Robotic head and neck structure and robot

Abstract

The present application provides a robot head and neck structure and a robot, the robot head and neck structure comprising: a lifting arm structure, the lifting arm structure comprising at least an upper arm, an intermediate connecting arm, and a lower arm that are rotatably connected in sequence; the lower end of the lower arm is connected to the upper end surface of a first platform; the lifting arm structure further comprising a linkage link, the lower end of the linkage link being rotatably connected to the lower portion of the lower arm, and the upper end of the linkage link being rotatably connected to the protrusion at the lower end of the upper arm; the lifting arm structure further comprising a driving member for driving the intermediate connecting arm to rotate about the rotation axis between the intermediate connecting arm and the lower arm, so as to complete various posture adjustments of the system.

Description

Technical Field

[0001] The present application relates to the field of mechanical equipment, and in particular to a robot head and neck structure and a robot. Background Art

[0002] Currently, robotic lifting systems on the market often use stepper motors combined with ball screws, and robotic arms often use RV motors combined with harmonic reducers. These structures are expensive and have extremely low load capacities, making today's robots generally expensive and impractical.

[0003] Therefore, there is an urgent need for a robot lifting system with low cost and high practicality. Summary of the Invention

[0004] The embodiments of the present application provide a robot head and neck structure and a robot, which can flexibly adjust the height.

[0005] An embodiment of the present application provides a robot head and neck structure, including: a lifting arm structure, the lifting arm structure at least including an upper arm, an intermediate connecting arm and a lower arm that are rotatably connected in sequence; the lower end of the lower arm is connected to the upper end surface of the first platform; the lifting arm structure also includes a linkage link, the lower end of the linkage link is rotatably connected to the lower part of the lower arm, and the upper end of the linkage link is rotatably connected to the protrusion at the lower end of the upper arm; the lifting arm structure also includes a driving member for driving the intermediate connecting arm to rotate around the rotating axis of the intermediate connecting arm and the lower arm.

[0006] In one embodiment, the driving member is a first electric push rod, and the upper end of the first electric push rod is connected to the middle part of the intermediate connecting arm.

[0007] In one embodiment, the lower portion of the upper arm is a curved structure; the curved structure is used to allow the upper arm to fit in with the side surface of the intermediate connecting arm when the lifting arm structure is in a fully folded state.

[0008] In one embodiment, the lower end of the first platform is also connected to a scissors-type lifting mechanism, and the scissors-type lifting mechanism includes at least one level of X-shaped scissors-type structure; one end of the lower part of the X-shaped scissors-type mechanism of the lowest level is rotatably connected to the second platform, and the other end of the lower part of the X-shaped scissors-type mechanism of the lowest level is slidably connected to the second platform; one end of the upper part of the X-shaped scissors-type mechanism of the highest level is rotatably connected to the first platform, and the other end of the upper part of the X-shaped scissors-type mechanism of the highest level is slidably connected to the first platform; each level of the X-shaped scissors-type structure includes at least: one X-shaped scissors-type unit, or, two or more X-shaped scissors-type units arranged accordingly; the X-shaped scissors-type unit is an X-shaped lifting unit rotatably connected in the middle.

[0009] In one embodiment, when the number of the X-type scissors structure levels is two or more, a damping rod is further included between the two adjacent upper and lower levels of the X-type scissors structure; the two ends of the damping rod are respectively vertically connected to the middle of the rotating shaft at the connection point of the two adjacent upper and lower levels of the X-type scissors structure.

[0010] In one embodiment, the scissors-type lifting mechanism also includes a second electric push rod; the second electric push rod is used to control the lifting and lowering of the scissors-type lifting mechanism; wherein, the top end of the second electric push rod is connected to the middle rotating shaft of the lowest level of the X-shaped scissors-type lifting mechanism; or, the top end of the second electric push rod is connected to the slider of the second platform, and the extension and retraction direction of the second electric push rod corresponds to the slide rail direction of the second platform.

[0011] In one embodiment, the robot head and neck structure further includes a pitch joint, which is rotatably connected to the upper arm, and the rotation angle is controlled by a pitch joint servo; the pitch joint includes at least one mounting surface.

[0012] In one embodiment, with the axial direction of the pitch joint and the upper arm rotation axis as the observation direction, the pitch joint includes a first side, a second side, a third side, a fourth side and an arc side; wherein, the first side is at a right angle to the second side, the second side is at a right angle to the third side, the third side is at an obtuse angle to the fourth side, and the arc side is connected to the first side; the rotation axis of the pitch joint and the upper arm rotation connection is located at the corresponding circle of the arc side; the mounting surface is the corresponding end surface corresponding to the second side.

