Robot, neck structure of robot, and motion control method thereof

Abstract

The application discloses a robot, a neck structure of the robot and a motion control method of the robot. The neck structure of the robot is connected between a head and a body of the robot, and comprises a base for connecting the body of the robot, a top base for connecting the head of the robot, a connecting rod unit rotatably connected between the base and the top base, a driving unit for outputting driving force, and a transmission mechanism arranged between the base and the top base. The transmission mechanism transmits the driving force of the driving unit to the base and / or the top base to drive the head to rotate, pitch and extend outward. The driving unit and the transmission mechanism are one-to-one arranged in three sets. Each transmission mechanism comprises a first transmission unit and a second transmission unit. The first transmission unit transmits the driving force of the driving unit to the second transmission unit to make the second transmission unit extend and retract. The driving unit is located outside the second transmission unit. The neck structure of the robot can drive the head of the robot to rotate, pitch and extend outward, so that the bionics degree of the robot is improved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to robots, the neck structure of robots, and their motion control methods. Background Technology

[0002] With the continuous development of technology, intelligent robots are gradually entering people's lives. In practical applications, intelligent robots can be commanded by humans, run pre-programmed routines, and act according to principles established using artificial intelligence technology. These robots can be used indoors or outdoors, in industry or at home, replacing security guards for patrols, cleaning floors, providing companionship at home, and assisting in office work. However, traditional robots typically only have leg freedom and lack a head or have only a fixed head structure, resulting in a low degree of biomimicry. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is how to set the head degree of freedom of the robot to improve the biomimicry of the robot.

[0004] To address the aforementioned technical problems, this invention provides a neck structure for a robot, connected between the robot's head and body, comprising:

[0005] The base is used to connect the robot's body;

[0006] Top mount, used to connect the robot's head;

[0007] The linkage unit is rotatably connected between the base and the top seat;

[0008] Drive unit, outputs driving force; and

[0009] A transmission mechanism is disposed between the base and the top seat, the transmission mechanism transmitting the driving force of the drive unit to the base and / or the top seat to drive the head to rotate, pitch, and extend.

[0010] The drive unit and transmission mechanism are arranged in a one-to-one configuration of three. Each transmission mechanism includes a first transmission unit and a second transmission unit. The first transmission unit transmits the driving force of the drive unit to the second transmission unit to extend and retract the second transmission unit. The drive unit is located outside the second transmission unit.

[0011] Preferably, the axis of the drive unit is parallel or substantially parallel to the axis of the second transmission unit.

[0012] Preferably, a first hinge mechanism is provided between the top seat and the first transmission unit, and the base is connected to the second transmission unit.

[0013] Preferably, the drive unit and the second transmission unit are located below the first transmission unit.

[0014] Preferably, the base is connected to the second transmission unit via a second hinge mechanism.

[0015] Preferably, the distance from the first hinge mechanism to the center of the top seat is greater than the distance from the second hinge mechanism to the center of the base.

[0016] Preferably, the linkage unit includes a first linkage and a second linkage, and a rotating connecting member is provided between the first linkage and the top seat, the second linkage and the base, and between the first linkage and the second linkage.

[0017] Preferably, the axis of the aforementioned linkage unit is collinear with the line connecting the center points of the base and the top seat.

[0018] The present invention also provides a motion control method applied to the neck structure of a robot as described in any of the preceding claims, the motion control method comprising:

[0019] Obtain a pitch command and control one of the drive units to operate, causing the second transmission unit corresponding to the drive unit to extend or retract, thereby tilting the top mount; or;

[0020] Obtain an extension command and control two of the drive units to operate, so that the two second transmission units corresponding to the two drive units extend and retract, causing the top seat and the base to tilt simultaneously; or;

[0021] Obtain a rotation command and control the three drive units to operate, so that the three second transmission units corresponding to the three drive units extend and retract, thereby rotating the top seat.

