Neck structure and humanoid robot

Abstract

The application relates to the technical field of robots, and discloses a neck structure and a humanoid robot, wherein the neck structure comprises a neck main support, a moving platform support, a cross shaft and a driving assembly; the neck main support comprises a cross shaft first hinged part; the moving platform support comprises a cross shaft second hinged part; the cross shaft is connected between the neck main support and the moving platform support, and comprises a cross shaft first shaft part suitable for rotating around a B shaft and a cross shaft second shaft part suitable for rotating around a C shaft; the cross shaft first hinged part is hingedly connected with the cross shaft first shaft part, and the cross shaft second hinged part is hingedly connected with the cross shaft second shaft part; the driving assembly is connected between the neck main support and the moving platform support, and is suitable for driving the moving platform support to rotate around the B shaft and / or the C shaft relative to the neck main support. The neck structure provided by the application can realize a small-amplitude head pitching, can simulate a neck shrinking state, can reduce head shaking of the robot during walking, and is favorable for keeping the head vision of the robot stable.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a neck structure and a humanoid robot. Background Technology

[0002] When humanoid robots perform walking movements, due to their complex kinematics and dynamics, their heads often involuntarily tremble along with the body's movements, especially along the Z-axis (vertical direction). This tremor not only affects the robot's visual coordination but, more importantly, it causes the head's gaze to become unstable, thus impacting the robot's visual recognition and interaction capabilities. Therefore, solving the problem of Z-axis head tremor in humanoid robots during walking and ensuring the stability of the head's gaze has become an urgent issue to be addressed. Summary of the Invention

[0003] In view of this, the present invention provides a neck structure and a humanoid robot to solve the problem of head Z-axis shaking when the humanoid robot walks.

[0004] In a first aspect, the present invention provides a neck structure, comprising:

[0005] The main neck support includes a first hinged portion of the cross shaft;

[0006] The moving platform frame includes a cross-shaft second hinge section;

[0007] A cross shaft is connected between the main neck support and the moving platform frame. The cross shaft includes a first cross shaft portion adapted to rotate about the B axis and a second cross shaft portion adapted to rotate about the C axis. The first hinge portion of the cross shaft is hinged to the first cross shaft portion, and the second hinge portion of the cross shaft is hinged to the second cross shaft portion.

[0008] A drive assembly, connected between the main neck support and the moving platform frame, is adapted to drive the moving platform frame to rotate relative to the main neck support about the B-axis and / or the C-axis.

[0009] Beneficial effects: The movement of the moving platform relative to the main neck support allows for a smaller range of head pitch, effectively simulating a hunched-over posture. Simultaneously, by matching the robot's movement trajectory with its walking motion, the movement of the moving platform relative to the main neck support reduces head swaying during walking, especially in the Z-axis, improving the robot's walking stability and dynamic balance. This helps maintain stable head vision, thus ensuring the robot's visual recognition and interaction capabilities.

[0010] In one alternative implementation, the drive assembly includes a first linear actuator and a second linear actuator;

[0011] The first linear push rod includes a first linear push rod body and a first linear push rod output shaft adapted to extend and retract relative to the first linear push rod body. The end of the first linear push rod body away from the first linear push rod output shaft is hinged to the first push rod hinge of the main support of the neck main support. The end of the first linear push rod output shaft away from the first linear push rod body is hinged to the first push rod hinge of the moving platform frame of the moving platform frame.

[0012] The second linear push rod includes a second linear push rod body and a second linear push rod output shaft adapted to extend and retract relative to the second linear push rod body. The end of the second linear push rod body away from the second linear push rod output shaft is hinged to the second push rod hinge of the main support of the neck main support. The end of the second linear push rod output shaft away from the second linear push rod body is hinged to the second push rod hinge of the moving platform frame of the moving platform frame.

[0013] Beneficial effects: When the first linear push rod and the second linear push rod extend or retract in the same direction, it is suitable for rotating the moving platform frame relative to the main neck support around the C-axis to achieve head pitch; while when the first linear push rod and the second linear push rod extend or retract in opposite directions, it can rotate the moving platform frame relative to the main neck support around the B-axis to achieve head tilting to the left or right.

