Neck assembly and humanoid robot

Abstract

A neck assembly and a humanoid robot, the neck assembly is used for the humanoid robot, the neck assembly includes a head-turning drive, a first connecting member, a nodding drive, and a second connecting member, the head-turning drive is used to connect with the torso assembly of the humanoid robot; the first connecting member includes a first part and a second part, the first part and the second part are connected and form an "L"-shaped structure, the first connecting member is an integrated structure, the first part is connected to the rotor of the head-turning drive; the rotor of the nodding drive is connected to the second part; the second connecting member is connected to the stator of the nodding drive, and the second connecting member is also used to connect with the head assembly of the humanoid robot; the head-turning drive is used to drive the head assembly to rotate around the first axis, and the nodding drive is used to drive the head assembly to rotate around the second axis. The neck assembly in the present application has a simple structure and is easy to assemble.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a neck assembly and a humanoid robot. Background Art

[0002] Humanoid robots can imitate the appearance and movement posture of the human body. Currently, the research and development of humanoid robots has received more and more attention.

[0003] The neck assembly of existing humanoid robots has a complex structure and is difficult to assemble. Summary of the invention

[0004] The purpose of the present application is to provide a neck assembly and a humanoid robot to solve the problem of complex structure of the neck assembly of the humanoid robot.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In a first aspect, the present application provides a neck assembly for a humanoid robot, the neck assembly comprising a head-turning drive, a first connecting member, a nodding drive, and a second connecting member, the head-turning drive being used to connect to a trunk assembly of the humanoid robot; the first connecting member comprising a first portion and a second portion, the first portion and the second portion being connected and forming an "L"-shaped structure, the first connecting member being an integrated structure, the first portion being connected to a rotor of the head-turning drive; the rotor of the nodding drive being connected to the second portion; the second connecting member being connected to a stator of the nodding drive, and the second connecting member being further used to connect to a head assembly of the humanoid robot;

[0007] Among them, the rotating head driving member is used to drive the overall rotation of the first connecting member, the nodding driving member and the second connecting member, so as to drive the head assembly to rotate around a first axis, and the nodding driving member is used to drive the second connecting member to rotate, so as to drive the head assembly to rotate around a second axis, the first axis extends along a first direction, the second axis extends along a second direction, and the first direction is perpendicular to the second direction.

[0008] The neck assembly in the embodiment of the present application is provided with a first connecting member and a second connecting member, the first part of the first connecting member is connected to the rotor of the head turning drive member, the second part is connected to the rotor of the nodding drive member, and the second connecting member is connected to the stator of the nodding drive member. The head turning drive member drives the first connecting member, the nodding drive member and the second connecting member to rotate as a whole to drive the head assembly to rotate around the first axis, and the nodding drive member drives the head assembly to rotate around the second axis by driving the second connecting member to rotate. The neck assembly can realize the connection between the head assembly, the torso assembly, the head turning drive member and the nodding drive member, as well as the nodding and turning actions of the humanoid robot through the first connecting member and the second connecting member. The structure is simple and easy to assemble.

[0009] In one embodiment, the first part includes a first plate and a first fixed portion connected to each other, the second part includes a second plate and a second fixed portion connected to each other, the first plate is connected to the second plate, an angle is formed between the first plate and the second plate, and the first fixed portion protrudes from the surface of the first plate facing away from the second plate, and the second fixed portion protrudes from the surface of the second plate facing the first plate. This arrangement facilitates the first connecting portion to be connected to a rotating head drive member and a nodding drive member with different axial directions at the same time, which can simplify the structure, the center of gravity of the nodding drive member is roughly on the same straight line as the first axis of the rotating head drive member, the weight distribution of the neck assembly is uniform, and it is not easy to tilt, and interference between the rotating head drive member and the first plate, and interference between the nodding drive member and the second plate can be avoided.

[0010] In one embodiment, the first fixing portion includes a first end surface facing away from the first plate, and a first receiving groove is opened from the first end surface. The rotor of the rotary head driving member extends into the first receiving groove and is connected to the bottom wall of the first receiving groove; a first receiving groove is formed between the rotor and the stator of the rotary head driving member, and at least a portion of the side wall of the first receiving groove is received in the first receiving groove.

[0011] And / or, the second fixing part includes a second end face facing away from the second plate, a second receiving groove is opened from the second end face, the rotor of the nodding driving member extends into the second receiving groove and is connected to the bottom wall of the second receiving groove; a second receiving groove is formed between the rotor and the stator of the nodding driving member, and at least part of the side wall of the second receiving groove is received in the second receiving groove. In this way, a first receiving groove is formed between the rotor and the stator of the rotary head driving member to limit the side wall of the first receiving groove, thereby limiting the first fixing part, and the rotor of the rotary head driving member extends into the first receiving groove to limit the rotor of the rotary head driving member, so that the rotation of the first connecting member relative to the stator of the rotary head driving member is more stable and not easy to deviate; a second receiving groove is formed between the rotor and the stator of the nodding driving member to limit the side wall of the second receiving groove, thereby limiting the second fixing part, and the rotor of the nodding driving member extends into the second receiving groove to limit the rotor of the nodding driving member, so that the rotation of the nodding driving member relative to the first connecting member is more stable and not easy to deviate.

[0012] In one embodiment, the surface of the first plate facing the first fixing portion is smoothly connected to the surface of the second plate facing away from the second fixing portion. With this arrangement, on the one hand, the connection between the first plate and the second plate shrinks inward, saving space and avoiding interference with other parts or scratches; on the other hand, since the second plate is subjected to a tensile force on the side facing the second fixing portion, stress is concentrated on the surface of the second plate facing away from the second fixing portion, and the outer sides of the first plate and the second plate are smoothly connected, the stress distribution is relatively uniform, and it is not easy to break.