[0022] The present invention also provides a robot, comprising:

[0023] head;

[0024] Body; and

[0025] A neck structure, connecting the head and body, is adapted to drive the head to perform rotation, pitching, and extension movements;

[0026] The neck structure is as described in any of the preceding descriptions.

[0027] The technical solution provided by this invention has the following advantages:

[0028] 1. The robot neck structure provided by this invention includes three drive units and a transmission mechanism, as well as a linkage unit, arranged in a one-to-one configuration between the top base and the base, resulting in a simple overall structure. The transmission mechanism is configured as a first transmission unit and two cooperating transmission units. The first transmission unit transmits the driving force of the drive unit to the second transmission unit, causing the second transmission unit to extend and retract. Through the cooperation of the three second transmission units, the robot's head is driven to pitch, rotate, and extend, thereby improving the robot's biomimicry. Simultaneously, the drive unit is positioned outside the second transmission unit, and the first transmission unit transmits the driving force of the drive unit to the second transmission unit, achieving axis-shifting drive of the drive unit. This reduces the axial dimension after the transmission mechanism and drive units are assembled, thus reducing the volume of the robot's neck structure.

[0029] 2. The robot neck structure motion control method provided by the present invention controls the operation of the drive unit so that the three second transmission units corresponding to the three drive units can coordinate to tilt the top seat, tilt the base, and rotate the top seat of the neck structure. This enables the robot head to extend, pitch, and rotate. The control method is simple and easy for users to operate.

[0030] 3. The robot provided by the present invention, by setting the neck structure of the robot of this application, can realize the rotation, extension and pitch of the robot head. Compared with the prior art, the robot of this application has a higher degree of biomimicry. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the neck structure of the robot in Embodiment 1 of the present invention;

[0033] Figure 2 for Figure 1 A schematic cross-sectional view of the neck structure shown.

[0034] Figure 3 for Figure 1 The diagram shows the structure of the drive unit, transmission mechanism and first hinge mechanism after assembly.

[0035] Figure 4 for Figure 1 The diagram shows the structure of the linkage unit.

[0036] Figure 5for Figure 1 The diagram shows the structure of the base.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1-Top seat; 11-Fixing lug; 2-Base; 21-Seat part; 211-First mating part; 212-Second mating part; 213-Third mating part; 214-Connecting part; 22-Mounting hole; 23-Insertion hole; 3-Linking rod unit; 31-First connecting rod; 311-Groove; 32-Second connecting rod; 33-First locating pin; 34-Second locating pin; 35-Rotating shaft; 4-Drive unit; 5-Transmission mechanism; 51-First transmission unit; 52-Second transmission unit; 521-Lead screw; 522-Threaded push rod; 523-Mounting part; 6-Mounting seat; 7-First hinge mechanism; 71-Upper bearing seat; 72-Upper bearing stator; 73-Upper bearing rotor; 74-Connecting shaft; 8-Second hinge mechanism; 81-Lower bearing stator; 82-Lower bearing rotor; 83-Lower bearing fixing shaft. Detailed Implementation

[0039] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0041] In this application, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0042] Example 1

[0043] The neck structure of the robot provided in this embodiment is suitable for connection between the robot's head and body. The movement of the neck structure drives the robot's head to rotate, extend, and pitch, thereby realizing the robot's head degree of freedom and improving the robot's biomimicry.

[0044] Robots equipped with this neck structure can be used indoors or outdoors, in industry or at home. They can replace security guards for patrols, clean floors, provide companionship at home, or assist in office work. This application does not specifically limit the types of robots or their application scenarios.

[0045] Please see Figures 1 to 3 The neck structure of the robot in this embodiment includes a base 2 for connecting the robot's body, a top mount 1 for connecting the robot's head, a linkage unit 3 rotatably connected between the base 2 and the top mount 1, a drive unit 4 for outputting driving force, and a transmission mechanism 5 disposed between the base 2 and the top mount 1. The transmission mechanism 5 is used to transmit the driving force of the drive unit 4 to the base 2 and / or the top mount 1 to drive the head to rotate, pitch, and extend.

