Damping structure, robot head structure, and robot

Abstract

The application provides a damping structure, a robot head structure and a robot. The damping structure is applied to a robot with a head. The damping structure comprises a support, a driving device and a damping mechanism. The support comprises a support base and a support frame. The support frame is hinged between the support base and the head. The driving device is hinged between the support and the head. The driving device is used to drive the head to rotate relative to the support. The damping mechanism is hinged between the support frame and the support base and located on the rotation path of the support frame relative to the support base. The damping mechanism is used to provide resistance for the rotation of the support frame relative to the support base. Thus, the damping mechanism can absorb the vibration force of the support frame, reduce the amplitude of the support frame, improve the vibration condition of the head, and help to protect the electronic components and structural components in the head.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a vibration reduction structure, a robot head structure, and a robot. Background Technology

[0002] With the continuous development of the robotics industry, robots are capable of performing more and more functions, and are increasingly appearing in people's lives and industrial fields. Currently, more and more robots are equipped with head structures, making them more anthropomorphic or animal-like, in order to meet people's demands for robot appearance.

[0003] Most existing robots have a head; however, external vibrations can easily be transmitted to the head and cause it to vibrate, which can easily affect the electronic components or structural parts inside the head. Summary of the Invention

[0004] The purpose of this application is to provide a vibration reduction structure, robot head structure, or robot to improve at least one of the aforementioned technical problems. This application achieves the above objective through the following technical solution.

[0005] In a first aspect, embodiments of this application provide a vibration damping structure applied to a robot with a head. The vibration damping structure includes a support member, a drive device, and a vibration damping mechanism. The support member includes a base and a bracket, with the bracket hinged between the base and the head. The drive device is hinged between the support member and the head, and is used to drive the head to rotate relative to the support member. The vibration damping mechanism is hinged between the bracket and the base, and is located in the rotation path of the bracket relative to the base, and is used to provide resistance to the rotation of the bracket relative to the base.

[0006] In one embodiment, the vibration damping structure includes at least two vibration damping mechanisms. The bracket has a first rotation direction and a second rotation direction relative to the support. At least one vibration damping mechanism is located on the rotation path of the first rotation direction and provides resistance to the rotation of the bracket relative to the support along the first rotation direction. At least one vibration damping mechanism is located on the rotation path of the second rotation direction and provides resistance to the rotation of the bracket relative to the support along the second rotation direction. The first rotation direction and the second rotation direction are opposite.

[0007] In one embodiment, the vibration damping mechanism includes a damper hinged between a support and a base, the damper being used to provide resistance to rotation of the support relative to the base.

[0008] In one embodiment, the damper is a damper with adjustable resistance.

[0009] In one embodiment, the damping mechanism further includes an elastic element, and the damper includes a piston assembly and a cylinder assembly. The piston assembly is slidably inserted into the cylinder assembly, and the elastic element is sleeved on the damper and connected between the piston assembly and the cylinder assembly. The piston assembly is hinged to a bracket, and the cylinder assembly is hinged to a support; or, the piston assembly is hinged to a support, and the cylinder assembly is hinged to a bracket.

[0010] In one embodiment, the bracket has a zero position relative to the support, and the elastic element is configured to have a preload.

[0011] In one embodiment, the damping mechanism further includes an adjusting member that is adjustablely fitted onto the cylinder assembly along the axial distance of the damper, and an elastic member abutting between the adjusting member and the piston assembly.

[0012] In one embodiment, the bracket is provided with a first installation mark, the support is provided with a second installation mark, the bracket has a zero position relative to the support, and when the bracket is in the zero position relative to the support, the first installation mark and the second installation mark correspond to each other.

[0013] In one embodiment, the drive device is hinged to the support, and the rotation axis of the drive device relative to the support and the rotation axis of the bracket relative to the support are collinear.

[0014] Secondly, this application provides a robot head structure, which includes a head and a vibration damping structure as described in any of the above embodiments. A bracket is hinged between a support and the head, and a drive device is hinged to the head.

[0015] Thirdly, this application provides a robot, which includes a body and the robot head structure described in the above embodiments, with a support connected to the body.

[0016] The vibration damping structure, robot head structure, and robot provided in this application embodiment are applied to a robot with a head. A drive device is hinged between a support member and the head, and is used to drive the head to rotate relative to the support member. A bracket is hinged between a support and the head, so that when the robot vibrates, the bracket can rotate relative to the support, helping to prevent vibration from being directly transmitted to the head. A vibration damping mechanism is hinged between the bracket and the support, and is located in the rotation path of the bracket relative to the support. The vibration damping mechanism provides resistance to the rotation of the bracket relative to the support. Therefore, when the robot vibrates, the bracket can rotate simultaneously relative to both the support and the head to transmit the vibration to the vibration damping mechanism. The vibration damping mechanism provides resistance to the rotation of the bracket relative to the support, thus absorbing the vibration force of the bracket to reduce the amplitude of the bracket's vibration, thereby improving the head vibration situation and helping to protect the electronic components and structural parts inside the head. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the hardware structure of the robot provided in an embodiment of this application is shown.

