Visual module, robot head and robot

Abstract

The application discloses a visual module, a robot head and a robot. The visual module comprises a visual module, a mounting bracket and a rotating shaft. The mounting bracket is formed with a first limiting structure. The rotating shaft is fixedly connected with the visual module. The rotating shaft is rotationally connected with the mounting bracket and extends out of a shell of the robot head at one end. The rotating shaft is formed with a second limiting structure. The rotating shaft can slide along the axial direction of the rotating shaft relative to the mounting bracket to make the second limiting structure cooperate with or separate from the first limiting structure. In the case that the second limiting structure cooperates with the first limiting structure, the two structures cooperate to limit the relative rotation between the rotating shaft and the mounting bracket. In the case that the two structures separate, the rotating shaft can drive the visual module to rotate relative to the mounting bracket. In this way, the first limiting structure can be separated from the second limiting structure by sliding the rotating shaft, and the visual module can be driven to rotate by rotating the rotating shaft to realize the position adjustment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a vision module, a robot head and a robot. BACKGROUND

[0002] At present, quadruped robots are generally considered to have good application prospects in natural disaster rescue, industrial monitoring, security patrol and the like. The vision module of a quadruped robot provides a basis for realizing various functions. The basic vision module is generally placed in the head of the robot, so as to meet the requirements of bionic cognition and avoid the adverse effects of occlusion at the front end of the body. However, the angle of the head vision module in the related art is difficult to adjust or even cannot be adjusted, thereby increasing the difficulty of debugging for technicians. SUMMARY

[0003] The present application provides a vision module, a robot head and a robot.

[0004] The vision module of the present application comprises:

[0005] a vision module;

[0006] a mounting bracket, a first limiting structure being formed on the mounting bracket;

[0007] a rotating shaft fixedly connected with the vision module, the rotating shaft being rotationally connected with the mounting bracket, a second limiting structure being formed on the rotating shaft, the rotating shaft being capable of sliding relative to the mounting bracket along the axial direction of the rotating shaft so as to make the second limiting structure cooperate with or separate from the first limiting structure;

[0008] in the case where the second limiting structure cooperates with the first limiting structure, the first limiting structure and the second limiting structure cooperate with each other to limit the relative rotation between the rotating shaft and the mounting bracket;

[0009] in the case where the first limiting structure separates from the second limiting structure, the rotating shaft is capable of driving the vision module to rotate relative to the mounting bracket.

[0010] The robot head of the present application comprises:

[0011] a shell; and

[0012] The vision module of the present application, the mounting bracket being fixedly installed in the shell, the vision module also being located in the shell, an opening corresponding to the vision module being formed on the shell, the vision module being exposed from the opening, one end of the rotating shaft extending out of the shell.

[0013] The robot of the present application comprises:

[0014] torso; and

[0015] The robot head described in the embodiments of the present application is mounted on the torso.

[0016] In the visual module, the robot head and the robot of the embodiments of the present application, the first limiting structure is formed on the mounting bracket, the visual module is mounted on the rotating shaft, the rotating shaft is in sliding connection with the mounting bracket and can rotate relative to the mounting bracket, and the second limiting structure is formed on the rotating shaft. The rotating shaft can slide relative to the mounting bracket along the axial direction of the rotating shaft to make the second limiting structure cooperate with or separate from the first limiting structure. In the case where the second limiting structure cooperates with the first limiting structure, the first limiting structure and the second limiting structure cooperate with each other to limit the relative rotation of the rotating shaft and the mounting bracket. In the case where the first limiting structure and the second limiting structure separate, the rotating shaft can drive the visual module to rotate relative to the mounting bracket. In this way, when the position of the visual module needs to be locked, the first limiting structure and the second limiting structure can be cooperated by sliding the rotating shaft to lock the rotating shaft and the visual module. When the position of the visual module needs to be adjusted, the first limiting structure and the second limiting structure can be separated by sliding the rotating shaft, that is, the position can be adjusted by driving the visual module to rotate by rotating the rotating shaft. In this way, the visual module debugging personnel can more conveniently, effectively and accurately adjust the position of the visual module.