[0046] Specifically, there are three drive units 4 and transmission mechanisms 5 arranged in a one-to-one configuration. Each transmission mechanism 5 includes a first transmission unit 51 and a second transmission unit 52. The first transmission unit 51 transmits the driving force of the drive unit 4 to the second transmission unit 52 so that the second transmission unit 52 can extend and retract. The drive unit 4 is located outside the second transmission unit 52.

[0047] Through the telescopic cooperation of the three second transmission units 52, the top seat 1 can be tilted, or the base 2 can be tilted, or the top seat 1 can be rotated, so that the neck structure has three degrees of freedom, thereby enabling the robot's head to pitch, rotate, and extend, thus improving the robot's biomimeticity. At the same time, the drive unit 4 is set outside the second transmission units 52, and the driving force of the drive unit 4 is transmitted to the second transmission units 52 through the first transmission unit 51, so as to realize the axis-shifting drive of the drive unit 4, reducing the axial dimension after the transmission mechanism 5 and the drive unit 4 are assembled, and reducing the volume of the robot's neck structure.

[0048] As described above, to further reduce the volume of the neck structure, the axis of the drive unit 4 is parallel or approximately parallel to the axis of the second transmission unit 52, thereby reducing the radial dimension of the neck structure and facilitating robot miniaturization. It should be noted that the axis of the drive unit 4 is as follows... Figure 3 As shown by the middle arrow a, the axis of the second transmission unit 52 is as follows: Figure 3 As indicated by the middle arrow b.

[0049] As described above, the first transmission unit 51 transmits the driving force of the drive unit 4 to the second transmission unit 52, so that the second transmission unit 52 can extend and retract. In order to facilitate the first transmission unit 51 to transmit the driving force of the drive unit 4 to the second transmission unit 52, the drive unit 4 and the second transmission unit 52 are located below the first transmission unit 51.

[0050] Specifically, the first transmission unit 51 is arranged horizontally or approximately horizontally between the top seat 1 and the base 2. The drive unit 4 and the second transmission unit 52 are arranged below the first transmission unit 51, with one end of the drive unit 4 and one end of the second transmission unit 52 connected to the first transmission unit 51. This reduces the transmission distance of the first transmission unit 51, resulting in better transmission performance. Furthermore, the horizontal or approximately horizontal arrangement of the first transmission unit 51 makes the components of the neck structure more neatly arranged, improving the aesthetics of the neck structure and facilitating subsequent maintenance.

[0051] As described above, the three second transmission units 52 can be telescopically coordinated to tilt the top seat 1, tilt the base 2, or rotate the top seat 1. That is, a rotatable connection must be achieved between the top seat 1 and the first transmission unit 51, and between the base 2 and the second transmission unit 52. Therefore, a first hinge mechanism 7 is provided between the top seat 1 and the first transmission unit 51, and the base 2 and the second transmission unit 52 are connected via a second hinge mechanism 8.

[0052] Specifically, the first hinge mechanism 7 includes an upper bearing seat 71 fixed on the top seat 1, an upper bearing stator 72 and an upper bearing rotor 73 disposed on the upper bearing seat 71. The first transmission unit 51 is fixed to the upper bearing rotor 73 via a connecting shaft 74. The upper bearing seat 71 has a through hole (not labeled) for embedding the upper bearing stator 72, and the upper bearing stator 72 is tightly connected to the upper bearing seat 71 through the through hole. The upper bearing seat 71 and the top seat 1 are detachably fixed with bolts for easy maintenance and cleaning. In other embodiments, the first hinge mechanism 7 can also be configured as two hinges with two degrees of freedom and perpendicular to each other, which will not be discussed in detail here.

[0053] The second hinge mechanism 8 includes a lower bearing stator 81 and a lower bearing rotor 82 disposed at the end of the second transmission unit 52. The lower bearing stator 81 is tightly connected to the end of the second transmission unit 52. The lower bearing rotor 82 is rotatably connected to the base 2 through a lower bearing fixing shaft 83. The base 2 is provided with mounting holes 22 for mounting the lower bearing fixing shaft 83. Both ends of the lower bearing fixing shaft 83 are directly fixed in the corresponding mounting holes 22.

