Robot neck holder structure with three orthogonal rotating shafts

Abstract

The invention discloses a robot neck holder structure with three orthogonal rotating shafts, which comprises a neck holder mechanism mounted on a robot trunk, and the neck holder mechanism comprises a yawing motion assembly, a pitching motion assembly connected with the yawing motion assembly and a rolling motion assembly connected with the pitching motion assembly; the rotation centers of the yawing motion assembly, the pitching motion assembly and the rolling motion assembly are intersected at one point; the yawing motion assembly comprises a multi-connecting-rod structure, and the yawing motion assembly of the multi-connecting-rod structure simulates the head side-sway motion. The pitching motion assembly simulates head nodding motion, and the rolling motion assembly simulates head shaking motion. The multi-link structure includes a link structure. According to the technical scheme, the positions of the rotating shafts are changed, load distribution is optimized, the three orthogonal rotating shafts intersect at the center O point, and the robot head has the unique rotating center.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot neck mechanism, and particularly relates to a robot neck holder structure with three rotation axes being orthogonal. BACKGROUND

[0002] A robot includes a trunk, a neck and a head, wherein the movement of the head includes nodding, shaking and the like, which are completed through the movement of the neck mechanical structure. Therefore, the stability of the movement of the neck mechanical structure is a prerequisite for ensuring the stability and flexibility of the movement of the head of the robot. Therefore, in order to realize that the head of the robot can move stably during the working process, the existing technology provides a robot movement joint mechanical structure to ensure the stability and flexibility of the movement of the head of the robot.

[0003] For example, Chinese Patent Application No. CN202422799937.1 discloses a simulation robot simulating trigger operation, which mainly includes a trunk mechanism, an arm mechanism, a neck mechanism, a head mechanism and an execution mechanism. The arm mechanism and the neck mechanism are connected to the trunk mechanism, the head mechanism is connected to the neck mechanism, the execution mechanism is arranged on one side of the trunk mechanism, and the execution mechanism is in transmission connection with the arm mechanism. Through the above-mentioned mode, the execution mechanism drives each follow-up joint in the arm mechanism to move, simulates the movement of the robot trigger operation, and the arm mechanism is in linkage action with the neck mechanism and the head mechanism, so that the robot interacts with the tourists, and the participation and immersion of the tourists are improved.

[0004] However, the existing robot neck design generally has problems, for example, a single series structure causes end shaking and uneven load, which affects the movement precision and stiffness; a parallel structure provides high stiffness but the working space is limited, and it is difficult to realize the natural and smooth spherical joint movement of the human neck; and in the design of the robot multi-degree-of-freedom neck, the rotation axes are not orthogonal or do not intersect at a single rotation center. SUMMARY

[0005] Based on the above background, the purpose of the present application is to provide a robot neck holder structure with three rotation axes being orthogonal.

[0006] To achieve the above purpose, the present application adopts the following technical solutions:

[0007] A robot neck holder structure with three rotation axes being orthogonal, which comprises a neck holder mechanism installed on a robot trunk, the neck holder mechanism comprising a yaw movement assembly, a pitch movement assembly connected to the yaw movement assembly, and a roll movement assembly connected to the pitch movement assembly.

[0008] The rotation centers of the yaw movement assembly, the pitch movement assembly and the roll movement assembly intersect at a point.

[0009] The yaw motion assembly comprises a multi-link structure, the yaw motion assembly simulates the head side swing motion through the multi-link structure; the pitch motion assembly simulates the head nodding motion, and the roll motion assembly simulates the head shaking motion;

[0010] The multi-link structure comprises a link structure, one end of the link structure is hingedly installed on the pitch motion assembly, and the other end is fixedly installed on the yaw motion assembly; the yaw motion assembly comprises a first driving motor, and an output end of the driving motor is fixedly installed on the other end of the link structure.

