Head and neck structure capable of freely pitching and rotating and robot

Abstract

The invention provides a head and neck structure capable of freely pitching and rotating and a robot, and relates to the field of robotics.The head and neck structure capable of freely pitching and rotating is applied to the robot and comprises a sensing laser supporting piece with a supporting rod, a depth camera, a sensing laser module and a position adjusting component used for adjusting the position of the depth camera. The position adjusting component comprises a first joint module internally provided with a hollow structure and a depth camera mounting piece provided with a slot or a notch. The supporting rod sequentially penetrates through the hollow structure, the narrow groove or the notch in the first joint module and extends to the position above the depth camera installation part, and the sensing laser module is located at the top end of the supporting rod and located above the depth camera installation part.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a head and neck structure capable of freely pitching and rotating, and a robot. Background Art

[0002] Humanoid robots are gradually becoming part of modern work and production. Capable of mimicking the human body's appearance and movements, their heads often incorporate laser modules for navigation or camera modules for identifying the external environment. To achieve a wider field of view, existing humanoid robot heads are designed to rotate or swing the entire robot head, thereby enabling the aforementioned laser or camera modules to swing or move. However, when both a laser module and a camera module need to be integrated into the head, existing head structural designs make it difficult to achieve the laser module's requirement for unobstructed detection, while also limiting the camera module's rotation or swing. Therefore, there is an urgent need to develop a head structure that allows the laser module to achieve unobstructed detection while also allowing the camera module to rotate or swing more freely to achieve the desired wide field of view. Otherwise, the promotion of humanoid robots will be hampered. Summary of the Invention

[0003] The purpose of the present invention is to provide a head and neck structure and a robot that can freely pitch and rotate, which not only enables the laser module to achieve the requirement of unobstructed detection, but also enables the camera module to rotate or swing more freely to obtain the expected wide field of view, while having the advantage of a compact structure.

[0004] In a first aspect, an embodiment of the present invention provides a head and neck structure (100) capable of freely pitching and rotating, applied to a robot, comprising: A sensing laser support member (1) comprises a support plate (11) and a support rod (12), wherein the support rod (12) extends upward from the upper surface of the support plate (11), and the lower surface of the support plate (11) is used for being fixedly connected to the shoulder of the robot; Depth camera (8); A position adjustment component (10) is used to adjust the position of the depth camera (8), and the position adjustment component (10) includes a neck fixing component (3), a first joint module (4), a second joint module (6), a joint module connecting component (5) and a depth camera mounting component (7); the neck fixing component (3) has a connecting plate (31) and a fixing cylinder (32) formed on the connecting plate (31), the connecting plate (31) is provided with a first through hole (311) for the support rod (12) to pass through, the fixed end of the first joint module (4) is fixed in the fixing cylinder (32), and the output end of the first joint module (4) extends out of the fixing cylinder (32) and is connected to the joint module (31). The group connecting member (5) is connected to the fixed end of the second joint module (6), and the output end of the second joint module (6) is fixedly connected to the depth camera (8) via the depth camera mounting member (7); wherein the interior of the first joint module (4) is a hollow structure (41), and the depth camera mounting member (7) is provided with a narrow slot (73) or a notch (74) for the support rod (12) to pass through; the support rod (12) passes through the first through hole (311), the hollow structure (41) inside the first joint module (4), the narrow slot (73) or the notch (74) in sequence from the support plate (11) and extends to the top of the depth camera mounting member (7); and A sensing laser module (2) is positioned at the top end of the support rod (12), and the sensing laser module (2) is located above the depth camera mounting member (7).

[0005] In some embodiments, a tray (121) is further included, wherein the tray (121) is detachably connected to the top end of the support rod (12), and the sensing laser module (2) is fixed on the tray (121).

[0006] In some embodiments, a second through hole (321) is formed on the side wall of the fixing cylinder (32).

[0007] In some embodiments, the two ends of the joint module connecting member (5) respectively have a first flange structure (51) and a hoop structure (52), the first flange structure (51) is fixedly connected to the output end of the first joint module (4), and the hoop structure (52) is fixedly connected to the fixed end of the second joint module (6).

[0008] In some embodiments, the first flange structure (51) and the hoop structure (52) are integrally formed.

