Modular head assembly and humanoid robot with same

Abstract

The invention discloses a modular head assembly, and relates to the technical field of humanoid robots, and the modular head assembly comprises a head shell which comprises a top shell, a head shell and a neck shell, and the top shell, the head shell and the neck shell are in butt joint in sequence to form the hollow head shell; the head assembly is fixedly arranged in the head shell; wherein a first butt joint face and a second butt joint face are formed between the top shell and the head shell, and the included angle between the first butt joint face and the second butt joint face is larger than or equal to 90 degrees; a third butt joint face and a fourth butt joint face are formed between the head shell and the neck shell, and the included angle between the first butt joint face and the second butt joint face is larger than or equal to 90 degrees. Two connecting surfaces in different directions are formed between the top shell and the head shell as well as between the head shell and the neck shell, so that the contact area between two adjacent shells is increased, and the problem of poor connection stability caused by connection in a single direction is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a modular head assembly and a humanoid robot having the modular head assembly. Background Art

[0002] At present, humanoid robots have good mobility when facing complex terrain, so the research and development of humanoid robots has received more and more attention in recent years. In order for humanoid robots to imitate the appearance and movement of the human body, humanoid robots need to use head vision cameras for auxiliary visual positioning, so the structural design of the head module of humanoid robots is particularly important.

[0003] The head in the prior art is usually connected to various motors through an internal skeleton, and then the covering shell is installed. The head shell is connected along a single direction, the connection is not stable enough, and there are also problems such as complicated assembly procedures, repeated testing, deployment and replacement, inaccurate position sampling and increased costs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a modular head assembly and a humanoid robot having the modular head assembly.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows: A modular head assembly comprising: The head shell comprises a top shell, a head shell and a neck shell, wherein the top shell, the head shell and the neck shell are connected in sequence to form a hollow head shell; A head assembly, fixedly disposed in the head shell; Wherein, after the top shell is docked with the head shell, a first docking surface and a second docking surface are formed between the top shell and the head shell, and the angle between the first docking surface and the second docking surface is greater than or equal to 90°; after the head shell is docked with the neck shell, a third docking surface and a fourth docking surface are formed between the head shell and the neck shell, and the angle between the first docking surface and the second docking surface is greater than or equal to 90° As a preferred solution of the modular head assembly of the present invention, wherein: the second opening portion is provided with a first annular flange protruding outward, and the third opening portion is provided with a second annular flange protruding outward; After the top shell is docked with the head shell, the docking gap between the first opening and the second opening is located on the outside of the first annular flange. After the head shell is docked with the neck shell, the docking gap between the third opening and the fourth opening is located on the outside of the second annular flange.

[0006] As a preferred solution of the modular head assembly of the present invention, the head assembly includes a mounting seat fixedly mounted in the head shell, a column fixedly mounted on the mounting seat, a first mounting frame fixedly mounted on the column, and a visual camera assembly arranged on the first mounting frame; One side of the head shell is set as a face, and the face is provided with a placement groove, and the end of the visual camera assembly is located in the placement groove.

[0007] As a preferred solution of the modular head assembly of the present invention, a transmission gear is coaxially fixedly installed on the outer side of the column, a magnetic encoding gear is rotatably installed on the mounting seat, and the magnetic encoding gear is meshed with the transmission gear.

[0008] As a preferred solution of the modular head assembly of the present invention, the upper end of the first mounting frame is hinged with a second mounting frame, and the hinge axis between the second mounting frame and the first mounting frame extends in the horizontal direction, the visual camera assembly is fixedly mounted on the second mounting frame, and the first mounting frame is provided with a flip driving assembly for driving the second mounting frame to flip around the hinge axis; The flip drive assembly includes a servo motor fixedly installed in the first mounting frame, a transmission plate driven by the servo motor, a first hinged portion fixedly arranged on the transmission plate, a second hinged portion fixedly arranged at the lower end of the second mounting frame, and a transmission rod; the axis of the transmission plate extends in a horizontal direction, the first hinged portion is located at a non-center position of the transmission plate, one end of the transmission rod is hinged to the first hinged portion, and the other end of the transmission rod is hinged to the second hinged portion.

[0009] As a preferred solution of the modular head assembly of the present invention, a magnetic axis reading device for detecting its own rotation angle is provided on the hinge axis between the second mounting frame and the first mounting frame.