[0011] In the technical scheme, the rotation centers of the yaw motion assembly, the pitch motion assembly and the roll motion assembly intersect at a point through the improvement of the machine structure of the neck joint motion of the robot. Compared with the stability and fluency of the neck motion ensured by the point, specifically, the rotation centers intersect at a point (the center O point), the overall robot head structure realizes the spherical working space, the high-fluency personification motion and the high-efficiency dynamic performance are achieved. Moreover, the motion coupling is completely eliminated, the kinematics calculation is simplified and the control precision is improved, the neck holder motion is smooth and natural, close to human behavior, and the personification experience is enhanced.

[0012] The yaw motion assembly comprises a multi-link structure, the yaw motion assembly simulates the head side swing motion through the multi-link structure; the pitch motion assembly simulates the head nodding motion, and the roll motion assembly simulates the head shaking motion; the multi-link structure is used to adjust the axis position of the yaw motion assembly and transmit the motion, and then the rotation axis position is adjusted to coincide with the rotation centers of the remaining motion assemblies.

[0013] Preferably, the yaw motion assembly comprises a first housing, and a first driving motor is fixedly installed in the first housing;

[0014] The pitch motion assembly comprises a second housing, and a second driving motor is fixedly installed in the second housing.

[0015] Preferably, the link structure comprises a shell arm portion integrally formed at one end position of the first housing, and a lower end of the shell arm portion is hingedly installed on one side of a side wall of the second housing through a first hinging structure;

[0016] Further comprising a link support arm fixedly installed on the first driving motor, and the link support arm is hingedly installed on the other side of the side wall of the second housing through a second hinging structure.

[0017] Preferably, the first hinging structure comprises a bearing mounting boss integrally formed on the side wall of the second housing, a cross-roller bearing is installed in the bearing mounting boss, and the shell arm portion is fixedly installed on an inner ring of the cross-roller bearing;

[0018] The second hinge structure comprises a first bearing installed at the lower end of the connecting rod support arm, and a rotating shaft fixedly installed on the first bearing and fixedly connected to the side wall of the second shell.

[0019] Preferably, the first shell arm is fixedly installed on the inner ring of the cross roller bearing through a plurality of bolts.

[0020] Preferably, the connecting rod structure further comprises a driving flange fixedly installed on the output shaft of the first driving motor, and the first driving rod and the second driving rod symmetrically connected to the first driving rod are fixedly installed on the driving flange.

[0021] The first driving rod and the second driving rod are fixedly installed on the side arm of the shell, and the connecting rod support arm is located between the first driving rod and the second driving rod.

[0022] The two ends of the first driving rod and the second driving rod are fixedly installed through the second bearing.

[0023] In the above structure, the first driving rod and the second driving rod form an outer four-bar linkage mechanism, and the rotation center of the driving flange and the first bearing is located at the midpoint of the upper end and the lower end of the first driving rod and the second driving rod, thereby forming an inner smaller four-bar linkage mechanism, and the design stability of the inner and outer four-bar linkage mechanisms is higher, and the stability and accuracy of the side swing of the robot head are higher.

[0024] Preferably, the second bearing is rotatably connected with a connecting shaft, and the connecting shaft is fixedly installed on the corresponding driving flange and the second shell.

[0025] Preferably, the rolling motion assembly comprises a third shell, and a third driving motor is fixedly installed in the third shell.

[0026] A U-shaped support structure for fixedly connecting the second shell is fixedly connected to the output shaft of the third driving motor.

[0027] Preferably, the output shaft of the second driving motor is fixedly installed at one end of the U-shaped support structure, and the second shell is rotatably connected to the other end of the U-shaped support structure.

[0028] Preferably, a camera structure is fixedly installed on the first shell.

[0029] The camera structure comprises a camera and a camera support for fixing the camera, and a fixed support is fixedly installed on the first shell, and the camera support is fixedly installed on the fixed support.

[0030] The present application has the following advantages:

[0031] 1. The application provides an innovative 3-DOF robot neck holder structure, the core innovation of which is that the transmission of motion, the change of the rotation axis position and the optimization of the load distribution are realized by the design of the universal structure formed by the series joint module and the U-shaped support and the multi-link driving mechanism, the three orthogonal rotation axes intersect at the center O point, the robot head has a unique rotation center, and the special hollow design can avoid cable entanglement, damage and other problems during multi-DOF motion, realizing smooth, stable and efficient neck motion.