[0054] It should be noted that the aforementioned drive unit 4 is a motor, and the drive shaft of the motor is connected to the first transmission unit 51 to transmit the driving torque generated therefrom to the first transmission unit 51.

[0055] The first transmission unit 51 is a speed reducer, which plays a role in matching the speed and transmitting torque between the drive unit 4 and the second transmission unit 52. It can be a gear drive, a worm drive, or a gear-worm drive.

[0056] The second transmission unit 52 is a lead screw, including a lead screw 521 and a threaded push rod 522 sleeved on the outside of the lead screw 521. The outer wall of the lead screw 521 and the inner wall of the threaded push rod 522 are provided with matching threaded structures (not shown). When the lead screw 521 rotates around its axis, the threaded push rod 522 can move along the axial direction of the lead screw 521 under the action of thread engagement, so as to convert the rotational motion of the drive unit 4 into linear motion.

[0057] In use, by controlling the motor to rotate forward or reverse, the threaded push rod 522 can be moved back and forth along the axis of the lead screw 521. Through the coordinated extension and retraction of the three lead screws, the top seat 1 can be tilted, or the base 2 can be tilted, or the top seat 1 can be rotated.

[0058] It should be noted that both the motor and the reducer are fixed between the top mount 1 and the base 2 via the mounting bracket 6. This makes the overall structure after the motor, reducer, and top mount 1 are assembled more stable and easier to install.

[0059] Specifically, the mounting base 6 is rotatably connected to the top seat 1 through the first hinge mechanism 7. The mounting base 6 is provided with a connecting hole (unnumbered) for mounting the connecting shaft 74. After the connecting shaft 74 is connected to the upper bearing rotor 73, both ends are inserted into the corresponding connecting holes on the mounting base 6 and fixed, so that the mounting base 6 is rotatably connected to the top seat 1.

[0060] The reducer is installed at the bottom of the mounting base 6. The drive shaft of the motor and one end of the lead screw 521 are connected to the reducer so that the reducer can transmit the drive torque of the motor to the lead screw after speed matching. One end of the threaded push rod 522 is rotatably connected to the base 2 through the second hinge mechanism 8. The end of the threaded push rod 522 forms a mounting part 523 adapted to the lower bearing stator 72 of the second hinge mechanism 8. The mounting part 523 has a ring structure to be sleeved on the lower bearing stator 72. The mounting part 523 is tightly connected to the lower bearing stator 72. The other end of the threaded push rod 522 is sleeved on the other end of the lead screw 521 so that the threaded push rod 522 can move along the axial direction of the lead screw 521.

[0061] In order to enable the three second transmission units 52 to extend and retract to drive the top seat 1 to rotate, the distance from the first hinge mechanism 7 to the center of the top seat 1 is greater than the distance from the second hinge mechanism 8 to the center of the base 2, so that the three second transmission units 52 are in an inclined state.

[0062] Because a linkage unit 3 connects the top seat 1 and the base 2, and the linkage unit 3 is non-extendable (i.e., its length is fixed), when the three second transmission units 52 extend simultaneously, the linkage unit 3 restricts the top seat 1 and the base 2 from moving away from each other. By setting the three second transmission units 52 in an inclined state, under the restriction of the linkage unit 3, the three second transmission units 52 extend simultaneously to push the top seat 1 to rotate, thereby freeing up space for the extension of the three second transmission units 52 and driving the robot's head to rotate.

[0063] As mentioned above, the linkage unit 3 is mainly used to connect the top seat 1 and the base 2 to connect the robot's head and body. It also serves to limit the top seat 1 and the base 2 from moving away from or getting closer to each other. In order for the robot's neck structure to allow the top seat 1 to tilt, the base 2 to tilt, and the top seat 1 to rotate, the linkage unit 3 is rotatably connected to the top seat 1 and the base 2.