[0013] In one embodiment, a rotary joint is mounted on the mounting surface; a central axis of a rotating shaft of the rotary joint is perpendicular to the mounting surface, and a rotation angle is controlled by a rotary joint steering gear.

[0014] In one embodiment, the rotating shaft between the upper arm and the middle connecting arm and the rotating shaft between the middle connecting arm and the lower arm are damping rotating shafts.

[0015] An embodiment of the present application further provides a robot, comprising: a chassis, and a robot head and neck structure as described in any one of the above.

[0016] In one embodiment, the chassis is a six-wheel bionic chassis; the chassis is equipped with a self-balancing mechanism; the robot head and neck structure is mounted on the upper end of the self-balancing mechanism; the self-balancing mechanism is used to balance the inclination angle of the robot.

[0017] In an embodiment of the present application, a robot head and neck structure and a robot are provided, including a lifting arm structure, wherein the lifting arm structure comprises at least an upper arm, an intermediate connecting arm, and a lower arm that are rotatably connected in sequence; the lower end of the lower arm is connected to the upper end surface of the first platform; the lifting arm structure further comprises a linkage connecting rod, the lower end of the linkage connecting rod is rotatably connected to the lower part of the lower arm, and the upper end of the linkage connecting rod is rotatably connected to the protrusion at the lower end of the upper arm; the lifting arm structure further comprises a driving member for driving the intermediate connecting arm to rotate around the rotating axis of the intermediate connecting arm and the lower arm. The present application has the advantages of a large lifting stroke, a small volume in a retracted state, and a small space occupation; a linkage lifting arm structure, a simple structure, low cost, and a simple processing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 This is a schematic diagram of a robot head and neck structure according to an embodiment of this specification;

[0020] Figure 2 This is a schematic diagram of the lifting and lowering of a robot head and neck structure according to an embodiment of this specification;

[0021] Figure 3 This is a three-view diagram of a robot head and neck structure according to an embodiment of this specification;

[0022] Figure 4 is a schematic diagram of a damping rod structure in an embodiment of this specification;

[0023] Figure 5 It is a schematic diagram of two pitch joint structures in the embodiment of this specification;

[0024] Figure 6 is a robot structure diagram of an embodiment of this specification;

[0025] Figure 7 This is a front view of a robot lift in an embodiment of this specification;

[0026] Figure 8 is a top view of a robot according to an embodiment of the present specification;

[0027] Figure 9 This is a schematic diagram of a robot going up and down a slope in an embodiment of this specification;

[0028] Description of the drawings: 10. Lower arm, 12. Middle connecting arm, 13. Rotating shaft between upper arm and middle connecting arm, 14. Upper arm, 16. Linking connecting rod, 18. First electric push rod, 20. First platform, 22. Slide rail on first platform, 24. Rotating shaft of X-type scissors structure, 26. Damping rod, 28. X-type scissors structure, 30. Slide rail on second platform, 32. Second platform, 34. Second electric push rod, 40. Pitch joint, 42. Pitch joint servo, 50. Rotary joint 50, 52. Rotary joint servo, 60. First spring, 62. Sleeve, 64. Sliding baffle, 66. Second spring, 68. Piston rod, 100. Lifting arm structure, 200. Scissors lifting mechanism, 300. Self-balancing mechanism, 400. Six-wheel bionic chassis. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0030] 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 pertains. 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.

[0031] See also Figure 1 . The embodiment of this specification provides a robot head and neck structure, which may include: a lifting arm structure 100, wherein the lifting arm structure 100 at least includes an upper arm 14, an intermediate connecting arm 12 and a lower arm 10 that are rotatably connected in sequence; the lower end of the lower arm 10 is connected to the upper end surface of the first platform 20; the lifting arm structure 100 also includes a linkage link 16, the lower end of the linkage link 16 is rotatably connected to the lower part of the lower arm 10, and the upper end of the linkage link 16 is rotatably connected to the protrusion at the lower end of the upper arm 14; the lifting arm structure 100 also includes a driving member for driving the intermediate connecting arm 12 to rotate around the rotating axis of the intermediate connecting arm 12 and the lower arm 10.

[0032] In this embodiment, the lifting arm structure 100 may refer to an arm-shaped connecting mechanism that performs a lifting function. The upper end of the upper arm 14 of the lifting arm structure 100 may be equipped with other devices to correspond to specific operations. For example, the upper end of the upper arm 14 may be equipped with a searchlight for illumination, a gripper for grasping objects at different angles, or a robot head structure to correspond to specific functional requirements.