[0010] As a preferred solution of the modular head assembly described in the present invention, wherein: a support frame is fixedly mounted on the second mounting frame, the visual camera assembly is fixedly mounted on the support frame, and the angle between the shooting direction of the visual camera assembly and the plane where the second mounting frame is located is an acute angle.

[0011] As a preferred solution of the modular head assembly of the present invention, the mounting seat is fixedly mounted on the lower end of the neck shell, and the mounting seat is driven by a driving device located outside the head shell and rotates around the axis of the column.

[0012] As a preferred solution of the modular head assembly described in the present invention, the neck shell includes a neck rubber, and the neck rubber is provided with a plurality of deformation grooves on a side away from the head shell face portion and / or a side facing the head shell face portion, and the plurality of deformation grooves are arranged in sequence along the vertical direction.

[0013] The present invention also provides a humanoid robot, comprising the modular head assembly described in any one of the above items.

[0014] The beneficial effects of the present invention are: (1) The present invention forms two connection surfaces in different directions between the top shell and the head shell and between the head shell and the neck shell, thereby not only increasing the contact area between two adjacent shells and improving the connection stability between the shells, but also avoiding the problem of poor connection stability caused by connection along a single direction.

[0015] (2) The present invention has a plurality of deformation grooves on the side of the neck rubber away from the head shell face and / or on the side facing the head shell face. These deformation grooves are used to release the deformation of the head assembly during pitch and roll rotation.

[0016] (3) The present invention drives the mounting seat to rotate around the axis of the column through a driving device located outside the head shell, thereby driving the head assembly and the head shell to rotate left and right synchronously, thereby realizing the left and right turning action of the humanoid robot head assembly. At the same time, a magnetic encoding gear is rotatably installed on the mounting seat, and the magnetic encoding gear is meshed with the transmission gear. When the column rotates, it will drive the transmission gear to rotate synchronously, and drive the magnetic encoding gear to rotate synchronously, thereby realizing the rotation feedback of the head assembly, making the position sampling accuracy of the modular head assembly higher.

[0017] (4) The present invention drives the second mounting frame to swing up and down around the hinge axis through the flip driving assembly, drives the head shell to swing up and down, and then drives the entire head shell to swing up and down, so as to realize the movement of the humanoid robot head assembly to raise and lower the head. At the same time, a magnetic axis reading device for detecting its own rotation angle is provided on the hinge axis between the second mounting frame and the first mounting frame. The magnetic axis reading device can detect the rotation angle of the hinge axis, so as to accurately obtain the pitch angle of the humanoid robot head assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0019] Figure 1A schematic diagram of the structure of a modular head assembly provided in Example 1; Figure 2 An exploded view of the structure of the modular head assembly provided in Example 1; Figure 3 A schematic diagram of the structure of the top shell of the modular head assembly provided in Example 1; Figure 4 A schematic diagram of the structure of a head shell in a modular head assembly provided in Example 1; Figure 5 A schematic diagram of the structure of the neck shell in the modular head assembly provided in Example 1; Figure 6 A schematic structural diagram of a head assembly in a modular head assembly provided in Example 1; Figure 7 A schematic structural diagram of a head assembly from another perspective in the modular head assembly provided in Example 1; Wherein: 100, head shell; 110, top shell; 120, head shell; 130, neck shell; 111, first edge; 112, second edge; 121, third edge; 122, fourth edge; 140, first docking surface; 150, second docking surface; 123, fifth edge; 124, sixth edge; 131, seventh edge; 132, eighth edge; 133, deformation groove; 160, third docking surface; 170, fourth docking surface; 125, first annular flange; 126, second annular flange shaped flange; 127, placement groove; 128, first connecting part; 200, head assembly; 210, mounting seat; 220, column; 221, transmission gear; 230, first mounting bracket; 240, visual camera assembly; 211, magnetic encoding gear; 250, second mounting bracket; 251, second hinged part; 252, support frame; 253, second connecting part; 260, servo motor; 270, transmission disk; 271, first hinged part; 280, transmission rod; 290, magnetic encoding shaft reading device. DETAILED DESCRIPTION

[0020] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific implementation modes and in combination with the accompanying drawings.

[0021] Embodiment 1: Figure 1 This is a schematic structural diagram of a modular head assembly provided in this embodiment. The device includes a head shell 100 and a head assembly 200 disposed in the head shell 100.

[0022] Specifically, the head shell 100 includes a top shell 110, a head shell 120 and a neck shell 130. The top shell 110, the head shell 120 and the neck shell 130 are sequentially connected from top to bottom to form a hollow head shell 100. The receiving space in the head shell 100 is used to receive the head assembly 200.