[0009] In some embodiments, the two ends of the depth camera mounting member (7) respectively have a second flange structure (71) and a mounting plate structure (72), the second flange structure (71) is fixedly connected to the output end of the second joint module (6), and the mounting plate structure (72) is fixedly connected to the depth camera (8).

[0010] In some embodiments, the second flange structure (71) and the mounting plate structure (72) are integrally formed.

[0011] In some embodiments, the support plate (11) and the support rod (12) are integrally formed.

[0012] In some embodiments, it further includes: an insulating plate (9) fixedly connected between the depth camera (8) and the mounting plate structure (72).

[0013] In a second aspect, an embodiment of the present invention provides a robot comprising the above-mentioned head and neck structure (100) capable of freely pitching and rotating. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 A schematic diagram of the external structure of a head and neck structure capable of freely pitching and rotating provided by one embodiment of the present invention; Figure 2 for Figure 1 An exploded view of the head and neck structure that can freely pitch and rotate from the first perspective; Figure 3 for Figure 1 An exploded view of the head and neck structure that can freely pitch and rotate from the second perspective; Figure 4 for Figure 1 Schematic diagram of the appearance and structure of the sensing laser support; Figure 5 for Figure 1 Schematic diagram of the external structure of the middle joint module connector; Figure 6 for Figure 1 Schematic diagram of the appearance and structure of the mid-depth camera mounting assembly; Figure 7 for Figure 1 Schematic diagram of the appearance structure of the first joint module; Figure 8 for Figure 1 Reference diagram of the state in which the head and neck structure that can freely pitch and rotate drives the depth camera to perform an upward-looking operation; Figure 9 for Figure 1 Reference diagram of the state in which the head and neck structure that can freely pitch and rotate drives the depth camera to perform a downward operation; Figure 10 This is a schematic diagram of the external structure of a head and neck structure that can freely pitch and rotate provided by another embodiment of the present invention.

[0016] Icons: 100-head and neck structure that can freely pitch and rotate; 1-sensing laser support; 11-support plate; 12-support rod; 121-tray; 2-sensing laser module; 3-neck fixing part; 31-connecting plate; 311-first through hole; 32-fixing cylinder; 321-second through hole; 4-first joint module; 41-hollow structure; 5-joint module connecting part; 51-first flange structure; 52-clamp structure; 6-second joint module; 7-depth camera mounting part; 71-second flange structure; 72-mounting plate structure; 73-slot; 74-notch; 8-depth camera; 9-insulating plate; 10-position adjustment component. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0019] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0020] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0022] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0023] It's important to understand that the joint module is the core power system of a humanoid robot and can include, for example, a frameless torque motor, a harmonic / planetary reducer, and an encoder. Hereinafter, the "fixed end" of a joint module refers to the non-rotating portion of the joint module, such as the body, while the "output end" refers to the rotating portion of the joint module, such as a rotating flange.

[0024] Please refer to Figures 1 to 9 This embodiment provides a humanoid robot (not shown) including a head and neck structure 100 capable of freely pitching and swiveling. The head and neck structure 100 is disposed on the robot's shoulder (not shown). The head and neck structure 100 may include a sensing laser support 1, a depth camera 8, a position adjustment member 10, and a sensing laser module 2.

[0025] The sensing laser support 1 includes a support plate 11 and a support rod 12. The support rod 12 extends upward from the upper surface of the support plate 11. For strength considerations, the support plate 11 and the support rod 12 can be integrally formed. The lower surface of the support plate 11 is used to be fixedly connected to the shoulder of the robot.

[0026] The position adjustment component 10 is used to adjust the position of the depth camera 8 , and the position adjustment component 10 includes a neck fixing component 3 , a first joint module 4 , a second joint module 6 , a joint module connecting component 5 and a depth camera mounting component 7 .