[0033] In this embodiment, the main structure of the lifting arm structure 100 can be composed of the upper arm 14, the intermediate connecting arm 12 and the lower arm 10, which are connected in sequence. According to the rotation angle of the rotation connection between the upper arm 14, the intermediate connecting arm 12 and the lower arm 10, the lifting arm structure 100 can correspond to different telescopic states, thereby corresponding to different lifting heights. The state from retracted to extended can correspond to a slowly rising state, see Figure 2 .

[0034] In this embodiment, the upper arm 14, the intermediate connecting arm 12 and the lower arm 10 may refer to a three-section arm-shaped mechanism of the lifting arm structure 100, which is named according to position classification. The upper end of the upper arm 14 can be used to connect other mechanisms, the lower end of the upper arm 14 is rotatably connected to the upper end of the intermediate connecting arm 12, the lower end of the intermediate connecting arm 12 is rotatably connected to the upper end of the lower arm 10, and the lower end of the lower arm 10 is vertically connected to the first platform 20. The first platform 20 is used to support the lifting arm structure 100. In this embodiment, the rotational connection between the lower end of the intermediate connecting arm 12 and the upper end of the lower arm 10 may also include a rotational connection bayonet to limit the rotation angle between the intermediate connecting arm 12 and the lower arm 10. For example, refer to Figure 3 In the main view among the three views, a bayonet is provided at the upper end of the lower arm 10 to constrain the active angle of the intermediate connecting arm 12. The bayonet can limit the angle change range between the intermediate connecting arm 12 and the lower arm 10 to between 90° and 180°.

[0035] In this embodiment, the lower portion of the upper arm 14 also has the protrusion. The protrusion is used to be rotatably connected to the linkage link 16. The protrusion can be a protruding triangular structure, or a protruding rectangular structure, a trapezoidal structure, or an irregular structure, etc. The protrusion is used to stabilize the upper arm 14. Specifically, the lower end of the upper arm 14 is rotatably connected to the upper end of the intermediate connecting arm 12, and the protrusion at the lower portion of the upper arm 14 is rotatably connected to the linkage link 16, which work together to stabilize the upper arm 14. When the intermediate connecting arm 12 rotates counterclockwise around the rotation axis of the intermediate connecting arm 12 and the lower arm 10, the upper arm 14 can rotate clockwise around the rotation axis of the upper arm 14 and the intermediate connecting arm under the joint action of the protrusion and the rotation axis of the upper arm 14 and the intermediate connecting arm 12, so as to fold the lifting arm structure 100. Similarly, when the intermediate connecting arm 12 rotates clockwise about the rotation axis between the intermediate connecting arm 12 and the lower arm 10, the upper arm 14, under the combined action of the protrusion and the rotation axis between the upper arm 14 and the intermediate connecting arm 12, can rotate counterclockwise about the rotation axis between the upper arm 14 and the intermediate connecting arm, thereby unfolding the lifting arm structure 100. In this embodiment, the lower portion of the upper arm 14 can be a curved structure so that when the lifting arm structure 100 is folded, the side surface of the upper arm 14 corresponding to the folded surface can be in contact with the side surface of the intermediate connecting arm 12.

[0036] In this embodiment, the lifting arm structure 100 may further include a drive member for driving the intermediate connecting arm 12 to rotate about the rotation axis between the intermediate connecting arm 12 and the lower arm 10. Specifically, the drive member may be an electric push rod or a hydraulic push rod. In one implementation scenario, the drive member is an electric push rod, the lower end of which is connected to the lower end of the lower arm 10 or to the first platform 20. The upper end of the electric push rod is connected to the middle portion of the intermediate connecting arm 12. For example, a crossbar may be provided in the middle portion of the intermediate connecting arm 12, which is rotatably connected to the upper end of the electric push rod. When the electric push rod is extended, the intermediate connecting arm 12 rotates clockwise about the rotation axis between the intermediate connecting arm 12 and the lower arm 10; conversely, when the electric push rod is retracted, the intermediate connecting arm 12 rotates counterclockwise about the rotation axis between the intermediate connecting arm 12 and the lower arm 10. The driving member can also be a motor, which can directly drive the rotating shaft between the intermediate connecting arm 12 and the lower arm 10 to rotate. When the motor rotates forward or reverse, the rotating shaft rotates forward or reverse accordingly to drive the intermediate connecting arm 12 to rotate clockwise or counterclockwise around the rotating shaft between the intermediate connecting arm 12 and the lower arm 10.

[0037] In this embodiment, the linkage link 16 may be a fixed-length link for linking the upper arm 14 and the intermediate arm.

