged steel structure support plates and a bottom plate for fixing the steel structure support plates.

[0009] The driving unit comprises a driving motor, a lead screw and a lead screw nut, wherein the driving motor is arranged at the lower end of the lead screw and is hinged to the bottom plate to drive the lead screw to rotate, and the lead screw nut is arranged on the lead screw to move linearly along the lead screw axis.

[0010] The linkage hinge assembly is connected to the pitch rotating head, the base and the driving unit respectively to convert the rotation of the lead screw output by the driving unit into the pitch rotation of the terminal head, and comprises a first linkage plate hinged to the lead screw nut and the rotating shaft hole of the steel structure support plate, a first transmission rod group fixedly connected to the first linkage plate, and a second transmission rod group hinged to the first transmission rod group, wherein one end of the second transmission rod group is hinged to the first transmission rod group, and the other end of the second transmission rod group is fixedly connected to the bottom plate.

[0011] Further, the steel structure support plates are perpendicular to the bottom plate, the first linkage plate comprises two active plates arranged in parallel on the outer sides of the two steel structure support plates, and the active plates correspond to the steel structure support plates one by one, wherein,

[0012] Each active plate comprises at least a first hinge hole hinged to the steel structure support plate, and a second hinge hole hinged to the lead screw nut, and the first transmission rod group is fixedly connected to the active plate and is arranged on the inner side surface opposite to the two active plates.

[0013] Further, the second transmission rod group comprises a movable rod and an adjusting rod, wherein,

[0014] The lower end of the adjusting rod is fixed to the bottom plate, and the upper end of the adjusting rod is provided with a hollow circular arc guide groove.

[0015] The movable rod is matched with the shape of the circular arc guide groove, one end of the movable rod is hingedly connected to the first transmission rod group, and the other end of the movable rod is slidably hingedly connected to the circular arc guide groove to adjust the connection position of the movable rod and the adjusting rod.

[0016] Further, the terminal head is fixedly connected to the active plate and is arranged on the inner side opposite to the two active plates.

[0017] Further, the linkage hinge assembly further comprises a reinforcing rod group connected to the bottom plate and the active plate to constrain the movement direction of the active plate, and the reinforcing rod group comprises:

[0018] The upper part of the reinforcing fixed plate is provided with a third hinge hole;

[0019] The reinforcing connecting rod is hinged with the reinforcing fixed plate through the third hinge hole, and the other end of the reinforcing connecting rod is provided with a hollow connecting guide groove for adjusting the hinge position of the other end;

[0020] The reinforcing adjusting rod is matched with the connecting guide groove at one end to move in the connecting guide groove, and is fixed with the reinforcing connecting rod through a fixing part, and the other end of the reinforcing adjusting rod is extended with a connecting column to be connected with the inner side of the active plate.

[0021] Further, the first transmission rod group is symmetrically arranged on the inner sides of the two active plates, and includes two left transmission rods and two right transmission rods.

[0022] Further, the number of the lead screw nuts is two, and the two lead screw nuts are arranged in an upper and lower mode and are fixed and connected through a connecting part.

[0023] Further, the driving motor is installed on the bottom plate through a rotating base, the rotating base is hingedly connected with the bottom plate to enable the driving motor to rotate in a horizontal direction, and the driving motor is rotationally connected with the rotating base to adjust the included angle between the lead screw and the bottom plate.

[0024] Further, the steel structure support plate and the adjusting rod are fixed and connected through a plurality of reinforcing parts.

[0025] Further, the connecting position of the lead screw nut and the connecting part is filled with hot melt glue to disperse stress.

[0026] Compared with the prior art, the gimbal pitch shaft of the utility model adopts a lead screw and a lead screw nut as the main structure for pitch adjustment, the significant advantage of the lead screw transmission in precision control ensures that the pitch adjustment action of the robot is extremely delicate and accurate, and the strict requirements of the robot on height stability and fine adjustment capability are met.

[0027] Further, the gimbal pitch shaft of the utility model adopts a double-nut upper and lower installation strategy for the inherent gap problem of the lead screw nut, the connecting part is arranged between the two nuts, and the two nuts are pulled tightly relative to each other, which greatly reduces the gap of the trapezoidal lead screw itself, realizes excellent gap elimination effect, and further improves the smoothness and accuracy of the pitch control of the gimbal.