[0014] In one alternative implementation, it further includes:

[0015] Support base, including motor mounting part;

[0016] A-axis joint motor, including a drive unit and a driven unit adapted to rotate relative to the drive unit, the drive unit is fixedly mounted on the motor mounting unit, and the driven unit is adapted to be fixedly connected to the driven mounting part of the neck main support.

[0017] The A-axis articulated motor is suitable for driving the main neck support to rotate relative to the support base around the A-axis.

[0018] Beneficial effects: The A-axis joint motor can drive the main neck support to rotate a large range relative to the support base, thereby simulating the flexible movement of the human neck.

[0019] In one alternative implementation, axis A is parallel to axis C and perpendicular to axis B.

[0020] In one alternative embodiment, the main neck support extends to form two arm portions, and a limiting portion is formed in the area between the two arm portions of the main neck support.

[0021] The first hinge part of the cross shaft is a first hinge hole opened in the two support arms. The axis of the first hinge hole is parallel to the B axis and perpendicular to the plane where the two support arms are located.

[0022] The cross shaft is at least partially disposed between the two support arms, and the limiting part is adapted to limit the rotation angle of the cross shaft about the B axis.

[0023] Beneficial effects: The area between the two arms of the neck main support forms a limiting part, which is suitable for limiting the rotation angle of the cross axis around the B axis, and can effectively prevent excessive deviation of the cross axis during movement.

[0024] In one alternative embodiment, the cross shaft is disposed between the two support arms as a base portion. The cross shaft also includes a forward extension extending from the base portion along the B-axis direction. The second shaft portion of the cross shaft is a second hinge hole opened in the forward extension portion. The axis of the second hinge hole is parallel to the C-axis and perpendicular to the plane where the forward extension portion is located.

[0025] Beneficial effects: By making the cross shaft extend forward, the connection point between the cross shaft and the moving platform frame is moved forward, as shown in the figure. This can simulate the physiological lordosis of the human cervical spine, increase the elasticity of the robot's cervical spine, reduce the impact of the head on the cervical spine during movement, and play a role in buffering and shock absorption.

[0026] In one alternative implementation, the drive assembly is located on one side of the neck main support along the B-axis;

[0027] The front extension extends toward the side where the drive assembly is located.

[0028] Beneficial effects: This better simulates the lordotic structure of the human cervical spine, improves the stability and flexibility of the robot in complex movements, facilitates support for the robot's head, and further optimizes the robot's dynamic balance control.

[0029] In one alternative implementation, it further includes:

[0030] B-axis rotation axis, suitable for connecting the first hinge part of the cross shaft and the first shaft part of the cross shaft, and for allowing the first hinge part of the cross shaft and the first shaft part of the cross shaft to rotate relative to each other;

[0031] The C-axis rotation axis is suitable for connecting the second hinge part of the cross shaft and the second shaft part of the cross shaft, and for allowing the second hinge part of the cross shaft and the second shaft part of the cross shaft to rotate relative to each other.

[0032] In one alternative implementation, it further includes:

[0033] The first pin is adapted to hinge the end of the first linear push rod body away from the first linear push rod output shaft to the first push rod hinge part of the main support of the neck main support.

[0034] The second pin is adapted to hinge the end of the second linear push rod body away from the output shaft of the second linear push rod to the hinge joint of the main support of the neck main support.

[0035] The third pin is suitable for hingedly connecting the end of the first linear push rod output shaft away from the first linear push rod body to the first push rod hinge joint of the moving platform frame.

[0036] The fourth pin is suitable for hingedly connecting the end of the second linear push rod output shaft away from the second linear push rod body to the second push rod hinge joint of the moving platform frame.

[0037] Secondly, the present invention also provides a humanoid robot, comprising:

[0038] Robot head;

[0039] In addition to the neck structure described above, the robot's head is connected to the moving platform frame.

[0040] Since humanoid robots include a neck structure and have the same effect as a neck structure, they will not be elaborated on here. Attached Figure Description

[0041] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a three-dimensional schematic diagram of the neck structure of the present invention;

[0043] Figure 2 This is a side view of the neck structure of the present invention;

[0044] Figure 3 This is an exploded view of the neck structure of the present invention;

[0045] Figure 4 for Figure 3 A magnified view of a portion of the image;

[0046] Figure 5 This is an exploded view of the neck structure of the present invention from another perspective.