[0013] In one embodiment, the first plate includes a first portion, a second portion, and a third portion that are sequentially connected, and the first portion, the second portion, and the third portion are all connected to the second plate, and the thickness of the first portion and the third portion gradually decreases from the end where the first plate is connected to the second plate to the end where the first plate is connected to the first fixing portion. By setting the first plate to include the first portion, the second portion, and the third portion that are sequentially connected and all connected to the first plate, since the weight of the rotary head drive member, the second connecting member, and the head assembly needs to be supported by the first connecting member, a greater structural strength is required at the connection between the first plate and the second plate. Therefore, at the end where the first plate is connected to the second plate, the thickness of the first portion and the third portion is greater to increase the structural strength of the first connecting member and improve the connection stability.

[0014] In one embodiment, the first part includes a first surface, the second part includes a second surface, and the third part includes a third surface. The first surface, the second surface, and the third surface are sequentially connected and together form a surface of the first plate facing away from the first fixed part, and the second surface is concave relative to the first surface and the third surface. By setting the second surface concave relative to the first surface and the third surface, the nodding drive component and the second connecting component can be avoided, saving space while avoiding interference between the first connecting component and other parts.

[0015] In one embodiment, the second connecting member includes a cylinder, the cylinder has a receiving cavity, at least part of the nodding drive member and at least part of the second fixed part are received in the receiving cavity, and the cylinder is connected to the stator of the nodding drive member. By setting the second connecting member to include a cylinder, at least part of the nodding drive member and at least part of the second fixed part are received in the receiving cavity of the cylinder, the rotor of the nodding drive member is connected to the first connecting member, the stator of the nodding drive member rotates relative to the rotor, and the cylinder connected to the stator of the nodding drive member drives the second connecting member to rotate relative to the first connecting member, thereby driving the head assembly to rotate to complete the nodding action of the humanoid robot, the second connecting member and the nodding drive member are roughly located between the first connecting member and the head assembly, the structure is compact, and space is saved.

[0016] In one embodiment, the cylinder includes a connection surface facing the nodding drive member, and in the orthographic projection in the third direction, the connection surface is a first connection line, and the end of the first connection line away from the first fixed part is located on the side of the first axis away from the second fixed part, and the end of the first connection line close to the first fixed part is located on the side of the first axis close to the second fixed part, and the third direction is perpendicular to both the first direction and the second direction. The end of the first connection line away from the first fixed part is set to be located on the side of the first axis away from the second fixed part, and the cylinder has a mounting position roughly located near the first axis on the side away from the first fixed part, and the mounting position is used to connect with the head assembly so that the center of gravity of the head assembly and the center of gravity of the neck assembly are located on the same straight line, and the center of gravity of the humanoid robot is stable; the end of the first connection line close to the first fixed part is set to be located on the side of the first axis close to the second fixed part, while reducing the dead weight of the second connecting member, avoiding interference between the cylinder of the second connecting member and the first connecting member during rotation.

[0017] In one embodiment, the second connecting member further includes a first limiting portion and a second limiting portion, the first limiting portion and the second limiting portion are spaced apart and arranged on the end surface of the cylinder body facing away from the nodding driving member, and the first limiting portion and the second limiting portion are symmetrical with respect to the second axis. The first limiting portion and the second limiting portion are symmetrically arranged on the side of the cylinder body facing away from the nodding driving member, so as to limit the rotation angle of the cylinder body relative to the first connecting member, simulate the appearance and movement posture of the human body as much as possible, and improve the anthropomorphism of the humanoid robot.

[0018] In one embodiment, the first limiting portion includes a first abutting surface, and the second limiting portion includes a second abutting surface, the first abutting surface is opposite to the second abutting surface, the first abutting surface or the second abutting surface is used to abut against the first connecting member for limiting, and in the direction from the nodding drive member to the rotating drive member, the first abutting surface and the second abutting surface are flared. In this way, when the head assembly of the humanoid robot rotates forward around the second axis, the first abutting surface abuts against the first connecting member to limit the angle of the head assembly rotating forward; when the head assembly of the humanoid robot rotates backward around the second axis, the second abutting surface abuts against the first connecting member to limit the angle of the head assembly rotating backward, which can improve the anthropomorphism of the humanoid robot, and the first abutting surface or the second abutting surface abuts against the first connecting member for limiting is in surface contact, the connection is more stable, and the limiting effect is good.

[0019] In one embodiment, the second connecting member further comprises a third fixing portion, the third fixing portion being connected to the outer peripheral surface of the cylinder on the side facing away from the rotating head driving member, and the third fixing portion being used to connect to the head assembly of the humanoid robot; the third fixing portion having an installation axis, the installation axis coincides with the first axis and intersects with the second axis. In this arrangement, the overall center of gravity of the head assembly and the neck assembly is located on the same straight line, and the center of gravity is stable.

[0020] In one embodiment, the neck assembly further includes a connecting rod, the connecting rod includes a mounting column and a mounting platform, the mounting platform is connected to one end of the mounting column and protrudes from the outer peripheral surface of the mounting column, the mounting platform is connected to the third fixing portion, and the other end of the mounting column is used to connect to the head assembly. By setting the neck assembly to also include a connecting rod, the mounting platform of the connecting rod is connected to the third fixing portion, and the other end of the mounting column of the connecting platform away from the mounting platform is used to connect to the head assembly, the distance between the head assembly and the neck assembly is controlled to be appropriate, and the head assembly can be rotated relative to the neck assembly along the second axis at an appropriate angle to nod, thereby improving the degree of anthropomorphism.

[0021] In one embodiment, the neck assembly further includes a fixed shell, the swivel drive member is accommodated in the fixed shell, one end of the fixed shell is connected to the stator of the swivel drive member, and the other end is used to connect to the torso assembly of the humanoid robot, and there is a gap between the fixed shell and the first plate. By setting the neck assembly to also include a fixed shell, one end of the fixed shell is connected to the stator of the swivel drive member, and the other end is used to connect to the torso assembly of the humanoid robot, the fixed shell can protect the swivel drive member to avoid collision, and there is a gap between the fixed shell and the first plate to avoid interference between the swivel drive member and the first connecting member during relative rotation with the first connecting member.