[0038] In this embodiment, the lower arm 10 and the first platform 20 can be vertically fixedly connected. The connection between the lower arm 10 and the first platform 20 can also be a rotational connection with the axis of the lower arm 10 as the rotation center. For example, the lower arm 10 is vertically fixedly connected to a rotating platform provided at the upper end of the first platform 20; the rotating platform can control the rotation angle by a motor; or, the lower arm 10 cooperates with a vertical rod on the first platform 20. When the cooperation is completed, the axis of the vertical rod coincides with the axis of the lower arm 10, and the vertical rod can be controlled by the motor to rotate at a self-rotating angle to drive the circumferential rotation of the lower arm 10.

[0039] In this embodiment, the robot head and neck structure includes at least the lifting arm structure 100. The lifting arm structure 100 is connected by rotating the upper arm 14, the middle connecting arm 12 and the lower arm 10 in sequence; and through the joint action of the linkage link 16 and the protrusion of the upper arm 14, the lifting arm structure 100 can have a folding function to achieve the lifting effect. The robot head and neck structure provided in this embodiment is simple to control, and the motion gap can also be eliminated by the action of the damping spring and the damping shaft. The folding structure occupies a small space, and the linkage lifting arm structure 100 has a simple structure, low cost, simple processing technology, and heavy load. In one implementation scenario, a 25kg object can be lifted with a 500N push rod.

[0040] In a preferred embodiment, the driving member is a first electric push rod 18 , and the upper end of the first electric push rod 18 is connected to the middle of the middle connecting arm 12 .

[0041] In this embodiment, the middle portion of the intermediate connecting arm 12 may refer to the middle position or vicinity of the intermediate connecting arm 12. Specifically, for example, the middle portion of the intermediate connecting arm 12 may be provided with a single crossbar, or with two or more crossbars at different heights. The upper end of the first electric push rod 18 is sleeved on the crossbar and can rotate about the axis of the crossbar. Other rotating connectors, such as earrings, may be provided in the middle portion of the intermediate connecting arm 12, which are not specifically limited herein.

[0042] In this embodiment, an electric push rod is used as the driving member to drive the intermediate connecting arm 12 to rotate around the rotation axis of the intermediate connecting arm 12 and the lower arm 10. The structure is simple and the thrust is large.

[0043] In a preferred embodiment, the lower portion of the upper arm 14 is a curved structure; the curved structure is used to allow the upper arm 14 to fit in with the side surface of the intermediate connecting arm 12 when the lifting arm structure 100 is in a fully folded state.

[0044] In this embodiment, the fully folded state refers to the lifting arm structure 100 being in its most compressed state, with the upper end of the lifting arm structure 100 at its lowest point. In this state, the angle between the intermediate connecting arm 12 and the lower arm 10 is minimal. The upper arm 14 is folded and stowed under the action of the protrusion at the lower end of the upper arm 14 and the linkage link 16. This flexure allows the straight side of the upper arm 14 to align with the side of the intermediate connecting arm 12.

[0045] In this embodiment, the bending direction of the curved structure corresponds to the folding direction of the upper arm 14 and the intermediate connecting arm 12. The upper arm 14 can have a curved lower portion and a straight upper portion. In a preferred embodiment, the bending angle of the curved structure is 90°. In this embodiment, when the intermediate connecting arm 12 and the lower arm 10 form a 90° angle, the straight portion of the side surface of the upper arm 14 can mate with the side surface of the intermediate connecting arm 12.

[0046] In this embodiment, the curved structure of the lower part of the upper arm 14 provides a more stable structure, and the upper end of the upper arm 14 can be located at a relatively low position when the lifting arm structure 100 is in a fully folded state, thereby increasing the lifting range of the lifting arm structure 100 and improving its applicability.

[0047] In a preferred embodiment, the lower end of the first platform 20 is also connected to a scissors-type lifting mechanism 200, and the scissors-type lifting mechanism 200 includes at least one level of X-shaped scissors-type structure 28; one end of the lower part of the X-shaped scissors-type mechanism of the lowest level is rotatably connected to the second platform 32, and the other end of the lower part of the X-shaped scissors-type mechanism of the lowest level is slidably connected to the second platform 32; one end of the upper part of the X-shaped scissors-type mechanism of the highest level is rotatably connected to the first platform 20, and the other end of the upper part of the X-shaped scissors-type mechanism of the highest level is slidably connected to the first platform 20; each level of the X-shaped scissors-type structure 28 includes at least: one X-shaped scissors-type unit, or, two or more X-shaped scissors-type units arranged accordingly; the X-shaped scissors-type unit is an X-shaped lifting unit rotatably connected in the middle.

[0048] In this embodiment, the sliding connection may be a sliding connection between a slider and a slide rail.