[0017] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0019] Figure 1 is a perspective structural schematic view of a robot of the embodiments of the present application;

[0020] Figure 2 is a structural schematic view of a robot head of the embodiments of the present application;

[0021] Figure 3 is a perspective structural schematic view of a shell and a visual module of the embodiments of the present application;

[0022] Figure 4 is an exploded structural schematic view of a robot head of the embodiments of the present application;

[0023] Figure 5 is an exploded structural schematic view of a visual module of the embodiments of the present application;

[0024] Figure 6 is a plan view of a shell and a vision module according to an embodiment of the present application;

[0025] Figure 7 is another plan view of a shell and a vision module according to an embodiment of the present application;

[0026] Figure 8 is still another plan view of a shell and a vision module according to an embodiment of the present application.

[0027] Main component symbol explanation:

[0028] vision module 100, vision module 10, vision camera 11, camera holder 12, mounting holder 20, first limiting structure 21, tooth groove 211, first holder 22, first tooth groove 221, second holder 23, second tooth groove 231, rotating shaft 30, second limiting structure 31, tooth part 311, first shaft 32, first tooth part 321, second shaft 33, second tooth part 331, elastic assembly 40, support frame 41, elastic member 42;

[0029] robot head 200, shell 210, front shell 220, rear shell 230, opening 240;

[0030] robot 300, trunk 310, foot 320. DETAILED DESCRIPTION

[0031] The embodiments of the present application will be described in detail below with reference to the drawings, in which the same or similar components have the same or similar reference numbers throughout the several figures. The embodiments described below are merely exemplary for explaining the present application, and should not be construed as limiting the present application.

[0032] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For purposes of explanation and not limitation, specific details are set forth relating to particular embodiments within the scope of the present application. Of course, the present application is not limited to the embodiments described and illustrated herein. Moreover, it is apparent that many modifications, equivalent processes, and / or equivalent materials could be substituted for those disclosed and the scope of present application will include all such modifications and equivalents. The disclosure provides examples of various specific processes and materials for purposes of explanation and not limitation. One skilled in the art will recognize many other implementations or examples that could be used in the practice of the present application.

[0033] Please refer to Figure 1The robot 300 of the embodiment of the present application comprises a trunk 310, a foot 320 and the robot head 200 of the embodiment of the present application, the foot 320 and the robot head 200 are both mounted on the trunk 310, and the foot 320 is used for the robot 300 to walk on the ground.

[0034] Referring to Figure 2 The robot head 200 can comprise a shell 210 and the vision module 100 of the embodiment of the present application, the vision module 100 is mounted in the shell 210, and the vision module 100 can be used to acquire the motion trajectory of the robot 300 and the environmental information around the robot 300. The robot 300 can be a four-legged robot 300 or other types of robots 300, which are not limited here.

[0035] Referring to Figures 3 to 5 The vision module 100 of the embodiment of the present application comprises a vision module 10, a mounting bracket 20 and a rotating shaft 30, the mounting bracket 20 is fixedly mounted in the shell 210, the vision module 10 is also located in the shell 210, the shell 210 is provided with an opening 240 corresponding to the vision module 10, and the vision module 10 is exposed from the opening 240 so that the vision module 10 can monitor the motion trajectory of the robot 300 and the surrounding environment.

[0036] Referring to Figure 4 and Figure 5 In the embodiment of the present application, the mounting bracket 20 is formed with a first limiting structure 21, the rotating shaft 30 is fixedly connected with the vision module 10, the rotating shaft 30 is rotationally connected with the mounting bracket 20 and one end of the rotating shaft 30 extends out of the shell 210 of the robot head 200, the rotating shaft 30 is formed with a second limiting structure 31, and the rotating shaft 30 can slide along the axial direction of the rotating shaft 30 relative to the mounting bracket 20 so as to make the second limiting structure 31 cooperate with or separate from the first limiting structure 21. Wherein, when the second limiting structure 31 cooperates with the first limiting structure 21, the first limiting structure 21 and the second limiting structure 31 cooperate with each other to limit the relative rotation between the rotating shaft 30 and the mounting bracket 20;

[0037] When the first limiting structure 21 and the second limiting structure 31 are separated, the rotating shaft 30 can drive the vision module 10 to rotate relative to the mounting bracket 20.

