A folding storage mechanism of a robot holder

Abstract

This utility model relates to the field of robot gimbal technology, specifically a folding and storage mechanism for a robot gimbal. It includes a base plate, with an end-effector gimbal positioned above the base plate. A folding structure is connected to the surface of the base plate, used to fold and store the end-effector gimbal. The folding structure includes a drive servo motor, an active connecting rod, an auxiliary connecting rod, and a servo motor cover. The drive servo motor is mounted on the surface of the base plate, and the servo motor cover covers its surface. A mounting structure is provided between the base plate and the folding structure. This utility model utilizes the drive servo motor to drive the auxiliary connecting rod in conjunction with the active connecting rod, forming a four-bar linkage structure that drives the rotation and movement of the end-effector gimbal. It achieves gimbal pitch function and can also achieve gimbal translation at specific angles to realize the folding function. Furthermore, this utility model reduces the number of drive units used, saving energy.

Description

Technical Field

[0001] This utility model relates to the field of robot gimbal technology, specifically a folding and storage mechanism for a robot gimbal. Background Technology

[0002] In existing technologies, the gimbal rotation structure of robots often uses simple rotary joints or parallelogram linkages to achieve a limited range of motion. Usually, the rotation axis cannot move, making it impossible to fold the gimbal. To achieve folding, an additional drive unit must be added to realize the retraction or folding function, which increases costs and consumes more power, and it is difficult to achieve the desired aesthetic effect. Furthermore, adding a drive unit requires additional volume, and it is difficult to achieve the ideal folding function. Utility Model Content

[0003] The purpose of this invention is to provide a folding and storage mechanism for a robot gimbal, so as to solve the problem mentioned in the background art that the existing technology cannot achieve the folding of the gimbal, or requires the addition of a separate drive unit.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a folding and storage mechanism for a robot gimbal, comprising a base plate, an end-effector gimbal disposed on the top of the base plate, and a folding structure connected to the surface of the base plate. The folding structure is used to drive the end-effector gimbal to fold and store. The folding structure includes a drive servo motor, an active connecting rod, an auxiliary connecting rod, and a servo motor cover. The drive servo motor is disposed on the surface of the base plate, and the surface of the drive servo motor is covered by the servo motor cover. Active connecting rods and auxiliary connecting rods for driving the end-effector gimbal to fold and store are also disposed on the left and right sides of the drive servo motor. An installation structure is provided between the base plate and the folding structure, which is used to fix the folding structure to the surface of the base plate.

[0005] Preferably, the surface of the end gimbal is provided with a main receiving groove, and the surface of the end gimbal is provided with auxiliary receiving grooves on both the left and right sides of the main receiving groove.

[0006] Preferably, the surface of the base plate is hinged with a connecting plate, and the top end of the connecting plate extends into the main receiving groove and is hinged to its inner wall; the top ends of the active connecting rod and the auxiliary connecting rod extend into the auxiliary receiving groove and are hinged to its inner wall.

[0007] Preferably, the output end of the drive servo motor is fixed with a servo motor fixing component, and the surface of the servo motor fixing component is provided with multiple sets of fixing screw holes. The surface of the active connecting rod is provided with a fastening through groove, and when the active connecting rod and the servo motor fixing component are installed, bolts are used to pass through the fastening through groove and fix the screw holes for fixed connection.

[0008] Preferably, the base plate has two mounting screw holes on its surface, the servo cover has two fixing through holes on its surface, and the servo cover and the base plate are fixed by bolts through the fixing through holes and the mounting screw holes when the servo cover and the base plate are installed. The surface of the drive servo is hinged with an auxiliary connecting rod through a hinge seat.

[0009] Preferably, the installation structure includes a limiting block, a fastener, a limiting groove, and a barb. Two limiting blocks and two fasteners are provided, and the two limiting blocks and fasteners are integrally injection molded on the surface of the base plate.

[0010] Preferably, the left and right sides of the servo cover surface are provided with limiting grooves, and the front and rear sides of the servo cover surface are integrally injection molded with barbs. When the servo cover is installed with the base plate, the limiting grooves and limiting blocks limit each other, while the barbs and buckles hook each other.

[0011] Compared with existing technologies, the advantages of this invention are as follows: When using the folding and storage mechanism of this robot gimbal, the servo cover is clipped onto the surface of the drive servo, and then the active connecting rod is fixed to the fixing screw hole on the surface of the servo fixing component through the fastening through slot. The folding structure is then installed on the surface of the base plate through the mounting structure. During installation, the limiting block and limiting slot cooperate to limit the movement, and then the hook and buckle are interlocked for fixation. Next, bolts are threaded through the fixing through hole and the mounting screw hole for fixation. Subsequently, the connecting plate, auxiliary connecting rod, and active connecting rod are hinged to the main and auxiliary receiving slots to complete the assembly. During operation, the drive servo drives the auxiliary connecting rod to move, and the auxiliary connecting rod receives power to rotate the end gimbal, realizing the folding and unfolding of the mechanism. This invention utilizes the drive servo to drive the auxiliary connecting rod in conjunction with the active connecting rod to form a four-bar linkage structure, which drives the rotation and movement of the end gimbal. It achieves the gimbal pitch function and can also achieve the gimbal translation and folding function at a specific angle. Moreover, this invention reduces the number of drive units used, saving energy. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0013] Figure 2 This is a schematic diagram of a partial explosion structure of the present invention;

