Neck structure of robot and robot
By designing a robot neck structure that includes components for first pitch, second pitch, yaw, and rotation, four degrees of freedom of movement are achieved, solving the problem of insufficient degrees of freedom in existing technologies and improving human-computer interaction and field of vision.
Patent Information
- Application Number
- CN202521875665.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-01
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-09-01
AI Technical Summary
Existing robots have low degrees of freedom in their neck structure, making it difficult to accurately simulate human head and neck movements, resulting in poor human-computer interaction, narrow field of vision, and large blind spots.
Design a neck structure for a robot, including a first pitch component, a second pitch component, a yaw component, and a rotation component, which are connected sequentially along the robot's height direction, and whose rotation axes are parallel or perpendicular to each other in the initial state, to achieve four degrees of freedom of movement.
Through four degrees of freedom of movement, the robot's neck can more precisely simulate human neck movements, making human-computer interaction more human-like and providing a wider field of vision.
Smart Images
Figure CN224674958U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a neck structure for a robot and the robot itself. Background Technology
[0002] Currently, intelligent robots are increasingly trending towards humanoid designs. To enable humanoid robots to accurately mimic human expressions and movements, the design of their neck structure is particularly important. This is a necessary design for integrating robots into human workspaces. Robots need to be able to nod in agreement, shake their heads in refusal, rotate to maintain face-to-face contact, and make eye contact, transforming themselves from mere machines into human-like entities. Currently, the neck structures of robots often have low degrees of freedom, mostly only two or three. This design results in stiff head movements, difficulty in accurately mimicking human head and neck movements, poor human-computer interaction, and narrow visual fields with large blind spots. Utility Model Content
[0003] One object of this application is to provide a neck structure for a robot and the robot itself.
[0004] According to one aspect of this application, a neck structure for a robot is provided, comprising a first pitch component, a second pitch component, a yaw component, and a rotation component, wherein:
[0005] The first pitch component, the second pitch component, the yaw component, and the rotation component are connected sequentially along the robot's height in a preset order;
[0006] In the initial state where the first pitch component, the second pitch component, the yaw component, and the rotation component are not rotating, the rotation axis corresponding to the first pitch component is parallel to the rotation axis corresponding to the second pitch component, and the rotation axis corresponding to the first pitch component or the rotation axis corresponding to the second pitch component is perpendicular to the rotation axis corresponding to the yaw component and the rotation axis corresponding to the rotation component.
[0007] In some embodiments, the first pitch component, the second pitch component, the yaw component, and the rotation component are connected sequentially from bottom to top along the robot's height direction in the order of first pitch component, yaw component, second pitch component, and rotation component.
[0008] In some embodiments, the first pitch assembly includes a first pitch drive and a first pitch fixation member; the first pitch fixation member is fixedly connected to the fixed portion of the first pitch drive and the torso of the robot, respectively; the moving portion of the first pitch drive is fixedly connected to the yaw assembly.
[0009] In some embodiments, the first pitch drive is a first joint motor, the fixed portion of the first pitch drive is the stator portion of the first joint motor, and the moving portion of the first pitch drive is the rotor portion of the first joint motor.
[0010] In some embodiments, the first pitch fixation member is fixedly connected to the robot's torso via a shoulder beam assembly.
[0011] In some embodiments, the first pitch fixing member includes two first pitch sub-fixing members. The stator portion of the first joint motor is fixed to one of the first pitch sub-fixing members by a threaded connection and to the other first pitch sub-fixing member by an interference fit. The two first pitch sub-fixing members are fixedly connected to the robot's torso.
[0012] In some embodiments, the yaw assembly includes a yaw drive and a yaw fixation member; the yaw fixation member is fixedly connected to the fixed portion of the yaw drive and the first pitch assembly, respectively; the moving portion of the yaw drive is fixedly connected to the second pitch assembly.
[0013] In some embodiments, the yaw drive is a second joint motor, the fixed part of the yaw drive is the stator part of the second joint motor, and the moving part of the yaw drive is the rotor part of the second joint motor.
[0014] In some embodiments, the yaw assembly further includes a first connector, and the yaw fixing member is fixedly connected to the first pitch assembly via the first connector.