[0038] It can be understood that at present, the quadruped robot is generally considered to have good application prospects in natural disaster rescue, industrial monitoring, security patrol and the like. The vision module of the quadruped robot provides a basis for realizing various functions. The basic vision module is generally placed in the head of the robot, which not only conforms to the bionic cognition, but also does not exist the adverse effects such as shielding due to being at the front end of the body. However, the angle adjustment of the head vision module in the related art is difficult or even unadjustable, which increases the debugging difficulty of the technical personnel.

[0039] In the vision module 100, the robot head 200 and the robot 300 of the embodiment of the present application, the first limiting structure 21 is formed on the mounting bracket 20, the vision module 10 is mounted on the rotating shaft 30, the rotating shaft 30 is in sliding connection with the mounting bracket 20 and can rotate relative to the mounting bracket 20, and the second limiting structure 31 is formed on the rotating shaft 30. The rotating shaft 30 can slide relative to the mounting bracket 20 along the axial direction of the rotating shaft 30 to make the second limiting structure 31 cooperate with or separate from the first limiting structure 21. In the case where the second limiting structure 31 cooperates with the first limiting structure 21, the first limiting structure 21 and the second limiting structure 31 cooperate with each other to limit the relative rotation of the rotating shaft 30 and the mounting bracket 20. In the case where the first limiting structure 21 and the second limiting structure 31 separate, the rotating shaft 30 can drive the vision module 10 to rotate relative to the mounting bracket 20. In this way, when it is necessary to lock the position of the vision module 10, the first limiting structure 21 and the second limiting structure 31 can be cooperated by sliding the rotating shaft 30 to lock the rotating shaft 30 and the vision module 10. When it is necessary to adjust the position of the vision module 10, the first limiting structure 21 and the second limiting structure 31 can be separated by sliding the rotating shaft 30, and the position of the vision module 10 can be adjusted by rotating the rotating shaft 30 to drive the vision module 10 to rotate. In this way, the vision module 10 debugging personnel can more conveniently and effectively and accurately adjust the position of the vision module 10.

[0040] Specifically, in the embodiment of the present application, one end of the rotating shaft 30 protrudes out of the shell 210. More specifically, referring to Figure 2 and Figure 4 , the shell 210 can include a front shell 220 and a rear shell 230 cooperating with the front shell 220. The front shell 220 is provided with an opening 240, and the vision module 10 is exposed from the opening 240. The side surfaces of the front shell 220 and the rear shell 230 are both formed with notches. When the front shell 220 and the rear shell 230 are installed together, the two notches cooperate to form a hole position for the rotating shaft 30 to protrude out.

[0041] It can be understood that when the first limiting structure 21 and the second limiting structure 31 are matched, the rotation between the rotating shaft 30 and the mounting bracket 20 is limited, and the position of the visual module 10 is locked. At this time, when it is needed to adjust the position of the visual module 10, the debugging personnel applies an external force to the rotating shaft 30 to make the rotating shaft 30 move in the axial direction so that the first limiting structure 21 and the second limiting structure 31 are separated to release the rotation limitation between the rotating shaft 30 and the mounting bracket 20, in which case, the visual module 10 can be rotated by rotating the rotating shaft 30 to adjust the position of the visual module 10, and when the visual module 10 is rotated to the desired position, the first limiting structure 21 and the second limiting structure 31 can be matched again to lock the position of the visual module 10. In this way, the debugging personnel can manually adjust the visual module 100 by one hand, and the position of the visual module 10 can be adjusted more conveniently and accurately without disassembling and reassembling the visual module 10 to other appropriate positions, and the overall design of the robot 300 is not damaged.