[0047] Explanation of reference numerals in the attached figures:

[0048] 1. Support base; 101. Motor mounting part;

[0049] 2. A-axis articulated motor; 201. Drive unit; 202. Driven unit;

[0050] 3. Neck main support; 301. Main support first push rod hinge; 302. Main support second push rod hinge; 303. Driven mounting part; 304. Cross shaft first hinge; 305. Limiting part; 306. Support arm part;

[0051] 4. First driven support bracket for A-axis; 5. First bearing; 6. Second driven support bracket for A-axis;

[0052] 701, First pin; 702, Second pin;

[0053] 8. First linear actuator; 801. First linear actuator body; 802. First linear actuator output shaft;

[0054] 9. Second linear actuator; 901. Second linear actuator body; 902. Second linear actuator output shaft;

[0055] 11. B-axis rotation axis;

[0056] 12. Second bearing;

[0057] 13. Cross shaft; 1301. First shaft section of cross shaft; 1302. Second shaft section of cross shaft; 1303. Base section; 1304. Forward extension section;

[0058] 14. Moving platform frame; 1401. First push rod hinge of moving platform frame; 1402. Second push rod hinge of moving platform frame; 1403. Second hinge of cross shaft;

[0059] 1501, Third pin; 1502, Fourth pin; 1503, C-axis rotating shaft. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for 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 invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0064] When humanoid robots perform walking movements, due to their complex kinematics and dynamics, their heads often involuntarily tremble along with the body's movements, especially in the Z-axis (vertical direction). This trembling not only affects the robot's visual coordination, but more importantly, it causes the head's gaze to become unstable, thus impacting the robot's visual recognition and interaction capabilities.

[0065] Furthermore, while robots have made some progress in mimicking human movements, they still face difficulties in simulating certain natural actions, such as the neck retraction gesture. The neck retraction gesture is a natural human response to cold, fear, or discomfort, involving complex coordination of neck muscles and subtle head movements. Because robots lack similar muscular and skeletal structures as humans, and the ability to perceive and control such subtle movements, they cannot effectively simulate the neck retraction gesture in related technologies. This limits the naturalness and realism of robots in imitating human behavior and expressions, and also affects their performance in certain specific applications, such as entertainment, education, or human-computer interaction.

[0066] Embodiments of the present invention provide a neck structure that, by simulating the dynamic characteristics of human neck muscles and bones, can effectively reduce head shaking when the robot walks and simulate a natural neck retraction movement when needed, thereby improving the robot's visual stability and facial expression realism.

[0067] The following is combined with Figures 1 to 5 The following describes embodiments of the present invention.

[0068] According to an embodiment of the present invention, in one aspect, a neck structure is provided, comprising:

[0069] The neck support 3 includes a cross-shaped first hinge portion 304;

[0070] The moving platform frame 14 includes a cross shaft second hinge portion 1403;

[0071] A cross shaft 13 is connected between the neck main support 3 and the moving platform frame 14. The cross shaft 13 includes a first cross shaft portion 1301 adapted to rotate about the B axis and a second cross shaft portion 1302 adapted to rotate about the C axis. A first cross shaft hinge portion 304 is hinged to the first cross shaft portion 1301, and a second cross shaft hinge portion 1403 is hinged to the second cross shaft portion 1302.

[0072] A drive assembly is connected between the main neck support 3 and the moving platform frame 14. The drive assembly is adapted to drive the moving platform frame 14 to rotate relative to the main neck support 3 about the B-axis and / or the C-axis.

[0073] It should be noted that, taking the robot's upright position as a reference, the extension direction of the B-axis can be the robot's front-back direction, while the extension directions of the A-axis and C-axis are both the robot's left-right direction. Specifically, the B-axis corresponds to the degree of freedom Roll, enabling the robot's head to rotate around the front-back axis, i.e., tilting its head left and right; the A-axis and C-axis both correspond to the degree of freedom Pitch, enabling the robot's head to rotate around the left-right axis, i.e., nodding, tilting its head, etc.