[0015] In some embodiments, the second pitch assembly includes a second pitch drive and a second pitch fixation member; the second pitch fixation member is connected to the fixed portion of the second pitch drive and the yaw assembly respectively; the moving portion of the second pitch drive is fixedly connected to the rotation assembly.
[0016] In some embodiments, the second pitch drive is a third joint motor, the fixed part of the second pitch drive is the stator part of the third joint motor, and the moving part of the second pitch drive is the rotor part of the third joint motor.
[0017] In some embodiments, the rotating assembly includes a rotating drive and a rotating fixation member; the rotating fixation member is fixedly connected to the fixed portion of the rotating drive and the second pitch assembly, respectively; the moving portion of the rotating drive is fixedly connected to the robot's head support.
[0018] In some embodiments, the rotary drive is a fourth joint motor, the fixed part of the rotary drive is the rotor part of the fourth joint motor, and the moving part of the rotary drive is the stator part of the fourth joint motor.
[0019] According to another aspect of this application, a robot is provided, including the neck structure of the robot described in any of the above embodiments.
[0020] Compared with existing technologies, this application provides a robot neck structure and a robot, including a first pitch component, a second pitch component, a yaw component, and a rotation component. The first pitch component, the second pitch component, the yaw component, and the rotation component are connected sequentially along the robot's height direction in a preset order. In the initial state where none of the first pitch component, the second pitch component, the yaw component, or the rotation component is rotated, the rotation axis corresponding to the first pitch component is parallel to the rotation axis corresponding to the second pitch component, and the rotation axis corresponding to either the first pitch component or the second pitch component is perpendicular to the rotation axes corresponding to the yaw component and the rotation component. This allows the robot's neck to achieve four degrees of freedom of movement, simulating more human neck movements and making the robot's neck movements more human-like. Attached Figure Description
[0021] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:
[0022] Figure 1 A schematic diagram of the neck structure of a robot according to one embodiment of this application is shown;
[0023] Figure 2 A side view of the neck structure of a robot according to one embodiment of this application is shown;
[0024] Figure 3 A partial schematic diagram of the neck structure of a robot according to an embodiment of this application is shown;
[0025] Figure 4 A partial schematic diagram of the neck structure of a robot according to an embodiment of this application is shown;
[0026] Figure 5 A schematic diagram showing the neck structure state of a robot according to an embodiment of this application is provided.
[0027] Figure 6 An exploded view of the neck structure of a robot according to one embodiment of this application is shown;
[0028] Figure 7A schematic diagram of a first pitch fixing member according to an embodiment of this application is shown;
[0029] Figure 8 A schematic diagram of a first pitch fixing member according to an embodiment of this application is shown;
[0030] Figure 9 A partial schematic diagram of the neck structure of a robot according to an embodiment of this application is shown;
[0031] Figure 10 , Figure 11 The diagrams show the neck structure state of a robot according to one embodiment of this application.
[0032] Figure 12 A schematic diagram of a first connector according to an embodiment of this application is shown;
[0033] Figure 13 A schematic diagram of a yaw fixing member according to one embodiment of this application is shown;
[0034] Figure 14 A partial schematic diagram of the neck structure of a robot according to an embodiment of this application is shown;
[0035] Figure 15 , Figure 16 The diagrams show the neck structure state of a robot according to one embodiment of this application.
[0036] Figure 17 A schematic diagram of a second pitch fixing member according to one embodiment of this application is shown;
[0037] Figure 18 , Figure 19 The diagrams show the neck structure state of a robot according to one embodiment of this application.
[0038] Figure 20 A schematic diagram of a rotating fastener according to one embodiment of this application is shown;
[0039] The same or similar reference numerals in the accompanying drawings represent the same or similar parts.
[0040] Figure Labels
[0041] 100 - First pitch assembly, 110 - First pitch drive, 111 - Moving part of the first pitch drive, 112 - Fixed part of the first pitch drive, 120 - First pitch fixing component, 121 - First pitch sub-fixing component.
[0042] 200 - Second pitch assembly, 210 - Second pitch drive, 211 - Moving part of the second pitch drive, 212 - Fixed part of the second pitch drive, 220 - Second pitch fixing component.
[0043] 300 - Yaw assembly, 310 - Yaw drive component, 311 - Moving part of yaw drive component, 312 - Fixed part of yaw drive component, 320 - Yaw fixing component, 330 - First connecting component.