[0019] Figure 2 A schematic diagram of the structure of the robot provided in an embodiment of this application is shown.

[0020] Figure 3 It shows Figure 2 A schematic diagram of the robot's head structure.

[0021] Figure 4 It shows Figure 3 An enlarged structural diagram of point IV.

[0022] Figure 5 It shows Figure 3 A partial structural diagram of the robot's head.

[0023] Figure 6 It shows Figure 3 A schematic diagram of another part of the robot's head structure. Detailed Implementation

[0024] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0025] In the following description, the use of suffixes such as "module," "component," or "unit" to denote parts is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "component," or "unit" may be used interchangeably.

[0026] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0027] Please see Figure 1 , Figure 1This is a schematic diagram of the hardware structure of a robot 100 provided in one embodiment of this application. The robot 100 can be any of various types of robots, specifically including but not limited to at least one of wheeled robots, legged robots, tracked robots, crawling robots, worm-like robots, or swimming robots. For example, the robot 100 can specifically be a legged robot, or a robot combining legged and wheeled configurations. Legged robots include monopodial robots, bipodial robots, or multipodial robots. Multipodial robots refer to robots with three or more legs; for example, a multipodial robot can specifically be a quadrupedal robot. A robot is a machine capable of performing semi-autonomous or fully autonomous tasks. Robots are not limited to humanoid machine devices and can also include robots with configurations such as dogs, horses, snakes, fish, apes, or monkeys. For example, a robot can specifically be a quadrupedal robotic horse.

[0028] exist Figure 1 In the illustrated embodiment, robot 100 includes a mechanical unit 101, a communication unit 102, a sensing unit 103, an interface unit 104, a storage unit 105, a display unit 106, an input unit 107, a control module 110, and a power supply 111. The various components of robot 100 can be connected in any way, including wired or wireless connections. Those skilled in the art will understand that... Figure 1 The specific structure of the robot 100 shown does not constitute a limitation on the robot 100. The robot 100 may include more or fewer parts than shown. Some parts are not essential components of the robot 100 and may be omitted or combined as needed without changing the nature of the invention.

[0029] Figure 2 This is a schematic diagram of the mechanical structure of a robot according to an embodiment of this application. The following is in conjunction with... Figure 1 and Figure 2 A detailed introduction to each component of Robot 100:

[0030] Mechanical unit 101 is the hardware of robot 100. For example... Figure 1 As shown, the mechanical unit 101 may include a drive board 1011, a motor 1012, and a mechanical structure 1013, such as... Figure 2As shown, the mechanical structure 1013 may include a main body 1014, extendable legs 1015, and feet 1016. In other embodiments, the mechanical structure 1013 may also include an extendable robotic arm (not shown), a rotatable head 1017, a rocking tail structure 1018, a cargo-carrying structure 1019, a saddle structure 1020, a camera structure 1021, etc. It should be noted that the various component modules of the mechanical unit 101 can be one or multiple, depending on the specific situation. For example, there may be four legs 1015, and each leg 1015 may be equipped with three motors 1012, resulting in a total of twelve motors 1012.

[0031] The communication unit 102 can be used for receiving and sending signals, and can also communicate with networks and other devices. For example, it can receive instructions from a remote control or other robot 100 to move in a specific direction at a specific speed according to a specific gait, and then transmit these instructions to the control module 110 for processing. The communication unit 102 includes modules such as WiFi, 4G, 5G, Bluetooth, and infrared modules.

[0032] The sensing unit 103 is used to acquire information data about the environment surrounding the robot 100 and to monitor parameter data of various components inside the robot 100, and then sends this data to the control module 110. The sensing unit 103 includes various sensors, such as sensors for acquiring information about the surrounding environment: lidar (for remote object detection, distance determination, and / or velocity determination), millimeter-wave radar (for short-range object detection, distance determination, and / or velocity determination), cameras, infrared cameras, and Global Navigation Satellite System (GNSS). Sensors for monitoring various components inside the robot 100 include: an inertial measurement unit (IMU) (for measuring velocity, acceleration, and angular velocity values), foot sensors (for monitoring the position of the foot's contact point, foot posture, magnitude and direction of the contact force), and temperature sensors (for detecting component temperature). Other sensors that can be configured on the robot 100, such as load sensors, touch sensors, motor angle sensors, and torque sensors, are not detailed here.