[0023] The top shell 110 is detachably connected to the upper end of the head shell 120. Figure 2 A first opening is provided at one end of the top shell 110 facing the head shell 120, and the first opening has a first edge 111 and a second edge 112, the first edge 111 and the second edge 112 are connected to form a closed shape that surrounds the first opening. A second opening is provided at one end of the head shell 120 facing the top shell 110, and the second opening has a third edge 121 and a fourth edge 122, the third edge 121 and the fourth edge 122 are connected to form a closed shape that surrounds the second opening. After the top shell 110 is docked with the head shell 120, the first edge 111 is docked with the third edge 121 to form a first docking surface 140; the second edge 112 is docked with the fourth edge 122 to form a second docking surface 150. A smooth connection between the first docking surface 140 and the second docking surface 150. The second docking surface 150 is parallel to the horizontal plane, and the first docking surface 140 is parallel to the vertical plane or slightly inclined, so that the angle between the first docking surface 140 and the second docking surface 150 is greater than or equal to 90°.

[0024] The neck shell 130 is fixedly connected to the lower end of the head shell 120. A third opening is provided at one end of the head shell 120 facing the neck shell 130, and the third opening has a fifth edge 123 and a sixth edge 124, and the fifth edge 123 is connected to the sixth edge 124 to form a closed shape that surrounds the third opening. A fourth opening is provided at one end of the neck shell 130 facing the head shell 120, and the fourth opening has a seventh edge 131 and an eighth edge 132, and the seventh edge 131 is connected to the eighth edge 132 to form a closed shape that surrounds the fourth opening. After the neck shell 130 is docked with the head shell 120, the fifth edge 123 is docked with the seventh edge 131 to form a third docking surface 160; the sixth edge 124 is docked with the eighth edge 132 to form a fourth docking surface 170. A smooth connection between the third docking surface 160 and the fourth docking surface 170. The included angle between the third butt joint surface 160 and the fourth butt joint surface 170 is greater than 90°.

[0025] By forming two connecting surfaces in different directions between the top shell 110 and the head shell 120 and between the head shell 120 and the neck shell 130, not only the contact area between the two adjacent shells is increased and the connection stability between the shells is improved, but also the problem of poor connection stability caused by connection along a single direction is avoided.

[0026] In this embodiment, the neck shell includes a neck rubber, and the neck rubber is bonded to the lower end of the head shell 120 by curing the backing glue.

[0027] The head assembly 200 is used to realize auxiliary visual positioning of the humanoid robot through the visual camera assembly 240. Figure 6 and Figure 7 The head assembly 200 includes a mounting seat 210, and a column 220 extending in the vertical direction is fixedly mounted in the middle of the upper end surface of the mounting seat 210. A first mounting frame 230 is fixedly mounted on the upper end of the column 220. A second mounting frame 250 is hinged on the first mounting frame 230. The visual camera assembly 240 is fixedly mounted on the second mounting frame 250.

[0028] Specifically, the mounting seat 210 is fixedly mounted on the lower end of the neck rubber. The mounting seat 210 is driven by a driving device located outside the head shell 100, and rotates around the axis of the column 220 under the drive of the driving device, thereby driving the head assembly 200 and the head shell 100 to rotate left and right synchronously, realizing the movement of the humanoid robot head assembly 200 turning left and right.

[0029] Better, see Figure 7 A transmission gear 221 is fixedly mounted on the outer side of the column 220, and the transmission gear 221 is coaxially arranged with the column 220 and rotates synchronously with the column 220. In addition, a magnetic encoding gear 211 is rotatably mounted on the mounting seat 210, and the magnetic encoding gear 211 is meshed with the transmission gear 221. When the column 220 rotates, it will drive the transmission gear 221 to rotate synchronously, and drive the magnetic encoding gear 211 to rotate synchronously, thereby realizing the rotation feedback of the head assembly 200, so that the position sampling accuracy of the modular head assembly 200 is higher.

[0030] The second mounting frame 250 is fixedly mounted with a support frame 252, and the visual camera assembly 240 is fixedly mounted on the second mounting frame 250 through the support frame 252. Figure 6 , the angle between the shooting direction of the visual camera assembly 240 and the plane where the second mounting bracket 250 is located is an acute angle. In the initial state, the plane where the second mounting bracket 250 is located is parallel to the horizontal plane, and the shooting direction of the visual camera assembly 240 is tilted downward.