[0042] Please refer to Figures 3 to 5 In some embodiments, the visual module 100 further comprises an elastic assembly 40 abutting one end of the rotating shaft 30, and the elastic assembly 40 is used to apply an elastic force to the rotating shaft 30 to make the second limiting structure 31 and the first limiting structure 21 have a tendency to remain in the matched state.

[0043] When the rotating shaft 30 slides to the side of the elastic assembly 40 relative to the mounting bracket 20 by overcoming the elastic force, the second limiting structure 31 can be separated from the first limiting structure 21 to enable the rotating shaft 30 to rotate relative to the mounting bracket 20.

[0044] In this way, when the rotating shaft 30 is not subjected to an external force, the elastic assembly 40 can continuously apply an elastic force to the rotating shaft 30 to make the second limiting structure 31 and the first limiting structure 21 have a tendency to remain in the matched state to avoid the robot 300 from shaking and vibrating during movement to cause the first limiting structure 21 and the second limiting structure 31 to be separated, and when it is needed to adjust the position of the visual module 10, the debugging personnel only needs to press the rotating shaft 30 to make the rotating shaft 30 slide by overcoming the elastic force of the elastic assembly 40 to separate the first limiting structure 21 and the second limiting structure 31.

[0045] Specifically, in such an embodiment, the elastic assembly 40 can include a support frame 41 fixed relative to the mounting bracket 20, a support frame 41 fixed relative to the fixed bracket, and an elastic member 42 having one end abutting against the support frame 41 and the other end abutting against the rotating shaft 30 to apply an elastic force to the rotating shaft 30. In the case where the second limiting structure 31 is separated from the first limiting structure 21, the rotating shaft 30 can rotate relative to the elastic member 42. In the embodiment, the elastic member 42 can be a spring or the like capable of elastically deforming to apply an elastic force to the rotating shaft 30.

[0046] In the embodiment, the elastic member 42 is always kept in a compressed state, and the elastic member 42 always applies a force to the rotating shaft 30. In the absence of an external force, the elastic force applied by the elastic member 42 causes the rotating shaft 30 to always have a tendency to move away from the side of the elastic assembly 40, so that the second limiting structure 31 and the first limiting structure 21 are always kept in a matching state to limit the rotation of the rotating shaft 30. At this time, the visual module 10 is in a locked state.

[0047] In the process of pressing one end of the rotating shaft 30 by the debugging personnel so that the rotating shaft 30 overcomes the elastic force and continues to compress the elastic member 42 to move to the side where the support frame 41 is located, the second limiting structure 31 will gradually separate from the first limiting structure 21. After the two are completely separated, the rotation limitation between the rotating shaft 30 and the mounting bracket 20 is released. At this time, the debugging personnel can adjust the position of the visual module 10 by rotating the rotating shaft 30 to drive the visual module 10 to rotate. After adjusting to the desired position, the debugging personnel can release the rotating shaft 30, which will move away from the support frame 41 under the action of the elastic member 42 to gradually match the first limiting structure 21 and the second limiting structure 31 to limit the rotation of the rotating shaft 30, that is, the position of the rotating shaft 30 and the visual module 10 is locked.

[0048] Please refer to Figures 5 to 8 In some embodiments, the first limiting structure 21 includes a plurality of tooth grooves 211 formed on the mounting bracket 20, and the plurality of tooth grooves 211 are arranged at intervals along the rotation direction of the rotating shaft 30. The second limiting structure 31 includes a plurality of tooth portions 311 formed on the rotating shaft 30, and the plurality of tooth portions 311 are arranged at intervals along the rotation direction of the rotating shaft 30. In the case where the tooth portions 311 extend into the tooth grooves 211 and match with the tooth grooves 211, the tooth portions 311 and the tooth grooves 211 match to limit the relative rotation of the rotating shaft 30 and the mounting bracket 20. In the case where the tooth portions 311 are separated from the tooth grooves 211, the rotating shaft 30 can rotate relative to the mounting bracket 20.