[0044] 400 - Rotary assembly, 410 - Rotary drive component, 411 - Moving part of the rotary drive component, 412 - Fixed part of the rotary drive component, 420 - Rotary fixing component.
[0045] L1 - Rotation axis corresponding to the first pitch assembly 100, L2 - Rotation axis corresponding to the second pitch assembly 200, L3 - Rotation axis corresponding to the yaw assembly 300, L4 - Rotation axis corresponding to the swivel assembly 400
[0046] 500 - Shoulder beam assembly, 600 - Head support component. Detailed Implementation
[0047] The present application will now be described in further detail with reference to the accompanying drawings.
[0048] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," 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 application 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.
[0049] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0051] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0052] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.
[0053] Figure 1 A schematic diagram of the neck structure of a robot according to one embodiment of this application is shown, as follows. Figure 1 As shown, the robot's neck structure includes a first pitch assembly 100, a second pitch assembly 200, a yaw assembly 300, and a rotation assembly 400. The first pitch assembly 100, the second pitch assembly 200, the yaw assembly 300, and the rotation assembly 400 are connected sequentially along the robot's height in a predetermined order. Figure 1 The diagram shows one connection method for the components of the neck structure. Those skilled in the art can set any connection order according to the actual movement, appearance and other requirements of the robot's neck structure.
[0054] Figure 2 A side view of the neck structure of a robot according to one embodiment of this application is shown. Figure 1 , Figure 2 This shows the initial state of the neck structure before rotation occurs. (Reference) Figure 1 , Figure 2As shown, in the initial state where the first pitch assembly 100, the second pitch assembly 200, the yaw assembly 300, and the rotation assembly 400 are not rotating, the rotation axis L1 corresponding to the first pitch assembly 100 is parallel to the rotation axis L2 corresponding to the second pitch assembly 200. The rotation axis L1 of the first pitch assembly 100 or the rotation axis L2 of the second pitch assembly 200 is perpendicular to the rotation axis L3 of the yaw assembly 300 and the rotation axis L4 of the rotation assembly 400. The first pitch assembly 100 can rotate about the rotation axis L1, that is, it rotates in the pitch direction, allowing the robot's neck structure to pitch in the robot's forward and backward direction. The second pitch assembly 200 can rotate about the rotation axis L2, also rotating in the pitch direction. Since the components in the robot's neck structure are connected sequentially along the robot's height, the first pitch component 100 and the second pitch component 200 have a certain height difference. Pitch movements at these two positions can more precisely simulate the pitch movements of different parts of the human neck during pitch movements. The yaw component 300 can rotate around the rotation axis L3, i.e., roll, allowing the robot's neck structure to yaw in the left-right direction. The rotation component 400 can rotate around the rotation axis L4, i.e., yaw, allowing the robot's neck structure to rotate. Through the movement of each component around its respective rotation axis, the robot's neck can perform four degrees of freedom of movement, more precisely simulating human neck movements and enabling the simulation of more human-like neck actions.
[0055] In some embodiments, to make the neck structure more aesthetically pleasing, compact, and space-saving, reference can be made to Figure 1 As shown, the first pitch component 100, the second pitch component 200, the yaw component 300, and the rotation component 400 are connected sequentially from bottom to top along the robot's height direction, in the order of first pitch component 100, yaw component 300, second pitch component 200, and rotation component 400. Subsequent embodiments will describe the structure of each component based on this connection sequence and neck structure.
[0056] In some embodiments, reference Figure 3 The partial schematic diagram shows that the first pitch assembly 100 includes a first pitch drive 110 and a first pitch fixation member 120; the first pitch fixation member 120 is fixedly connected to the fixed portion 112 of the first pitch drive and the robot's torso, respectively; Reference Figure 4The partial schematic diagram shows that the moving part 111 of the first pitch drive is fixedly connected to the yaw assembly 300. When a motion signal is transmitted to the first pitch drive 110, the fixed part 112 of the first pitch drive remains stationary relative to the robot's torso, while the moving part 111 of the first pitch drive rotates around the rotation axis L1, thereby driving the yaw assembly 300 connected to it, as well as the second pitch assembly 200 connected to the yaw assembly 300 and the rotation assembly 400 connected to the second pitch assembly 200, to rotate together, realizing the pitch movement of the entire neck structure. Figure 5 As shown, it illustrates the neck structure relative to Figure 2 The state shown is the state of the neck structure after only the moving part 111 of the first pitch drive has rotated a certain angle about the rotation axis L1.