[0027] The neck fixing part 3 has a connecting plate 31 and a fixing tube 32 formed on the connecting plate 31, the connecting plate 31 is provided with a first through hole 311 for the support rod 12 to pass through, the fixed end of the first joint module 4 is fixed in the fixing tube 32, the output end of the first joint module 4 extends out of the fixing tube 32 and is connected to the fixed end of the second joint module 6 via the joint module connecting part 5, and the output end of the second joint module 6 is fixed to the depth camera 8 via the depth camera mounting part 7; wherein, the interior of the first joint module 4 is a hollow structure 41 (it can be understood that the joint module used for the robot is usually a hollow structure 41 with two ends through), and the depth camera mounting part 7 is provided with a narrow slot 73 for the support rod 12 to pass through; the support rod 12 passes through the first through hole 311, the hollow structure 41 inside the first joint module 4, the narrow slot 73 in sequence from the support plate 11 and extends to the top of the depth camera mounting part 7.

[0028] The sensing laser module 2 is positioned at the top of the support rod 12, and the sensing laser module 2 is located on the depth camera mounting member 7. In this embodiment, a tray 121 detachably connected to the top of the support rod 12 can be provided to fix the sensing laser module 2 on the tray 121.

[0029] In this embodiment, a plurality of second through holes 321 can be formed on the side wall of the fixing tube 32. These second through holes 321 can not only reduce the weight of the fixing tube 32, but also facilitate the timely diffusion of the heat emitted by the first joint module 4 to avoid overheating of the first joint module 4.

[0030] As described above, the above-mentioned neck fixing part 3, the first joint module 4, the second joint module 6, the joint module connecting part 5 and the depth camera mounting part 7 can together constitute a position adjustment component 10, which can adjust the spatial position of the depth camera 8, specifically the pitch posture and horizontal rotation angle of the depth camera 8.

[0031] In the position adjustment component 10, by controlling the rotation of the first joint module 4, the joint module connector 5, the second joint module 6, the depth camera mounting member 7 and the depth camera 8 can be driven to rotate in the horizontal direction as a whole, and the depth camera 8 can be driven to shoot 360 degrees horizontally without dead angles, wherein the depth camera mounting member 7 will rotate around the support rod 12 without affecting the operation of the sensing laser module 2. At the same time, by controlling the rotation of the second joint module 6, the depth camera mounting member 7 and the depth camera 8 can be driven to perform a large-angle pitching movement in the vertical direction, wherein, due to the narrow slot 73 through which the support rod 12 passes, the depth camera mounting member 7 is not affected when performing a large-angle pitching movement relative to the support rod 12. According to actual needs, the first joint module 4 and the second joint module 6 can be controlled to rotate at the same time, and the pitch posture and horizontal rotation angle of the depth camera 8 can be adjusted arbitrarily, so that the depth camera 8 can have any shooting angle, so that the robot using this head structure can obtain a wider detection field of view. At the same time, since the sensing laser module 2 is positioned at the top of the support rod 12, there is no obstruction to the detection range of the sensing laser module 2 on all sides, which greatly expands the detection range of the sensing laser module 2. Moreover, the support rod 12 does not affect the pitch and horizontal rotation operations of the depth camera 8 at all, making the structure of the head and neck structure 100 that can be freely pitched and rotated compact, which is conducive to the later layout of the head shell (such as a transparent or translucent curved shell) to cover the head and neck structure 100 that can be freely pitched and rotated inside the head shell.

[0032] Specifically, in this embodiment, to facilitate installation and disassembly, the joint module connector 5 has a first flange structure 51 at one end connected to the output end of the first joint module 4, and a clamp structure 52 at one end connected to the fixed end of the second joint module 6. For structural strength considerations, the first flange structure 51 and the clamp structure 52 can be integrally formed.

[0033] The two ends of the depth camera mounting member 7 are respectively connected to the output end of the second joint module 6 and the depth camera 8. Specifically, in order to facilitate installation and disassembly, the end of the depth camera mounting member 7 connected to the output end of the second joint module 6 has a second flange structure 71, and the end of the depth camera mounting member 7 connected to the depth camera 8 has a mounting plate structure 72. Wherein, for structural strength considerations, the second flange structure 71 and the mounting plate structure 72 are an integrally formed structure. The depth camera mounting member 7 can be a plate-like structure with both ends folded downward, wherein, in the depth camera mounting member 7, the second flange structure 71 and the mounting plate structure 72 are in a downwardly folded structure.

[0034] In addition, an insulating plate 9 may be disposed between the depth camera 8 and the mounting plate structure 72 to insulate the depth camera 8 from the depth camera mounting member 7 , thereby ensuring the working reliability of the depth camera 8 .