[0022] In one embodiment, a third limiting portion is provided at one end of the fixed shell facing the first plate, and the third limiting portion includes a third abutting surface, and the surface of the third limiting portion opposite to the third abutting surface is connected to the outer peripheral surface of the fixed shell, and the third abutting surface is used to abut against the first connecting member for limiting. By providing the third limiting portion, when the head turning drive member drives the first connecting member, the nodding drive member and the second connecting member to rotate as a whole to drive the head assembly to rotate around the first axis, the third limiting portion abuts against the first connecting member for limiting, which can limit the rotation angle of the head assembly, and has a good anthropomorphic effect.

[0023] In a second aspect, the present application further provides a humanoid robot, comprising a head component, a torso component, and a neck component as described in any one of the various embodiments of the first aspect, wherein the neck component is connected to the head component and the torso component. By providing a unique neck component, the connection between the neck component and the head component and the torso component is stable, the structure is simple, and the difficulty of assembling the humanoid robot can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 is a three-dimensional diagram of a humanoid robot of one embodiment;

[0026] Figure 2 is a perspective view of a neck assembly of one embodiment;

[0027] Figure 3 is an exploded schematic diagram of a neck assembly of one embodiment;

[0028] Figure 4is a perspective view of a first connecting member of an embodiment;

[0029] Figure 5 is a front view of a first connecting member of an embodiment;

[0030] Figure 6 is another perspective view of a first connecting member of an embodiment;

[0031] Figure 7 is a perspective view of a second connecting member of an embodiment;

[0032] Figure 8 is a front view of a second connecting member of an embodiment;

[0033] Fig. 9 is a perspective view of a connecting rod of an embodiment;

[0034] Fig.10 is a three-dimensional view of a fixed housing of an embodiment.

[0035] Description of reference numerals:

[0036] 100-neck assembly, 10-rotor drive member, 11-first receiving groove, 20-first connecting member, 21-first part, 22-second part, 23-first plate, 231-first part, 232-second part, 233-third part, 234-first surface, 235-second surface, 236-third surface, 24-first fixing part, 241-first end surface, 242-first receiving groove, 25-second plate, 26-second fixing part, 261-second end surface, 262-second receiving Groove, 27-connecting arc surface, 30-nodding driving member, 31-second accommodating groove, 40-second connecting member, 41-cylinder, 411-accommodating cavity, 412-connecting surface, 413-first connecting line, 42-first limiting portion, 43-second limiting portion, 431-second abutting surface, 44-third fixing portion, 50-connecting rod, 51-mounting column, 52-mounting platform, 53-reinforcing rib, 60-fixed shell, 61-weight reduction hole, 62-third limiting portion, 621-third abutting surface;

[0037] 200-head assembly;

[0038] E1-first axis, E2-second axis, A1-first angle;

[0039] X-the left and right direction of the humanoid robot, Y-the front and back direction of the humanoid robot, and Z-the up and down direction of the humanoid robot. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0042] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0043] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0044] Please refer to Figure 1 The present application also provides a humanoid robot, including a head component 200, a torso component (not shown in the figure) and a neck component 100 in an embodiment of the present application, wherein the neck component 100 is connected to the head component 200 and the torso component.

[0045] The specific structures of the head component 200, the neck component 100 and the waist component are not limited, and they can all be set to a humanoid shape. The head component 200 is connected to the waist component and can rotate relatively to achieve a head and neck function similar to that of the human body structure. For the convenience of subsequent description, a coordinate system XYZ is established, where the X direction is the left and right direction of the assembled humanoid robot, the Y direction is the front and back direction of the humanoid robot, and the Z direction is the up and down direction of the humanoid robot.

[0046] Optionally, the neck component 100 is connected to the waist component at one end in the up-down direction Z of the humanoid robot, and is connected to the head component 200 at the other end. The connection method can be snap connection, screw connection, magnetic connection, etc., and there is no specific limitation.

[0047] Optionally, the neck component 100 can drive the head component 200 to rotate relative to the waist component, and the head component 200 can also rotate relative to the neck component 100. Considering that the humanoid robot should simulate the appearance and movement posture of the human body as much as possible, the amplitude of the movement of the head component 200 and the neck component 100 of the humanoid robot relative to the waist component should simulate the movement amplitude of the human head as much as possible, that is, the head component 200 and the neck component 100 can rotate a certain angle relative to the waist component with the vertical direction Z of the humanoid robot as the axis. Similarly, the amplitude of the movement of the head component 200 of the humanoid robot relative to the neck component 100 should also simulate the movement amplitude of the human head as much as possible, that is, the head component 200 can rotate a certain angle relative to the neck component 100 with the left and right direction X of the humanoid robot as the axis.

[0048] In the embodiment of the present application, by providing a unique neck component 100, the connection between the neck component 100 and the head component 200 and the torso component is stable and has a simple structure, which can reduce the difficulty of assembling the humanoid robot.

[0049] The neck assembly 100 in the embodiment of the present application is described in detail below.

[0050] When the humanoid robot is in a state where both feet stand upright on a horizontal plane and the head is looking straight ahead, the first direction is the Z direction, the second direction is the X direction, and the third direction is the Y direction.

[0051] Please refer to Figure 2 and Figure 3 The present application provides a neck assembly 100 for a humanoid robot, wherein the neck assembly 100 includes a rotating head drive member 10, a first connecting member 20, a nodding driving member 30, and a second connecting member 40. The rotating head drive member 10 is used to connect with the trunk assembly of the humanoid robot, the first connecting member 20 includes a first portion 21 and a second portion 22, the first portion 21 and the second portion 22 are connected and form an "L"-shaped structure, the first connecting member 20 is an integrated structure, the first portion 21 is connected to the rotor of the rotating head drive member 10, the rotor of the nodding driving member 30 is connected to the second portion 22, the second connecting member 40 is connected to the stator of the nodding driving member 30, and the second connecting member 40 is also used to connect with the head assembly 200 of the humanoid robot.