[0032] 2. The rotation centers of the roll motion assembly, the pitch motion assembly and the roll motion assembly intersect at a point. Compared with the stability and smoothness of the neck motion ensured by the point, the rotation centers intersect at a point (the center O point), the overall robot head structure realizes a spherical working space, achieves high-smooth humanization motion and high-efficiency dynamic performance. Moreover, the motion coupling is completely eliminated, the kinematics calculation is simplified and the control accuracy is improved, the neck holder motion is smooth and natural, close to human behavior, and the humanization experience is enhanced.

[0033] 3. In the mechanical structure simulating head side swing, a multi-link structure of inner and outer structures is formed by the first driving rod, the second driving rod and the connecting rod support arm. Specifically, the multi-link mechanism formed by the driving flange, the first driving rod, the second driving rod and the connecting rod support arm is indirectly driven (the first driving rod and the second driving rod form a four-link mechanism located on the outer side, and the rotation centers of the driving flange and the first bearing are located at the midpoint positions of the upper and lower ends of the first driving rod and the second driving rod, which form a slightly smaller four-link mechanism located on the inner side, and the design of such inner and outer four-link mechanisms has higher stability, and the stability and accuracy of the robot head side swing are higher).

[0034] The two rotation centers of the first driving rod and the second driving rod are respectively at the upper and lower edge midpoints of the four-link mechanism formed by the two driving rods, the orthogonal included angle is accurately controlled, the mechanical properties are optimized, the kinematics calculation is simplified and the coupling error is eliminated.

[0035] 4. The pitch motion assembly, the U-shaped support structure and the roll motion assembly form a universal motion structure similar to a universal joint.

[0036] 5. In the connecting rod structure, the two rotation centers of the first driving rod and the second driving rod are respectively at the upper and lower edge midpoints of the four-link mechanism formed by the two driving rods, the orthogonal included angle is accurately controlled, the mechanical properties are optimized, the kinematics calculation is simplified and the coupling error is eliminated. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from the structures shown in these drawings without creative labor.

[0038] Figure 1 The structure diagram of the robot neck holder structure mounted on the robot torso in the embodiment of the present application;

[0039] Figure 2 The structure diagram of the rotation center of the robot neck holder structure in the embodiment of the present application;

[0040] Figure 3 The structure diagram of the connecting rod structure in the embodiment of the present application;

[0041] Figure 4 The structure diagram of the connecting rod structure in the embodiment of the present application;

[0042] Figure 5 The structure diagram of the yaw motion assembly in the embodiment of the present application;

[0043] Figure 6 The plane structure diagram of the robot neck holder structure in the embodiment of the present application;

[0044] Figure 7 The plane structure diagram of the robot neck holder structure in the embodiment of the present application;

[0045] Figure 8 The plane structure diagram of the robot neck holder structure in the embodiment of the present application;

[0046] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0048] It should be noted that all directionality indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directionality indications will also change accordingly.

[0049] In addition, the descriptions such as "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0050] Embodiment 1

[0051] As shown in Figures 1-8 A three-rotary-axis orthogonal robot neck holder structure, comprising a neck holder mechanism mounted on a robot torso, in order from top to bottom, the neck holder mechanism comprises a yaw motion assembly, and a pitch motion assembly connected to the yaw motion assembly, and a roll motion assembly connected to the pitch motion assembly (the roll motion assembly is mounted on a base on the robot torso).

[0052] The present application realizes that the rotation centers of the yaw motion assembly, the pitch motion assembly and the roll motion assembly intersect at a point by improving the mechanical structure of the robot neck joint movement. Compared with the stability and smoothness of the neck movement ensured by one point, specifically, the rotation centers intersect at a point (the center O point), the whole realizes the spherical workspace of the robot head structure, achieves high smooth humanization movement and high dynamic performance. And, completely eliminate the motion coupling, simplify the kinematics calculation and improve the control accuracy, make the neck holder movement smooth and natural, close to human behavior, enhance the humanization experience.