[0028] Further, the gimbal pitch shaft of the utility model can adjust the connecting position of the movable rod and the adjusting rod through the adjustable adjusting rod, can optimize the working condition of the lead screw and reduce unnecessary radial load, can reduce the radial load of the lead screw through adjusting the hinge installation angle, can adapt to different stress conditions of the gimbal, can reduce the mirror image pressure borne by the lead screw, and prolong the service life. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is the disassembled part schematic view of the utility model robot gimbal pitch shaft structure Figure 1 ;

[0030] Figure 2 is the whole schematic view of the utility model robot gimbal pitch shaft structure

[0031] Figure 3 is the disassembled part schematic view of the utility model robot gimbal pitch shaft structure Figure 1 another angle schematic view

[0032] Figure 4 is the disassembled part schematic view of the utility model robot gimbal pitch shaft structure Figure 2 ;

[0033] Figure 5 is the disassembled part schematic view of the utility model robot gimbal pitch shaft structure Figure 2 another angle schematic view

[0034] In the drawing: 11, terminal head; 12, connecting rod; 21, steel structure support plate; 22, bottom plate; 31, drive motor; 32, lead screw; 41, first linkage plate; 42, first transmission rod group; 43, second transmission rod group; 411, driving plate; 4111, first hinged hole; 4112, second hinged hole; 431, movable rod, 432, adjusting rod; 4320, circular arc guide groove; 51, reinforcing fixed plate; 511, third hinged hole; 52, reinforcing connecting rod; 53, reinforcing adjusting rod; 54, connecting column; 521, connecting guide groove; 61, rotating base; 700, reinforcing connecting piece; 800, connecting piece. DETAILED DESCRIPTION

[0035] In order to make the purpose and the advantage of the utility model more clearly and clearly, the utility model is further described below by combining with the embodiment, and it should be understood that the specific embodiment described here is only used for explaining the utility model, and is not used for limiting the utility model.

[0036] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art will understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0037] It should be noted that, in the description of the present application, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the direction or positional relationship terms based on the direction or positional relationship shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0038] In addition, it should be noted that, in the description of the present application, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] Please refer to Figures 1-4 The embodiment provides a robot holder pitch shaft structure, which comprises:

[0040] The pitch shaft structure comprises a pitch shaft head for pitch shaft movement, a base for supporting the pitch shaft head to rotate along the pitch shaft, and a driving unit for driving the pitch shaft head to rotate along the pitch shaft.

[0041] The base is used for supporting the pitch shaft head to rotate along the pitch shaft, and comprises two steel structure support plates 21 arranged oppositely and a bottom plate 22 for fixing the steel structure support plates, wherein the steel structure support plates 21 are provided with rotating shaft holes corresponding to the pitch shaft head, and the steel structure support plates 21 are connected with the pitch shaft head through rotating shafts and couplings.

[0042] The driving unit comprises a driving motor 31, a lead screw 32 and a lead screw nut, wherein the driving motor 31 is arranged at the lower end of the lead screw 32 and is hinged to the bottom plate 22 to drive the lead screw 32 to rotate, and the lead screw nut is arranged on the lead screw 32 and moves linearly along the axis direction of the lead screw 32.

[0043] A linkage hinge assembly is connected with the pitch rotating head, the base and the driving unit respectively, and is used to convert the rotation of the lead screw 32 output by the driving unit into the pitch rotation of the terminal head 11. The linkage hinge assembly comprises a first linkage plate 41 hingedly connected with the lead screw nut and the rotating shaft hole 211 on the steel structure support plate 21 respectively, a first transmission rod group 42 fixedly connected with the first linkage plate 41, and a second transmission rod group 43 hingedly connected with the first transmission rod group 42. One end of the second transmission rod group 43 is hingedly connected with the first transmission rod group 42, and the other end of the second transmission rod group 43 is fixedly connected with the base plate.

[0044] Specifically, the steel structure support plate 21 is perpendicular to the base plate 22, the first linkage plate 41 comprises two active plates 411 arranged in parallel on the outer sides of the two steel structure support plates 21, and the active plate 411 corresponds to the steel structure support plate 21 one by one. Specifically,

[0045] The single active plate 411 comprises at least a first hinge hole 4111 hingedly connected with the steel structure support plate 21, and a second hinge hole 4112 hingedly connected with the lead screw nut. The first transmission rod group is fixedly connected with the active plate 411 and arranged on the inner side surface opposite to the two active plates 411.

[0046] Specifically, the second transmission rod group 43 comprises a movable rod 431 and an adjusting rod 432. Specifically,

[0047] The lower end of the adjusting rod 432 is fixed on the base plate, and the upper end of the adjusting rod is provided with a hollow circular arc guide groove 4320.