[0049] In this embodiment, the first platform 20 may be the upper seat of the scissor lift mechanism 200. The first platform 20 may be provided with at least one parallel slide rail, each of which may be provided with a slider. When there are two or more parallel slide rails, the two or more slide rails may be symmetrical about the centerline of the first platform 20.

[0050] In this embodiment, each level of the X-shaped scissor structure 28 can include at least one X-shaped scissor unit, or two or more X-shaped scissor units arranged in a corresponding manner; each X-shaped scissor unit is an X-shaped lifting unit with a central rotational connection. The number of X-shaped scissor units in each level of the X-shaped scissor structure 28 corresponds to the number of slide rails on the first platform 20.

[0051] In this embodiment, the X-shaped scissors unit can be composed of two straight rods rotatably connected to the middle portion. Each level of the X-shaped scissors structure 28 can also be composed of two or more correspondingly arranged X-shaped scissors units. When there are multiple X-shaped scissors units, the rotating shafts of the middle rotating connection portions of the X-shaped scissors units can share a common rotating shaft, and the rotating shaft of the middle rotating connection portion can also be a damping rotating shaft. In a preferred embodiment, each level of the X-shaped scissors structure 28 includes two X-shaped scissors units.

[0052] In this embodiment, the scissors-type lifting mechanism 200 may include at least one level of the X-shaped scissors-type structure 28. When the scissors-type lifting mechanism 200 includes more than two levels of the X-shaped scissors-type structure 28, the two adjacent levels of the X-shaped scissors-type structures 28 are rotationally connected at the connection point. Specifically, for example, the "X"-shaped lower end of the X-shaped scissors-type structure 28 of the upper level is rotationally connected with the "X"-shaped upper end of the X-shaped scissors-type structure 28 of the lower level; wherein the two ends of the rotational connection may be a common rotating shaft, or may be rotationally connected at corresponding positions. In an implementation scenario, each level of the X-shaped scissors-type structure 28 has two X-shaped scissors-type units, and the four lower ends of the two X-shaped scissors-type units of the upper level are rotationally connected with the four upper ends of the two X-shaped scissors-type units of the lower level; wherein the connection located on one side may share a rotating shaft.

[0053] In this embodiment, one end of the lower portion of the lowest-level X-shaped scissor mechanism is pivotally connected to the second platform 32, while the other end of the lower portion is slidably connected to the second platform 32. One end of the upper portion of the highest-level X-shaped scissor mechanism is pivotally connected to the first platform 20, while the other end of the upper portion of the highest-level X-shaped scissor mechanism is slidably connected to the first platform 20. Specifically, the X-shaped scissor units at each level of the X-shaped scissor mechanism are arranged correspondingly, and the X-shaped scissor units at each level are also arranged correspondingly to the slide rails on the first platform 20 and the second platform 32. One side of the upper end of the highest-level X-shaped scissor mechanism is pivotally connected to the first platform 20, for example, by a hinge. This ensures that this side, while connected to the first platform 20, does not move. The other side is connected to the sliders on the corresponding slide rails. Similarly, one side of the lower end of the lowest-level X-shaped scissor mechanism is pivotally connected to the second platform 32, while the other side is connected to the sliders on the corresponding slide rails on the second platform 32. This achieves a scissor-like lifting function, providing a wide lifting range.

[0054] In this embodiment, the second platform 32 may be the base of the scissor lift mechanism 200 , configured to support the scissor lift mechanism 200 .

[0055] In this embodiment, the lifting drive force of the scissor lift mechanism 200 can act on the bottom-most X-shaped scissor structure 28 or on the slider of the second platform 32, without specific limitation herein. For example, the bottom-most X-shaped scissor structure 28 can include two corresponding X-shaped scissor units, which share a common intermediate rotating shaft. The lifting drive element of the scissor lift mechanism 200 can be a second electric push rod 34, the top end of which is perpendicularly connected to the middle of the shared rotating shaft. The push rod is arranged at a certain angle relative to the slide rail of the second platform 32, and the extension and retraction of the push rod can control the lifting and lowering of the scissor lift mechanism 200. For another example, each level of the X-shaped scissors-fork structure 28 may include two corresponding X-shaped scissors-fork units, and correspondingly, there are two corresponding slide rails and two sliders on the second platform 32, and the two sliders can be directly connected by a straight rod. The lifting drive of the scissors-fork lifting mechanism 200 can be a second electric push rod 34, and the top end of the push rod can be vertically connected to the middle part of the straight rod so that the extension and contraction direction of the push rod is consistent with the movement direction of the slider on the slide rail. Preferably, the lifting drive of the scissors-fork lifting mechanism 200 is a push rod, and each level of the X-shaped scissors-fork structure 28 includes two X-shaped scissors-fork units, and the middle rotating shaft of the two X-shaped scissors-fork units of each level of the X-shaped scissors-fork structure 28 is shared. The driving member for the lifting of the scissors-fork lifting mechanism 200 is a second electric push rod 34, and the top end of the push rod is vertically connected to the middle shared rotating shaft of the X-shaped scissors-fork structure 28 of the lowest level.