[0057] The fixed connection in this application includes, but is not limited to, existing or future fixed connection methods such as threaded connections, welding, riveting, and interference fits, which are not limited in this embodiment. The first pitch drive component includes, but is not limited to, structures used for rotational drive such as motors, articulated motors, hydraulic motors, and pneumatic motors.
[0058] In some embodiments, the rotation angle of the moving portion 111 of the first pitch actuator can be limited by a limiting structure on the robot's neck shell and / or by electrical programming. The rotation angle range of the moving portion 111 of the first pitch actuator can be set based on actual needs. Typically, this rotation angle range is set to (-10°, +10°) to better simulate the range of motion of a human neck.
[0059] In some embodiments, for ease of neck movement design and implementation, the first pitch drive is a first joint motor. A joint motor refers to a functional unit including a motor body, a reducer, and other supporting systems used to drive the movement of robot limb joints. Its core function is to convert electrical energy into mechanical energy, achieving precise position, speed, or torque control of the joints, thereby mimicking human movement capabilities. The motor body is used to convert electrical energy into mechanical energy; it can be a servo motor, brushless DC motor, harmonic geared motor, direct drive motor, or stepper motor, etc., and is not limited here. When the first joint motor is installed, the fixed portion 112 of the first pitch drive is the stator portion of the first joint motor, and the moving portion 111 of the first pitch drive is the rotor portion of the first joint motor.
[0060] In some embodiments, such as Figure 3As shown, the first pitch fixation member 120 is fixedly connected to the robot's torso via the shoulder beam assembly 500, so as to make the neck structure more stable on the robot's torso and to make the robot's shoulder-neck transition smoother and closer to the shape of a human shoulder and neck. In some embodiments, such as Figure 3 , Figure 6 As shown, the shoulder beam assembly 500 can be composed of two shoulder beam members, one of which has a trapezoidal structure and the other has a strip-shaped structure resembling a left-hand tortoise shell bracket "〔". These two shoulder beam members are combined at a certain opening angle. A cavity is formed in the middle of their combination, which can be used to accommodate the first pitch drive 110 and the first pitch fixing member 120. Both ends of the first pitch fixing member 120 are fixedly connected to the two shoulder beam members respectively.
[0061] In some embodiments, Figure 6 , Figure 7 The structure of the first pitch fixing member is shown in the figure. The first pitch fixing member 120 has a through hole. (Refer to...) Figure 3 The through hole is used to receive the first pitch drive 110 for fixing to its fixed portion 112.
[0062] In some embodiments, such as Figure 3 As shown, the first pitch fixing member 120 includes two first pitch sub-fixing members 121, which are fixedly connected to the robot's torso. Here, the two first pitch sub-fixing members 121 are positioned left and right to reduce vibration and more securely fix the neck structure to the robot's torso. In some embodiments, if the fixing connection between the first pitch fixing member and the fixing portion of the first pitch drive member includes a threaded connection, due to the limited space for threaded connections on the joint motor, the two first pitch sub-fixing members 121 cannot both be fixed to the stator portion of the first joint motor using a threaded connection. Therefore, the stator portion 112 of the first joint motor is fixed to one of the first pitch sub-fixing members 121 by a threaded connection and to the other first pitch sub-fixing member 121 by an interference fit. In some embodiments, the through-hole design of the first pitch sub-fixing member 121 is matched to its fixing connection method with the fixing portion 112 of the first pitch drive member. For example, Figure 8 The structure of the first pitch sub-fixture for threaded connection fixation is shown. Figure 7 The structure of the first pitching unit fastener with interference fit is shown. In order to match the corresponding connection method, the through hole structure of the two is slightly different. The through hole edge of the first pitching unit fastener that matches the threaded connection is designed with small holes and bosses, while the through hole edge of the first pitching unit fastener that matches the interference fit connection method does not have small holes and bosses.