[0014] Figure 3 This is a schematic diagram of the magnified oblique view structure of this utility model;

[0015] Figure 4 This is a front-view exploded magnified structural diagram of the present invention;

[0016] Figure 5 This is a rear-view enlarged structure diagram of the present invention.

[0017] In the diagram: 1. Base plate; 11. Connecting plate; 12. Mounting screw hole; 2. End gimbal; 21. Main retractor housing; 22. Auxiliary retractor housing; 3. Folding structure; 31. Drive servo; 311. Servo mounting component; 312. Fixing screw hole; 32. Active connecting rod; 321. Fastening through groove; 33. Auxiliary connecting rod; 34. Servo cover; 341. Fixing through hole; 4. Mounting structure; 41. Limiting block; 42. Buckle; 43. Limiting groove; 44. Barb. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. In addition, the terms "first", "second", "third", "upper", "lower", "left", "right", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present utility model, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. 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 an indirect connection through an intermediate medium. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0019] The structure of the folding and storage mechanism for a robot gimbal provided by this utility model is as follows: Figure 1 as well as Figure 3 As shown, the device includes a base plate 1, an end-effector gimbal 2 is mounted on top of the base plate 1, and a folding structure 3 is connected to the surface of the base plate 1. The folding structure 3 is used to drive the end-effector gimbal 2 to fold and store. The folding structure 3 includes a drive servo motor 31, an active connecting rod 32, an auxiliary connecting rod 33, and a servo motor cover 34. The drive servo motor 31 is mounted on the surface of the base plate 1, and the surface of the drive servo motor 31 is covered by the servo motor cover 34. The left and right sides of the drive servo motor 31 are also provided with an active connecting rod 32 and an auxiliary connecting rod 33 for driving the end-effector gimbal 2 to fold and store.

[0020] In practice, the auxiliary connecting rod 33 is moved by the drive servo motor 31, and the auxiliary connecting rod 33 receives power to drive the end gimbal 2 to rotate, thereby realizing the folding and unfolding of the mechanism.

[0021] Furthermore, such as Figure 2 as well as Figure 5As shown, the surface of the end-effector gimbal 2 is provided with a main receiving groove 21, and auxiliary receiving grooves 22 are provided on the surface of the end-effector gimbal 2 on both the left and right sides of the main receiving groove 21. A connecting plate 11 is hinged to the surface of the base plate 1, and the top end of the connecting plate 11 extends into the interior of the main receiving groove 21 and is hinged to its inner wall. The top ends of the active connecting rod 32 and the auxiliary connecting rod 33 extend into the interior of the auxiliary receiving groove 22 and are hinged to its inner wall. A servo motor fixing member 311 is fixed to the output end of the drive servo motor 31, and the surface of the servo motor fixing member 311 is provided with... There are multiple sets of fixing screw holes 312. The surface of the active connecting rod 32 is provided with a fastening through groove 321. When the active connecting rod 32 and the servo mounting part 311 are installed, bolts are used to pass through the fastening through groove 321 and fix them to the fixing screw holes 312. The surface of the base plate 1 is provided with two mounting screw holes 12. The surface of the servo cover 34 is provided with two fixing through holes 341. When the servo cover 34 and the base plate 1 are installed, bolts are used to pass through the fixing through holes 341 and fix them to the mounting screw holes 12. The surface of the drive servo 31 is hinged with an auxiliary connecting rod 33 through a hinge seat.

[0022] In practice, the servo cover 34 is snapped onto the surface of the drive servo 31, and then the active connecting rod 32 is fixed to the fixing screw hole 312 on the surface of the servo fixing part 311 through the fastening through groove 321.

[0023] Furthermore, such as Figure 4 as well as Figure 5 As shown, an installation structure 4 is provided between the base plate 1 and the folding structure 3. The installation structure 4 is used to fix the folding structure 3 to the surface of the base plate 1. The installation structure 4 includes a limiting block 41, a fastener 42, a limiting groove 43, and a barb 44. There are two limiting blocks 41 and two fasteners 42. The two limiting blocks 41 and fasteners 42 are integrally injection molded on the surface of the base plate 1. The left and right sides of the surface of the servo cover 34 are provided with limiting grooves 43. The front and rear sides of the surface of the servo cover 34 are integrally injection molded with barbs 44. When the servo cover 34 is installed with the base plate 1, the limiting grooves 43 and the limiting blocks 41 limit each other, while the barbs 44 and the fasteners 42 hook each other.