[0031] Preferably, one side of the head shell 120 is set as the face, and the face is set relatively flat, imitating the facial structure of the human body, and the anthropomorphic effect is good. A placement groove 127 is opened on the face, and the end of the visual camera assembly 240 is fixedly installed in the placement groove 127, and the cameras of the visual camera assembly 240 are all located outside the head shell 120 to achieve visual assistance.

[0032] The hinge axis between the second mounting frame 250 and the first mounting frame 230 extends in the horizontal direction, so when the second mounting frame 250 rotates around the hinge axis, it will drive the visual camera assembly 240 thereon to swing up and down, so as to obtain the field of view of different areas and realize the action effect of the humanoid robot raising its head and lowering its head. A flip driving assembly for driving the second mounting frame 250 to flip around the hinge axis is arranged in the first mounting frame 230. The flip driving assembly includes a servo motor 260 fixedly mounted in the first mounting frame 230, and the rotating shaft of the servo motor 260 extends in the horizontal direction. A transmission disk 270 is rotatably mounted on one side of the first mounting frame 230, and the transmission disk 270 is connected to the servo motor 260 by driving, and the axis of the rotating disk coincides with the axis of the rotating shaft of the servo motor 260. When the servo motor 260 is running, it can drive the transmission disk 270 to rotate around its own axis. A first hinged portion 271 is fixedly arranged on the end surface of the transmission disk 270, and the first hinged portion 271 is located at the edge of the transmission disk 270, which is a non-center position. A second hinged portion 251 is fixedly disposed on the lower end surface of the second mounting frame 250. The first hinged portion 271 and the second hinged portion 251 are transmitted via a transmission rod 280. One end of the transmission rod 280 is hinged to the first hinged portion 271, and the other end of the transmission rod 280 is hinged to the second hinged portion 251, and the plane where the transmission rod 280 is located is parallel to the vertical plane.

[0033] Better, see Figure 4 , a plurality of first connecting parts 128 are fixedly disposed on the inner side of the head shell 120. Figure 6 A plurality of second connecting parts 253 are fixedly arranged on the side of the second mounting frame 250. Each second connecting part 253 is fixedly connected to the adjacent first connecting part 128, so that the second mounting frame 250 is fixedly installed in the head shell 120.

[0034] When the servo motor 260 is running, it drives the transmission plate 270 to rotate around its own axis, so that the first hinge part 271 rotates around the center of the transmission plate 270. At this time, the transmission of the transmission rod 280 drives the second hinge part 251 to rise or fall, and then drives the second mounting frame 250 to swing up and down around the hinge axis between it and the first mounting frame 230. The up and down swinging of the second mounting frame 250 around the hinge axis drives the head shell 120 to swing up and down, and then drives the entire head shell 100 to swing up and down, so that the humanoid robot head assembly 200 can raise and lower its head.

[0035] Better, see Figure 5 A plurality of deformation grooves 133 are provided on the side of the neck rubber away from the face of the head shell 120 and / or on the side facing the face of the head shell 120. The plurality of deformation grooves 133 are arranged in sequence along the vertical direction. These deformation grooves 133 are used to release the deformation of the head assembly 200 during pitching and rotation.

[0036] Preferably, a magnetic axis reading device 290 for detecting its own rotation angle is provided on the hinge axis between the second mounting frame 250 and the first mounting frame 230. The magnetic axis reading device 290 can detect the rotation angle of the hinge axis, thereby accurately obtaining the pitch angle of the humanoid robot head assembly 200.

[0037] In addition, a speaker is fixedly arranged in the head shell 100. One or more speakers may be arranged. At the same time, a sound expansion hole may be opened at a position corresponding to the speaker on the head shell 100 to facilitate the expansion of the speaker sound. In this embodiment, the speaker is fixedly mounted on the top shell 110.

[0038] Embodiment 2: This embodiment provides a humanoid robot, comprising a modular torso assembly and the modular head assembly 200 provided in Embodiment 1. The modular torso assembly comprises a torso shell and a drive device at least partially accommodated in the torso shell. The drive device is connected to the modular head assembly, so as to realize the humanoid neck movement of the modular humanoid robot, and the humanoid neck movement has a good humanoid effect.

[0039] Therefore, the technical solution of the present application forms two connection surfaces in different directions between the top shell and the head shell and between the head shell and the neck shell, which not only increases the contact area between the two adjacent shells and improves the connection stability between the shells, but also avoids the problem of poor connection stability caused by connection in a single direction. At the same time, the driving component can drive the head assembly to turn left and right, raise and lower the head, and realize auxiliary visual positioning of different areas.