[0033] The interface unit 104 can be used to receive input from external devices (e.g., data, power, etc.) and transmit the received input to one or more components within the robot 100, or it can be used to output to external devices (e.g., data, power, etc.). The interface unit 104 may include a power port, a data port (such as a USB port), a memory card port, a port for connecting a device with an identification module, an audio input / output (I / O) port, a video I / O port, etc.

[0034] Storage unit 105 is used to store software programs and various data. Storage unit 105 may mainly include a program storage area and a data storage area. The program storage area may store operating system programs, motion control programs, application programs (such as text editors), etc.; the data storage area may store data generated by the robot 100 during use (such as various sensor data acquired by the sensing unit 103, log file data, etc.). Furthermore, storage unit 105 may include high-speed random access memory, and may also include non-volatile memory, such as disk storage, flash memory, or other volatile solid-state memory.

[0035] The display unit 106 is used to display information input by the user or information provided to the user. The display unit 106 may include a display panel 1061, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0036] Input unit 107 can be used to receive input numerical or character information. Specifically, input unit 107 may include touch panel 1071 and other input devices 1072. Touch panel 1071, also known as touch screen, can collect user touch operations (such as operations performed by the user using their palm, fingers, or suitable accessories on or near touch panel 1071) and drive corresponding connection devices according to a pre-set program. Touch panel 1071 may include two parts: touch detection device 1073 and touch controller 1074. Touch detection device 1073 detects the user's touch position and the signal generated by the touch operation, and transmits the signal to touch controller 1074; touch controller 1074 receives touch information from touch detection device 1073, converts it into touch point coordinates, and sends it to control module 110, and can also receive and execute commands from control module 110. In addition to touch panel 1071, input unit 107 may also include other input devices 1072. Specifically, other input devices 1072 may include, but are not limited to, one or more of the following: remote control handles, etc., without any specific limitation here.

[0037] Furthermore, the touch panel 1071 can cover the display panel 1061. When the touch panel 1071 detects a touch operation on or near it, it transmits the information to the control module 110 to determine the type of touch event. Subsequently, the control module 110 provides corresponding visual output on the display panel 1061 according to the type of touch event. Although in Figure 1In this embodiment, the touch panel 1071 and the display panel 1061 are two independent components that implement input and output functions respectively. However, in some embodiments, the touch panel 1071 and the display panel 1061 can be integrated to implement input and output functions. The specific implementation is not limited here.

[0038] The control module 110 is the control center of the robot 100. It connects all the components of the robot 100 through various interfaces and lines. It controls the robot 100 as a whole by running or executing the software program stored in the storage unit 105 and calling the data stored in the storage unit 105.

[0039] Power supply 111 supplies power to various components. Power supply 111 may include a battery and a power control board. The power control board controls battery charging, discharging, and power consumption management. Figure 1 In the illustrated embodiment, power supply 111 is electrically connected to control module 110. In other embodiments, power supply 111 may also be electrically connected to sensing unit 103 (such as camera, radar, speaker, etc.) and motor 1012. It should be noted that each component may be connected to a different power supply 111, or may be powered by the same power supply 111.

[0040] Based on the above embodiments, specifically, in some embodiments, a terminal device can be used to communicate with the robot 100. When the terminal device communicates with the robot 100, it can send instruction information to the robot 100. The robot 100 can receive the instruction information through the communication unit 102 and, upon receiving the instruction information, can transmit it to the control module 110, so that the control module 110 can process the instruction information to obtain the target speed value. The terminal device includes, but is not limited to, mobile phones, tablets, servers, personal computers, wearable smart devices, and other electrical appliances with image capture capabilities.

[0041] The instruction information can be determined based on preset conditions. In one embodiment, the robot 100 may include a sensing unit 103, which can generate instruction information based on the current environment of the robot 100. The control module 110 can determine whether the current speed value of the robot 100 meets the corresponding preset conditions based on the instruction information. If it does, the robot 100 will maintain its current speed value and current gait; if it does not, the control module 110 will determine a target speed value and a corresponding target gait based on the corresponding preset conditions, thereby controlling the robot 100 to move at the target speed value and the corresponding target gait. Environmental sensors may include temperature sensors, air pressure sensors, vision sensors, and sound sensors. Instruction information may include temperature information, air pressure information, image information, and sound information. The communication method between the environmental sensors and the control module 110 can be wired or wireless. Wireless communication methods include, but are not limited to: wireless networks, mobile communication networks (3G, 4G, 5G, etc.), Bluetooth, and infrared.