[0052] Optionally, the first connector 20 is an integrated structure, that is, the first connector 20 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The first connector 20 can also be a split structure, and the first part 21 and the second part 22 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0053] Similarly, the second connecting member 40 can be an integrated structure or a split structure, and the first connecting member 20 mentioned above can be referred to and will not be described in detail. Optionally, the first connecting member 20 and the second connecting member 40 are made of materials with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc., and metal materials such as aluminum, aluminum alloy, magnesium alloy, iron and iron alloy, etc.

[0054] Optionally, the rotating head drive member 10 and the nodding head drive member 30 can be motors commonly used in the art, such as stepping motors, servo motors, etc., without specific limitation. The rotating head drive member 10 and the nodding head drive member 30 are both roughly cylindrical in shape, which is easy to rotate and not easy to interfere with other components.

[0055] Optionally, the first part 21 and the rotor of the turn drive 10 may be connected by riveting, clamping, screwing, magnetic connection, etc., without specific limitation. The second part 22 and the rotor of the nodding drive 30 may be connected by riveting, clamping, screwing, magnetic connection, etc., without specific limitation. The second connector 40 and the stator of the nodding drive 30 may be connected by riveting, clamping, screwing, magnetic connection, etc., without specific limitation.

[0056] The rotating head driving member 10 is used to drive the overall rotation of the first connecting member 20, the nodding driving member 30 and the second connecting member 40, so as to drive the head assembly 200 to rotate around the first axis E1. The nodding driving member 30 is used to drive the second connecting member 40 to rotate, so as to drive the head assembly 200 to rotate around the second axis E2. The first axis E1 extends along the Z direction, and the second axis E2 extends along the X direction.

[0057] Optionally, the stator of the head-turning driving member 10 is connected and fixed to the torso assembly of the humanoid robot, and the rotor of the head-turning driving member 10 is connected to the first connecting member 20 and drives the first connecting member 20 to rotate relative to the torso assembly. The first connecting member 20 drives the connected nodding driving member 30, and further drives the head assembly 200 to rotate relative to the torso assembly through the second connecting member 40, thereby realizing the head-turning action of the humanoid robot. The rotor of the nodding driving member 30 is connected and fixed to the second part 22 of the first connecting member 20, and the stator of the nodding driving member 30 is connected to the second connecting member 40 and drives the second connecting member 40 to rotate relative to the first connecting member 20. The second connecting member 40 drives the connected head assembly 200 to rotate, thereby realizing the nodding action of the humanoid robot. With such a configuration, the neck assembly 100 can simulate the appearance and movement posture of the human body as much as possible, and the structure is relatively simple and easy to assemble.

[0058] The neck assembly 100 in the embodiment of the present application is provided with a first connecting member 20 and a second connecting member 40. The first part 21 of the first connecting member 20 is connected to the rotor of the turning head drive member 10, the second part 22 is connected to the rotor of the nodding drive member 30, and the second connecting member 40 is connected to the stator of the nodding drive member 30. The turning head drive member 10 drives the first connecting member 20, the nodding drive member 30 and the second connecting member 40 to rotate as a whole to drive the head assembly 200 to rotate around the first axis E1. The nodding drive member 30 drives the head assembly 200 to rotate around the second axis E2 by driving the second connecting member 40 to rotate. The neck assembly 100 can realize the connection of the head assembly 200, the torso assembly, the turning head drive member 10 and the nodding drive member 30 as well as the nodding and turning movements of the humanoid robot through the first connecting member 20 and the second connecting member 40. The structure is simple and easy to assemble.

[0059] Optional, such as Figure 3 , Figure 4 and Figure 5 As shown, the first part 21 includes a connected first plate 23 and a first fixing portion 24, and the second part 22 includes a connected second plate 25 and a second fixing portion 26, the first plate 23 is connected to the second plate 25, and there is a first angle A1 between the first plate 23 and the second plate 25, and the first fixing portion 24 protrudes from the surface of the first plate 23 facing away from the second plate 25, and the second fixing portion 26 protrudes from the surface of the second plate 25 facing the first plate 23.

[0060] Optionally, the first part 21 is an integrated structure, that is, the first connecting plate and the first fixing portion 24 are an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The first part 21 can also be a split structure, and the first connecting plate and the first fixing portion 24 are connected and fixed by welding, riveting, clamping, screwing, etc. Similarly, the structure of the second part 22 is similar to that of the first part 21, and can be referred to and will not be repeated.

[0061] Optionally, the first plate 23 and the second plate 25 may be roughly flat, and the first angle A1 between the first plate 23 and the second plate 25 is the angle between the surface of the first plate 23 facing away from the second plate 25 and the surface of the second plate 25 facing away from the first plate 23. Optionally, the value range of the first angle A1 satisfies: 60°≤A1≤120°. Exemplarily, the value of the first angle A1 can be 60°, 70°, 90°, 110°, 120°, etc., without limitation. Such a configuration makes it easier for the first connecting portion to be connected to the rotating head drive member 10 and the nodding drive member 30 with different axial directions at the same time, which can simplify the structure.

[0062] Optionally, the first fixing portion 24 and the second fixing portion 26 may be cylindrical, prism-shaped, block-shaped, or other irregular shapes, without limitation. Figure 3 As shown, the first fixing portion 24 and the second fixing portion 26 are both cylindrical, and the first fixing portion 24 protrudes from the surface of the first plate 23 facing away from the first plate 23, and the second fixing portion 26 protrudes from the surface of the second plate 25 facing the first plate 23, so as to avoid interference between the rotating head driving member 10 and the first plate 23, and interference between the nodding driving member 30 and the second plate 25. In addition, such an arrangement can, on the one hand, make the structure of the neck assembly 100 more compact, and on the other hand, the center of gravity of the nodding driving member 30 is roughly on the same straight line as the first axis E1 of the rotating head driving member 10, so that the weight distribution of the neck assembly 100 is even and it is not easy to tilt.

