Double-degree-of-freedom rotating structure

Abstract

The utility model relates to the field of rotating structures, in particular to a two-degree-of-freedom rotating structure which comprises a shell and a rotating piece, a containing cavity is formed in the shell, a horizontal rotating driving piece is arranged in the containing cavity, the driving end of the horizontal rotating driving piece is connected with a first gear set, and the output end of the first gear set is provided with a rotating connecting piece. A rotating part is arranged on the outer side of the shell, the rotating part is connected with the rotating part through a rotating block, a vertical rotating driving part is arranged in the containing cavity, the driving end of the vertical rotating driving part is connected with a second gear set, and the vertical rotating driving part can drive the second gear set to drive the rotating part to rotate in the vertical direction. The first gear set and the second gear set are connected with the horizontal rotation driving piece and the vertical rotation driving piece in a matched mode respectively, torsion is provided through gear meshing transmission, and the problem that torque is insufficient in a traditional direct connection driving mode is solved, so that larger loads can be borne, and output speed and angle stable control transmission can be achieved.

Description

Technical Field

[0001] This utility model relates to the field of rotational structures, specifically to a two-degree-of-freedom rotational structure. Background Technology

[0002] Two-degree-of-freedom rotational structures, as highly flexible and adaptable mechanical structures, have demonstrated broad application prospects and significant technological value in numerous fields. Their applications are wide-ranging, including but not limited to security monitoring, robot joints, photography and videography, and smart homes.

[0003] Currently, various types of rotating structures exist on the market, some of which can achieve a certain degree of rotation and are widely used in various devices. These existing rotating structures typically consist of a drive unit and rotating components. The drive unit generally uses an electric motor, such as a DC motor or a stepper motor, to provide power for the rotational motion. The rotating components are the parts that actually perform the rotational actions, such as the rotating bracket of a camera or the joint components of a robot.

[0004] However, although existing rotating structures meet the basic rotational requirements of some equipment to a certain extent, they still have some shortcomings. Most existing rotating structures adopt a direct-drive mode of motor, and the power transmission path lacks an effective force amplification mechanism. When applied to scenarios with large loads (such as heavy-duty gimbal systems and industrial robotic arm joints), the motor output torque acts directly on the rotating shaft, resulting in low power torque and poor control accuracy. In addition, under low-speed, high-torque conditions, the motor needs to continuously operate at high current, which not only accelerates the heat loss of the equipment, but also fails to meet the sudden load demand due to insufficient torque margin, thus restricting the adaptability of the equipment under complex working conditions and making it difficult to control the output speed and position angle. Utility Model Content

[0005] The purpose of this invention is to address the above-mentioned deficiencies by providing a two-degree-of-freedom rotational structure. This solves the technical problem in the prior art where the existing two-degree-of-freedom rotational structures have relatively low rotational torque, making them unsuitable for heavy-load rotational control and thus affecting output speed and position angle control.

[0006] The objective of this utility model is achieved through the following means:

[0007] A two-degree-of-freedom rotational structure includes a housing and a rotating component. The housing has a receiving cavity, and an opening communicating with the receiving cavity is provided on the outer side of the housing. The rotating component is installed inside the receiving cavity, with its outer side protruding outside the housing through the opening. A horizontal rotational drive is provided inside the receiving cavity, with its driving end connected to a first gear set. A rotating connector is provided at the output end of the first gear set, with one end of the rotating connector protruding outside the housing through the receiving cavity. A rotating part is provided on the outer side of the housing, and the rotating component is connected to the rotating part via a rotating block. A vertical rotational drive is provided inside the receiving cavity, with its driving end connected to a second gear set. The output end of the second gear set is connected to the rotating component via a rotating shaft, enabling the vertical rotational drive to drive the second gear set to rotate the rotating component vertically. A first circuit board and a second circuit board, electrically connected to the horizontal and vertical rotational drive components respectively, are provided inside the receiving cavity.

[0008] Furthermore, as described above, the housing includes a first housing cover and a second housing cover that are mated and fastened together, and the rotating component includes a first rotating housing and a second rotating housing that are mated and fastened together, with a connecting hole provided between the first rotating housing and the second rotating housing.

[0009] The split-shell design allows the first and second shell covers to be matched and fastened together, facilitating the assembly and maintenance of internal components while improving the structural strength of the shell. The rotating parts adopt a split structure with the first and second rotating shells matched and fastened together, which simplifies the installation process of internal transmission components. The connection hole design provides an interface for the connection of the rotating parts with other external components, enhancing the structural adaptability.