[0042] Please see Figures 3 to 4 The following description, in conjunction with the accompanying drawings, describes a vibration damping structure 1 provided according to an embodiment of this application. The vibration damping structure 1 is applied to a robot with a head 1017 and can improve the impact of external vibrations on the head 1017.

[0043] In some embodiments, the vibration damping structure 1 can be applied to the above-mentioned Figure 1 and Figure 2 In the robot 100 of this embodiment, the vibration damping structure 1 can be part of the mechanical unit 101. In other embodiments, the vibration damping structure 1 can also be applied to other types of robots.

[0044] Please see Figures 4 to 5 The vibration damping structure 1 includes a support member 13, a drive device 15, and a vibration damping mechanism 17.

[0045] The support member 13 includes a bracket 131 and a support 133. The bracket 131 is hinged between the support 133 and the head 1017, so that the bracket 131 can rotate relative to the support 133 and the head 1017. When the robot 100 vibrates, the bracket 131 can rotate relative to the support 133, which helps to prevent the vibration from being directly transmitted to the head 1017 and affecting the normal operation of electronic components or structural components inside the head 1017, such as causing short circuits or detachment of electronic components, or disordered connection of structural components, etc.

[0046] In some embodiments, the hinge connection between the bracket 131 and the support 133 can be a hole-shaft connection or a bearing connection, etc. The hinge connection between the bracket 131 and the head 1017 can be a hole-shaft connection or a bearing connection, etc. The hinge connection between the bracket 131 and the head 1017 can be different from or the same as the hinge connection between the bracket 131 and the support 133.

[0047] In some embodiments, the support 133 can be mounted on the body of the robot 100, thereby connecting the body and the head 1017. The vibration damping structure 1 can improve the situation where vibrations of the body are transmitted to the head 1017 and cause the head 1017 to vibrate. In addition, the vibration damping structure 1 can also serve as the neck structure of the robot 100, so that the robot 100 can be more anthropomorphic or animal-like.

[0048] In some embodiments, the support 133 can serve as a base structure to be placed independently on the ground or in other locations. For example, the weight of the support 133 can be increased so that the support 133 can stably support the head 1017 through the bracket 131, thereby the vibration damping structure 1 and the head 1017 can be combined to form a robot without a body.

[0049] The shape of the support 133 can be set according to actual needs. For example, the support 133 can be set as a frame structure or a plate structure, etc.

[0050] The shape of the bracket 131 can be set according to actual needs. For example, the bracket 131 can be a plate structure, such as a strip plate structure, an arc plate structure, etc.

[0051] The drive unit 15 is hinged between the support member 13 and the head 1017, allowing the drive unit 15 to rotate relative to the support member 13 and also relative to the head 1017. For example, the drive unit 15 can be hinged to the support 133 or the bracket 131. Furthermore, when the bracket 131 rotates relative to the support 133, the drive unit 15 can also rotate with the bracket 131 around the support 133, helping to avoid the drive unit 15 interfering with the rotation of the bracket 131.

[0052] The drive unit 15 is used to drive the head 1017 to rotate relative to the support member 13, thereby enabling the drive unit 15 to drive the head 1017 to perform pitching motion or lateral head-shaking motion, etc., which helps to improve the flexibility of the robot head structure 10. For example, the drive unit 15 and the head 1017 can be connected by a ball joint, and the support 131 and the head 1017 can also be connected by a ball joint, so that the drive unit 15 can drive the head 1017 to rotate at multiple angles.

[0053] Specifically, the drive device 15 may include a first telescopic drive member and a second telescopic drive member. The first telescopic drive member is hinged between the head 1017 and the support member 13, and the connection between the first telescopic drive member and the head 1017 is a ball joint. The second telescopic drive member is hinged between the head 1017 and the support member 13, and the connection between the second telescopic drive member and the head 1017 is also a ball joint. Thus, the head 1017 can be driven to rotate at multiple angles through the mutual cooperation of the first and second telescopic drive members.

[0054] In some embodiments, the first telescopic drive member can be an electric telescopic rod, an electric push rod, or the like. The second telescopic drive member can also be an electric telescopic rod, an electric push rod, or the like. The structure of the second telescopic drive member can be the same as or different from that of the first telescopic drive member.

[0055] The vibration damping mechanism 17 is hinged between the bracket 131 and the support 133. The hinge can be a hole-shaft connection or a bearing connection, etc., so the vibration damping mechanism 17 can rotate relative to the bracket 131 and the support 133. Since the bracket 131 is hinged to the support 133, when the bracket 131 rotates relative to the support 133, the vibration damping mechanism 17 can also rotate relative to both the bracket 131 and the support 133, which helps to avoid the vibration damping mechanism 17 interfering with the rotation of the bracket 131.