[0064] For details, please see Figure 4 and Figure 5 and combined Figure 1 The linkage unit 3 includes a first linkage 31 and a second linkage 32. Rotary connecting parts are provided between the first linkage 31 and the top seat 1, the second linkage 32 and the base 2, and between the first linkage 31 and the second linkage 32.

[0065] In this embodiment, one end of the first connecting rod 31 and one end of the second connecting rod 32 are rotatably connected by a first positioning pin 33. A first pin hole (not labeled) is formed on the end of the first connecting rod 31 that is rotatably connected to the second connecting rod 32. A groove 311 for the second connecting rod 32 to be inserted is provided on the end of the first connecting rod 31 that is used to connect with the second connecting rod 32.

[0066] The other end of the first connecting rod 31 is rotatably connected to the top seat 1 via the second positioning pin 34. The bottom of the top seat 1 is provided with two fixed lugs 11 opposite each other. The two fixed lugs 11 and the end of the first connecting rod 31 are respectively provided with second pin holes (unlabeled) that are adapted to the second positioning pin 34. The end of the first connecting rod 31 is suitable for insertion between the two fixed lugs 11.

[0067] The other end of the second connecting rod 32 is rotatably connected to the base 2 via a rotating shaft 35. The base 2 is provided with a corresponding insertion hole 23 that is compatible with the rotating shaft 35 at the end of the second connecting rod 32.

[0068] It should be noted that the axis of the first locating pin 33 is perpendicular to the axis of the rotating shaft 35, and the axis of the first locating pin 33 is perpendicular to the axis of the second locating pin 34, so that the linkage unit 3 has three degrees of freedom, allowing the linkage unit 3 to be adapted to the three degrees of freedom of the neck structure. The axis of the rotating shaft 35 is as follows: Figure 4 As shown by the middle arrow c, the axis of the first locating pin 33 is as follows: Figure 4 As shown by the middle arrow d, the axis of the second locating pin 34 is as follows: Figure 4 As indicated by the middle arrow e.

[0069] As described above, to ensure uniform force distribution across the top seat 1 and base 2, the axis of the connecting rod unit 3 is collinear with the line connecting the center points of the base 2 and top seat 1. That is, the connecting rod unit 3 is located at the center of the neck structure. It should be noted that the axis of the connecting rod unit 3 is as follows... Figure 1 As indicated by the middle arrow A.

[0070] The above structure forms a triangular symmetrical structure among the first, second, and third transmission mechanisms 5, which further improves the structural stability of the neck structure and makes the force applied to the top seat 1 and the base 2 by the three second transmission units 52 more uniform when they extend and retract, so as to make the biomimetic effect of the neck structure more accurate.

[0071] Specifically, the three transmission mechanisms 5 are named the first to the third transmission mechanisms 5 in sequence. The first transmission mechanism 5 is located directly behind the link unit 3, and the second and third transmission mechanisms 5 are arranged at the left front and right front of the link unit 3, respectively. The first, second and third transmission mechanisms 5 are equally spaced on the outer circumference of the link unit 3.

[0072] To facilitate the rotational connection between the base 2 and the three second transmission units 52 and the second connecting rod 32, the base 2 includes two seat parts 21, which have the same structure and are arranged symmetrically in opposite directions.

[0073] Specifically, the seat 21 includes a first docking part 211, a second docking part 212, a third docking part 213 connecting the first docking part 211 and the second docking part 212, and a connecting part 214 extending horizontally from the bottom of the first docking part 211 and the third docking part 213.

[0074] The connecting portion 214 is used to connect to the robot's body. The first docking portion 211, the second docking portion 212, and the third docking portion 213 are generally Z-shaped, and all three extend along the height direction of the neck structure. Admittedly, in other embodiments, the base 2 may also be configured with other structures, which will not be listed here.