[0010] Furthermore, as described above, both the horizontal rotation drive and the vertical rotation drive are composed of motors. The horizontal rotation drive is combined with the first gear set to form a horizontal rotation servo, and the vertical rotation drive is combined with the second gear set to form a vertical rotation servo. The horizontal rotation servo is installed between the first housing cover and the second housing cover, and the output end of the vertical rotation servo is installed between the first rotating housing and the second rotating housing.

[0011] By using a servo motor as the driving component, the built-in position feedback mechanism of the servo motor is used to improve the control accuracy of the rotation angle, thus solving the problem of poor control accuracy in the traditional direct-drive motor mode. The servo motor optimizes the torque transmission path through the setting of gear sets, thereby improving the load adaptability under low-speed, high-torque conditions.

[0012] Furthermore, as described above, the horizontal rotation drive component is composed of a horizontal drive motor. The output end of the horizontal drive motor is connected to a first drive gear. The first drive gear meshes with the input end of a first gear set, and the first drive gear can drive the first gear set to rotate the rotating connector, causing the housing to rotate relatively horizontally.

[0013] By meshing the horizontal drive motor with the first gear set, multi-stage speed reduction and torque increase are achieved, solving the problem of insufficient torque in traditional direct drive, and enabling the housing to have stronger load driving capability when rotating horizontally; the gear set transmission can smoothly output torque, avoid vibration when the motor is directly driven, and improve operational stability.

[0014] Furthermore, as described above, the vertical rotation drive component is composed of a vertical drive motor, the output end of which is connected to a second drive gear. The second drive gear meshes with the input end of a second gear set, and the second drive gear can drive the second gear set to rotate the rotating component.

[0015] The vertical drive motor works in conjunction with the second gear set to form an independent vertical rotation power system. The torque is amplified through gear meshing to meet the high load requirements of the rotating parts in the vertical direction. The independent gear set design avoids torque interference between horizontal and vertical rotation, and improves the coordinated control accuracy of the two-degree-of-freedom motion.

[0016] Furthermore, as described above, the rotary connector is composed of an output gear.

[0017] As the power transmission terminal, the output gear efficiently outputs the torque of the gear set through tooth surface meshing, enabling the output gear to connect with the external fixed parts and drive the housing to rotate horizontally. The gear transmission ensures that the rotating connecting parts can maintain stable power output under heavy load conditions.

[0018] Furthermore, as described above, a connecting end is formed at the bottom of the first housing cover, the first gear set is installed at the connecting end of the first housing cover, and a cover is connected to the bottom of the first housing cover, so that the first gear set is built into the connecting end and the cover, and the rotating connector passes through the cover and is exposed outside the cover.

[0019] The closed cavity formed by the connecting end and the cover provides physical protection for the first gear set, preventing dust or foreign objects from entering and causing transmission jamming; the rotating connector is exposed through the cover, so that it can be connected to external components, improving assembly efficiency.

[0020] Furthermore, as described above, one end of the rotary connector is detachably connected to a support through the housing. The support is provided with a mounting hole for insertion and assembly with the rotary connector. The mounting hole is engaged with the rotary connector through a toothed structure.

[0021] The detachable support design allows the rotating connector to be installed in the corresponding position as needed, such as a gimbal or robotic arm joint, thus enabling quick adaptation to external loads in different application scenarios. The toothed meshing connection ensures the reliability of power transmission, while the support is independent of the housing, making it easy to maintain or replace separately and reducing later maintenance costs.

[0022] Furthermore, as described above, both the first gear set and the second gear set consist of multiple meshing gears.

[0023] Multi-gear meshing forms a multi-stage reduction mechanism, and the torque is gradually amplified through the gear ratio distribution, which significantly improves the load driving capacity of the overall structure. Multi-stage transmission can reduce the motor operating speed, reduce heat loss under high current load conditions, and extend the service life of the equipment. At the same time, the meshing characteristics of the gear set ensure precise control of the rotation angle to meet the needs of complex working conditions.