[0056] The vibration damping mechanism 17 is located in the rotation path of the support 131 relative to the support 133. The vibration damping mechanism 17 is used to provide resistance to the rotation of the support 131 relative to the support 133. Thus, when the robot 100 vibrates, the vibration damping mechanism 17 can provide a buffering force opposite to the vibration direction to absorb energy and reduce vibration. This helps to prevent vibration from being directly transmitted to the head 1017 and reduces the impact on the normal operation of electronic components or structural parts inside the head 1017.

[0057] Specifically, when the robot 100 vibrates, the support 131 can rotate simultaneously relative to the support 133 and the head 1017 to transmit the vibration to the damping mechanism 17. The damping mechanism 17 can provide resistance to the rotation of the support 131 relative to the support 133, thereby absorbing the vibration force of the support 131 and reducing the amplitude of the support 131. This can improve the vibration of the head 1017 and help protect the electronic components and structural parts inside the head 1017.

[0058] When the robot 100 vibrates, it generates vibration forces in two directions. The vibration damping structure 1 can slow down and absorb the vibration forces in both directions, achieving a bidirectional vibration damping effect, thereby further improving the vibration damping performance of the vibration damping structure 1.

[0059] Specifically, in some embodiments, the vibration damping structure 1 may include at least two vibration damping mechanisms 17. The bracket 131 has a first rotation direction and a second rotation direction relative to the support 133. At least one vibration damping mechanism 17 is located on the rotation path in the first rotation direction and provides resistance to the rotation of the bracket 131 relative to the support 133 in the first rotation direction. Thus, the vibration damping mechanism 17 can slow down the vibration of the bracket 131 in the first rotation direction and reduce the amplitude of the bracket 131 in the first rotation direction. At least one vibration damping mechanism 17 is located on the rotation path in the second rotation direction and provides resistance to the rotation of the bracket 131 relative to the support 133 in the second rotation direction. Thus, the vibration damping mechanism 1 can slow down the vibration of the bracket 131 in the second rotation direction and reduce the amplitude of the bracket 131 in the second rotation direction. In this way, the vibration damping structure 1 can provide resistance to the rotation of the bracket 131 relative to the support 133 in both directions, thereby reducing the amplitude of the bracket 131 relative to the support 133 in the first and second rotation directions. This can improve the bidirectional vibration damping effect of the vibration damping structure 1 and enhance its vibration damping performance.

[0060] Wherein, the first rotation direction and the second rotation direction are opposite, for example, with Figure 5 For reference, the first rotation direction can be counterclockwise, and the second rotation direction can be clockwise.

[0061] like Figure 4 As shown, as an example, the vibration damping structure 1 includes two vibration damping mechanisms 17, which are respectively named the first vibration damping mechanism 19 and the second vibration damping mechanism 21 for explanation. The first vibration damping mechanism 19 is hinged between the bracket 131 and the support 133 and is located in the first rotation direction of the bracket 131 relative to the support 133. Thus, the first vibration damping mechanism 19 can reduce the vibration of the bracket 131 along the first rotation direction and reduce the amplitude of the bracket 131 along the first rotation direction. The second vibration damping mechanism 21 is hinged between the bracket 131 and the support 133 and is located in the second rotation direction of the bracket 131 relative to the support 133. Thus, the second vibration damping mechanism 21 can reduce the vibration of the bracket 131 along the second rotation direction and reduce the amplitude of the bracket 131 along the second rotation direction.

[0062] Please see Figures 4 to 5 In some embodiments, the vibration damping mechanism 17 may include a damper 171, which may be hinged between the bracket 131 and the support 133, so that the damper 171 can rotate relative to the bracket 131 and the support 133, which helps to avoid the damper 171 interfering with the rotation of the bracket 131.

[0063] In some embodiments, the damper 171 is used to provide resistance to the rotation of the support 131 relative to the support 133, so that the damper 171 can provide damping for the rotation of the support 131 relative to the support 133 to absorb the vibration force of the support 131 relative to the support 133, thereby reducing the amplitude of the support 131 and improving the vibration of the head 1017.

[0064] The specific structure of the damper 171 can refer to existing technologies. For example, the damper 171 can be a hydraulic damper, a pneumatic damper, etc.

[0065] In some embodiments, the damper 171 is an adjustable damper, which helps users easily adjust the damping of the damper 171 according to actual conditions. This helps prevent the damper 171 from having excessive damping, which would reduce its vibration reduction and energy absorption performance and cause vibration to be directly transmitted to the head 1017 through the bracket 131. It also helps prevent the damper 171 from providing insufficient reaction force due to insufficient damping, which would prolong the vibration time of the bracket 131 relative to the support 133. In addition, the adjustable damper 171 also helps the robot 100 adapt to different application scenarios, such as different motion conditions and vibration frequencies, thus expanding the application range of the robot 100.

