Compact robot three-degree-of-freedom head and neck device

Abstract

The compact robot three-degree-of-freedom head and neck device is compact in structure and light in weight. The axes of rotating shafts of the yaw power module, the transverse rolling force module and the pitching power module intersect at one point. The pitching power output turntable and the pitching shaft are oppositely arranged on the neck base, the pitching base is arranged between the pitching power output turntable and the pitching shaft, and a stepped shaft of the pitching shaft is nested in an inner ring of the first deep groove ball bearing and is locked; the transverse rolling force module is fixed on the pitching base, the transverse rolling force output turntable is connected with the transverse rolling base and drives the transverse rolling base to do transverse rolling motion, and a stepped shaft of the transverse rolling shaft is nested in an inner ring of a second deep groove ball bearing and is fixed on the transverse rolling base; the yawing power output rotating disc is connected with the yawing base and drives the yawing base to do yawing motion, and a third deep groove ball bearing is nested on the rolling base; the fisheye camera is arranged above the yaw power module and on the lower portion in the head shell, the 3D camera and the laser radar are arranged on the upper portion in the head shell, and the microphone array plate is arranged on the top in the head shell.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid robots, and in particular to a compact robot three-degree-of-freedom head and neck device. Background Art

[0002] Neck joints are crucial for humanoid robots to mimic human behavior and emotional expression. Through the rotation and tilt of the neck, the robot can simulate human behaviors such as tilting the head when curious, nodding when understanding, and maintaining eye contact during communication. These movements not only make the robot look more natural and human, but also enhance the interactivity and affinity between humans and machines, making it easier for humanoid robots to integrate into human work and living spaces.

[0003] The flexibility and precision of the neck joint are very important for the robot to interact with the environment. The neck usually integrates sensors such as cameras and microphones, which need to maintain stable and accurate positioning as the neck moves. For example, in a complex environment, the robot needs to adjust the angle of the camera by turning the neck to better observe the surrounding environment, or capture the direction of the sound source through the microphone. This ability is crucial for the application of robots in service, rescue and other scenarios.

[0004] In industrial manufacturing, robots can complete complex operational tasks through flexible neck movements. In the medical field, humanoid robots can assist medical staff in patient care and communicate more naturally with patients through neck movements. In the service industry, humanoid robots can serve as waiters or receptionists, and improve the friendliness of service through neck movements. In rescue scenarios, humanoid robots can move flexibly in complex environments and better observe and locate trapped people through the rotation of their necks.

[0005] Therefore, the neck device of the robot is extremely important. However, simulating the complex structure of the human neck is a huge technical challenge. The human neck is composed of multiple vertebrae, each of which provides multiple degrees of freedom, making it very complicated to replicate this structure, resulting in huge volume and a sharp increase in weight. Summary of the invention

[0006] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to provide a compact robot three-degree-of-freedom head and neck device with a compact structure and light weight.

[0007] The technical solution of the present invention is: this compact robot three-degree-of-freedom head and neck device comprises: a head shell (1), a yaw power module (2), a roll force module (3), a pitch power module (4), a neck base (5), a microphone array plate (6), a fisheye camera (7), a 3D camera (81), and a laser radar (82), wherein the axes of rotation of the yaw power module, the roll force module, and the pitch power module intersect at one point;

[0008] The neck base is fixed on the humanoid robot, and the pitch power module comprises: a pitch power output turntable (41), a pitch axis (42), and a pitch base (43). The pitch power output turntable and the pitch axis are arranged opposite to each other on the neck base, and the pitch base is located between the two. A first deep groove ball bearing (91) is installed on the pitch base, and the stepped shaft of the pitch axis is embedded in the inner ring of the first deep groove ball bearing and locked.