[0063] Optional, such as Figure 3 and Figure 6 As shown, the first fixing portion 24 includes a first end surface 241 facing away from the first plate 23, and a first receiving groove 242 is formed from the first end surface 241. The rotor of the turret driving member 10 extends into the first receiving groove 242 and is connected to the bottom wall of the first receiving groove 242. A first receiving groove 11 is formed between the rotor and the stator of the turret driving member 10, and at least a portion of the side wall of the first receiving groove 242 is received in the first receiving groove 11.

[0064] And / or, the second fixed portion 26 includes a second end face 261 facing away from the second plate 25, and a second receiving groove 262 is opened from the second end face 261, and the rotor of the nodding drive member 30 extends into the second receiving groove 262 and is connected to the bottom wall of the second receiving groove 262; a second receiving groove 31 is formed between the rotor and the stator of the nodding drive member 30, and at least a portion of the side wall of the second receiving groove 262 is received in the second receiving groove 31.

[0065] Optionally, the connection between the rotor of the turn drive 10 and the first fixing part 24 can be a clamping connection, a screw connection, a magnetic connection, etc., without specific limitation. The connection between the rotor of the nodding drive 30 and the second fixing part 26 can be a clamping connection, a screw connection, a magnetic connection, etc., without specific limitation.

[0066] Optionally, the shape of the first receiving groove 11 and the shape of the first receiving groove 242 are substantially the same as the shape of the rotor of the turret drive member 10, and may be a circle, a regular polygon, etc., without specific limitation. The sizes of the first receiving groove 11, the first receiving groove 242 and the rotor of the turret drive member 10 in the positive projection in the Z direction decrease successively, and the first receiving groove 11 is formed between the rotor and the stator of the turret drive member 10 to limit the side wall of the first receiving groove 242, and then to limit the first fixing portion 24, and the rotor of the turret drive member 10 extends into the first receiving groove 242 to limit the rotor of the turret drive member 10. With such a configuration, the rotation of the first connecting member 20 relative to the stator of the turret drive member 10 is more stable and not easy to deviate.

[0067] The second receiving groove 31, the second receiving groove 262 and the rotor of the nodding drive member 30 are arranged in a similar manner as described above, and can be referred to without further explanation. The second receiving groove 31 is formed between the rotor and the stator of the nodding drive member 30 to limit the side wall of the second receiving groove 262, and then to limit the second fixing portion 26. The rotor of the nodding drive member 30 extends into the second receiving groove 262 to limit the rotor of the nodding drive member 30. Such an arrangement makes the rotation of the nodding drive member 30 relative to the first connecting member 20 more stable and less likely to deviate.

[0068] Optionally, a surface of the first plate 23 facing the first fixing portion 24 is smoothly connected to a surface of the second plate 25 facing away from the second fixing portion 26 .

[0069] Optional, such as Figure 6 As shown, the first connecting member 20 includes a connecting arc surface 27, which connects the surface of the first plate 23 facing the first fixing portion 24 and the surface of the second plate 25 facing away from the second fixing portion 26, and the connecting arc surface 27 is tangent to the surface of the first plate 23 facing the first fixing portion 24 and the surface of the second plate 25 facing away from the second fixing portion 26, so that the outer sides of the first plate 23 and the second plate 25 are smoothly connected. In this way, on the one hand, the connection between the first plate 23 and the second plate 25 shrinks inward, saving space and avoiding interference with other parts or scratches; on the other hand, since the second plate 25 is subjected to a tensile force on the side facing the second fixing portion 26, the stress will be concentrated on the surface of the second plate 25 facing away from the second fixing portion 26, and the outer sides of the first plate 23 and the second plate 25 are smoothly connected, the stress distribution is relatively uniform, and it is not easy to break.

[0070] Optional, such as Figure 4 As shown, the first plate 23 includes a first portion 231, a second portion 232 and a third portion 233 which are connected in sequence, and the first portion 231, the second portion 232 and the third portion 233 are all connected to the second plate 25, and the thickness of the first portion 231 and the third portion 233 gradually decreases from one end of the first plate 23 connected to the second plate 25 to the end of the first plate 23 connected to the first fixing portion 24.

[0071] Optionally, the first plate 23 is an integrated structure, and in the orthographic projection in the Z direction, the first plate 23 is substantially symmetrical with respect to the second axis E2, that is, the first portion 231 and the third portion 233 are symmetrically arranged, and the second portion 232 is a symmetrical structure.

[0072] Optionally, the thickness of the first part 231 and the third part 233 can be uniformly reduced from one end where the first plate 23 is connected to the second plate 25 to the end where the first plate 23 is connected to the first fixing part 24, that is, in the orthographic projection in the Y direction, the surfaces of the first part 231 and the third part 233 facing away from the first fixing part 24 are straight lines; or, the thickness of the first part 231 and the third part 233 tends to decrease, but the decrease is irregular, that is, in the orthographic projection in the Y direction, the surfaces of the first part 231 and the third part 233 facing away from the first fixing part 24 are broken lines or curves. All of the above methods are acceptable and are not specifically limited.

[0073] By setting the first plate 23 to include a first part 231, a second part 232 and a third part 233 which are connected in sequence and are all connected to the first plate 23, since the weight of the rotary head drive 10, the second connecting member 40 and the head assembly 200 needs to be supported by the first connecting member 20, a greater structural strength is required at the connection between the first plate 23 and the second plate 25. Therefore, at the end where the first plate 23 and the second plate 25 are connected, the thickness of the first part 231 and the third part 233 is greater to increase the structural strength of the first connecting member 20 and improve the connection stability.

[0074] Optional, such as Figure 4 As shown, the first part 231 includes a first surface 234, the second part 232 includes a second surface 235, and the third part 233 includes a third surface 236. The first surface 234, the second surface 235 and the third surface 236 are connected in sequence and together form a surface of the first plate 23 facing away from the first fixed part 24, and the second surface 235 is concave relative to the first surface 234 and the third surface 236.

