Robot head movement device and humanoid robot

Abstract

The present application relates to a robot head motion device and a humanoid robot. The robot head motion device includes a first driving member, a first moving frame, a second driving member and the second moving frame. The first driving member is connected to the first moving frame by transmission. Under the drive of the first driving member, the first moving frame can rotate axially to realize the robot's head twisting action; the second moving frame is arranged on the first moving frame, the second driving member includes an output shaft and a shell, the output shaft of the second driving member is fixedly connected to the second moving frame, the shell of the second driving member is fixedly connected to the head of the robot, and when the second driving member is working, it drives the head of the robot to rotate around the axis where the output shaft of the second driving member is located to realize the head tilting action. The humanoid robot includes a robot head motion device. The above-mentioned robot head motion device and the humanoid robot can realize the movement of the robot head in multiple dimensions, simulate the head movement of a human, and make the robot more anthropomorphic.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a robot head movement device and a humanoid robot. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work. Robots are the product of advanced integration of cybernetics, mechatronics, computers, materials, and bionics. At present, they have important uses in industry, medicine, agriculture, and even the military.

[0003] In order to enhance the sense of interaction with users, civilian robots are often designed as humanoids with heads. However, the heads of robots are usually fixed and cannot move relative to the torso. Even if they can move, they only support a few limited actions such as nodding and shaking heads, which is rather rigid. Summary of the invention

[0004] Based on this, it is necessary to provide a robot head movement device and a humanoid robot to address the problem that the robot's head only supports a few limited movements such as nodding and shaking its head, which is relatively rigid.

[0005] A robot head motion device comprises a first driving member, a first moving frame, a second driving member and a second moving frame, wherein:

[0006] The first driving member is transmission-connected to the first moving frame. Under the drive of the first driving member, the first moving frame can perform axial rotation to realize the head-turning action of the robot;

[0007] The second movable frame is arranged on the first movable frame, and the second driving member includes an output shaft and a shell. The output shaft of the second driving member is fixedly connected to the second movable frame, and the shell of the second driving member is fixedly connected to the head of the robot. When the second driving member is working, the shell of the second driving member rotates relative to the second movable frame, driving the head of the robot to rotate around the axis where the output shaft of the second driving member is located, thereby realizing a tilted head action.

[0008] In one embodiment, the second moving frame is rotatably connected to the first moving frame, and a rotation axis of the second moving frame rotating relative to the first moving frame intersects with a rotation axis of the housing of the second driving member rotating.

[0009] In one embodiment, a third driving member is further included, wherein the third driving member is fixed on the first moving frame and is transmission-connected to the second moving frame. Under the drive of the third driving member, the second moving frame rotates relative to the first moving frame to realize the nodding action of the robot head.

[0010] In one embodiment, the first movable frame can only rotate within a preset angle range when driven by the first driving member.

[0011] In one embodiment, it further includes a fixed plate and a stopper, wherein the first driving member and the first moving frame are respectively disposed on both sides of the fixed plate and fixedly connected to the fixed plate;

[0012] The limiting member is fixed on the first movable frame, and is arranged at one end of the first movable frame close to the fixed plate. A boss is arranged on the end surface of the limiting member close to the fixed plate, and a limiting groove is arranged on the fixed plate. The boss is at least partially embedded in the limiting groove. When the first movable frame rotates under the drive of the first driving member, the boss moves in the limiting groove as the first movable frame rotates.

[0013] In one embodiment, a receiving groove is provided on the second movable frame, the output shaft of the third driving member is fixed in the receiving groove, a convex shaft is provided on the other side of the second movable frame corresponding to the receiving groove, the convex shaft is coaxially arranged with the receiving groove, and the third driving member drives the second movable frame to rotate around the convex shaft relative to the first movable frame.

[0014] In one embodiment, the second movable frame includes a first end and a second end that are relatively arranged, the first end is fixedly connected to the robot head, the second end is provided with a driving fixed position, the second driving member is fixed to the driving fixed position, and the distance from the axis of the receiving groove and the convex shaft to the first end is greater than the distance from the axis of the receiving groove and the convex shaft to the second end.