[0075] Taking this embodiment as an example, the mounting hole 22 for installing the lower bearing fixing shaft 83 is provided on the first mating part 211 and the second mating part 212, and the insertion hole 23 adapted to the rotating shaft 35 is provided on the third mating part 213. The first transmission mechanism 5 is connected between the two first mating parts 211, and the second and third transmission mechanisms 5 are connected between the second mating parts 212, and share a lower bearing fixing shaft 83.

[0076] Example 2

[0077] This embodiment provides a motion control method applied to the neck structure of a robot. The neck structure of this robot is the same as or similar to the neck structure of the robot in Embodiment 1. For details, please refer to Embodiment 1, which will not be elaborated here.

[0078] The robot's neck structure enables the robot's head to achieve three motion states: pitch, extension, and rotation. The control methods for these three motion states are as follows:

[0079] When a pitch command is received, one of the drive units is controlled to operate, causing the corresponding second transmission unit to extend or retract, thus tilting the top mount and causing the robot's head to perform a pitching motion. Figure 1 For example, the movement of the robot's neck structure during pitching motion is as follows:

[0080] When any one drive unit 4 is activated, the other two drive units 4 are in a stopped state. The first transmission unit 51 corresponding to the drive unit 4 transmits the driving force of the drive unit 4 to the corresponding second transmission unit 52. The second transmission unit 52 extends or retracts under the driving action of the drive unit 4, so as to drive the mounting base 6 and the first hinge mechanism 7 connected to it to move along the extension and retraction direction of the second transmission unit 52, thereby driving the top seat 1 to move along the extension and retraction direction of the second transmission unit 52. Since the linkage unit 3 is used to limit the relative distance or proximity between the top seat 1 and the base 2, and the mounting base 6 and the top seat 1, as well as the linkage unit 3 and the top seat 1, are rotatably connected, when one of the second drive units 52 extends or retracts, it can drive part of the top seat 1 to move upward or downward, thereby causing the top seat 1 to tilt upward or downward, so as to tilt the head.

[0081] Upon receiving an extension command, two drive units are controlled to operate, causing the two corresponding second transmission units to extend and retract, simultaneously tilting the top mount and base. This simultaneous tilting of the top mount and base causes the robot's head to tilt outward, thus achieving head extension. Figure 1 For example, the movement of the robot's neck structure during an extension motion is as follows:

[0082] When any two drive units 4 are activated and the other drive unit 4 is stopped, the corresponding two second transmission units 52 are first shortened under the drive of the drive unit 4 to move part of the base 2 upward so that the base 2 tilts upward. Then, the two second transmission units 52 are extended under the drive of the drive unit 4 to move part of the top seat 1 upward so that the top seat 1 tilts upward, thereby tilting the entire neck structure to one side so that the head protrudes outward.

[0083] The system receives rotation commands and controls the operation of three drive units, causing the three corresponding second transmission units to extend and retract, thereby rotating the top seat. Figure 1 For example, the movement process of the robot's neck structure during rotation is as follows:

[0084] The three drive units 4 are activated simultaneously, causing the corresponding three second transmission units 52 to extend simultaneously. Since the three second transmission units 52 are inclined, under the constraint of the link unit 3, the three second transmission units 52 extend simultaneously to push the top seat 1 to rotate, thereby freeing up space for the extension of the three second transmission units 52 and driving the robot's head to rotate. Similarly, when the three second transmission units 52 shorten simultaneously, under the constraint of the link unit 3, the top seat 1 can be driven to rotate in the opposite direction. By driving the extension and retraction of the three second transmission units 52, the reciprocating rotation of the robot's head can be achieved.

[0085] It should be noted that the above-mentioned robot's neck structure cannot simultaneously drive the robot's head to achieve two or three motion states, that is, the robot cannot operate a control method that allows for two or three motion states at the same time.

[0086] As described above, the robot also includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, such as the program for the three motion control methods of the robot's neck structure described above. When the processor executes the computer program, it implements the steps of the three motion control methods for the robot's neck structure described above.