[0075] Optionally, the first surface 234 and the third surface 236 can be any one or a combination of a plane, a curved surface, and a folded surface, and there is no specific limitation. The second surface 235 is concave relative to the first surface 234 and the third surface 236, and the second surface 235 is a curved surface, so that the nodding drive member 30 and the second connecting member 40 can be avoided, saving space while avoiding interference between the first connecting member 20 and other parts.

[0076] Optional, such as Figure 2 , Figure 4 and Figure 7As shown, the second connecting member 40 includes a cylinder 41 having a receiving cavity 411 , at least part of the nodding driving member 30 and at least part of the second fixing portion 26 are received in the receiving cavity 411 , and the cylinder 41 is connected to the stator of the nodding driving member 30 .

[0077] Optionally, the cylinder 41 is coaxially arranged with the second axis E2 to avoid interference between the rotor and the stator of the nodding drive 30 and the cylinder 41 during relative rotation.

[0078] Optionally, the cylinder 41 is sleeved on at least part of the nodding driver 30 and connected to the stator of the nodding driver 30, and the second fixing portion 26 extends into the receiving cavity 411 of the cylinder 41 and is fixedly connected to the rotor of the nodding driver 30. During the nodding action of the humanoid robot, the rotor of the nodding driver 30 is fixedly connected to the first connecting member 20, the stator of the nodding driver 30 rotates relative to the rotor, and the second connecting member 40 is driven to rotate relative to the first connecting member 20 through the cylinder 41, thereby driving the head assembly 200 to rotate, and completing the nodding action.

[0079] By setting the second connecting member 40 including a cylinder 41, at least a part of the nodding drive member 30 and at least a part of the second fixing part 26 are accommodated in the accommodating cavity 411 of the cylinder 41, the rotor of the nodding drive member 30 is connected to the first connecting member 20, the stator of the nodding drive member 30 rotates relative to the rotor, and the cylinder 41 connected to the stator of the nodding drive member 30 drives the second connecting member 40 to rotate relative to the first connecting member 20, thereby driving the head assembly 200 to rotate to complete the nodding action of the humanoid robot, the second connecting member 40 and the nodding drive member 30 are roughly located between the first connecting member 20 and the head assembly 200, the structure is compact, and space is saved.

[0080] Optional, such as Figure 7 and Figure 8 As shown, the cylinder 41 includes a connecting surface 412 facing the nodding drive member 30. In the orthographic projection in the Z direction, the connecting surface 412 is a first connecting line 413. The end of the first connecting line 413 away from the first fixing portion 24 is located on the side of the first axis E1 away from the second fixing portion 26, and the end of the first connecting line 413 close to the first fixing portion 24 is located on the side of the first axis E1 close to the second fixing portion 26.

[0081] Optionally, the first connection line 413 may be any one or a combination of a straight line, a curve and a broken line, without limitation. Figure 8 As shown, the first connection line 413 is a curve.

[0082] One end of the first connecting line 413 away from the first fixing portion 24 is arranged to be located on a side of the first axis E1 away from the second fixing portion 26, and the cylinder 41 has a mounting position approximately located near the first axis E1 on the side away from the first fixing portion 24, and the mounting position is used to connect with the head assembly 200 so that the center of gravity of the head assembly 200 and the center of gravity of the neck assembly 100 are located on the same straight line, and the center of gravity of the humanoid robot is stable; the end of the first connecting line 413 close to the first fixing portion 24 is arranged to be located on a side of the first axis E1 close to the second fixing portion 26, so as to reduce the dead weight of the second connecting member 40 and avoid interference between the cylinder 41 of the second connecting member 40 and the first connecting member 20 during rotation.

[0083] Optional, such as Figure 7 As shown, the second connecting member 40 also includes a first limiting portion 42 and a second limiting portion 43, which are spaced apart at the end surface of the cylinder 41 facing away from the nodding driving member 30, and are symmetrical relative to the second axis E2.

[0084] Optionally, the second cylinder 41 can be an integrated structure, that is, the second connecting member 40 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The second connecting member 40 can also be a split structure, and the cylinder 41, the first limiting portion 42 and the second limiting portion 43 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0085] Optionally, the shapes of the first limiting portion 42 and the second limiting portion 43 may be a block, a prism, a cylinder or other irregular shapes, etc., which are not specifically limited.

[0086] A first limit portion 42 and a second limit portion 43 are symmetrically arranged on one side of the cylinder 41 facing away from the nodding drive member 30, which can limit the rotation angle of the cylinder 41 relative to the first connecting member 20, simulate the appearance and movement posture of the human body as much as possible, and improve the anthropomorphism of the humanoid robot.

[0087] Optional, such as Figure 2 and Figure 7 As shown, the first limiting portion 42 includes a first abutment surface (not shown in the figure), and the second limiting portion 43 includes a second abutment surface 431. The first abutment surface is opposite to the second abutment surface 431. The first abutment surface or the second abutment surface 431 is used to abut against the first connecting member 20 for limiting, and in the direction from the nodding drive member 30 to the turning drive member 10, the first abutment surface and the second abutment surface 431 are flared.

[0088] In one embodiment, when the humanoid robot is in a state where both feet stand upright on a horizontal plane and the head is looking straight ahead, the first limiting portion 42 is closer to the front side of the humanoid robot in the Y direction, and the second limiting portion 43 is closer to the rear side of the humanoid robot in the Y direction. The first abutting surface and the second abutting surface 431 are arranged opposite to each other. When the head assembly 200 of the humanoid robot rotates forward around the second axis E2, the first abutting surface abuts against the first connecting member 20 to limit the angle of the head assembly 200 rotating forward; similarly, when the head assembly 200 of the humanoid robot rotates backward around the second axis E2, the second abutting surface 431 abuts against the first connecting member 20 to limit the angle of the head assembly 200 rotating backward, which can improve the anthropomorphism of the humanoid robot.