[0049] In this way, the relative rotation between the rotating shaft 30 and the mounting bracket 20 can be locked and unlocked by the cooperation between the teeth 311 and the tooth grooves 211, and the implementation is relatively simple.

[0050] Further, in such an embodiment, the number of the teeth 311 can be the same as the number of the tooth grooves 211, and the plurality of teeth 311 and the plurality of tooth grooves 211 are uniformly spaced along the rotation direction of the rotating shaft 30, and each tooth 311 corresponds to a tooth groove 211.

[0051] Specifically, the plurality of tooth grooves 211 can be uniformly spaced on the inner wall of the through hole of the mounting bracket 20 for the rotating shaft 30 to pass through, which is equivalent to an inner gear ring, and the plurality of teeth 311 can be uniformly spaced on the rotating shaft 30, which is equivalent to a gear arranged on the rotating shaft 30. When the teeth 311 extend into the tooth grooves 211 and cooperate with the tooth grooves 211, the rotation of the rotating shaft 30 is limited. When the teeth 311 are completely separated from the tooth grooves 211, the cooperation between the teeth 311 and the tooth grooves 211 is released, and at this time, the rotating shaft 30 can rotate to drive the visual module 10 to rotate. After the rotating shaft 30 rotates by a certain angle, when the external force is released, the teeth 311 will cooperate with the tooth grooves 211 on the mounting bracket 20 corresponding to the teeth 311 under the driving of the elastic member 42 to realize the locking of the rotating shaft 30.

[0052] For example, in one example, the plurality of teeth 311 can be arranged in the circumferential direction of the rotating shaft 30 at an interval of 10°, and the tooth grooves 211 are also uniformly arranged at an interval of 10°. After the teeth 311 are separated from the tooth grooves 211, the user rotates the rotating shaft 30 by 10° and then releases the rotating shaft 30, and then the teeth 311 will cooperate with the corresponding tooth grooves 211 under the action of the elastic member 42 to realize locking. Of course, it can be understood that, in order to avoid the rotating shaft 30 being directly popped out of the mounting bracket 20 under the action of the elastic member 42, a stop portion can be arranged on the mounting bracket 20 to stop the teeth 311 from being separated from the tooth grooves 211 again after cooperating with the tooth grooves 211.

[0053] Please continue to refer to Figures 5 to 8 In some embodiments, the mounting bracket 20 includes a first bracket 22 and a second bracket 23 arranged at intervals, and the rotating shaft 30 includes a first shaft 32 and a second shaft 33 connected to the opposite sides of the visual module 10, respectively. The visual module 10 is located between the first bracket 22 and the second bracket 23, the first shaft 32 passes through the first bracket 22 and can rotate relative to the first bracket 22, and the second shaft 33 passes through the second bracket 23 and can rotate relative to the second bracket 23.

[0054] The tooth grooves 211 include a first tooth groove 221 formed on the first support 22 and a second tooth groove 231 formed on the second support 23, and the tooth portions 311 include a first tooth portion 321 formed on the first shaft 32 and a second tooth portion 331 formed on the second support 23, the first tooth portion 321 being configured to cooperate with the first tooth groove 221, and the second tooth portion 331 being configured to cooperate with the second tooth groove 231.

[0055] In this way, by providing the first tooth groove 221 and the second tooth groove 231 on the first support 22 and the second support 23 respectively, and providing the first tooth portion 321 and the second tooth portion 331 on the first shaft 32 and the second shaft 33 respectively, the stability of the rotating shaft 30 when locked can be improved.

[0056] Specifically, referring to Figure 5 In this embodiment, the support frame 41 is mounted on the side where the second support 23 is located, the elastic member 42 abuts against the support frame 41 and the second shaft 33 respectively, the first shaft 32 is provided with a plurality of spaced first tooth portions 321, one end of the first shaft 32 extends out of the housing 210, the second shaft 33 is provided with a plurality of spaced second tooth portions 331, the first support 22 is provided with a first through hole 222 through which the first shaft 32 passes, the inner wall of the first through hole 222 is formed with the first tooth groove 221, and the second support 23 is provided with a second through hole 232 through which the second shaft 33 passes, the inner wall of the second through hole 232 is formed with the second tooth groove 231.