[0024] The beneficial effects of this utility model are as follows: By combining the horizontal rotation drive component with the first gear set, the torque is provided by gear meshing transmission, which solves the problem of insufficient torque in the traditional direct drive mode. The mechanical transmission of the first gear set enables the rotating connector to bear a larger load, while ensuring high stability of horizontal rotational motion and avoiding jamming or loss of steps due to insufficient torque. The independent transmission of the vertical rotation drive component and the second gear set can enhance torque through the second gear set while maintaining control of vertical and horizontal rotational motion, improving the drive control of vertical rotation. The horizontal and vertical rotation drive components are integrated into the housing and rotating component, which reduces the overall structural volume while improving power control by utilizing the rigid transmission characteristics of gear meshing, and can achieve stable control of output speed and angle transmission. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of Embodiment 1;

[0026] Figure 2 This is a schematic diagram of the connection structure of the support in Embodiment 1;

[0027] Figure 3 This is an exploded view of Embodiment 1;

[0028] Figure 4 This is a schematic diagram of the structure of Embodiment 2;

[0029] Figure 5 This is an exploded view of embodiment two.

[0030] Figure 6 This is a schematic diagram of the structure of Embodiment 3;

[0031] Figure 7 This is an exploded view of embodiment three;

[0032] Figure 8 This is a schematic diagram of the connection structure of the support in Embodiment 3;

[0033] The reference numerals in the figure are as follows: 1-opening, 2-horizontal rotation drive, 3-first gear set, 4-rotation connector, 5-vertical rotation drive, 6-second gear set, 7-first circuit board, 8-second circuit board, 9-first drive gear, 10-second drive gear, 11-cover, 12-support, 13-rotation shaft, 14-connecting end;

[0034] 100 - Housing, 101 - First housing cover, 102 - Second housing cover, 103 - Rotating part;

[0035] 200 - Rotating component, 201 - First rotating shell, 202 - Second rotating shell, 203 - Connecting hole. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0037] To make the technical problem to be solved, the technical solution and the beneficial effects of this utility model clearer, the following describes the solution in further detail with reference to the accompanying drawings and embodiments.

[0038] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this scheme and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] Example 1

[0040] In this embodiment, refer to Figures 1-3The embodiment of the two-degree-of-freedom rotational structure includes a housing 100 and a rotating component 200. The housing 100 has a receiving cavity, and an opening 1 communicating with the receiving cavity is provided on the outer side of the housing 100. The rotating component 200 is installed inside the receiving cavity, and its outer side protrudes through the opening 1 outside the housing 100. A horizontal rotation drive 2 is provided inside the receiving cavity. The driving end of the horizontal rotation drive 2 is connected to a first gear set 3. A rotational connector 4 is provided at the output end of the first gear set 3, and one end of the rotational connector 4 protrudes through the receiving cavity and protrudes from the housing 100. Outside, a rotating part 103 is provided on the outer side of the housing 100. The rotating part 200 is connected to the rotating part 103 through a rotating block. A vertical rotation drive 5 is provided in the cavity. The driving end of the vertical rotation drive 5 is connected to a second gear set 6. The output end of the second gear set 6 is connected to the rotating part 200 through a rotating shaft 13, so that the vertical rotation drive 5 can drive the second gear set 6 to drive the rotating part 200 to rotate in the vertical direction. A first circuit board 7 and a second circuit board 8 are provided in the cavity, which are electrically connected to the horizontal rotation drive 2 and the vertical rotation drive 5, respectively.

[0041] The housing 100 includes a first housing cover 101 and a second housing cover 102 that are matched and fastened together. The rotating component 200 includes a first rotating housing 201 and a second rotating housing 202 that are matched and fastened together. A connecting hole 203 is provided between the first rotating housing 201 and the second rotating housing 202.

[0042] The split housing 100 design allows the first cover 101 and the second cover 102 to be paired and fastened together, facilitating the assembly and maintenance of internal components and improving the structural strength of the housing 100. The rotating component 200 adopts a split structure, with the first rotating housing 201 and the second rotating housing 202 paired and fastened together, which simplifies the installation process of the internal transmission components. The connection hole 203 is designed to provide an interface for the connection of the rotating component 200 with other external components, enhancing the structural adaptability.

[0043] In the specific implementation process, the rotating block is formed on the side of the second rotating shell and is inserted and assembled with the connecting part. The rotating part can be driven to rotate by the rotating shaft.

[0044] The horizontal rotation drive 2 is composed of a horizontal drive motor. The output end of the horizontal drive motor is connected to a first drive gear 9. The first drive gear 9 is meshed with the input end of the first gear set 3. The first drive gear 9 can drive the first gear set 3 to drive the rotating connector 4 to rotate, so that the housing 100 rotates relatively horizontally.