[0009] The roll force module is fixed on the pitch base, and comprises: a roll force output turntable (31), a roll shaft (32), and a roll base (33). The roll force output turntable is connected to the roll base and drives the roll base to perform a roll motion. A second deep groove ball bearing (92) is installed on the pitch base, and a stepped shaft of the roll shaft is embedded in the inner ring of the second deep groove ball bearing and fixed on the roll base.

[0010] The yaw power module is fixed on the rolling base, and the yaw power module comprises: a yaw power output turntable (21) and a yaw base (22). The yaw power output turntable is connected to the yaw base and drives the yaw base to perform yaw movement. A third deep groove ball bearing is embedded on the rolling base.

[0011] The fisheye camera is above the yaw power module and at the lower part of the head shell, the 3D camera and lidar are at the upper part of the head shell, and the microphone array board is at the top of the head shell.

[0012] The robot three-degree-of-freedom head and neck device of the present invention highly integrates various visual and acoustic systems, has a compact structure and is light in weight. These sensors can achieve more comprehensive environmental perception through the flexible movement of the head and neck. The camera can scan the surrounding environment as the neck rotates, and the microphone can capture sounds from different directions, so that the humanoid robot can perceive the surrounding environment more accurately. This multimodal perception capability is an important basis for the robot's autonomy, enabling it to make more reasonable decisions in complex environments. The use of deep groove ball bearings can bear the axial force and radial force generated by the base under external forces, and can improve the rotational motion accuracy of the base. The 3D camera is placed above the field of view of the laser radar, which does not affect the field of view angle of the laser radar, and can also maximize the field of view angle range of the 3D camera. The axes of the rotation axes of the yaw power module, the roll force module, and the pitch power module intersect at one point, which can make the movement effect of the entire neck more bionic. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of a compact robot three-degree-of-freedom head and neck device according to the present invention.

[0014] Figure 2 It is a schematic structural diagram of a pitch power module according to the present invention.

[0015] Figure 3 Schematic diagram of the structure of the rolling force module according to the present invention.

[0016] Figure 4 It is a schematic structural diagram of a yaw power module according to the present invention.

[0017] Figure 5 yes Figure 1 Schematic diagram of the structure without the head shell. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] In order to make the description of the present disclosure more detailed and complete, the following provides an illustrative description of the implementation and specific embodiments of the present invention; however, this is not the only form of implementing or using the specific embodiments of the present invention. The implementation covers the features of multiple specific embodiments and the method steps and sequences used to construct and operate these specific embodiments. However, other specific embodiments can also be used to achieve the same or equivalent functions and step sequences.

[0020] like Figure 1-Figure 5 As shown, this compact robot three-DOF head and neck device includes: a head shell 1, a yaw power module 2, a roll force module 3, a pitch power module 4, a neck base 5, a microphone array board 6, a fisheye camera 7, a 3D camera 81, and a laser radar 82. The axes of rotation of the yaw power module, the roll force module, and the pitch power module intersect at one point.

[0021] The neck base is fixed on the humanoid robot, and the pitch power module includes: a pitch power output turntable 41, a pitch axis 42, and a pitch base 43. The pitch power output turntable and the pitch axis are arranged relatively on the neck base with the pitch base between them. A first deep groove ball bearing 91 is installed on the pitch base, and the stepped shaft of the pitch axis is embedded in the inner ring of the first deep groove ball bearing and locked;

[0022] The rolling force module is fixed on the pitch base, and the rolling force module includes: a rolling force output turntable 31, a rolling shaft 32, and a rolling base 33. The rolling force output turntable is connected to the rolling base and drives the rolling base to perform rolling motion. A second deep groove ball bearing 92 is installed on the pitch base, and the stepped shaft of the rolling shaft is embedded in the inner ring of the second deep groove ball bearing and fixed on the rolling base.

[0023] The yaw power module is fixed on the roll base, and the yaw power module includes: a yaw power output turntable 21 and a yaw base 22. The yaw power output turntable and the yaw base are connected and drive the yaw base to perform yaw movement. A third deep groove ball bearing is embedded on the roll base; the fisheye camera is above the yaw power module and at the lower part of the head shell, the 3D camera and laser radar are at the upper part of the head shell, and the microphone array board is at the top of the head shell.