[0087] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0088] A memory device can be an internal storage unit of a robot, such as a hard drive or RAM. It can also be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, a memory device can include both internal and external storage units. Memory is used to store computer programs and other programs and data required by the robot. It can also be used to temporarily store data that has been output or will be output.

[0089] The aforementioned computer program can also be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the three motion control methods for the neck structure of the robot.

[0090] The program portion of a technology can be considered a "product" or "artifact" existing in the form of executable code and / or related data, and is involved in or implemented through a computer-readable medium. Tangible, permanent storage media can include memory or storage used by any computer, processor, or similar device or related module. For example, various semiconductor memories, tape drives, disk drives, or any similar device capable of providing storage functionality for software.

[0091] All software, or parts thereof, may sometimes communicate via networks, such as the Internet or other communication networks. Such communication can load software from one computer device or processor to another. Therefore, another medium capable of transmitting software elements can also be used as a physical connection between local devices, such as light waves, radio waves, electromagnetic waves, etc., propagated through cables, fiber optic cables, or air. Physical media used for carrier waves, such as cables, wireless connections, or fiber optic cables, can also be considered as media carrying software. In this context, unless limited to tangible "storage" media, the term "readable medium" for a computer or machine refers to the medium involved in the execution of any instructions by the processor.

[0092] Example 3

[0093] The robot provided in this embodiment includes a head, a body, and a neck structure. The neck structure is connected between the head and the body and is suitable for driving the head to perform rotation, pitch, and extension movements. Compared with the prior art, the robot in this embodiment has a higher degree of biomimicry and a better user experience. The neck structure of the robot in this embodiment is similar to or the same as the neck structure in Embodiment 1; please refer to Embodiment 1 for details, which will not be repeated here.

[0094] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of this application.

Claims

1. A neck structure for a robot, connected between the robot's head and body, characterized in that, include: The base is used to connect the robot's body; Top mount, used to connect the robot's head; The linkage unit is rotatably connected between the base and the top seat; Drive unit, outputs driving force; and A transmission mechanism is disposed between the base and the top seat, the transmission mechanism transmitting the driving force of the drive unit to the base and / or the top seat to drive the head to rotate, pitch, and extend. The drive unit and transmission mechanism are arranged in a one-to-one configuration of three. Each transmission mechanism includes a first transmission unit and a second transmission unit. The first transmission unit transmits the driving force of the drive unit to the second transmission unit to extend and retract the second transmission unit. The drive unit is located outside the second transmission unit. A first hinge mechanism is provided between the top seat and the first transmission unit, and the base is connected to the second transmission unit; The base is connected to the second transmission unit via a second hinge mechanism; The linkage unit includes a first linkage and a second linkage, and a rotating connecting member is provided between the first linkage and the top seat, the second linkage and the base, and between the first linkage and the second linkage; The axis of the connecting rod unit is collinear with the center point of the base and the top seat.

2. The neck structure as described in claim 1, characterized in that, The axis of the drive unit is parallel or approximately parallel to the axis of the second transmission unit.

3. The neck structure as described in claim 1, characterized in that, The drive unit and the second transmission unit are located below the first transmission unit.

4. The neck structure as described in claim 1, characterized in that, The distance from the first hinge mechanism to the center of the top seat is greater than the distance from the second hinge mechanism to the center of the base.

5. A motion control method applied to the neck structure of a robot as described in any one of claims 1 to 4, characterized in that, The motion control method includes: Obtain a pitch command and control one of the drive units to operate, causing the second transmission unit corresponding to the drive unit to extend or retract, thereby tilting the top mount; or; Obtain an extension command and control two of the drive units to operate, so that the two second transmission units corresponding to the two drive units extend and retract, causing the top seat and the base to tilt simultaneously; or; Obtain a rotation command and control the three drive units to operate, so that the three second transmission units corresponding to the three drive units extend and retract, thereby rotating the top seat.

6. A robot, characterized in that, include: head; Body; and A neck structure, connecting the head and body, is adapted to drive the head to perform rotation, pitching, and extension movements; The neck structure is the neck structure as described in any one of claims 1 to 4.

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