[0053] Specifically, the yaw motion assembly includes a multi-link structure, which simulates the head side swing movement through the multi-link structure; the pitch motion assembly simulates the head nodding movement, and the roll motion assembly simulates the head shaking movement; the multi-link structure is used to adjust the axis position of the yaw motion assembly and transmit the movement, and then the rotation axis position is adjusted to coincide with the rotation centers of the remaining motion assemblies.

[0054] The multi-link structure comprises a link structure, one end of the link structure is hingedly mounted on the pitching movement assembly, and the other end is fixedly mounted on the yaw movement assembly, the yaw movement assembly comprises a first driving motor, and an output end of the driving motor is fixedly mounted on the other end of the link structure.

[0055] Embodiment 2

[0056] As Figures 1-8 shown, the embodiment discloses the specific structure of the link structure on the basis of the structure of embodiment 1.

[0057] Specifically, the yaw movement assembly comprises a first housing 62, and a first driving motor 61 is fixedly mounted in the first housing 62 (the fixed end of the first driving motor 61 is fixed on the front end position of the first housing 62 in a bolted manner).

[0058] Similarly, the pitching movement assembly comprises a second housing 511, and a second driving motor 52 is fixedly mounted in the second housing 511 (the fixed end of the second driving motor 52 is fixed on the left end of the second housing 511 in a bolted manner).

[0059] The link structure comprises a shell arm portion 32 integrally formed at the front end position of the first housing 62 (the upper end of the shell arm portion 32 is integrally formed on the first housing 62, and the shell arm portion 32 is shaped like an arm), and the lower end of the shell arm portion 32 is hingedly mounted on the front side wall of the second housing 511 through a first hinged structure.

[0060] Meanwhile, the link structure further comprises a link support arm 31 fixedly mounted on the first driving motor 61 (specifically, the upper end of the link support arm 31 is fixed on the housing of the first driving motor 61 in a bolted manner, and a through hole is formed in the link support arm 31 corresponding to the output shaft of the first driving motor 61), and the link support arm 31 is hingedly mounted on the rear side wall of the second housing 511 through a second hinged structure.

[0061] The hinged structure specifically comprises a bearing mounting boss 321 integrally formed on the front side wall of the second housing 511, a cross-roller bearing 3211 is mounted in the bearing mounting boss 321, and the shell arm portion 32 is fixedly mounted on the inner ring of the cross-roller bearing 3211. Specifically, the shell arm portion 32 is fixed on the mounting hole in the inner ring of the cross-roller bearing 3211 through a bolt. The outer ring of the cross-roller bearing 3211 is fixed on the bearing mounting boss 321.

[0062] Meanwhile, the second hinged structure comprises a first bearing 33 mounted at the lower end position of the link support arm 31, the inner ring of the first bearing 33 is fixedly mounted with a rotating shaft, and the rotating shaft is fixedly connected to the side wall of the second housing 511.

[0063] Meanwhile, the connecting rod structure further comprises a driving flange 63 fixedly installed on the output shaft of the first driving motor 61, and the first driving rod 41 and the second driving rod 42 symmetrical to the first driving rod 41 are hingedly installed on the driving flange 63 respectively; the first driving rod 41 and the second driving rod 42 are hingedly installed on the side arm of the shell, and the connecting rod support arm 31 is located between the first driving rod 41 and the second driving rod 42. Specifically, the first driving rod 41 and the second driving rod 42 are symmetrically arranged with the connecting rod support arm 31 as the center line of symmetry.

[0064] Both ends of the first driving rod 41 and the second driving rod 42 are hingedly installed through the second bearing respectively. Specifically, the connecting shaft 43 is rotatably connected on the second bearing respectively, and the connecting shaft 43 is fixedly installed on the corresponding driving flange 63 and the second shell 511.