[0074] In some embodiments, the neck structure further includes:

[0075] Support base 1 includes motor fixing part 101;

[0076] The A-axis joint motor 2 includes a drive unit 201 and a driven unit 202 adapted to rotate relative to the drive unit 201. The drive unit 201 is fixedly mounted on the motor fixing unit 101, and the driven unit 202 is adapted to be fixedly connected to the driven mounting part 303 of the neck main support 3.

[0077] The A-axis joint motor 2 is suitable for driving the main neck support 3 to rotate relative to the support base 1 around the A-axis.

[0078] In some embodiments, axis A is parallel to axis C and perpendicular to axis B.

[0079] In this embodiment, the support base 1 can be specifically connected to the robot's shoulder.

[0080] The A-axis joint motor 2 is fixed on the support base 1. The drive part 201 of the A-axis joint motor 2 is fixedly installed on the motor fixing part 101. The driven part 202 is adapted to be fixedly connected to the driven mounting part 303 of the neck main support 3. By driving the A-axis joint motor 2, the driven part 202 drives the neck main support 3 to rotate around the A-axis, that is, to realize the rotational movement of the neck main support 3 relative to the support base 1, and to realize the head pitching movement of the robot.

[0081] The A-axis joint motor 2 can drive the main neck support 3 to rotate significantly relative to the support base 1, thereby simulating the flexible movement of the human neck. Meanwhile, the moving platform frame 14, moving relative to the main neck support 3, can achieve a smaller range of head pitch, effectively simulating the retraction of the neck. Simultaneously, by matching the robot's movement trajectory during walking, the movement of the moving platform frame 14 relative to the main neck support 3 can reduce head swaying during walking, especially in the Z-axis, improving the robot's walking stability and dynamic balance. This helps maintain stable head vision, thus ensuring the robot's visual recognition and interaction capabilities.

[0082] Combination Figures 2-4 As shown, a cross shaft 13 is provided between the main neck support 3 and the moving platform frame 14. The first hinge portion 304 of the cross shaft 13 is hinged to the first shaft portion 1301 of the cross shaft, and the second hinge portion 1403 of the cross shaft is hinged to the second shaft portion 1302 of the cross shaft. Through the drive of the drive assembly, the moving platform frame 14 can rotate relative to the main neck support 3 around the B axis and / or the C axis.

[0083] When the moving platform frame 14 rotates about the B-axis relative to the main neck support 3, it can achieve the head tilting action, simulating the left and right tilting of the human head; when the moving platform frame 14 rotates about the C-axis relative to the main neck support 3, it can achieve the head tilting action, simulating the human head tilting down or tilting up, thus effectively simulating the state of neck retraction.

[0084] Analogous to the human skeletal structure, the A-axis joint motor 2 drives the rotation of the main neck support 3 relative to the support base 1, simulating the position of the first cervical vertebra in the human body; while the rotation of the moving platform frame 14 relative to the main neck support 3 around the C-axis simulates the position of the seventh cervical vertebra in the human body. Through this sophisticated structural design, the robot can not only simulate the multi-dimensional movements of the human neck, but also maintain head stability in complex environments, reducing head shaking along the Z-axis during walking. This allows the robot to keep its line of sight as straight as possible while walking, further enhancing its dynamic balance and visual interaction capabilities, making the robot more flexible and efficient in performing tasks.

[0085] In addition, the driven part 202 is adapted to be fixedly connected to the driven mounting part 303 of the neck main support 3. In order to ensure a stable connection, an A-axis first driven support bracket 4 and an A-axis second driven support bracket 6 are provided between the driven part 202 and the neck main support 3, as well as a first bearing 5 provided between the A-axis first driven support bracket 4 and the A-axis second driven support bracket 6, so as to effectively distribute and bear the axial and radial loads generated during the movement, and ensure the stability of the neck main support 3 during the rotation process.

[0086] In some embodiments, the drive assembly includes a first linear push rod 8 and a second linear push rod 9;

[0087] The first linear push rod 8 includes a first linear push rod body 801 and a first linear push rod output shaft 802 adapted to extend and retract relative to the first linear push rod body 801. The end of the first linear push rod body 801 away from the first linear push rod output shaft 802 is hinged to the main support first push rod hinge portion 301 of the neck main support 3. The end of the first linear push rod output shaft 802 away from the first linear push rod body 801 is hinged to the moving platform frame first push rod hinge portion 1401 of the moving platform frame 14.