[0048] The movable rod 431 is matched with the shape of the circular arc guide groove 4320. One end of the movable rod 431 is hingedly connected with the first transmission rod group 42, and the other end of the movable rod 431 is slidably hingedly connected with the circular arc guide groove 4320 to adjust the connection position of the movable rod and the adjusting rod.

[0049] In the implementation, the working condition of the lead screw can be optimized and unnecessary radial load can be reduced by adjusting the connection position of the movable rod and the adjusting rod. Preferably, a hinge type connection is adopted, and the hinge installation angle can be adjusted to adapt to different stress conditions of the holder. The radial pressure borne by the lead screw is reduced, and the service life of the lead screw is prolonged. As shown in the above figure, the terminal head is a transmitting terminal, and there is a radial impact caused by the recoil force of the transmitting structure. The radial load of the lead screw can be reduced by appropriately changing the hinge installation angle.

[0050] Specifically, the terminal head 11 is fixedly connected with the active plate 411 and arranged on the inner side opposite to the two active plates 421.

[0051] Specifically, it also includes a reinforcing rod set, which is connected with the bottom plate 22 and the active plate 411 to constrain the movement direction of the active plate 411, including:

[0052] A reinforcing fixed plate 51 is fixedly arranged on the bottom plate 22 and parallel to the active plate 411, and the upper part of the reinforcing fixed plate 51 is provided with a third hinge hole 511;

[0053] A reinforcing connecting rod 52 is hingedly connected with the reinforcing fixed plate 51 at one end through the third hinge hole 511, and the other end is provided with a hollow connecting guide groove 521 for adjusting the hinge position of the other end;

[0054] A reinforcing adjusting rod 53 is matched with the connecting guide groove 521 at one end to move in the connecting guide groove 521 and is fixed with the reinforcing connecting rod 52 through a sliding groove fixing piece, and the other end of the reinforcing adjusting rod 53 extends a connecting column 54 to be connected with the inner side of the active plate. It can be understood that the sliding groove fixing piece can use any way in the prior art as long as it can keep the connection relationship between the reinforcing connecting rod 52 and the reinforcing adjusting rod 53 fixed after adjustment, which is not limited here and will not be repeated.

[0055] In implementation,

[0056] Specifically, the first transmission rod set 42 is symmetrically arranged on the inner side of the two active plates 411, including two left transmission rods 421 and two right transmission rods (not marked in the symmetric arrangement figure).

[0057] Specifically, the number of lead screws is two, and the two lead screws are arranged above and below and fixedly connected through a connecting piece.

[0058] In implementation, the lead screw is a trapezoidal lead screw, and the two lead screws are arranged above and below on the lead screw in a staggered manner and are fixedly connected through a connecting piece (the connecting piece 800 in the figure) to move the two lead screws as a whole. In view of the inherent gap problem of a single lead screw, a double-nut staggered installation strategy is adopted, and the two nuts are arranged in position through the connecting piece and are pulled against each other. This arrangement greatly reduces the gap of the trapezoidal lead screw itself, achieves excellent gap elimination effect, and further improves the smoothness and accuracy of the gimbal pitch control.

[0059] Specifically, the driving motor 31 is installed on the bottom plate 22 through a rotating base 61, the rotating base 61 is rotationally hingedly connected with the bottom plate 22 to enable the driving motor 31 to rotate in the horizontal direction, and the driving motor 31 is rotationally connected with the rotating base 61 to adjust the included angle between the lead screw 32 and the bottom plate 22.

[0060] Specifically, the steel structure support plate 21 and the adjusting rod 432 are fixedly connected through a plurality of reinforcing connecting pieces 700.

[0061] Specifically, the connecting position of the lead screw nut and the connecting piece is filled with hot melt adhesive for stress dispersion.

[0062] Working process:

[0063] In the process of adjusting the pitch angle of the terminal head of the robot, the driving motor of the gimbal pitch axis drives the lead screw to rotate, and the rotation of the lead screw is converted into the rotation of the first linkage plate through the lead screw nut, thereby driving the terminal head to pitch, and due to the precision advantage of the lead screw, the pitch adjustment angle of the terminal head can be ±0.25mm for the gap between the ordinary 10mm trapezoidal lead screw and the nut, and the structure can be ±0.03mm, which approximates to the ball screw, thereby greatly improving the accuracy of the angle adjustment.

[0064] Meanwhile, in order to overcome the radial force brought by the terminal head to the lead screw, the connecting position of the movable rod and the adjusting rod is appropriately adjusted, so that the radial force can be reduced.