[0063] In some embodiments, reference Figure 4 The partial schematic diagram shows that the yaw assembly 300 includes a yaw drive component 310 and a yaw fixing component 320; the yaw fixing component 320 is fixedly connected to the fixing portion 312 of the yaw drive component and the first pitch assembly 100, respectively. Specifically, the yaw fixing component 320 is fixedly connected to the moving portion 111 of the first pitch drive component. (Reference) Figure 9 The partial schematic diagram shows that the moving part 311 of the yaw drive is fixedly connected to the second pitch assembly 200. If the first pitch assembly 100 is stationary, when a motion signal is transmitted to the yaw drive 310, the fixed part 312 and the yaw fixing part 320 of the yaw drive are fixed relative to the first pitch assembly 100, that is, fixed relative to the robot's torso. The moving part 311 of the yaw drive rotates around the rotation axis L3, thereby driving the second pitch assembly 200 connected to it and the rotation assembly 400 connected to the second pitch assembly 200 to rotate together, realizing the left-right yaw movement of the neck structure. When only the moving part 311 of the yaw drive rotates, the neck structure can be... Figure 10 The state shown moves to Figure 11 The state shown is described. The yaw drive component 310 includes, but is not limited to, structures used for rotational drive such as motors, articulated motors, hydraulic motors, and pneumatic motors.
[0064] In some embodiments, reference Figure 4 The yaw fixing member 320 shown has two through holes. One through hole is used to accommodate the yaw drive member 310 for fixing to its fixing part 312, and the other through hole is used to accommodate and fix the first pitch assembly 100. Specifically, the other through hole is used to accommodate the moving part 111 of the first pitch drive member. The axes corresponding to these two through holes are perpendicular, so that the rotation axis L3 of the yaw assembly 300 is always perpendicular to the rotation axis L1 of the first pitch assembly 100.
[0065] In some embodiments, the rotation angle of the moving portion 311 of the yaw drive can be limited by a limiting structure on the robot's neck shell and / or by electrical programming. The rotation angle range of the moving portion 311 of the yaw drive can be set based on actual needs. Typically, this rotation angle range is set to (-10°, +10°) to better simulate the range of motion of a human neck.
[0066] In some embodiments, similar to the foregoing embodiments, the yaw drive 310 is a second joint motor, the fixed portion 312 of the yaw drive is the stator portion of the second joint motor, and the moving portion 311 of the yaw drive is the rotor portion of the second joint motor.
[0067] In some embodiments, the yaw assembly 300 further includes a first connector 330, and the yaw fixing member 320 is fixedly connected to the first pitch assembly 100 via the first connector 330. This combination of the yaw fixing member 320 and the first connector 330 facilitates the connection between the yaw fixing member 320 and the fixing portion 312 of the yaw drive member, respectively, making the fabrication and installation of each component easier. (Reference) Figure 6 , Figure 12 , Figure 13 The diagram shows a first connecting member 330 and a yaw fixing member 320, each with a through hole. The through hole in the first connecting member 330 is used to accommodate the first pitch assembly 100. The through hole in the yaw fixing member 320 is used to accommodate the yaw drive member 310 for fixing to its fixing portion 312. After the first connecting member 330 and the yaw fixing member 320 are connected, the axes corresponding to their respective through holes are perpendicular, thereby ensuring that the rotation axis L3 of the yaw assembly 300 is always perpendicular to the rotation axis L1 of the first pitch assembly 100.
[0068] In some embodiments, reference Figure 9 The partial schematic diagram shows that the second pitch assembly 200 includes a second pitch drive 210 and a second pitch fixation member 220; the second pitch fixation member 220 is connected to the fixed portion 212 of the second pitch drive and the yaw assembly 300, respectively. Specifically, the second pitch fixation member 220 is fixedly connected to the moving portion 311 of the yaw drive. (Reference) Figure 14 The partial schematic diagram shows that the moving part 211 of the second pitch drive is fixedly connected to the rotation assembly 400. If the first pitch assembly 100 and the yaw assembly 300 are both stationary, when a motion signal is transmitted to the second pitch drive 210, the fixed part 212 and the second pitch fixing part 220 of the second pitch drive are fixed relative to the yaw assembly 300 and the first pitch assembly 100, that is, fixed relative to the robot's torso. The moving part 211 of the second pitch drive rotates around the rotation axis L2, thereby driving the connected rotation assembly 400 to rotate together, realizing a secondary pitch movement of the upper part of the neck structure. When only the moving part 211 of the second pitch drive rotates, the neck structure can be... Figure 15 The state shown moves to Figure 16The state shown. The second pitch drive 210 includes, but is not limited to, structures used for rotational drive such as motors, articulated motors, hydraulic motors, and pneumatic motors.