[0056] This embodiment expands the lifting range of the robot head and neck structure by combining the scissor lift mechanism 200 , and has low cost, simple structure and strong applicability.

[0057] In a preferred embodiment, when the number of levels of the X-shaped scissors-fork structure 28 is two or more, a damping rod 26 is further included between the two adjacent upper and lower levels of the X-shaped scissors-fork structure 28; the two ends of the damping rod 26 are respectively vertically connected to the middle of the rotating shaft at the connection of the two adjacent upper and lower levels of the X-shaped scissors-fork structure 28.

[0058] In this embodiment, the connection between the two adjacent upper and lower X-shaped scissor structures 28 on both sides has a common rotation axis on each side, which corresponds to two parallel common connecting rotation axes. The two parallel common connecting rotation axes can be vertically connected by the damping rod 26. In this embodiment, the damping rod 26 can be a connecting rod that eliminates motion clearance through damping. Figure 4 The damping rod 26 may include a sleeve 62, one end of which is fixed and sealed, and the other end is provided with a small hole for the piston rod 68 to pass through. A first spring 60 within the sleeve 62 is fixed at one end to the fixed seal of the sleeve 62, and the other end of the first spring 60 is fixedly connected to the piston rod 68. A sliding block 64 is also provided in the middle of the sleeve 62, and the piston rod 68 is provided with an axial protrusion at a corresponding position to limit the piston rod 68 from the sleeve 62. When the sliding block 64 contacts the protrusion, the piston rod 68 extends out of the sleeve 62 to the shortest extent, and the damping rod 26 is in the shortest state. The sleeve 62 also includes a second spring 66, which is located on either side of the sliding block 64, along with the first spring 60. The second spring 66 is sleeved on the piston rod 68 and can provide a damping force when the protrusion on the piston rod 68 moves in the direction of the second spring 66.

[0059] In this embodiment, by adding a damping rod 26 to provide a damping force, the scissor lift mechanism 200 can be lifted and lowered more smoothly.

[0060] In a preferred embodiment, the scissors-fork lifting mechanism 200 also includes a second electric push rod 34; the second electric push rod 34 is used to control the lifting and lowering of the scissors-fork lifting mechanism 200; wherein, the top end of the second electric push rod 34 is connected to the middle rotating shaft of the lowest level of the X-shaped scissors-fork mechanism; or, the top end of the second electric push rod 34 is connected to the slider of the second platform 32, and the extension and retraction direction of the second electric push rod 34 corresponds to the slide rail direction of the second platform 32.

[0061] In this embodiment, the lifting drive element of the scissor lift mechanism 200 can be the second electric push rod 34. The top end of the push rod can be vertically connected to the middle of the shared rotating shaft, and the bottom end of the second electric push rod 34 can be connected to the second platform 32 or fixed to another device. The push rod can be arranged at a certain angle relative to the slide rail of the second platform 32, and the extension and retraction of the push rod can control the raising and lowering of the scissor lift mechanism 200.

[0062] In this embodiment, the top end of the second electric push rod 34 can be connected to the slider of the second platform 32, and the extension and retraction direction of the second electric push rod 34 corresponds to the direction of the slide rail of the second platform 32. The extension and retraction movement of the second electric push rod 34 is synchronized with the displacement movement of the slider on the second platform 32. Specifically, for example, there can be more than one second electric push rod 34 to correspond to the slider on the second platform 32, and the two correspond one to one and move synchronously. For another example, the number of the second electric push rod 34 is one, and the number of the slider is more than one. When the number of the slider is more than two, the slider can be directly connected with a straight rod, and the straight rod is perpendicular to each of the slide rails. The top end of the push rod can be vertically connected to the middle of the straight rod to achieve synchronous movement of the second push rod and the slider.

[0063] In this embodiment, the second electric push rod 34 is used to provide the lifting driving force for the scissor lift mechanism 200, which has a simple structure, low cost and sufficient power.

[0064] In a preferred embodiment, the robot head and neck structure may further include a pitch joint 40 , which is rotatably connected to the upper arm 14 , and the rotation angle is controlled by a pitch joint servo 42 ; the pitch joint 40 includes at least one mounting surface.