[0065] Thus, the technical scheme of the utility model has been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the utility model is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the utility model, and the technical schemes after the changes or replacements will all fall within the protection scope of the utility model.

Claims

1. A robotic gimbal pitch axis structure, characterized by, The utility model relates to a pitch rotation head for pitch axis pitch movement, including terminal head rotating around pitch rotation center and connecting rod arranged on both sides of terminal head, base for supporting pitch rotation head to rotate around pitch axis, including oppositely arranged two steel structure support plates and fixed steel structure support plate's bottom plate, corresponding rotation shaft hole is provided on steel structure support plate, and steel structure support plate is connected with pitch rotation head through rotation shaft and coupling, drive unit, including drive motor, lead screw and lead screw nut, wherein drive motor is arranged on the lower end of lead screw and is articulated with bottom plate to drive lead screw to rotate, and lead screw nut sleeve is arranged on lead screw and moves linearly along lead screw axis direction, linkage articulated assembly is connected with pitch rotation head, base and drive unit respectively to convert the rotation of lead screw output by drive unit into the pitch rotation of terminal head, linkage articulated assembly includes first linkage plate articulated with lead screw nut and rotation shaft hole on steel structure support plate respectively, first transmission rod group fixedly connected with first linkage plate, second transmission rod group articulated with first transmission rod group, wherein one end of second transmission rod group is articulated with first transmission rod group, and the other end of second transmission rod group is fixedly connected with bottom plate. Steel structure support plate is perpendicular to bottom plate, first linkage plate includes two active plates arranged in parallel on the outer side of two steel structure support plates, and active plate corresponds to steel structure support plate one by one, wherein, Single active plate includes at least first articulation hole articulated with steel structure support plate and second articulation hole articulated with lead screw nut, and first transmission rod group is fixedly connected with active plate and is arranged on the inner side surface opposite to two active plates. Second transmission rod group includes movable rod and adjusting rod, wherein, The lower end of adjusting rod is fixed on the bottom plate, and the upper end of adjusting rod is provided with a hollow circular-arc-shaped guide groove; 2. The robotic gimbal pitch axis structure of claim 1, wherein, The shape of movable rod is matched with the shape of circular-arc-shaped guide groove, one end of movable rod is articulated with first transmission rod group, and the other end of movable rod is slidably articulated with circular-arc-shaped guide groove to adjust the connection position of movable rod and adjusting rod. Terminal head is fixedly connected with active plate and is arranged on the inner side opposite to two active plates.

3. The robotic gimbal pitch axis structure of claim 2, wherein, It also includes a reinforcing rod group connected with the bottom plate and the active plate to constrain the movement direction of the active plate, including: A reinforcing fixed plate is fixedly arranged on the bottom plate and parallel to the active plate, and a third articulation hole is arranged on the upper part of the reinforcing fixed plate; A reinforcing connecting rod is articulated with the reinforcing fixed plate through the third articulation hole at one end and provided with a hollow connecting guide groove at the other end to adjust the articulation position of the other end; 4. The robotic gimbal pitch axis structure of claim 2, wherein, A reinforcing adjusting rod is matched with the connecting guide groove at one end to move in the connecting guide groove and is fixed with the reinforcing connecting rod through a fixing member, and the other end of the reinforcing adjusting rod extends a connecting column to be connected with the inner side of the active plate.

5. The robotic gimbal pitch axis structure of claim 4, wherein, The first transmission rod group is symmetrically arranged on the inner side of the two active plates and includes two left transmission rods and two right transmission rods. ​ ​ ​ 6. The robotic gimbal pitch axis structure of claim 5, wherein, ​ 7. The robotic gimbal pitch axis structure of claim 6, wherein, The number of the screw nuts is two, and the two screw nuts are arranged in upper and lower positions and fixedly connected through the connecting pieces.

8. The robotic gimbal pitch axis structure of claim 7, wherein, The driving motor is installed on the bottom plate through a rotating base, the rotating base is rotationally hinged with the bottom plate, so that the driving motor rotates in the horizontal direction, and the driving motor is rotationally connected with the rotating base, so as to adjust the angle between the screw rod and the bottom plate.

9. The robotic gimbal pitch axis structure of claim 3, wherein, The steel structure support plate and the adjusting rod are fixedly connected through a plurality of reinforcing connecting pieces.

10. The robotic gimbal pitch axis structure of claim 7, wherein, The connecting position of the screw nut and the connecting piece is filled with hot melt adhesive, so as to disperse stress.

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