[0089] Optionally, the first abutting surface and the second abutting surface 431 are flared, that is, the first abutting surface and the second abutting surface 431 are both inclined relative to the Z direction, and in the orthographic projection in the Y direction, the end of the first abutting surface close to the head assembly 200 is closer to the second abutting surface 431 than the end of the first abutting surface away from the head assembly 200. The setting method of the second abutting surface 431 refers to the above-mentioned first abutting surface. Such a setting facilitates the first abutting surface or the second abutting surface 431 to be in surface contact with the first connecting member 20 when abutting for limiting, so that the connection is more stable and the limiting effect is good.

[0090] Optional, such as Figure 7 and Figure 8 As shown, the second connecting member 40 also includes a third fixing portion 44, which is connected to the outer peripheral surface of the cylinder 41 on the side facing away from the rotating head driving member 10, and the third fixing portion 44 is used to connect to the head assembly 200 of the humanoid robot; the third fixing portion 44 has an installation axis, which coincides with the first axis E1 and intersects with the second axis E2.

[0091] Optionally, the shape of the third fixing portion 44 can be cylindrical, prism-shaped, block-shaped, irregular, etc., without limitation. Figure 8 As shown, the shape of the third fixing portion 44 is generally funnel-shaped, and is an isosceles trapezoid in the orthographic projection in the Y direction, and the side away from the cylinder 41 is the long side. In this way, the area of ​​the side where the third fixing portion 44 is connected to the cylinder 41 is small, which can reduce the volume of the cylinder 41 and reduce the overall weight of the second connecting member 40. The area of ​​the side where the third fixing portion 44 is connected to the head assembly 200 is large, and the connection with the head assembly 200 is more stable.

[0092] Optionally, the third fixing portion 44 is circular in the orthographic projection in the Z direction, and the installation axis of the third fixing portion 44 coincides with the first axis E1, so that the overall center of gravity of the head component 200 and the neck component 100 is located on the same straight line, and the center of gravity is stable.

[0093] Optional, such as Figure 1 and Fig. 9 As shown, the neck assembly 100 also includes a connecting rod 50, which includes a mounting column 51 and a mounting platform 52. The mounting platform 52 is connected to one end of the mounting column 51 and protrudes from the outer peripheral surface of the mounting column 51. The mounting platform 52 is connected to the third fixing portion 44, and the other end of the mounting column 51 is used to connect to the head assembly 200.

[0094] Optionally, the shape of the mounting column 51 may be cylindrical, prism-shaped, etc., without specific limitation.

[0095] Optionally, the mounting column 51 and the mounting platform 52 may be an integrated structure, and the integrated structure is an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The mounting platform 52 and the third fixing portion 44 may be an integrated structure, or the mounting platform 52 and the third fixing portion 44 may be connected and fixed by riveting, clamping, screwing, magnetic connection, etc., without limitation. The connection method of the connecting rod 50 and the head assembly 200 may be riveting, clamping, screwing, magnetic connection, etc., without limitation.

[0096] Optionally, the mounting column 51 includes a central axis, and the mounting column 51 is centrally symmetrical along the central axis, and the central axis coincides with the mounting axis, so that the center of gravity of the neck is consistent and not easy to tilt.

[0097] Optionally, the connecting rod 50 further includes a reinforcing rib 53, which is disposed on the outer peripheral surface of the mounting column 51 and connects the mounting column 51 and the surface of the mounting platform 52 facing the mounting column 51. The reinforcing rib 53 may be one or more, and is not specifically limited. Fig. 9 As shown, there are multiple reinforcing ribs 53, and the multiple reinforcing ribs 53 are centrally symmetrical with respect to the central axis and are arranged at equal distances.

[0098] By setting the neck component 100 to also include a connecting rod 50, the mounting platform 52 of the connecting rod 50 is connected to the third fixing portion 44, and the other end of the mounting column 51 of the connecting platform away from the mounting platform 52 is used to connect with the head component 200, and the distance between the head component 200 and the neck component 100 is controlled to be appropriate. The head component 200 can be rotated at an appropriate angle along the second axis E2 relative to the neck component 100 to nod, thereby improving the degree of anthropomorphism.

[0099] Optional, such as Figure 1 and Fig.10As shown, the neck assembly 100 also includes a fixed shell 60, and the rotating head driving component 10 is accommodated in the fixed shell 60. One end of the fixed shell 60 is connected to the stator of the rotating head driving component 10, and the other end is used to connect to the torso assembly of the humanoid robot, and there is a gap between the fixed shell 60 and the first plate 23.

[0100] Optionally, the fixed housing 60 and the rotary head driving member 10 may be an integrated structure or a split structure, and the fixed housing 60 and the stator of the rotary head driving member 10 may be connected and fixed by riveting, clamping, screwing, magnetic connection, etc., without specific limitation. The connection between the fixed housing 60 and the torso assembly of the humanoid robot may be riveting, clamping, screwing, magnetic connection, etc., without specific limitation.

[0101] Optionally, the fixed shell 60 is provided with a plurality of weight-reducing holes 61 , which can reduce the weight of the fixed shell 60 .

[0102] By setting the neck component 100 also including a fixed shell 60, one end of the fixed shell 60 is connected to the stator of the rotating head driving component 10, and the other end is used to connect with the torso component of the humanoid robot. The fixed shell 60 can protect the rotating head driving component 10 to avoid bumps, and there is a gap between the fixed shell 60 and the first plate 23 to avoid interference between the rotating head driving component 10 and the first connecting component 20 during the relative rotation process.

[0103] Optional, such as Fig.10 As shown, a third limiting portion 62 is provided at one end of the fixed shell 60 facing the first plate 23, and the third limiting portion 62 includes a third abutting surface 621. The surface of the third limiting portion 62 opposite to the third abutting surface 621 is connected to the outer peripheral surface of the fixed shell 60, and the third abutting surface 621 is used to abut against the first connecting member 20 for limiting.

[0104] Optionally, the third limiting portion 62 and the fixed shell 60 can be an integrated structure or a split structure, and the fixed shell 60 and the third limiting portion 62 are connected and fixed by riveting, clamping, screwing, magnetic attraction, etc., without specific limitation.