[0057] When the end of the first shaft 32 is not subjected to external force, the elastic member 42 applies an elastic force to the second shaft 33, so that the second tooth portions 331 on the second shaft 33 and the first tooth portions 321 on the first shaft 32 respectively extend into the second tooth groove 231 and the first tooth groove 221 to achieve rotation restriction between the rotating shaft 30 and the mounting support 20, i.e. to achieve locking of the visual module 10 (as shown in Figure 6

[0058] When the first shaft 32 is subjected to external force and drives the visual module 10 and the second shaft 33 to slide to the side where the support frame 41 is located against the elastic force of the elastic member 42, the first tooth portions 321 gradually separate from the first tooth groove 221, and the second tooth portions 331 gradually separate from the second tooth groove 231, and after complete separation, the rotation restriction of the rotating shaft 30 is released (as shown in Figure 7 At this time, the position of the visual module 10 can be adjusted by rotating the first shaft 32 to drive the visual module 10 and the second shaft 33 to rotate, and after the adjustment is completed and the first shaft 32 is released, the first tooth portions 321 and the second tooth portions 331 will extend into the first tooth groove 221 and the second tooth groove 231 under the action of the elastic member 42 to achieve locking of the position.

[0059] ​It can be understood that in some embodiments, the tooth groove can be formed only on one of the first support 22 and the second support 23, and the tooth can be formed on the first shaft 32 and the second shaft 33, and the locking and unlocking of the rotating shaft can be achieved by matching the tooth groove on the first support 22 with the tooth on the first shaft 32 or matching the tooth groove on the second support 23 with the tooth on the first shaft, which is not limited here.

[0060] In addition, the types of the first limiting structure 21 and the second limiting structure 22 are not limited to the tooth groove and the tooth, and can also be in the form of corresponding protrusions and grooves, which is not limited here.

[0061] Please refer to Figure 5 In some embodiments, the vision module 10 can include a vision camera 11 and a camera support 12, the vision camera 11 is installed on the camera support 12, and the camera support 12 is fixedly connected with the rotating shaft 30.

[0062] In this way, the camera support 12 with the vision camera 11 only needs to be installed on the rotating shaft 30, the installation is simple, and when the vision camera 11 needs to be replaced, the vision camera 11 can be directly disassembled from the camera support 12 for replacement, without the need to disassemble the rotating shaft 30, thereby improving the replacement and disassembly efficiency.

[0063] Specifically, in the embodiments of the present application, the vision camera 11 can be a depth camera or a trajectory camera, the depth camera can obtain the depth information of the environment around the robot 300 to obtain more accurate environmental images, and the trajectory camera can analyze the motion trajectory of the robot 300.

[0064] Please refer to FIG. 2, in some embodiments, the number of vision modules 100 on the robot head 200 can be two, and the two vision modules 100 are arranged at intervals, wherein the vision camera 11 of one of the two vision modules 100 can be a depth camera, and the vision camera 11 of the other vision module 100 can be a trajectory camera, which is not limited here.

[0065] It should be noted that in such embodiments, the two vision modules 100 are the same in the installation structure except that the types of the vision cameras 11 are different.

[0066] In the description of the specification, reference to "one embodiment", "certain embodiments", "some embodiments", "exemplary embodiments", "a specific example", or "some examples" etc., mean that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the above expressions in various places in the specification are not necessarily referring to the same embodiment or example. Moreover, describing a particular feature, structure, material, or characteristic as included in an embodiment or example is intended to convey that the particular feature, structure, material, or characteristic is included in at least one embodiment or example of the application. Thus, appearances of the expressions "in one embodiment" or "in an embodiment" are not necessarily referring to the same embodiment.