[0088] The second linear actuator 9 includes a second linear actuator body 901 and a second linear actuator output shaft 902 adapted to extend and retract relative to the second linear actuator body 901. One end of the second linear actuator body 901 away from the second linear actuator output shaft 902 is hinged to the main support second actuator hinge portion 302 of the neck main support 3. One end of the second linear actuator output shaft 902 away from the second linear actuator body 901 is hinged to the moving platform frame second actuator hinge portion 1402 of the moving platform frame 14.

[0089] The drive assembly specifically includes a first linear push rod 8 and a second linear push rod 9. One end of the first linear push rod 8 is connected to the main neck support 3, and the other end is connected to the moving platform frame 14. The second linear push rod 9 is arranged side by side with the first linear push rod 8, and similarly, one end is connected to the main neck support 3, and the other end is connected to the moving platform frame 14.

[0090] When the first linear push rod 8 and the second linear push rod 9 extend or retract in the same direction, it is suitable for rotating the moving platform frame 14 relative to the neck main support 3 around the C-axis to achieve head tilting; while when the first linear push rod 8 and the second linear push rod 9 extend or retract in opposite directions, it can cause the moving platform frame 14 to rotate relative to the neck main support 3 around the B-axis to achieve head tilting to the left or right.

[0091] In some embodiments, it also includes:

[0092] The first pin 701 is adapted to hinge the end of the first linear push rod body 801 away from the first linear push rod output shaft 802 to the main support first push rod hinge part 301 of the neck main support 3.

[0093] The second pin 702 is adapted to hinge the end of the second linear push rod body 901 away from the second linear push rod output shaft 902 to the main support second push rod hinge part 302 of the neck main support 3.

[0094] The third pin 1501 is adapted to hinge the end of the first linear push rod output shaft 802 away from the first linear push rod body 801 to the first push rod hinge part 1401 of the moving platform frame 14.

[0095] The fourth pin 1502 is adapted to hinge one end of the second linear push rod output shaft 902 away from the second linear push rod body 901 to the second push rod hinge part 1402 of the moving platform frame 14.

[0096] The end of the first linear actuator body 801 furthest from the first linear actuator output shaft 802 is hinged to the main support first actuator hinge 301 of the neck main support 3. The end of the first linear actuator output shaft 802 furthest from the first linear actuator body 801 is hinged to the moving platform frame first actuator hinge 1401 of the moving platform frame 14. The hinge can specifically be a ball joint to increase connection flexibility and facilitate multi-dimensional head movement. Similarly, the end of the second linear actuator body 901 furthest from the second linear actuator output shaft 902 is hinged to the main support second actuator hinge 302 of the neck main support 3. The end of the second linear actuator output shaft 902 furthest from the second linear actuator body 901 is hinged to the moving platform frame second actuator hinge 1402 of the moving platform frame 14. The hinge can specifically be a ball joint to increase connection flexibility and facilitate multi-dimensional head movement.

[0097] In some embodiments, combined with Figure 4 As shown, the cervical main support 3 extends to form two support arms 306, and a limiting part 305 is formed in the area between the two support arms 306 of the cervical main support 3.

[0098] The first hinge portion 304 of the cross shaft is a first hinge hole opened in the two support arm portions 306. The axis of the first hinge hole is parallel to the B axis and perpendicular to the plane where the two support arm portions 306 are located.

[0099] The cross shaft 13 is at least partially disposed between the two support arms 306, and the limiting part 305 is adapted to limit the rotation angle of the cross shaft 13 about the B axis.

[0100] Specifically, the arm 306 can be set on the top of the neck main support 3, thereby forming a U-shaped assembly structure on the top of the neck main support 3, with the cross shaft 13 assembled in the middle of the U-shaped structure.

[0101] The neck main support 3 forms a limiting part 305 in the area between the two support arms 306. The limiting part 305 is suitable for limiting the rotation angle of the cross shaft 13 around the B axis, which can effectively prevent the cross shaft 13 from excessively deviating during the movement.