[0024] The robot three-degree-of-freedom head and neck device of the present invention highly integrates various visual and acoustic systems, has a compact structure and is light in weight. These sensors can achieve more comprehensive environmental perception through the flexible movement of the head and neck. The camera can scan the surrounding environment as the neck rotates, and the microphone can capture sounds from different directions, so that the humanoid robot can perceive the surrounding environment more accurately. This multimodal perception capability is an important basis for the robot's autonomy, enabling it to make more reasonable decisions in complex environments. The use of deep groove ball bearings can bear the axial force and radial force generated by the base under external forces, and can improve the rotational motion accuracy of the base. The 3D camera is placed above the field of view of the laser radar, which does not affect the field of view angle of the laser radar, and can also maximize the field of view angle range of the 3D camera. The axes of the rotation axes of the yaw power module, the roll force module, and the pitch power module intersect at one point, which can make the movement effect of the entire neck more bionic.

[0025] Of course, the yaw power module, the roll force module, and the pitch power module can all be replaced with cylindrical joint modules.

[0026] Preferably, the neck base has a mechanical limit area 51. This structure has a limit effect, avoiding the collision between the high-transmittance optical head cover and the fuselage due to excessive pitch, and can well protect the head and neck and its internal components.

[0027] Preferably, the third deep groove ball bearing is fixed by a retaining ring 23 through the hole to prevent axial movement.

[0028] Preferably, the neck base is fixed to the humanoid robot by fastening screws 20, the pitch power module is fixed to the neck base by fastening screws 20, the pitch axis is locked by fastening screws 20, the roll force module is fixed to the pitch base by fastening screws 20, the roll axis is fixed to the roll base by fastening screws 20, the yaw power module is fixed to the roll base by fastening screws 20, and the 3D camera is fixed to the support frame by fastening screws 20. The fastening screw connection method occupies less space, has a reliable connection, and is low in cost.

[0029] Preferably, the neck base, the pitch base, and the roll base are all provided with a wiring groove 10 for hollow wiring, so as to avoid pulling of the wiring harness.

[0030] Preferably, the 3D camera is fixed on the support frame, and the laser radar is hung upside down in the support frame. The laser radar has a wide market angle range, and there is no obstruction in front and behind, which can improve the emergency avoidance ability of the humanoid robot. The laser radar can be selected with a single-direction field of view, so that the 3D camera and the laser radar can be placed side by side.

[0031] Preferably, a camera base plate 24 is fixed laterally to the yaw base, a fisheye camera is fixed on the camera base plate, a support frame 25 is fixed on the yaw base, an expansion board bracket 26 is fixed on the support frame, and a USB expansion board for power supply and communication of the fisheye camera is arranged on the expansion board bracket. The fisheye camera covers a 360-degree field of view, improving the visual ability of the humanoid robot. The number of fisheye cameras can be reduced as needed, and the arrangement can also be changed. The fisheye camera can be fixed directly on the yaw base or on the support frame.

[0032] Preferably, the noise reduction plate 27 is mounted on the support frame by fastening screws.

[0033] Preferably, a sound insulation cotton bracket 61 is installed on the support frame, the sound insulation cotton 62 is fixed on the sound insulation cotton bracket, and the microphone array board is glued to the sound insulation cotton. The sound insulation cotton can not only be used to place the microphone array board, but also can be used for sound insulation to prevent the noise generated during the movement of the neck power module from interfering with the acoustic recognition effect.

[0034] Preferably, the head shell is a highly transparent optical head cover, and the sound insulation cotton and the highly transparent optical head cover are tightly matched to achieve a sound insulation effect. The highly transparent optical head cover can be made into two parts, the upper part is used as a sound insulation chamber, so that the microphone array can be placed separately in the top area of ​​the upper part.