[0065] During operation, firstly, the first driving rod 41, the second driving rod 42 and the connecting rod support arm 31 form a multi-connecting rod structure of inner and outer structures. Specifically, the multi-connecting rod mechanism formed by the driving flange 63 and the first driving rod 41, the second driving rod 42 and the connecting rod support arm 31 is indirectly driven (the first driving rod 41 and the second driving rod 42 form a four-connecting rod mechanism located on the outside, and the rotation center of the driving flange 63 and the first bearing is located at the midpoint position of the upper and lower ends of the first driving rod 41 and the second driving rod 42, which forms a slightly smaller four-connecting rod mechanism located on the inside, and the design of the inner and outer four-connecting rod mechanisms has higher stability, and the stability and accuracy of the side swing of the robot head are higher).

[0066] Meanwhile, the two rotation centers of the first driving rod 41 and the second driving rod 42 are respectively at the upper and lower edges of the four-connecting rod mechanism formed by the two driving rods, the orthogonal included angle is accurately controlled, the mechanical properties are optimized, the kinematics calculation is simplified and the coupling error is eliminated.

[0067] When the motor is driven, at this time, under the action of the above multi-connecting rod structure, the yaw motion assembly composed of the first shell 62 and the first driving motor 61 is hinged at the second shell 511 (the torque of the motor is transmitted to the second bearing position on the second shell 511 through the above four-connecting rod mechanism), and swings as a swing arm structure with the first driving rod 41, the second driving rod 42 and the connecting rod support arm 31, the first driving motor 61 is a forward and reverse motor, according to the different power directions of the motor, the yaw motion assembly swings left and right to simulate the side swing motion of the robot head.

[0068] Embodiment 3

[0069] As Figures 1-8As shown, in this embodiment, based on the structure of embodiment 2, the aforementioned rolling motion component includes a third housing 21 (the third housing 21 is mounted on the base 1), and a third drive motor 221 is fixedly installed inside the third housing 21. Driven by the third drive motor 221, the yaw motion component and the pitch motion component rotate to simulate the robot's head-shaking motion.

[0070] A U-shaped support structure (forming a universal joint-like structure) is fixedly connected to the output shaft of the third drive motor 221, hinged to the second housing 511. The pitch motion component, the U-shaped support structure, and the roll motion component are mounted on this structure. The U-shaped support structure is U-shaped and includes a first L-shaped support portion 23 and a second L-shaped support portion 24 located at the left and right ends of the second housing 511, respectively. Therefore, the first L-shaped support portion 23 and the second L-shaped support portion 24 form double-sided support, avoiding a cantilever beam structure and improving system stability. The vertical Z-axis, defined by the rotation axis of the third drive motor 221, passes through the center point O.

[0071] The output shaft of the second drive motor 52 is fixedly mounted on one end of the U-shaped bracket structure (i.e., fixed on the second L-shaped bracket part 24), and the second housing 511 is rotatably connected to the other end of the U-shaped bracket structure (i.e., on the first L-shaped bracket part 23).

[0072] The rotational connection method is as follows: the second housing 511 is fixedly mounted on the first L-shaped bracket 23 by ball bearing. Therefore, when the second drive motor 52 is driven, since the output end of the second drive motor 52 is fixed on the second L-shaped bracket 24, the entire pitch motion component and yaw motion component rotate synchronously, thereby simulating the robot nodding.

[0073] The rotation axis of the second drive motor is coaxial with the ball bearing E, and the horizontal Y-axis is defined to pass through point O.

[0074] Example 4

[0075] like Figures 1-8 As shown, in this embodiment, based on the structure of embodiment 3, a camera structure is fixedly installed on the first housing 62; specifically, the camera structure includes a camera 72 and a camera bracket 721 for mounting the camera, and a fixed bracket 71 is fixedly installed on the first housing 62, and the camera bracket 721 is fixedly installed on the fixed bracket 71 by bolts.

[0076] In actual work process, in order to prevent the signal on the camera 72, power line in the process of neck holder structure motion interference, signal, power cable and so on through the hollow shaft of the first drive motor 61, the second drive motor 52, the third drive motor 221 in turn to the camera 72 (the first drive motor 61, the second drive motor 52, the third drive motor 221 are vertically superimposed in space), combined with structure arrangement design, adapt to multi-axis rotation, avoid winding wear and tear, ensure dynamic compatibility. Specifically, since the rotation center of the whole neck holder intersects at one point, so the signal, power and so on line is passed from the rotation center line position, effectively solves the defect that data, power line is disturbed by motion.