[0045] By meshing the horizontal drive motor with the first gear set 3, multi-stage speed reduction and torque increase are achieved, solving the problem of insufficient torque in traditional direct drive, and enabling the housing 100 to have a stronger load drive capability when rotating horizontally; the gear set transmission can smoothly output torque, avoid vibration when the motor is directly driven, and improve operational stability.

[0046] The vertical rotation drive 5 is composed of a vertical drive motor. The output end of the vertical drive motor is connected to a second drive gear 10. The second drive gear 10 is meshed with the input end of the second gear set 6, and the second drive gear 10 can drive the second gear set 6 to rotate the rotating component 200.

[0047] The vertical drive motor works in conjunction with the second gear set 6 to form an independent vertical rotation power system. The torque is amplified through gear meshing to meet the high load requirements of the rotating part in the vertical direction. The independent gear set design avoids torque interference between horizontal and vertical rotation, and improves the coordinated control accuracy of the two-degree-of-freedom motion.

[0048] The rotary connector 4 is composed of an output gear. As the power transmission terminal, the output gear efficiently outputs the torque of the gear set through tooth surface meshing, connects the output gear to the external fixed part, and can drive the housing 100 to perform horizontal rotation. The gear transmission ensures that the rotary connector 4 can maintain stable power output under heavy load conditions.

[0049] One end of the rotary connector 4 is detachably connected to a support 12 through the housing 100. The support 12 is provided with a mounting hole for insertion and assembly with the rotary connector 4. The mounting hole is engaged with the rotary connector 4 through a toothed structure.

[0050] The detachable support 12 design allows the rotating connector 4 to be installed in the corresponding position as needed, such as the support 12 being a gimbal or a robotic arm joint, thus enabling quick adaptation to external loads in different application scenarios. The toothed meshing connection ensures the reliability of power transmission. The support 12 is independent of the housing 100, making it easy to maintain or replace separately and reducing later maintenance costs.

[0051] Both the first gear set 3 and the second gear set 6 are composed of multiple meshing gears. The meshing of multiple gears forms a multi-stage reduction mechanism, and the torque is gradually amplified through the gear ratio distribution, which significantly improves the load driving capacity of the overall structure. The multi-stage transmission can reduce the operating speed of the motor, reduce heat loss under high current load conditions, and extend the service life of the equipment. At the same time, the meshing characteristics of the gear sets ensure precise control of the rotation angle, meeting the requirements of complex working conditions.

[0052] The specific usage process in this embodiment is as follows:

[0053] Horizontal rotation state: Connect the rotating connector 4 to the support 12. The horizontal rotation drive 2 can drive the first drive gear 9 to rotate, so that the first drive gear 9 drives the first gear set 3 to rotate. Thus, the output end of the first gear set 3 drives the rotating connector 4 to rotate around the support 12, so that the housing 100 drives the rotating component 200 to rotate horizontally.

[0054] Vertical rotation state: The rotating component 200 is installed at the opening 1 of the housing 100. The vertical rotation drive component 5 can drive the second drive gear 10 to rotate, so that the second drive gear 10 drives the second gear set 6 to rotate. Thus, the output end of the second gear set 6 drives the rotating component 200 to rotate around the rotating part 103, thereby realizing the vertical rotation of the rotating component 200.

[0055] By combining the horizontal rotation drive 2 with the first gear set 3, the torque amplification effect is achieved through gear meshing transmission. The mechanical transmission of the first gear set 3 enables the rotary connector 4 to bear a larger load, while ensuring high stability of horizontal rotational motion. This effectively solves the problem of insufficient torque in the traditional direct drive mode. The independent transmission of the vertical rotation drive 5 and the second gear set 6 can enhance torque through the second gear set 6 while maintaining control of vertical and horizontal rotational motion, improving the drive control of vertical rotation. The rigid transmission characteristics of gear meshing enhance power control and enable stable control of output speed and angle transmission.

[0056] Example 2

[0057] In this embodiment, the difference between Embodiment Two and Embodiment One is that: a connecting end 14 is formed at the bottom of the first housing 101, the first gear set 3 is installed at the connecting end 14 of the first housing 101, and a cover 11 is connected to the bottom of the first housing 101, so that the first gear set 3 is built between the connecting end 14 and the cover 11, and the rotating connector 4 passes through the cover 11 and is exposed outside the cover 11. The closed cavity formed by the connecting end 14 and the cover 11 provides physical protection for the first gear set 3, preventing dust or foreign objects from entering and causing transmission jamming; the rotating connector 4 is exposed through the cover 11, so that it can be connected to external components, improving assembly efficiency.