[0015] In one embodiment, it further comprises a gasket, which is arranged corresponding to the second mobile frame and is rotatably connected to the first mobile frame, and the gasket has a tendency to prevent the second mobile frame from rotating;

[0016] The second moving frame is provided with an arc-shaped portion corresponding to the gasket, the gasket is provided with the arc-shaped groove corresponding to the arc-shaped portion, and the arc-shaped portion is arranged to fit the arc-shaped groove.

[0017] The above-mentioned robot head movement device drives the first movable frame to rotate by the first driving member to produce a head twisting movement, the second driving member is fixed on the second movable frame, and the output shaft of the second driving member is fixed on the second movable frame, and the shell is fixedly connected to the head of the robot. Therefore, when the second driving member cannot drive the second movable frame to rotate, the shell of the second driving member rotates relative to the second movable frame, thereby causing the robot head to produce a head tilting movement. Through the combination of head twisting and head tilting movements, flexible movement of the head can be achieved.

[0018] A second aspect of the present application provides a humanoid robot, comprising a head, a neck, a torso and a robot head movement device, wherein the neck connects the head and the torso, a cavity is provided in the head, and the robot head movement device is provided in the cavity of the head, and the robot head movement device is the robot head movement device described in any one of the above items.

[0019] In one embodiment, the torso is also provided with a cavity, and the cavities of the head and the torso are interconnected, the first driving member of the robot head movement device is provided in the cavity of the torso, and the first moving frame passes through the neck and enters into the cavity of the head.

[0020] Since the humanoid robot includes a robot head motion device, the beneficial effects possessed by the robot head motion device are also possessed by the humanoid robot accordingly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the exploded structure of a robot head movement device according to an embodiment of the present application;

[0022] Figure 2 This is a schematic structural diagram of a first moving frame of a robot head movement device according to an embodiment of the present application;

[0023] Figure 3 A schematic diagram of the matching structure of a fixing plate and a limiting member of a robot head motion device according to an embodiment of the present application;

[0024] Figure 4 This is a schematic structural diagram of a second moving frame of a robot head movement device according to an embodiment of the present application;

[0025] Figure 5 A schematic diagram of a partial structure of a robot head motion device according to an embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of the matching structure between the second moving frame and the gasket of the robot head movement device of one embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0028] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0030] The robot head movement device and robot of each embodiment of the present application can realize the movement of the robot head in multiple dimensions, simulate the head movement of a human, and in the process of interacting with the user, the movement of the head can make the robot more humanized.

[0031] The robot head movement device and the robot of each embodiment of the present application are described in detail below with reference to the accompanying drawings.

[0032] See also Figure 1 , a structural schematic diagram of a robot head motion device 10 according to an embodiment of the present application is shown by way of example. The robot head motion device 10 includes a first driving member 110, a first movable frame 120, a second driving member 130 and a second movable frame 140. The first driving member 110 is transmission-connected to the first movable frame 120. Driven by the first driving member 110, the first movable frame 120 can perform axial rotation to realize the robot's head twisting motion; driven by the second driving member 130, the robot realizes a head tilting motion.

[0033] The first driving member 110 and the second driving member 130 can be servo motors to achieve precise angle control. Of course, the first driving member 110 and the second driving member 130 can also be steering gears or other small-volume driving mechanisms.

[0034] The first driving member 110 has an output shaft (not shown), and the first movable frame 120 is fixed on the output shaft. When the first driving member 110 is working, the output shaft rotates, and the rotation of the output shaft drives the first movable frame 120 to rotate. The rotating shaft of the first movable frame 120 is coaxial with the output shaft of the first driving member 110.

[0035] See also Figure 1 In one or more embodiments, a fixing plate 150 may be further included, and the first driving member 110 and the first moving frame 120 are respectively disposed on both sides of the fixing plate 150 and fixedly connected to the fixing plate 150. By providing the fixing plate 150, on the one hand, a fixing platform is provided for the first driving member 110, and on the other hand, it is also convenient to fix the robot head motion device 10 to the robot.

[0036] When the robot turns its head, referring to a normal person's head, a normal person cannot achieve a 360° rotation when turning his head, but can only rotate within a certain angle range with the neck as the axis. Therefore, in some embodiments, in order to mimic the movement of the human head, the first movable frame 120 can only rotate within a preset angle range under the drive of the first driving member 110, so that the robot head movement device 10 can only achieve head turning within a preset angle range. For example, with the factory angle of 0°, the first movable frame 120 rotates between -90° and +90°.