[0102] Combination Figure 4 As shown, the first hinge portion 304 of the cross shaft is connected to the first shaft portion 1301 of the cross shaft via the B-axis rotation shaft 11; the second hinge portion 1403 of the cross shaft is connected to the second shaft portion 1302 of the cross shaft via the C-axis rotation shaft 1503.

[0103] In addition, in this embodiment, in order to ensure smoother rotation of the cross shaft 13 relative to the neck main support 3, a second bearing 12 is provided at the connection between the cross shaft 13 and the neck main support 3.

[0104] In some embodiments, the portion of the cross shaft 13 disposed between the two support arms 306 is a base portion 1303. The cross shaft 13 also includes a forward extension portion 1304 extending from the base portion 1303 along the B-axis direction. The second shaft portion 1302 of the cross shaft is a second hinge hole opened in the forward extension portion 1304. The axis of the second hinge hole is parallel to the C-axis and perpendicular to the plane where the forward extension portion 1304 is located.

[0105] In this embodiment, the cross shaft 13 is also constructed as a U-shaped structure. The part of the cross shaft 13 located between the two support arms 306 is the base part 1303, and the part of the cross shaft 13 extending from the base part 1303 along the B-axis direction is the extension part 1304.

[0106] By forming a forward extension 1304 on the cross shaft 13, the connection point between the cross shaft 13 and the moving platform frame 14 is moved forward using the forward extension 1304. Figure 2 As shown, this can simulate the physiological lordosis of the human cervical spine, increase the elasticity of the robot's cervical spine, and reduce the impact of the head on the cervical spine during movement (such as running, jumping, etc.), thus playing a role in buffering and shock absorption.

[0107] In some embodiments, the drive assembly is disposed on one side of the neck main support 3 along the B-axis;

[0108] The forward extension 1304 extends toward the side where the drive assembly is located.

[0109] That is, the first linear push rod 8 and the second linear push rod 9 are both located on one side of the neck main support 3 along the B-axis. In this embodiment, the first linear push rod 8 and the second linear push rod 9 are both located on the front side of the neck main support 3 along the B-axis, so as to better simulate the convex structure of the human cervical spine, improve the stability and flexibility of the robot in complex movements, facilitate the support of the robot's head, and further optimize the robot's dynamic balance control.

[0110] In some embodiments, the neck structure further includes:

[0111] B-axis rotating shaft 11 is adapted to connect the first hinge part 304 of the cross shaft and the first shaft part 1301 of the cross shaft, and to allow the first hinge part 304 of the cross shaft and the first shaft part 1301 of the cross shaft to rotate relative to each other;

[0112] The C-axis rotating shaft 1503 is adapted to connect the second hinge portion 1403 of the cross shaft and the second shaft portion 1302 of the cross shaft, and to allow the second hinge portion 1403 of the cross shaft and the second shaft portion 1302 of the cross shaft to rotate relative to each other.

[0113] According to an embodiment of the present invention, in another aspect, a humanoid robot is also provided, comprising:

[0114] Robot head;

[0115] In addition to the neck structure described above, the robot head is connected to the moving platform frame 14.

[0116] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the scope defined by the present invention.