[0035] like Figure 10 In another embodiment, the head and neck structure 200 that can freely pitch and rotate Figure 1 The structure of the head and neck structure 100 that can be freely pitched and rotated is basically the same as that of the head and neck structure 100 shown in FIG. 1 , and the same parts are numbered the same and are not described here. The difference is that in the head and neck structure 200 that can be freely pitched and rotated, a notch 74 is provided on the depth camera mounting member 7 for the support rod 12 to pass through, and the notch 74 can play a role in Figure 1 The slot 73 of the head and neck structure 100 shown has substantially the same function and effect.

[0036] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A head and neck structure (100) capable of freely pitching and rotating, applied to a robot, characterized in that: include: A sensing laser support member (1) comprises a support plate (11) and a support rod (12), wherein the support rod (12) extends upward from the upper surface of the support plate (11), and the lower surface of the support plate (11) is used for being fixedly connected to the shoulder of the robot; Depth camera (8); A position adjustment component (10) is used to adjust the position of the depth camera (8), and the position adjustment component (10) includes a neck fixing component (3), a first joint module (4), a second joint module (6), a joint module connecting component (5) and a depth camera mounting component (7); the neck fixing component (3) has a connecting plate (31) and a fixing cylinder (32) formed on the connecting plate (31), the connecting plate (31) is provided with a first through hole (311) for the support rod (12) to pass through, the fixed end of the first joint module (4) is fixed in the fixing cylinder (32), and the output end of the first joint module (4) extends out of the fixing cylinder (32) and is connected to the joint module (31) via the fixing end. The module connector (5) is connected to the fixed end of the second joint module (6), and the output end of the second joint module (6) is fixedly connected to the depth camera (8) via the depth camera mounting member (7); wherein the interior of the first joint module (4) is a hollow structure (41), and the depth camera mounting member (7) is provided with a narrow slot (73) or a notch (74) for the support rod (12) to pass through; the support rod (12) passes through the first through hole (311), the hollow structure (41) inside the first joint module (4), the narrow slot (73) or the notch (74) in sequence from the support plate (11) and extends to the top of the depth camera mounting member (7); as well as A sensing laser module (2) is positioned at the top end of the support rod (12), and the sensing laser module (2) is located above the depth camera mounting member (7).

2. The head and neck structure (100) capable of freely pitching and rotating according to claim 1, characterized in that: It also includes a tray (121), the tray (121) is detachably connected to the top end of the support rod (12), and the sensing laser module (2) is fixed on the tray (121).

3. The head and neck structure (100) capable of freely pitching and rotating according to claim 1, characterized in that: A second through hole (321) is formed on the side wall of the fixing cylinder (32).

4. The head and neck structure (100) capable of freely pitching and rotating according to claim 1, characterized in that: The two ends of the joint module connecting member (5) respectively have a first flange structure (51) and a hoop structure (52); the first flange structure (51) is fixedly connected to the output end of the first joint module (4); and the hoop structure (52) is fixedly connected to the fixed end of the second joint module (6).

5. The head and neck structure (100) capable of freely pitching and rotating according to claim 4, characterized in that: The first flange structure (51) and the hoop structure (52) are integrally formed structures.

6. The head and neck structure (100) capable of freely pitching and rotating according to claim 1, characterized in that: The two ends of the depth camera mounting member (7) respectively have a second flange structure (71) and a mounting plate structure (72); the second flange structure (71) is fixedly connected to the output end of the second joint module (6); and the mounting plate structure (72) is fixedly connected to the depth camera (8).

7. The head and neck structure (100) capable of freely pitching and rotating according to claim 6, characterized in that: The second flange structure (71) and the mounting plate structure (72) are integrally formed.

8. The head and neck structure (100) capable of freely pitching and rotating according to claim 1, characterized in that: The support plate (11) and the support rod (12) are integrally formed.

9. The head and neck structure (100) capable of freely pitching and rotating according to claim 1, characterized in that: Also includes: An insulating plate (9) is fixedly connected between the depth camera (8) and the mounting plate structure (72).

10. A robot comprising the freely pitching and rotating head and neck structure (100) according to any one of claims 1 to 9.

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