[0105] By setting the third limiting portion 62, when the turning head driving member 10 drives the first connecting member 20, the nodding driving member 30 and the second connecting member 40 to rotate as a whole to drive the head assembly 200 to rotate around the first axis E1, the third limiting portion 62 abuts against the first connecting member 20 for limiting, which can limit the rotation angle of the head assembly 200 and has a good anthropomorphic effect.

[0106] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0107] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A neck assembly, characterized in that: For a humanoid robot, the neck assembly comprises: A rotating head driving member, used for connecting with the trunk assembly of the humanoid robot; A first connecting member, comprising a first part and a second part, wherein the first part and the second part are connected and form an "L"-shaped structure, the first connecting member is an integrated structure, the first part is connected to the rotor of the rotary head driving member; the first part comprises a first plate and a first fixing portion connected to each other, the first fixing portion comprises a first end face facing away from the first plate, a first receiving groove is formed from the first end face, the rotor of the rotary head driving member extends into the first receiving groove and is connected to the bottom wall of the first receiving groove; a first receiving groove is formed between the rotor and the stator of the rotary head driving member, and at least a part of the side wall of the first receiving groove is received in the first receiving groove; a nodding drive member, a rotor of which is connected to the second portion; a second connecting member connected to the stator of the nodding driving member, and the second connecting member is also used to connect to the head assembly of the humanoid robot; Among them, the rotating head driving member is used to drive the overall rotation of the first connecting member, the nodding driving member and the second connecting member, so as to drive the head assembly to rotate around a first axis, and the nodding driving member is used to drive the second connecting member to rotate, so as to drive the head assembly to rotate around a second axis, the first axis extends along a first direction, the second axis extends along a second direction, and the first direction is perpendicular to the second direction.

2. The neck assembly according to claim 1, characterized in that The second part includes a connected second plate and a second fixing portion, the first plate is connected to the second plate, an angle is formed between the first plate and the second plate, and the first fixing portion protrudes from a surface of the first plate facing away from the second plate, and the second fixing portion protrudes from a surface of the second plate facing the first plate.

3. The neck assembly according to claim 2, characterized in that The second fixing portion includes a second end face facing away from the second plate, and a second receiving groove is opened from the second end face. The rotor of the nodding drive member extends into the second receiving groove and is connected to the bottom wall of the second receiving groove; a second receiving groove is formed between the rotor and the stator of the nodding drive member, and at least a portion of the side wall of the second receiving groove is received in the second receiving groove.

4. The neck assembly according to claim 2, characterized in that: A surface of the first plate facing the first fixing portion is smoothly connected to a surface of the second plate facing away from the second fixing portion.

5. The neck assembly according to claim 2, characterized in that: The first plate includes a first portion, a second portion, and a third portion that are connected in sequence, and the first portion, the second portion, and the third portion are all connected to the second plate, and the thickness of the first portion and the third portion gradually decreases from an end of the first plate that is connected to the second plate to an end of the first plate that is connected to the first fixing portion.

6. The neck assembly according to claim 5, characterized in that The first part includes a first surface, the second part includes a second surface, and the third part includes a third surface. The first surface, the second surface and the third surface are connected in sequence and together form a surface of the first plate facing away from the first fixing part, and the second surface is concave relative to the first surface and the third surface.

7. The neck assembly according to claim 2, characterized in that: The second connecting member includes a cylinder having a receiving cavity, at least a portion of the nodding driving member and at least a portion of the second fixing portion are received in the receiving cavity, and the cylinder is connected to the stator of the nodding driving member.

8. The neck assembly according to claim 7, characterized in that The cylinder includes a connecting surface facing the nodding drive member. In the orthographic projection in the third direction, the connecting surface is a first connecting line. An end of the first connecting line away from the first fixed part is located on a side of the first axis away from the second fixed part. An end of the first connecting line close to the first fixed part is located on a side of the first axis close to the second fixed part. The third direction is perpendicular to both the first direction and the second direction.

9. The neck assembly according to claim 7, characterized in that: The second connecting member further includes a first limiting portion and a second limiting portion, the first limiting portion and the second limiting portion are spaced apart and arranged on the end surface of the cylinder body facing away from the nodding driving member, and the first limiting portion and the second limiting portion are symmetrical relative to the second axis.

10. The neck assembly according to claim 9, characterized in that The first limiting portion includes a first abutment surface, and the second limiting portion includes a second abutment surface. The first abutment surface is opposite to the second abutment surface. The first abutment surface or the second abutment surface is used to abut against the first connecting member for limiting. In the direction from the nodding drive member to the rotating drive member, the first abutment surface and the second abutment surface are flared.

11. The neck assembly according to claim 7, characterized in that The second connecting member also includes a third fixing portion, which is connected to the outer circumferential surface of the cylinder on the side facing away from the rotating head driving member, and the third fixing portion is used to connect to the head assembly of the humanoid robot; the third fixing portion has an installation axis, which coincides with the first axis and intersects with the second axis.

12. The neck assembly according to claim 11, characterized in that The neck assembly also includes a connecting rod, which includes a mounting column and a mounting platform. The mounting platform is connected to one end of the mounting column and protrudes from the outer circumferential surface of the mounting column. The mounting platform is connected to the third fixing portion, and the other end of the mounting column is used to connect to the head assembly.

13. The neck assembly according to claim 2, characterized in that The neck assembly also includes a fixed shell, the rotating head drive component is accommodated in the fixed shell, one end of the fixed shell is connected to the stator of the rotating head drive component, and the other end is used to connect to the torso assembly of the humanoid robot, and there is a gap between the fixed shell and the first plate.

14. The neck assembly according to claim 13, characterized in that A third limiting portion is provided at one end of the fixed shell facing the first plate, and the third limiting portion includes a third abutting surface. The surface of the third limiting portion opposite to the third abutting surface is connected to the outer peripheral surface of the fixed shell, and the third abutting surface is used to abut against the first connecting member for limiting.

15. A humanoid robot, characterized in that: It comprises a head component, a torso component and a neck component according to any one of claims 1 to 14, wherein the neck component is connected to the head component and the torso component.

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