[0077] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present application should also be within the scope of the present application.

Claims

1. A robot neck gimbal structure with three orthogonal rotation axes, characterized in that, The system includes a neck gimbal mechanism mounted on the robot's torso, the neck gimbal mechanism including a yaw motion component, a pitch motion component connected to the yaw motion component, and a roll motion component connected to the pitch motion component. The rotation centers of the yaw motion component, pitch motion component, and roll motion component intersect at a single point; The yaw motion component includes a multi-link structure, which simulates the lateral head movement; the pitch motion component simulates the nodding head movement; and the roll motion component simulates the head shaking head movement. The multi-link structure includes a link structure, one end of which is hinged to the pitch motion component and the other end is fixedly mounted to the yaw motion component. The yaw motion component includes a first drive motor, the output end of which is fixedly mounted to the other end of the link structure.

2. The robot neck gimbal structure with three orthogonal rotation axes according to claim 1, characterized in that, The yaw motion component includes a first housing, and a first drive motor is fixedly installed inside the first housing; The pitch motion component includes a second housing, and a second drive motor is fixedly installed inside the second housing.

3. The robot neck gimbal structure with three orthogonal rotation axes according to claim 2, characterized in that, The linkage structure includes a shell arm portion integrally formed at one end of the first housing, and the lower end of the shell arm portion is hinged to one side of the side wall of the second housing through a first hinge structure. It also includes a linkage support arm fixedly mounted on the first drive motor, the linkage support arm being hinged to the other side of the second housing via a second hinge structure.

4. The robot neck gimbal structure with three orthogonal rotation axes according to claim 3, characterized in that, The first hinge structure includes a bearing mounting boss integrally formed on the side wall of the second housing, a cross roller bearing is installed in the bearing mounting boss, and the housing arm is fixedly installed on the inner ring of the cross roller bearing; The second hinge structure includes a first bearing installed at the lower end of the connecting rod support arm, and a rotating shaft is fixedly installed on the first bearing. The rotating shaft is fixedly connected to the side wall of the second housing.

5. The robot neck gimbal structure with three orthogonal rotation axes according to claim 4, characterized in that, The first shell arm is fastened to the inner ring of the crossed roller bearing by a number of bolts.

6. The robot neck gimbal structure with three orthogonal rotation axes according to claim 3, characterized in that, The linkage structure also includes a drive flange fixedly installed on the output shaft of the first drive motor, and a first drive rod and a second drive rod symmetrical to the first drive rod are respectively hinged on the drive flange; The first drive rod and the second drive rod are hinged to the side arm of the housing, and the connecting rod support arm is located between the first drive rod and the second drive rod; The two ends of the first drive rod and the second drive rod are respectively hinged together by the second bearing.

7. The robot neck gimbal structure with three orthogonal rotation axes according to claim 6, characterized in that, The second bearing is rotatably connected to a connecting shaft, which is fixedly mounted on the corresponding drive flange and the second housing.

8. The robot neck gimbal structure with three orthogonal rotation axes according to claim 2, characterized in that, The rolling motion assembly includes a third housing, and a third drive motor is fixedly installed inside the third housing; The output shaft of the third drive motor is fixedly connected to a U-shaped bracket structure that is hinged to the second housing.

9. The robot neck gimbal structure with three orthogonal rotation axes according to claim 8, characterized in that, The output shaft of the second drive motor is fixedly installed at one end of the U-shaped bracket structure, and the second housing is rotatably connected to the other end of the U-shaped bracket structure.

10. The robot neck gimbal structure with three orthogonal rotation axes according to claim 2, characterized in that, A camera structure is fixedly mounted on the first housing; The camera structure includes a camera and a camera bracket for mounting the camera. A fixed bracket is fixedly mounted on the first housing, and the camera bracket is fixedly mounted on the fixed bracket.

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