[0024] During implementation, the limiting block 41 and the limiting groove 43 are used to limit the position, and then the hook 44 and the buckle 42 are fastened together to fix the position. Finally, the bolts are threaded through the fixing through hole 341 and the mounting screw hole 12 to fix the position.

[0025] Working principle: In use, the servo cover 34 is snapped onto the surface of the drive servo 31. Then, the active connecting rod 32 is fixed to the fixing screw hole 312 on the surface of the servo fixing part 311 through the fastening through groove 321. The folding structure 3 is installed on the surface of the base plate 1 through the mounting structure 4. During installation, the limiting block 41 and the limiting groove 43 are used to limit the movement. Then, the hook 44 and the buckle 42 are fastened together to fix the servo. Next, the bolts are threaded through the fixing through hole 341 and the mounting screw hole 12. Then, the connecting plate 11, the auxiliary connecting rod 33 and the active connecting rod 32 are hinged to the main receiving groove 21 and the auxiliary receiving groove 22 to complete the assembly.

[0026] During operation, the auxiliary connecting rod 33 is driven by the drive servo motor 31. The auxiliary connecting rod 33 receives power and drives the end gimbal 2 to rotate, realizing the folding and unfolding of the mechanism. This utility model uses the drive servo motor 31 to drive the auxiliary connecting rod 33 in conjunction with the active connecting rod 32 to form a four-bar structure, which plays the role of driving the end gimbal 2 to rotate and move. It can realize the gimbal pitch function and also realize the gimbal translation at a specific angle to achieve the folding function. Moreover, this utility model reduces the number of drive units used and saves energy.

[0027] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A folding and storage mechanism for a robot gimbal, comprising a base plate (1), characterized in that: An end gimbal (2) is provided above the base plate (1). A folding structure (3) is connected to the surface of the base plate (1). The folding structure (3) is used to drive the end gimbal (2) to fold and store. The folding structure (3) includes a drive servo (31), an active connecting rod (32), an auxiliary connecting rod (33), and a servo cover (34). The drive servo (31) is provided on the surface of the base plate (1). The surface of the drive servo (31) is covered by the servo cover (34). The left and right sides of the drive servo (31) are also provided with an active connecting rod (32) and an auxiliary connecting rod (33) for driving the end gimbal (2) to fold and store. An installation structure (4) is provided between the base plate (1) and the folding structure (3). The installation structure (4) is used to fix the folding structure (3) to the surface of the base plate (1).

2. The folding and storage mechanism for a robot gimbal according to claim 1, characterized in that: The surface of the end gimbal (2) is provided with a main receiving slot (21), and the surface of the end gimbal (2) is provided with auxiliary receiving slots (22) on both the left and right sides of the main receiving slot (21).

3. The folding and storage mechanism for a robot gimbal according to claim 1, characterized in that: The bottom plate (1) is hinged to a connecting plate (11), and the top end of the connecting plate (11) extends into the main receiving groove (21) and is hinged to its inner wall; the top ends of the active connecting rod (32) and the auxiliary connecting rod (33) extend into the auxiliary receiving groove (22) and are hinged to its inner wall.

4. The folding and storage mechanism for a robot gimbal according to claim 1, characterized in that: The output end of the drive servo motor (31) is fixed with a servo motor fixing component (311), and the surface of the servo motor fixing component (311) is provided with multiple sets of fixing screw holes (312). The surface of the active connecting rod (32) is provided with a fastening through groove (321), and when the active connecting rod (32) and the servo motor fixing component (311) are installed, bolts are used to pass through the fastening through groove (321) and the fixing screw holes (312) for fixed connection.

5. The folding and storage mechanism for a robot gimbal according to claim 1, characterized in that: The base plate (1) has two mounting screw holes (12) on its surface, and the servo cover (34) has two fixing through holes (341) on its surface. When the servo cover (34) is installed with the base plate (1), the fixing through holes (341) are threaded to the mounting screw holes (12) by bolts. The surface of the drive servo (31) is hinged with an auxiliary connecting rod (33) through a hinge seat.

6. The folding and storage mechanism for a robot gimbal according to claim 1, characterized in that: The installation structure (4) includes a limiting block (41), a fastener (42), a limiting groove (43), and a barb (44). There are two of each limiting block (41) and fastener (42), and both limiting blocks (41) and fasteners (42) are integrally injection molded on the surface of the base plate (1).

7. The folding and storage mechanism for a robot gimbal according to claim 6, characterized in that: Limiting grooves (43) are provided on the left and right sides of the surface of the servo cover (34). The front and rear sides of the surface of the servo cover (34) are integrally injection molded with barbs (44). When the servo cover (34) is installed with the base plate (1), the limiting grooves (43) and the limiting blocks (41) limit each other, while the barbs (44) and the buckles (42) hook each other.

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