[0037] For example, see also Figure 1 and Figure 3 , it may further include a stopper 160, which is fixed to the first mobile frame 120 and disposed at one end of the first mobile frame 120 close to the fixed plate 150, a boss 161 is disposed on the end surface of the stopper 160 close to the fixed plate 150, a stopper groove 151 is disposed on the fixed plate 150, the boss 161 is at least partially embedded in the stopper groove 151, and when the first mobile frame 120 rotates under the drive of the first driving member 110, the boss 161 moves in the stopper groove 151 as the first mobile frame 120 rotates. It can be understood that the stopper groove 151 is an arc-shaped groove 181 to adapt to the rotation trajectory of the boss 161. By setting the limit groove 151, the rotation angle of the first movable frame 120 can be controlled through the cooperation of the limit groove 151 and the boss 161, and the boss 161 is linked with the driving control signal of the first driving member 110. When the boss 161 moves to the two ends of the limit groove 151 and touches the limit groove 151, the first driving member 110 stops the driving control of the first movable frame 120, so that the first movable frame 120 stops rotating.

[0038] A calibration position 153 may also be provided on the fixing plate 150 , and the calibration position 153 is used to provide a reference for resetting the robot head motion device 10 , so that the robot's head maintains a normal human head posture when not in use.

[0039] See also Figure 1 The second movable frame 140 is arranged on the first movable frame 120, and the second driving member 130 includes an output shaft and a shell. The output shaft of the second driving member 130 is fixedly connected to the second movable frame 140, and the shell of the second driving member 130 is fixedly connected to the head of the robot. Therefore, when the second driving member 130 is working, it has a tendency to drive the second movable frame 140 to rotate around the axis where the output shaft of the second driving member 130 is located. The second movable frame 140 cannot rotate around the axis where the output shaft of the second driving member 130 is located, so that the shell of the second driving member 130 rotates relative to the second movable frame 140. Since the shell of the second driving member 130 is fixedly connected to the head of the robot, the head of the robot is driven to rotate around the axis where the output shaft of the second driving member 130 is located.

[0040] The rotation axis of the first mobile frame 120 is defined as the first rotation axis, and the rotation axis of the housing of the second driving member 130 is defined as the second rotation axis. It can be seen that the first mobile frame 120 is driven to rotate around the first rotation axis by the first driving member 110, and the second mobile frame 140 is fixed on the first mobile frame 120, and the second mobile frame 140 rotates following the rotation of the first mobile frame 120, thereby realizing the head-twisting action, and the second driving member 130 cannot drive the second mobile frame 140 to rotate. Since the output shaft of the second driving member 130 is fixed on the second mobile frame 140, when the housing of the second driving member 130 rotates relative to the second mobile frame 140, the head of the robot is driven to rotate, thereby realizing the head-tilting action. Through the combination of the two actions of head-twisting and head-tilting, the head-tilting action of the robot at any angle can be realized. In a specific embodiment, the first rotation axis is perpendicular to the second rotation axis, thereby, a rectangular coordinate system can be formed to facilitate the precise control of the driving member.

[0041] See also Figure 1 In one or more embodiments, the second mobile frame 140 is rotatably connected to the first mobile frame 120, and the rotation axis of the second mobile frame 140 relative to the first mobile frame 120 intersects with the second rotation axis, thereby, when the second driving member 130 is working, it cannot drive the second mobile frame 140 to rotate.

[0042] A third driving member 170 may also be included. The third driving member 170 is fixed to the first moving frame 120 and is transmission-connected to the second moving frame 140. Driven by the third driving member 170, the second moving frame 140 rotates relative to the first moving frame 120 to achieve a nodding action of the robot head.

[0043] Therefore, through the combination of actions in three different dimensions: nodding, turning the head, and tilting the head, the robot's head can have the same movements as the human head, enhancing the bionics of the robot's head.