[0069] In some embodiments, reference Figure 6 , Figure 9 , Figure 17 The second pitch fixing member 220 shown is L-shaped, resembling a twist, with through holes at both ends. One through hole accommodates the second pitch drive member 210 for fixing to its fixing portion 212, while the other through hole accommodates and fixes the yaw assembly 300. Specifically, the other through hole accommodates the moving portion 311 of the yaw drive member. The axes corresponding to these two through holes are perpendicular, ensuring that the rotation axis L3 of the yaw assembly 300 is always perpendicular to the rotation axis L2 of the second pitch assembly 200.
[0070] In some embodiments, the rotation angle of the moving portion 211 of the second pitch actuator can be limited by a limiting structure on the robot's neck shell and / or by electrical programming. The rotation angle range of the moving portion 211 of the second pitch actuator can be set based on actual needs. Typically, this rotation angle range is set to (-10°, +15°) to better simulate the range of motion of a human neck.
[0071] In some embodiments, similar to the foregoing embodiments, the second pitch drive 210 is a third joint motor, the fixed portion 212 of the second pitch drive is the stator portion of the third joint motor, and the moving portion 211 of the second pitch drive is the rotor portion of the third joint motor.
[0072] In some embodiments, reference Figure 14 The partial schematic diagram shows that the rotating assembly 400 includes a rotating drive component 410 and a rotating fixing component 420. The rotating fixing component 420 is fixedly connected to the fixed portion 412 of the rotating drive component and the second pitch assembly 200. Specifically, the rotating fixing component 420 is fixedly connected to the moving portion 211 of the second pitch drive component. The moving portion 411 of the rotating drive component is fixedly connected to the robot's head support component 600. If all other components are fixed, the fixed portion 412 of the rotating drive component and the rotating fixing component 420 are fixed relative to the other components, that is, fixed relative to the robot's torso. When a motion signal is transmitted to the rotating drive component 410, the moving portion 411 of the rotating drive component rotates around the rotation axis L4, thereby driving the head support component 600 connected to it to rotate together, thus realizing the head rotation movement. (Reference) Figure 18 , Figure 19The diagram shows a top view of the neck structure, illustrating how the head support 600 rotates as the moving part 411 of the rotary drive rotates. Figure 18 The state shown moves to Figure 19 The state shown. The rotary drive component 410 includes, but is not limited to, structures used for rotary drive such as motors, articulated motors, hydraulic motors, and pneumatic motors.
[0073] In some embodiments, reference Figure 6 , Figure 14 , Figure 20 The rotating fixing member 420 shown is L-shaped with through holes at both ends. One through hole accommodates and fixes the fixing portion 412 of the rotating drive member, while the other through hole accommodates and fixes the second pitch assembly 200. Specifically, the other through hole accommodates the moving portion 211 of the second pitch drive member. The axes corresponding to these two through holes are perpendicular, ensuring that the rotation axis L4 of the rotating assembly 400 is always perpendicular to the rotation axis L2 of the second pitch assembly 200.
[0074] In some embodiments, the rotation angle of the moving portion 411 of the rotary drive can be limited by a limiting structure on the robot's neck / head shell and / or by electrical programming. The rotation angle range of the moving portion 411 of the rotary drive can be set based on actual needs. Typically, this rotation angle range is set to (-5°, +5°) to better simulate the range of motion of a human neck.
[0075] In some embodiments, the rotary drive 410 is a fourth joint motor. Unlike the aforementioned other joint motor configurations, to make the robot's head and neck structure more compact, the fixed portion 412 of the rotary drive is the rotor portion of the fourth joint motor, and the moving portion 411 of the rotary drive is the stator portion of the fourth joint motor. The head support can be fitted onto the stator portion of the fourth joint motor to fix it to the robot's head structure, thereby the rotation of the stator portion of the fourth joint motor drives the head support and the robot's head structure to rotate.
[0076] The foregoing embodiments described the movement of a single component of the neck structure. Those skilled in the art should understand that, in actual robot operation, the first pitch component, second pitch component, yaw component, and rotation component of the neck structure can move as one or more components combined. For movements involving multiple components, some or all of these components can move simultaneously, or they can move sequentially in a corresponding order.