[0066] For example, the damper 171 can be a hydraulically adjustable damper 171, thereby adjusting the internal hydraulic pressure of the damper 171 to adjust the damping of the damper 171. Alternatively, the damper 171 can also be a pneumatically adjustable damper 171, thereby adjusting the internal air pressure of the damper 171 to adjust the damping of the damper 171. Or the damper 171 can also be any other damping-adjustable damping device.

[0067] In some embodiments, the damping mechanism 17 may further include an elastic element 173. The damper 171 includes a piston assembly 1711 and a cylinder assembly 1713. The piston assembly 1711 is slidably inserted into the cylinder assembly 1713. The elastic element 173 is sleeved on the damper 171 and connected between the piston assembly 1711 and the cylinder assembly 1713. The cylinder assembly 1713 may be filled with liquid or gas to achieve a damping effect. The elastic element 173 can further enhance the damping effect of the damper 171, and the elastic element 173 can also provide a restoring force for the movement of the piston assembly 1711 relative to the cylinder assembly 1713.

[0068] Specifically, when the robot 100 vibrates, the support 131 rotates relative to the support 133 in a first rotation direction, a second rotation direction, etc. When the support 131 rotates relative to the support 133 in the first rotation direction, the support member 13 drives the piston assembly 1711 of the damper 171 in the first vibration damping mechanism 19 to move into the cylinder assembly 1713. The elastic member 173 is compressed by the piston assembly 1711 and the cylinder assembly 1713. At this time, the elastic member 173 can prevent the piston assembly 1711 from moving into the cylinder assembly 1713, so as to further improve the damping effect and reduce the amplitude of the support 131 in the first rotation direction. When the vibration of the support 131 relative to the support 133 in the first rotation direction disappears, the elastic member 173 can provide an elastic restoring force so that the piston assembly 1711 can return to its original position relative to the cylinder assembly 1713, which helps to prevent the position of the head 1017 from deviating.

[0069] When the bracket 131 rotates relative to the support 133 in the second rotation direction, the support member 13 drives the piston assembly 1711 of the damper 171 in the second damping mechanism 21 to move into the cylinder assembly 1713. The elastic member 173 is compressed by the piston assembly 1711 and the cylinder assembly 1713. At this time, the elastic member 173 can prevent the piston assembly 1711 from moving into the cylinder assembly 1713, so as to further improve the damping effect and reduce the amplitude of the bracket 131 in the second rotation direction. In addition, since the elastic member 173 is compressed, when the vibration of the bracket 131 relative to the support 133 in the second rotation direction disappears, the elastic member 173 can also provide an elastic restoring force, so that the piston assembly 1711 can return to its original position relative to the cylinder assembly 1713, which helps to prevent the position of the head 1017 from deviating.

[0070] In some embodiments, the piston assembly 1711 may be hinged to the bracket 131, and the hinge method may be a hole-shaft connection or a bearing connection, etc., so that the piston assembly 1711 can rotate relative to the bracket 131; the cylinder assembly 1713 may be hinged to the support 133, and the hinge method may be a hole-shaft connection or a bearing connection, etc., so that the cylinder assembly 1713 can rotate relative to the support 133.

[0071] In some embodiments, the piston assembly 1711 is hinged to the support 133, and the hinge method can be a hole-shaft connection or a bearing connection, etc., so that the piston assembly 1711 can rotate relative to the support 133; the cylinder assembly 1713 is hinged to the bracket 131, and the hinge method can be a hole-shaft connection or a bearing connection, etc., so that the cylinder assembly 1713 can rotate relative to the bracket 131.

[0072] In some embodiments, the bracket 131 may have a zero position relative to the support 133. When the bracket 131 is in the zero position relative to the support 133, the elastic element 173 is configured to have a preload, so that when the drive device 15 drives the head 1017 to rotate, the elastic element 173 can support the bracket 131 through the preload, so as to avoid the bracket 131 from shaking when the drive device 15 is working, thereby improving the stability of the head 1017 when rotating.

[0073] The zero position can be the relative position of the bracket 131 and the support 133 when the robot 100 is assembled, shipped from the factory, or when the head 1017 is not rotating. For example, when the bracket 131 is in the zero position relative to the support 133, the force exerted by the first vibration damping mechanism 19 on the bracket 131 can be approximately equal to the force exerted by the second vibration damping mechanism 21 on the bracket 131.