[0058] Example 3:

[0059] In this embodiment, the difference between Embodiment 3 and Embodiment 1 is that both the horizontal rotation drive 2 and the vertical rotation drive 5 are composed of motors. The horizontal rotation drive 2 is combined with the first gear set 3 to form a horizontal rotation servo, and the vertical rotation drive 5 is combined with the second gear set 6 to form a vertical rotation servo. The horizontal rotation servo is installed between the first housing 101 and the second housing 102, and the output end of the vertical rotation servo is installed between the first rotating housing 201 and the second rotating housing 202. By using a servo as the drive component, the built-in position feedback mechanism of the servo improves the control accuracy of the rotation angle, solving the problem of poor control accuracy in the traditional direct-drive motor mode. Through the setting of the gear set, the torque transmission path of the servo is optimized, improving the load adaptability under low-speed, high-torque conditions.

[0060] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present utility model without departing from the scope of the present utility model shall fall within the scope of the present utility model.

Claims

1. A two-degree-of-freedom rotational structure, comprising a housing and a rotating component, wherein a receiving cavity is provided inside the housing, and an opening communicating with the receiving cavity is provided on the outer side of the housing, the rotating component is installed inside the receiving cavity, and the outer side of the rotating component passes through the opening and protrudes outside the housing, characterized in that: A horizontal rotation drive is provided inside the receiving cavity. The driving end of the horizontal rotation drive is connected to a first gear set. The output end of the first gear set is provided with a rotating connector. One end of the rotating connector passes through the receiving cavity and protrudes outside the housing. A rotating part is provided on the outside of the housing. The rotating part is connected to the rotating part through a rotating block. A vertical rotation drive is provided inside the receiving cavity. The driving end of the vertical rotation drive is connected to a second gear set. The output end of the second gear set is connected to the rotating part through a rotating shaft, so that the vertical rotation drive can drive the second gear set to drive the rotating part to rotate in the vertical direction. A first circuit board and a second circuit board are provided inside the receiving cavity, which are electrically connected to the horizontal rotation drive and the vertical rotation drive, respectively.

2. The dual degree of freedom rotational structure of claim 1, wherein: The housing includes a first shell cover and a second shell cover that are matched and fastened together, and the rotating component includes a first rotating shell and a second rotating shell that are matched and fastened together, with a connecting hole provided between the first rotating shell and the second rotating shell.

3. The dual degree of freedom rotational structure of claim 2, wherein: Both the horizontal rotation drive and the vertical rotation drive are composed of motors. The horizontal rotation drive is combined with the first gear set to form a horizontal rotation servo, and the vertical rotation drive is combined with the second gear set to form a vertical rotation servo. The horizontal rotation servo is installed between the first housing and the second housing, and the output end of the vertical rotation servo is installed between the first rotating housing and the second rotating housing.

4. The dual degree of freedom rotational structure of claim 2, wherein: The horizontal rotation drive component is composed of a horizontal drive motor. The output end of the horizontal drive motor is connected to a first drive gear. The first drive gear meshes with the input end of the first gear set. The first drive gear can drive the first gear set to rotate the rotating connector, causing the housing to rotate relatively horizontally.

5. The dual degree of freedom rotational structure of claim 4, wherein: The vertical rotation drive is composed of a vertical drive motor. The output end of the vertical drive motor is connected to a second drive gear. The second drive gear meshes with the input end of the second gear set, and the second drive gear can drive the second gear set to rotate the rotating component.

6. The dual degree of freedom rotational structure of claim 5, wherein: The rotary connector is composed of an output gear.

7. The dual degree of freedom rotational structure of claim 4, wherein: The bottom of the first housing cover has a connecting end, the first gear set is installed on the connecting end of the first housing cover, and the bottom of the first housing cover is connected to a cover, so that the first gear set is built into the connecting end and the cover, and the rotating connector passes through the cover and is exposed outside the cover.

8. The dual degree of freedom rotational structure according to any one of claims 1-7, characterized in that: One end of the rotary connector is detachably connected to a support through the housing. The support has a mounting hole for insertion and assembly with the rotary connector. The mounting hole is engaged with the rotary connector through a toothed structure.

9. The dual degree of freedom rotational structure according to any one of claims 1-7, wherein: Both the first gear set and the second gear set consist of multiple meshing gears.

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