[0077] Based on the neck structure described above, this application also proposes a robot that includes the neck structure described above.
[0078] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the apparatus claims may also be implemented by a single unit or device in software or hardware. Terms such as "first," "second," etc., are used to indicate names and do not indicate any particular order.
Claims
1. A neck structure for a robot, characterized in that, The robot's neck structure includes a first pitch assembly, a second pitch assembly, a yaw assembly, and a rotation assembly, wherein: The first pitch component, the second pitch component, the yaw component, and the rotation component are connected sequentially along the robot's height in a preset order; In the initial state where the first pitch component, the second pitch component, the yaw component, and the rotation component are not rotating, the rotation axis corresponding to the first pitch component is parallel to the rotation axis corresponding to the second pitch component; the rotation axis corresponding to the first pitch component or the rotation axis corresponding to the second pitch component is perpendicular to the rotation axis corresponding to the yaw component and the rotation axis corresponding to the rotation component.
2. The neck structure of the robot according to claim 1, characterized in that, The first pitch component, the second pitch component, the yaw component, and the rotation component are connected sequentially from bottom to top along the robot's height direction in the order of first pitch component, yaw component, second pitch component, and rotation component.
3. The neck structure of the robot according to claim 2, characterized in that, The first pitch assembly includes a first pitch drive and a first pitch fixation component; The first pitch fixing component is fixedly connected to the fixing part of the first pitch drive component and the robot's torso, respectively. The moving part of the first pitch drive is fixedly connected to the yaw assembly.
4. The neck structure of the robot according to claim 3, characterized in that, The first pitch drive is a first joint motor, the fixed part of the first pitch drive is the stator part of the first joint motor, and the moving part of the first pitch drive is the rotor part of the first joint motor.
5. The neck structure of the robot according to claim 3 or 4, characterized in that, The first pitch fixation member is fixedly connected to the robot's torso via a shoulder beam assembly.
6. The neck structure of the robot according to claim 4, characterized in that, The first pitch fixing component includes two first pitch sub-fixing components, which are fixedly connected to the robot's torso.
7. The neck structure of the robot according to claim 6, characterized in that, The fixed connection between the first pitch fixing member and the fixed part of the first pitch drive member includes a threaded connection. The stator part of the first joint motor is fixed to one of the first pitch fixing members by a threaded connection and to the other first pitch fixing member by an interference fit.
8. The neck structure of the robot according to claim 2, characterized in that, The yaw component includes a yaw drive component and a yaw fixing component; The yaw fixing component is fixedly connected to the fixing part of the yaw drive component and the first pitch component, respectively. The moving part of the yaw drive is fixedly connected to the second pitch component.
9. The neck structure of the robot according to claim 8, characterized in that, The yaw drive is a second joint motor, the fixed part of the yaw drive is the stator part of the second joint motor, and the moving part of the yaw drive is the rotor part of the second joint motor.
10. The neck structure of the robot according to claim 8 or 9, characterized in that, The yaw assembly further includes a first connector, and the yaw fixing member is fixedly connected to the first pitch assembly through the first connector.
11. The neck structure of the robot according to claim 2, characterized in that, The second pitch assembly includes a second pitch drive and a second pitch fixation component; The second pitch fixing member is connected to the fixing part of the second pitch drive member and the yaw assembly respectively; The moving part of the second pitch drive is fixedly connected to the rotary assembly.
12. The neck structure of the robot according to claim 11, characterized in that, The second pitch drive is a third joint motor, the fixed part of the second pitch drive is the stator part of the third joint motor, and the moving part of the second pitch drive is the rotor part of the third joint motor.
13. The neck structure of the robot according to claim 2, characterized in that, The rotating assembly includes a rotating drive component and a rotating fixing component; The rotating fixing component is fixedly connected to the fixed part of the rotating drive component and the second pitch component, respectively; The moving part of the rotary drive is fixedly connected to the robot's head support.
14. The neck structure of the robot according to claim 13, characterized in that, The rotary drive component is a fourth joint motor, the fixed part of the rotary drive component is the rotor part of the fourth joint motor, and the moving part of the rotary drive component is the stator part of the fourth joint motor.
15. A robot, characterized in that, The neck structure of the robot included in any one of claims 1 to 14.