[0065] In this embodiment, the pitch joint 40 is used to adjust the pitch angle between the device mounted on its mounting surface and the upper arm 14. The mounting surface is used to mount the rotary joint 50 and the like to adapt to the specific working environment. Figure 5 There may be one or more mounting surfaces, which is not specifically limited here.

[0066] In this embodiment, the pitch joint 40 is rotatably connected to the upper arm 14 via a rotating shaft. The rotation angle of the rotating shaft is controlled by the pitch joint servo 42. When the rotating shaft is at different angles, the pitch angle of the mounting surface relative to the upper arm 14 varies. In this embodiment, the upper end of the upper arm 14 may also include a buckle to control the rotation angle of the pitch joint 40 around the upper arm 14.

[0067] In this embodiment, the pitch angle of the device thereon can be adjusted through the pitch joint 40 to improve the applicability of the robot head and neck structure.

[0068] In a preferred embodiment, with the axial direction of the rotation axis of the pitch joint 40 and the upper arm 14 as the observation direction, the pitch joint 40 includes a first side, a second side, a third side, a fourth side and an arc side; wherein, the first side is at a right angle to the second side, the second side is at a right angle to the third side, the third side is at an obtuse angle to the fourth side, and the arc side is connected to the first side; the rotation axis of the pitch joint 40 and the upper arm 14 is located at the corresponding circle of the arc side; the mounting surface is the corresponding end surface corresponding to the second side.

[0069] See also Figure 5 The pitch joint 40 can be approximately a right-angled trapezoid in side view, with the acute angles of the right-angled trapezoid transitioned by arcs, corresponding to the arc edges, to facilitate the setting of the rotation axis for the rotational connection between the pitch joint 40 and the upper arm 14, and the rotation axis can be set at the center of the arc.

[0070] In this embodiment, the arc edge may be tangent to the fourth edge, and the arc edge may also be a semicircular edge, which is not specifically limited here.

[0071] The pitch joint 40 provided in this embodiment has a simple structure and is easy to use.

[0072] In a preferred embodiment, a rotary joint 50 is mounted on the mounting surface; the central axis of the rotary joint 50 is perpendicular to the mounting surface, and the rotation angle is controlled by a rotary joint servo 52 .

[0073] In this embodiment, the rotary joint 50 may be a rotation mechanism with a rotation axis as the rotation center, the rotation axis being perpendicular to the mounting surface, and the rotation angle of the rotation axis may be controlled by the rotary joint servo 52. Specifically, for example, the rotary joint 50 may be mounted in conjunction with a camera, and the camera's shooting direction may be synchronized with the rotation angle of the rotation axis and controlled by the rotary joint servo 52.

[0074] In this embodiment, the rotary joint 50 can be equipped with various monitoring devices, such as cameras, temperature sensors, gas sensors, etc., to meet various monitoring needs.

[0075] In this embodiment, various posture adjustments can be completed through the rotary joint 50, further improving the applicability of the robot head and neck structure.

[0076] In a preferred embodiment, the rotating shaft between the upper arm 14 and the middle connecting arm 12 and the rotating shaft between the middle connecting arm 12 and the lower arm 10 are damping rotating shafts.

[0077] In this embodiment, the damping shaft may be a shaft that can provide a damping force to cushion the rotation, thereby eliminating motion clearance and making the rotation smoother.

[0078] The embodiments of this specification provide a robot, which may include: a chassis, and a robot head and neck structure as described in any one of the above.

[0079] See also Figures 6 to 9 In this embodiment, the robot head and neck structure can be set on the chassis to move indoors and outdoors. The robot head and neck structure can freely adjust the height or angle of the robot, and can also carry various monitoring equipment, such as cameras, temperature sensors, gas sensors, etc. to meet corresponding work needs.

[0080] In this embodiment, only the differences from the previous embodiment are described. Other contents can be explained by referring to the contents of the previous embodiment and will not be repeated here.

[0081] In a preferred embodiment, the chassis is a six-wheel bionic chassis 400; the chassis is equipped with a self-balancing mechanism 300; the upper end of the self-balancing mechanism 300 is equipped with the robot head and neck structure; the self-balancing mechanism 300 is used to balance the inclination angle of the robot.

[0082] In this embodiment, the six-wheel bionic chassis 400 may refer to a six-wheel chassis using bionics technology, which has strong applicability and can travel smoothly on uneven surfaces such as gravel roads and dirt roads, and can smoothly cross obstacles such as speed bumps and vertical obstacles.

[0083] In this embodiment, the self-balancing mechanism 300 is used to balance the inclination angle of the robot and adjust the center of gravity of the robot to ensure that the robot does not overturn when passing through a slope or an obstacle.