[0035] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A compact three-DOF head and neck device for a robot, characterized in that: It includes: A head shell (1), a yaw power module (2), a roll force module (3), a pitch power module (4), a neck base (5), a microphone array plate (6), a fisheye camera (7), a 3D camera (81), and a laser radar (82), wherein the axes of rotation of the yaw power module, the roll force module, and the pitch power module intersect at one point; The neck base is fixed on the humanoid robot, and the pitch power module comprises: a pitch power output turntable (41), a pitch axis (42), and a pitch base (43). The pitch power output turntable and the pitch axis are arranged opposite to each other on the neck base, and the pitch base is located between the two. A first deep groove ball bearing (91) is installed on the pitch base, and the stepped shaft of the pitch axis is embedded in the inner ring of the first deep groove ball bearing and locked. The roll force module is fixed on the pitch base, and comprises: a roll force output turntable (31), a roll shaft (32), and a roll base (33); the roll force output turntable is connected to the roll base and drives the roll base to perform a roll motion; a second deep groove ball bearing (92) is installed on the pitch base; a stepped shaft of the roll shaft is embedded in the inner ring of the second deep groove ball bearing and fixed on the roll base; The yaw power module is fixed on the roll base, and the yaw power module comprises: a yaw power output turntable (21) and a yaw base (22), wherein the yaw power output turntable and the yaw base are connected and drive the yaw base to perform yaw movement, and a third deep groove ball bearing is embedded on the roll base; the fisheye camera is located above the yaw power module and at the lower part of the head shell, the 3D camera and the laser radar are located at the upper part of the head shell, and the microphone array board is located at the top of the head shell.

2. The compact three-DOF head and neck device of the robot according to claim 1, characterized in that: The neck base has a mechanical limiting area (51).

3. The compact three-DOF head and neck device of the robot according to claim 2, characterized in that: The third deep groove ball bearing is fixed by a retaining ring (23) through the hole.

4. The compact three-DOF head and neck device of a robot according to any one of claims 1 to 3, characterized in that: The neck base is fixed to the humanoid robot by means of a fastening screw (20); the pitch power module is fixed to the neck base by means of a fastening screw (20); the pitch axis is locked by means of a fastening screw (20); the roll force module is fixed to the pitch base by means of a fastening screw (20); the roll axis is fixed to the roll base by means of a fastening screw (20); the yaw power module is fixed to the roll base by means of a fastening screw (20); and the 3D camera is fixed to the support frame by means of a fastening screw (20).

5. The compact three-DOF head and neck device of the robot according to claim 4, characterized in that: The neck base, the pitch base and the roll base are all provided with wiring grooves (10) for hollow wiring.

6. The compact three-DOF head and neck device of the robot according to claim 5, characterized in that: The 3D camera is fixed on the support frame, and the laser radar is hung upside down in the support frame.

7. The compact three-DOF head and neck device of the robot according to claim 6, characterized in that: A camera base plate (24) is fixed laterally to the yaw base, a fisheye camera is fixed on the camera base plate, a support frame (25) is fixed on the yaw base, an expansion board bracket (26) is fixed on the support frame, and a USB expansion board (28) for power supply and communication of the fisheye camera is arranged on the expansion board bracket.

8. The compact three-DOF head and neck device of the robot according to claim 7, characterized in that: The noise reduction plate (27) is mounted on the support frame by tightening the screws.

9. The compact three-DOF head and neck device of claim 8, characterized in that: A sound insulation cotton bracket (61) is installed on the support frame, the sound insulation cotton (62) is fixed on the sound insulation cotton bracket, and the microphone array plate is glued on the sound insulation cotton.

10. The compact three-DOF head and neck device of the robot according to claim 9, characterized in that: The head shell is a high-transmittance optical head cover, and the sound insulation cotton and the high-transmittance optical head cover are tightly matched.

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