[0040] In addition to the above embodiments, the present invention may also have other implementation modes; any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present invention.

Claims

1. A modular head assembly, characterized in that: include: A head shell (100) comprises a top shell (110), a head shell (120) and a neck shell, wherein the top shell (110), the head shell (120) and the neck shell are connected in sequence to form a hollow head shell (100); A head assembly (200) is fixedly disposed in the head shell (100); Wherein, after the top shell (110) is docked with the head shell (120), a first docking surface (140) and a second docking surface (150) are formed between the top shell (110) and the head shell (120), and an angle between the first docking surface (140) and the second docking surface (150) is greater than or equal to 90°; after the head shell (120) is docked with the neck shell (130), a third docking surface (160) and a fourth docking surface (170) are formed between the head shell (120) and the neck shell (130), and an angle between the first docking surface (140) and the second docking surface (150) is greater than or equal to 90°.

2. The modular head assembly according to claim 1, characterized in that: The second opening is provided with a first annular flange (125) protruding outward, and the third opening is provided with a second annular flange (126) protruding outward; After the top shell (110) is docked with the head shell (120), the docking gap between the first opening and the second opening is located on the outside of the first annular flange (125); after the head shell (120) is docked with the neck shell, the docking gap between the third opening and the fourth opening is located on the outside of the second annular flange (126).

3. The modular head assembly according to claim 1, characterized in that: The head assembly (200) comprises a mounting seat (210) fixedly mounted in the head housing (100), a column (220) fixedly mounted on the mounting seat (210), a first mounting frame (230) fixedly mounted on the column (220), and a visual camera assembly (240) arranged on the first mounting frame (230); One side of the head shell (120) is arranged as a face, and a placement groove (127) is provided on the face, and an end of the visual camera assembly (240) is fixedly arranged in the placement groove (127).

4. The modular head assembly according to claim 3, characterized in that: A transmission gear (221) is coaxially fixedly mounted on the outer side of the column (220), a magnetic encoding gear (211) is rotatably mounted on the mounting seat (210), and the magnetic encoding gear (211) is meshed with the transmission gear (221).

5. The modular head assembly according to claim 3, characterized in that: A second mounting frame (250) is hingedly connected to the upper end of the first mounting frame (230), and a hinge axis between the second mounting frame (250) and the first mounting frame (230) extends in a horizontal direction, the visual camera assembly (240) is fixedly mounted on the second mounting frame (250), and a flip driving assembly for driving the second mounting frame (250) to flip around the hinge axis is arranged in the first mounting frame (230); The flip driving assembly comprises a servo motor (260) fixedly mounted in the first mounting frame (230), a transmission plate (270) drivingly connected to the servo motor (260), a first hinged portion (271) fixedly arranged on the transmission plate (270), a second hinged portion (251) fixedly arranged at the lower end of the second mounting frame (250), and a transmission rod (280), wherein the axis of the transmission plate (270) extends in a horizontal direction, the first hinged portion (271) is located at a non-center position of the transmission plate (270), one end of the transmission rod (280) is hinged to the first hinged portion (271), and the other end of the transmission rod (280) is hinged to the second hinged portion (251).

6. The modular head assembly according to claim 5, characterized in that: A magnetically encoded rotation axis reading device (290) for detecting its own rotation angle is arranged on the hinge axis between the second mounting frame (250) and the first mounting frame (230).

7. The modular head assembly according to claim 5, characterized in that: A support frame (252) is fixedly mounted on the second mounting frame (250), the visual camera assembly (240) is fixedly mounted on the support frame (252), and an angle between a shooting direction of the visual camera assembly (240) and a plane where the second mounting frame (250) is located is an acute angle.

8. The modular head assembly according to claim 3 is characterized in that: The mounting seat (210) is fixedly mounted on the lower end of the neck shell; the mounting seat (210) is driven by a driving device located outside the head shell (100) and rotates around the axis of the column (220).

9. The modular head assembly according to claim 1, characterized in that: The neck shell comprises a neck rubber, and a plurality of deformation grooves (133) are provided on the side of the neck rubber away from the face of the head shell (120) and / or on the side facing the face of the head shell (120), and the plurality of deformation grooves (133) are arranged in sequence along the vertical direction.

10. A humanoid robot, characterized in that: Comprising the modular head assembly as described in any one of claims 1 to 9.

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