[0084] In this embodiment, only the differences from the previous embodiment are described. Other contents can be explained by referring to the contents of the previous embodiment and will not be repeated here.

[0085] It should be noted that, in the description of this application, the terms "first," "second," etc., are used solely for descriptive purposes and to distinguish similar objects. There is no order of precedence between the two, nor should they be understood to indicate or imply relative importance. Furthermore, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0086] It should be understood that the above description is for illustrative purposes only and is not intended to be limiting. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the preceding claims and the full scope of equivalents to which such claims are entitled. For the purpose of completeness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein from the preceding claims is not a disclaimer of such subject matter, nor should it be considered that the applicants did not consider such subject matter to be part of the disclosed subject matter.

Claims

1. A robot head and neck structure, characterized in that: include: A lifting arm structure, the lifting arm structure comprising at least an upper arm, an intermediate connecting arm, and a lower arm that are rotatably connected in sequence; the lower end of the lower arm is connected to the upper end surface of the first platform; the lifting arm structure further comprises a linkage link, the lower end of the linkage link is rotatably connected to the lower portion of the lower arm, and the upper end of the linkage link is rotatably connected to the protrusion at the lower end of the upper arm; the lifting arm structure further comprises a driving member for driving the intermediate connecting arm to rotate about the rotation axis between the intermediate connecting arm and the lower arm; The lower portion of the upper arm is a curved structure; the curved structure is used to allow the upper arm to fit in with the side surface of the intermediate connecting arm when the lifting arm structure is in a fully folded state; The robot head and neck structure further includes a pitch joint, which is rotatably connected to the upper arm, and the rotation angle is controlled by a pitch joint servo; the pitch joint includes at least one mounting surface; Taking the axial direction of the pitch joint and the upper arm rotation axis as the observation direction, the pitch joint includes a first side, a second side, a third side, a fourth side and an arc side; wherein, the first side is at a right angle to the second side, the second side is at a right angle to the third side, the third side is at an obtuse angle to the fourth side, and the arc side is connected to the first side; the rotation axis for connecting the pitch joint and the upper arm is located at the corresponding circle of the arc side; the mounting surface is the end face corresponding to the second side.

2. The robot head and neck structure according to claim 1, characterized in that: The driving member is a first electric push rod, and the upper end of the first electric push rod is connected to the middle part of the intermediate connecting arm.

3. The robot head and neck structure according to claim 1, characterized in that: The lower end of the first platform is also connected to a scissor lift mechanism, which includes at least one X-shaped scissor structure; one end of the lower portion of the lowest X-shaped scissor structure is rotatably connected to the second platform, and the other end of the lower portion of the lowest X-shaped scissor structure is slidably connected to the second platform; one end of the upper portion of the upper X-shaped scissor structure is rotatably connected to the first platform, and the other end of the upper portion of the upper X-shaped scissor structure is slidably connected to the first platform; Each level of the X-shaped scissor structure includes at least one X-shaped scissor unit, or two or more X-shaped scissor units arranged accordingly; The X-shaped scissors unit is an X-shaped lifting unit with a central rotation connection.

4. The robot head and neck structure according to claim 3, characterized in that: When the X-shaped scissors structure has two or more stages, a damping rod is further provided between the two adjacent upper and lower stages of the X-shaped scissors structure; both ends of the damping rod are respectively vertically connected to the middle of the rotating shaft at the connection point of the two adjacent upper and lower stages of the X-shaped scissors structure.

5. The robot head and neck structure according to claim 3, characterized in that: The scissor lift mechanism further includes a second electric push rod; the second electric push rod is used to control the lifting and lowering of the scissor lift mechanism; The top end of the second electric push rod is connected to the middle rotating shaft of the lowest level of the X-shaped scissors structure; or the top end of the second electric push rod is connected to the slider of the second platform, and the extension direction of the second electric push rod corresponds to the slide rail direction of the second platform.

6. The robot head and neck structure according to claim 1, characterized in that: A rotary joint is mounted on the mounting surface; a central axis of a rotating shaft of the rotary joint is perpendicular to the mounting surface, and a rotation angle is controlled by a rotary joint steering gear.

7. The robot head and neck structure according to claim 1, characterized in that: The rotating shaft between the upper arm and the middle connecting arm and the rotating shaft between the middle connecting arm and the lower arm are damping rotating shafts.

8. A robot, characterized in that: include: Chassis, a robot head and neck structure as described in any one of claims 1-7.

9. The robot according to claim 8, characterized in that The chassis is a six-wheeled bionic chassis; The chassis is equipped with a self-balancing mechanism; the upper end of the self-balancing mechanism is equipped with the robot head and neck structure; the self-balancing mechanism is used to balance the inclination angle of the robot.

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