[0044] See also Figure 2 In a specific embodiment, the first movable frame 120 includes a main body 121, a bending portion 123 and a fixing portion 125. The first driving member 110 is transmission-connected to the main body 121 to drive the first movable frame 120 to rotate. The bending portion 123 and the fixing portion 125 are arranged at one end of the main body 121 away from the first driving member 110 and are fixedly connected to the main body 121. The bending portion 123 and the fixing portion 125 are relatively spaced apart and a clamping groove 120a is formed between the bending portion 123 and the fixing portion 125. The second movable frame 140 is accommodated in the clamping groove 120a and is rotationally connected to the bending portion 123 and the fixing portion 125. Therefore, when the third driving member 170 drives the second movable frame 140, the second movable frame 140 rotates relative to the bending portion 123 and the fixing portion 125.

[0045] See also Figure 5 In a specific embodiment, the third driving member 170 is disposed in the clamping groove 120a and fixedly connected to the bending portion 123. One side of the second movable frame 140 is fixedly connected to the output shaft of the third driving member 170, and the other side is rotatably connected to the fixed portion 125. Thus, the third driving member 170 can directly drive the rotation of the second movable frame 140.

[0046] For example, see Figure 4 The second moving frame 140 is provided with a receiving groove 141, and the output shaft of the third driving member 170 is fixed in the receiving groove 141. A convex shaft 143 is provided on the other side of the second moving frame 140 corresponding to the receiving groove 141. The convex shaft 143 is coaxially arranged with the receiving groove 141. A through hole is provided on the fixing portion 125, and the convex shaft 143 is at least partially received in the through hole. Thus, the second moving frame 140 is fixed between the fixing portion 125 and the third driving member 170. When the third driving member 170 is working, it drives its output shaft to rotate. Since the output shaft is fixedly connected to the second moving frame 140, the third driving member 170 drives the second moving frame 140 to rotate relative to the first moving frame 120 around the convex shaft 143.

[0047] In one or more embodiments, the bending portion 123 is integrally formed with the main body 121 to facilitate fixing the third driving member 170 , and the fixing portion 125 is detachably fixed to the main body 121 to facilitate installation of the second moving frame 140 .

[0048] The second mobile frame 140 includes a first end 140 a and a second end 140 b which are arranged opposite to each other. The first end 140 a is fixedly connected to the robot head, and the second end 140 b is provided with a driving fixed position 145 , and the second driving member 130 is fixed to the driving fixed position 145 .

[0049] The distance L1 from the axis of the receiving groove 141 and the convex shaft 143 to the first end 140a is greater than the distance L2 from the axis of the receiving groove 141 and the convex shaft 143 to the second end 140b. Therefore, when the length of the second movable frame 140 is short, the torque of the nodding action can be increased to facilitate the control of the nodding amplitude and avoid the robot from reacting too sensitively to the third driving member 170 when nodding.

[0050] See also Figure 1 In one or more embodiments, a gasket 180 may also be included. The gasket 180 is arranged corresponding to the second mobile frame 140 and is rotatably connected to the first mobile frame 120. The gasket 180 has a tendency to prevent the second mobile frame 140 from rotating. By setting the gasket 180, the rotation damping of the second mobile frame 140 is increased, which is conducive to controlling the rotation of the second mobile frame 140 through the third driving member 170.

[0051] See also Figure 6 In a specific embodiment, the second moving frame 140 is provided with an arc portion 147 corresponding to the gasket 180, and an arc groove 181 is provided on the gasket 180 corresponding to the arc portion 147, and the arc portion 147 is arranged in close contact with the arc groove 181. For example, the area corresponding to the receiving groove 141 has a larger volume and can extend outward to form a circular structure, thereby forming the arc portion 147 at the edge of the second moving frame 140. When the second moving frame 140 rotates to an extreme angle, the gasket 180 will generate a great damping to the second moving frame 140 to prevent excessive movement of the robot head.

[0052] The above-mentioned robot head movement device 10 drives the first movable frame 120 to rotate through the first driving member 110 to produce a head twisting movement. The second driving member 130 is fixed on the second movable frame 140, and the output shaft of the second driving member 130 is fixed on the second movable frame 140. The shell is fixedly connected to the head of the robot. Therefore, when the second driving member 130 cannot drive the second movable frame 140 to rotate, the shell of the second driving member 130 rotates relative to the second movable frame 140, so that the robot head produces a head tilting movement. Through the combination of head twisting and head tilting movements, flexible movement of the head can be achieved.