[0067] Although the embodiments of the present application have been shown and described, it would be appreciated by those skilled in the art that changes, modifications, alternatives and variations to these embodiments could be made without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A vision module, comprising: The application relates to a visual module. The visual module comprises: a mounting bracket, a first limiting structure being formed on the mounting bracket; a rotating shaft fixedly connected with the visual module, the rotating shaft being rotationally connected with the mounting bracket, a second limiting structure being formed on the rotating shaft, the rotating shaft being capable of sliding along the axial direction of the rotating shaft relative to the mounting bracket so as to make the second limiting structure cooperate with or separate from the first limiting structure; in the case that the second limiting structure cooperates with the first limiting structure, the first limiting structure and the second limiting structure cooperate with each other to limit the relative rotation between the rotating shaft and the mounting bracket; the visual module further comprises an elastic assembly, one end of the rotating shaft being abutted by the elastic assembly, the elastic assembly being used for applying an elastic force to the rotating shaft so as to make the second limiting structure and the first limiting structure keep in the state of cooperation; in the case that the rotating shaft slides to the side of the elastic assembly relative to the mounting bracket and overcomes the elastic force, the second limiting structure can separate from the first limiting structure so that the rotating shaft can drive the visual module to rotate relative to the mounting bracket; the mounting bracket comprises a first bracket and a second bracket which are arranged at intervals, the rotating shaft comprises a first shaft and a second shaft, the first shaft and the second shaft are connected to the opposite sides of the visual module respectively, the visual module is located between the first bracket and the second bracket, the first shaft passes through the first bracket and is capable of rotating relative to the first bracket, and the second shaft passes through the second bracket and is capable of rotating relative to the second bracket.

2. The visual module of claim 1, wherein, the elastic assembly comprises a support frame and an elastic piece, the support frame is fixed relative to the fixed bracket, one end of the elastic piece abuts against the support frame, and the other end abuts against the rotating shaft to apply the elastic force to the rotating shaft, in the case that the second limiting structure separates from the first limiting structure, the rotating shaft can rotate relative to the elastic piece.

3. The visual module of claim 1, wherein, the first limiting structure comprises a plurality of tooth grooves formed on the mounting bracket, and the plurality of tooth grooves are arranged at intervals along the rotating direction of the rotating shaft; the second limiting structure comprises a plurality of tooth portions formed on the rotating shaft, and the plurality of tooth portions are arranged at intervals along the rotating direction of the rotating shaft; in the case that the tooth portions extend into the tooth grooves and cooperate with the tooth grooves, the tooth portions and the tooth grooves cooperate to limit the relative rotation between the rotating shaft and the mounting bracket; in the case that the tooth portions are separated from the tooth grooves, the rotating shaft can rotate relative to the mounting bracket.

4. The visual module of claim 3, wherein, the number of the tooth portions is the same as the number of the tooth grooves, the plurality of tooth portions and the plurality of tooth grooves are uniformly arranged at intervals along the rotating direction of the rotating shaft, and each tooth portion corresponds to one tooth groove.

5. The visual module of claim 3, wherein the tooth groove comprises a first tooth groove formed on the first bracket and a second tooth groove formed on the second bracket, and the tooth comprises a first tooth formed on the first shaft and a second tooth formed on the second bracket, the first tooth being configured to fit into the first tooth groove, and the second tooth being configured to fit into the second tooth groove.

6. The visual module of claim 1, wherein, The visual module comprises a visual camera and a camera bracket, the visual camera being mounted on the camera bracket, and the camera bracket being fixedly connected with the rotating shaft.

7. A robot head, characterized in that comprising: a housing; and The visual module of any one of claims 1-6, wherein the mounting bracket is fixedly mounted in the housing, the visual module is also located in the housing, the housing is provided with an opening corresponding to the visual module, the visual module is exposed from the opening, and one end of the rotating shaft extends out of the housing.

8. The robotic head of claim 7, wherein, The number of the visual modules is two, and the two visual modules are arranged on the housing in a spaced manner, wherein the visual module of one of the visual modules comprises a depth camera, and the visual module of the other of the visual modules comprises a trajectory camera.

9. A robot, characterized in that comprising: a torso; and The robot head of any one of claims 7-8, wherein the robot head is mounted on the torso.

Images