[0074] In some embodiments, the damping mechanism 17 may further include an adjusting member 175, which is adjustablely sleeved on the cylinder assembly 1713 along the axial distance of the damper 171. An elastic member 173 may abut between the adjusting member 175 and the piston assembly 1711. Thus, the adjusting member 175 may move axially along the damper 171, thereby changing the pressure applied by the adjusting member 175 to the elastic member 173 to adjust the preload of the elastic member 173, so that the damping mechanism 17 can meet different usage requirements.

[0075] In some embodiments, the adjusting member 175 may include a first adjusting nut, and the outer peripheral surface of the damper 171 is provided with an adjusting thread. The first adjusting nut is connected to the adjusting thread, so that the first adjusting nut moves axially along the damper 171, thereby adjusting the preload of the elastic member 173. The adjusting thread may be provided on the outer peripheral surface of the cylinder assembly 1713 of the damper 171.

[0076] In some embodiments, the adjusting member 175 may also include a second adjusting nut, which is also connected to the adjusting thread. When the first adjusting nut and the second adjusting nut rotate toward each other, they can be tightened together. This helps to improve the situation where the preload of the elastic member 173 changes due to the loosening of the first adjusting nut, reduces the number of manual adjustments, and improves the stability of the vibration damping mechanism 17.

[0077] See Figure 4 In some embodiments, the bracket 131 may be provided with a first installation mark 1311, and the support 133 may be provided with a second installation mark 1331. When the bracket 131 is in the zero position relative to the support 133, the first installation mark 1311 and the second installation mark 1331 correspond to each other, which facilitates installation and debugging during assembly. In addition, it also facilitates subsequent maintenance personnel to identify and repair faults based on the first installation mark 1311 and the second installation mark 1331.

[0078] The first installation mark 1311 and the second installation mark 1331 can be designed to have the same or different shapes. For example, both the first installation mark 1311 and the second installation mark 1331 can be scale lines, and when the bracket 131 is in the zero position relative to the support 133, the ends of the two scale lines are connected to each other. For another example, the first installation mark 1311 can be a triangle, and the second installation mark 1331 can be a scale line, and when the bracket 131 is in the zero position relative to the support 133, one corner of the triangle is connected to the scale line. For yet another example, the first installation mark 1311 can be a scale line, and the second installation mark 1331 can be a triangle, and when the bracket 131 is in the zero position relative to the support 133, one corner of the triangle is connected to the scale line, and so on.

[0079] Please see Figure 4 and Figure 6 In some embodiments, the drive device 15 can be hinged to the support 133. The hinge can be a hole-shaft connection or a bearing connection, etc., so that the drive device 15 can rotate relative to the support 133. The rotation axis of the drive device 15 relative to the support 133 is collinear with the rotation axis of the bracket 131 relative to the support 133. Thus, when the bracket 131 rotates relative to the support 133, the bracket 131 and the drive device 15 can rotate around the same axis. The drive device 15 can rotate synchronously with the bracket 131, which helps to avoid the drive device 15 interfering with the rotation of the bracket 131.

[0080] Please see Figures 3 to 4 This application also provides a robot head structure 10, which includes a head 1017 and a vibration damping structure 1 as described in any of the above embodiments. A bracket 131 is hinged between a support 133 and the head 1017, and a drive device 15 is hinged to the head 1017. Thus, the drive device 15 can drive the head 1017 to perform pitching or head-shaking movements, etc., to improve the flexibility of the robot head structure 10.

[0081] The support 133 can be installed on the body of the robot 100 so that the robot 100 has a head structure and a neck structure, making the robot 100 more anthropomorphic or animal-like.

[0082] Understandably, the robot head structure 10 can also function as a separate robot. For example, by increasing the weight of the support 133, the support 133 can stably support the head 1017 via the bracket 131, thus allowing the robot head structure 10 to function as a robot without a body.

[0083] Furthermore, since the robot head structure 10 includes the vibration damping structure 1, the robot head structure 10 has all the beneficial effects of the vibration damping structure 1, which will not be elaborated here.

[0084] Please see Figures 2 to 4 This application also provides a robot 100, which includes a body and a robot head structure 10 as described above. A support member 13 is connected to the body, specifically, a support 133 is connected to the body.

[0085] The fuselage can be the fuselage body 1014 in the above embodiments, or the fuselage can be a component including the fuselage body 1014, extendable legs 1015, feet 1016, etc. in the above embodiments.

[0086] The support 13 can be connected to the fuselage body 1014. Specifically, the support 133 can be connected to the fuselage body 1014.

[0087] Furthermore, since the robot 100 includes a robot head structure 10, and the robot head structure 10 includes a vibration damping structure 1, the robot 100 has all the beneficial effects of the robot head structure 10 and the vibration damping structure 1, which will not be elaborated here.