[0053] An embodiment of the present application also provides a humanoid robot, including a head, a neck, a torso and a robot head movement device, wherein the neck connects the head and the torso, a cavity is provided in the head, and the robot head movement device is provided in the cavity of the head, and the robot head movement device is the robot head movement device 10 described in any of the above embodiments.

[0054] The torso may also be provided with a cavity, and the cavities of the head and torso may be interconnected. The first driving member of the robot head motion device may be provided in the cavity of the torso. Thus, the first movable frame passes through the neck and enters into the cavity of the head. On the one hand, the structural strength of the neck is enhanced. On the other hand, it can also avoid setting the head too large, so that the robot head motion device can be suitable for small robots.

[0055] Since the humanoid robot includes the robot head motion device 10, the beneficial effects possessed by the robot head motion device are also possessed by the humanoid robot accordingly.

[0056] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A robot head movement device, characterized in that: It includes a first driving member, a first moving frame, a second driving member, a third driving member and a second moving frame, wherein: The first driving member is transmission-connected to the first moving frame. Under the drive of the first driving member, the first moving frame can perform axial rotation to realize the head-turning action of the robot; The second moving frame is arranged on the first moving frame and is rotatably connected to the first moving frame. The second driving member includes an output shaft and a housing. The output shaft of the second driving member is fixedly connected to the second moving frame. The housing of the second driving member is fixedly connected to the head of the robot. When the second driving member is working, the housing of the second driving member rotates relative to the second moving frame, driving the head of the robot to rotate around the axis of the output shaft of the second driving member, thereby realizing a tilting head action. The second movable frame is provided with a receiving groove, the output shaft of the third driving member is fixed in the receiving groove, the other side of the second movable frame is provided with a convex shaft corresponding to the receiving groove, the convex shaft is coaxially arranged with the receiving groove, the first movable frame is provided with a through hole, the convex shaft is at least partially received in the through hole, and the third driving member drives the second movable frame to rotate relative to the first movable frame around the convex shaft; The second mobile frame includes a first end and a second end that are arranged opposite to each other, the first end is fixedly connected to the robot head, the second end is provided with a driving fixed position, and the second driving member is fixed to the driving fixed position; the rotation axis of the second mobile frame rotating relative to the first mobile frame intersects with the rotation axis of the housing of the second driving member; The first movable frame is driven by the first driving member to rotate within a preset angle range; It also includes a fixed plate and a limiting member, wherein the first driving member and the first moving frame are respectively arranged on both sides of the fixed plate and fixedly connected to the fixed plate; The limiting member is fixed on the first movable frame, and is arranged at one end of the first movable frame close to the fixed plate. A boss is arranged on the end surface of the limiting member close to the fixed plate. A limiting groove is arranged on the fixed plate. The boss is at least partially embedded in the limiting groove. When the first movable frame rotates under the drive of the first driving member, the boss moves in the limiting groove along with the rotation of the first movable frame. The distance between the receiving groove and the axis of the convex shaft and the first end is greater than the distance between the receiving groove and the axis of the convex shaft and the second end; It also includes a gasket, which is arranged corresponding to the second mobile frame and is rotatably connected to the first mobile frame, and has a tendency to prevent the second mobile frame from rotating; The second moving frame is provided with an arc-shaped portion corresponding to the gasket, and an arc-shaped groove is provided on the gasket corresponding to the arc-shaped portion, and the arc-shaped portion is arranged to fit the arc-shaped groove.

2. A humanoid robot, comprising a head, a neck, a trunk and a robot head motion device, wherein the neck connects the head and the trunk, a cavity is provided in the head, and the robot head motion device is provided in the cavity of the head, characterized in that: The robot head motion device is the robot head motion device according to claim 1.

3. The humanoid robot according to claim 2, characterized in that: The torso is also provided with a cavity, and the cavities of the head and the torso are interconnected, the first driving member of the robot head motion device is arranged in the cavity of the torso, and the first moving frame passes through the neck and enters into the cavity of the head.

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