Claims

1. A neck structure, characterized in that, include: The neck support (3) includes a first hinge (304) on a cross shaft. The moving platform frame (14) includes a cross shaft second hinge (1403). A cross shaft (13) is connected between the neck main support (3) and the moving platform frame (14). The cross shaft (13) includes a first cross shaft portion (1301) adapted to rotate about the B axis and a second cross shaft portion (1302) adapted to rotate about the C axis. The first cross shaft hinge portion (304) is hinged to the first cross shaft portion (1301), and the second cross shaft hinge portion (1403) is hinged to the second cross shaft portion (1302). A drive assembly is connected between the main neck support (3) and the moving platform frame (14), and the drive assembly is adapted to drive the moving platform frame (14) to rotate relative to the main neck support (3) about the B axis and / or the C axis; The drive assembly includes a first linear push rod (8) and a second linear push rod (9); The first linear push rod (8) includes a first linear push rod body (801) and a first linear push rod output shaft (802) adapted to extend and retract relative to the first linear push rod body (801). The end of the first linear push rod body (801) away from the first linear push rod output shaft (802) is hinged to the main support first push rod hinge (301) of the neck main support (3). The end of the first linear push rod output shaft (802) away from the first linear push rod body (801) is hinged to the moving platform frame first push rod hinge (1401) of the moving platform frame (14). The second linear push rod (9) includes a second linear push rod body (901) and a second linear push rod output shaft (902) adapted to extend and retract relative to the second linear push rod body (901). One end of the second linear push rod body (901) away from the second linear push rod output shaft (902) is hinged to the main support second push rod hinge (302) of the neck main support (3). One end of the second linear push rod output shaft (902) away from the second linear push rod body (901) is hinged to the moving platform frame second push rod hinge (1402) of the moving platform frame (14). The main neck support (3) extends to form two arm portions (306), and the main neck support (3) forms a limiting portion (305) in the area between the two arm portions (306). The first hinge portion (304) of the cross shaft is a first hinge hole opened in the two support arms (306), and the axis of the first hinge hole is parallel to the B axis and perpendicular to the plane where the two support arms (306) are located. The cross shaft (13) is at least partially disposed between the two support arms (306), and the limiting part (305) is adapted to limit the rotation angle of the cross shaft (13) about the B axis.

2. The neck structure according to claim 1, characterized in that, Also includes: Support base (1), including motor fixing part (101); The A-axis joint motor (2) includes a drive unit (201) and a driven unit (202) adapted to rotate relative to the drive unit (201). The drive unit (201) is fixedly mounted on the motor fixing unit (101), and the driven unit (202) is adapted to be fixedly connected to the driven mounting part (303) of the neck main support (3). The A-axis joint motor (2) is adapted to drive the neck main support (3) to rotate about the A-axis relative to the support base (1).

3. The neck structure according to claim 2, characterized in that, The A-axis is parallel to the C-axis and perpendicular to the B-axis.

4. The neck structure according to claim 1, characterized in that, The cross shaft (13) is located between the two support arms (306) as a base (1303). The cross shaft (13) also includes a forward extension (1304) extending from the base (1303) along the B-axis direction. The second shaft portion (1302) of the cross shaft is a second hinge hole opened in the forward extension (1304). The axis of the second hinge hole is parallel to the C-axis and perpendicular to the plane where the forward extension (1304) is located.

5. The neck structure according to claim 4, characterized in that, The drive assembly is disposed on one side of the neck main support (3) along the B axis; The extension (1304) extends toward the side where the drive assembly is located.

6. The neck structure according to any one of claims 1 to 5, characterized in that, Also includes: B-axis rotation shaft (11) is adapted to connect the first hinge part (304) of the cross shaft and the first shaft part (1301) of the cross shaft, and to allow the first hinge part (304) of the cross shaft and the first shaft part (1301) of the cross shaft to rotate relative to each other; The C-axis rotating shaft (1503) is adapted to connect the second hinge portion (1403) of the cross shaft and the second shaft portion (1302) of the cross shaft, and to allow the second hinge portion (1403) of the cross shaft and the second shaft portion (1302) of the cross shaft to rotate relative to each other.

7. The neck structure according to claim 1, characterized in that, Also includes: The first pin (701) is adapted to hinge the end of the first linear push rod body (801) away from the first linear push rod output shaft (802) to the main support first push rod hinge part (301) of the neck main support (3). The second pin (702) is adapted to hinge one end of the second linear push rod body (901) away from the second linear push rod output shaft (902) to the main support second push rod hinge part (302) of the neck main support (3); The third pin (1501) is adapted to hinge the end of the first linear push rod output shaft (802) away from the first linear push rod body (801) to the first push rod hinge part (1401) of the moving platform frame (14); The fourth pin (1502) is adapted to hinge one end of the second linear push rod output shaft (902) away from the second linear push rod body (901) to the second push rod hinge part (1402) of the moving platform frame (14).

8. A humanoid robot, characterized in that, include: Robot head; And a neck structure as described in any one of claims 1 to 7, wherein the robot head is connected to the moving platform frame (14).

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