[0088] In the vibration damping structure 1, robot head structure 10, and robot 100 provided in this application embodiment, the vibration damping structure 1 is applied to the robot 100 with a head 1017. The drive device 15 is hinged between the support member 13 and the head 1017. The drive device 15 is used to drive the head 1017 to rotate relative to the support member 13. The bracket 131 is hinged between the support 133 and the head 1017. So when the robot 100 vibrates, the bracket 131 can rotate relative to the support 133, which helps to avoid the vibration being directly transmitted to the head 1017. The vibration damping mechanism 17 is hinged between the support 131 and the base 133 and is located in the rotation path of the support 131 relative to the base 133. The vibration damping mechanism 17 is used to provide resistance to the rotation of the support 131 relative to the base 133. Thus, when the robot 100 vibrates, the support 131 can rotate simultaneously relative to the base 133 and the head 1017 to transmit the vibration to the vibration damping mechanism 17. The vibration damping mechanism 17 can provide resistance to the rotation of the support 131 relative to the base 133, so that the vibration damping mechanism 17 can absorb the vibration force of the support 131 to reduce the amplitude of the support 131, thereby improving the vibration of the head 1017 and helping to protect the electronic components and structural parts inside the head 1017.

[0089] In this application, unless otherwise expressly specified or limited, the terms "installation," "connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a mechanical connection; they can be a direct connection or an indirect connection via an intermediate medium; they can refer to the internal communication of two components; they can refer to mere surface contact; or they can refer to surface contact connection via an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0090] Furthermore, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as referring to specific or particular structures. The terms "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this application, as well as the features of different embodiments or examples.

[0091] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A vibration damping structure, characterized in that, The vibration damping structure, applied to robots with heads, includes: A support member, comprising a base and a bracket, wherein the bracket is hinged between the base and the head; A driving device, hinged between the support member and the head, is used to drive the head to rotate relative to the support member; and A vibration damping mechanism is hinged between the bracket and the support and located in the rotation path of the bracket relative to the support. The vibration damping mechanism is used to provide resistance to the rotation of the bracket relative to the support.

2. The vibration reduction structure according to claim 1, characterized in that, The vibration damping structure includes at least two vibration damping mechanisms. The bracket has a first rotation direction and a second rotation direction relative to the support. At least one of the vibration damping mechanisms is located on the rotation path of the first rotation direction and provides resistance to the rotation of the bracket relative to the support along the first rotation direction. At least one of the vibration damping mechanisms is located on the rotation path of the second rotation direction and provides resistance to the rotation of the bracket relative to the support along the second rotation direction. The first rotation direction and the second rotation direction are opposite.

3. The vibration reduction structure according to claim 1, characterized in that, The vibration damping mechanism includes a damper hinged between the bracket and the support, the damper being used to provide resistance to the rotation of the bracket relative to the support.

4. The vibration reduction structure according to claim 3, characterized in that, The damper is an adjustable damper.

5. The vibration reduction structure according to claim 3, characterized in that, The damping mechanism further includes an elastic element, and the damper includes a piston assembly and a cylinder assembly. The piston assembly is slidably inserted into the cylinder assembly, and the elastic element is sleeved on the damper and connected between the piston assembly and the cylinder assembly. The piston assembly is hinged to the bracket, and the cylinder assembly is hinged to the support; or, the piston assembly is hinged to the support, and the cylinder assembly is hinged to the bracket.

6. The vibration reduction structure according to claim 5, characterized in that, The bracket has a zero position relative to the support, the bracket is in the zero position relative to the support, and the elastic element is configured to have a preload.

7. The vibration reduction structure according to claim 5, characterized in that, The vibration damping mechanism further includes an adjusting member, which is adjustablely fitted onto the cylinder assembly along the axial distance of the damper, and the elastic member abuts between the adjusting member and the piston assembly.

8. The vibration reduction structure according to claim 1, characterized in that, The bracket is provided with a first installation mark, the support is provided with a second installation mark, the bracket has a zero position relative to the support, and when the bracket is in the zero position relative to the support, the first installation mark and the second installation mark correspond to each other.

9. The vibration reduction structure according to claim 1, characterized in that, The drive device is hinged to the support, and the rotation axis of the drive device relative to the support and the rotation axis of the bracket relative to the support are collinear.

10. A robot head structure, characterized in that, include: head; as well as According to any one of claims 1-9, in the vibration damping structure, the bracket is hinged between the support and the head, and the drive device is hinged to the head.

11. A robot, characterized in that, include: body; as well as According to claim 10, the robot head structure is connected to the body.

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