Head and neck structure freely pitchable in rotation and robot

Abstract

The application provides a head-neck structure capable of freely pitching and rotating and a robot, and relates to the field of robots. The head-neck structure capable of freely pitching and rotating is applied to the robot, and comprises a sensing laser support provided with a support rod, a depth camera, a sensing laser module and a position adjusting member for adjusting the position of the depth camera. The position adjusting member comprises a first joint module with a hollow structure inside and a depth camera mounting piece provided with a slot or a notch. The support rod passes through the hollow structure inside the first joint module, the slot or the notch in sequence and extends above the depth camera mounting piece. The sensing laser module is positioned at the top end of the support rod, and the sensing laser module is located above the depth camera mounting piece.

Description

TECHNICAL FIELD

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

[0002] Humanoid robots are gradually used in modern work and production. The humanoid robots can imitate the shape and movement posture of human bodies. The head of the humanoid robot is often integrated with a laser module for navigation or a camera module for recognizing the external environment. In order to achieve a wider detection field of view, the head of the existing humanoid robot is designed to rotate or swing the entire head of the robot to realize the swing or movement of the laser module or the camera module. However, when the head needs to be integrated with both the laser module and the camera module, the existing head structure design will be difficult to realize the requirement that the laser module realizes unobstructed detection, and the rotation or swing of the camera module is limited. Therefore, it is urgent to develop a head structure that can not only enable the laser module to realize unobstructed detection, but also enable the camera module to freely rotate or swing to obtain the expected wide field of view, otherwise the promotion of the humanoid robot will be restricted. SUMMARY

[0003] The present application relates to the field of robots, in particular to a head-neck structure capable of freely pitching and rotating and a robot.

[0004] In a first aspect, an embodiment of the present application provides a head-neck structure (100) capable of freely pitching and rotating, applied to a robot, comprising:

[0005] The sensing laser support (1) comprises a support plate (11) and a support rod (12), 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 to be fixed to the shoulder of the robot;

[0006] The depth camera (8);

[0007] A position adjusting member (10) for adjusting the position of the depth camera (8), the position adjusting member (10) comprising a neck fixing member (3), a first joint module (4), a second joint module (6), a joint module connecting member (5) and a depth camera mounting member (7); the neck fixing member (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), the output end of the first joint module (4) extends out of the fixing cylinder (32) and is connected to the fixed end of the second joint module (6) through the joint module connecting member (5), and the output end of the second joint module (6) is fixedly connected to the depth camera (8) through the depth camera mounting member (7); wherein the inside of the first joint module (4) is a hollow structure (41), and the depth camera mounting member (7) is provided with a 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 slot (73) or the notch (74) in sequence from the support plate (11) and extends above the depth camera mounting member (7); and

[0008] A perception laser module (2) is positioned at the top end of the support rod (12), and the perception laser module (2) is located above the depth camera mounting member (7).

[0009] In some embodiments, a tray (121) is further included, the tray (121) is detachably connected to the top end of the support rod (12), and the perception laser module (2) is fixed above the tray (121).

[0010] In some embodiments, a second through hole (321) is formed in the sidewall of the fixing cylinder (32).

[0011] In some embodiments, the joint module connecting member (5) has a first flange structure (51) and a clamp structure (52) at both ends respectively, the first flange structure (51) is fixedly connected to the output end of the first joint module (4), and the clamp structure (52) is fixedly connected to the fixed end of the second joint module (6).

[0012] In some embodiments, the first flange structure (51) and the clamp structure (52) are integrally formed.

[0013] In some embodiments, the depth camera mount (7) has a second flange structure (71) and a mounting plate structure (72) at two ends respectively, the second flange structure (71) is fixedly connected with the output end of the second joint module (6), and the mounting plate structure (72) is fixedly connected with the depth camera (8).

[0014] In some embodiments, the second flange structure (71) and the mounting plate structure (72) are integrally formed.

[0015] In some embodiments, the support plate (11) and the support rod (12) are integrally formed.

[0016] In some embodiments, further comprising: an insulating plate (9) fixedly connected between the depth camera (8) and the mounting plate structure (72).

[0017] In a second aspect, the embodiments of the present application provide a robot comprising the head-neck structure (100) capable of freely pitching and rotating as described above. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0019] Figure 1 The external structure diagram of the head-neck structure capable of freely pitching and rotating provided by an embodiment of the present application is shown in the figure.

[0020] Figure 2 The exploded view of the head-neck structure capable of freely pitching and rotating in the first perspective view is shown in the figure. Figure 1

[0021] The exploded view of the head-neck structure capable of freely pitching and rotating in the second perspective view is shown in the figure. Figure 3 Figure 1 The external structure diagram of the sensing laser support provided in the embodiment is shown in the figure.

[0022] Figure 4 Figure 1 The external structure diagram of the joint module connecting piece provided in the embodiment is shown in the figure.

[0023] Figure 5 The external structure diagram of the depth camera mount provided in the embodiment is shown in the figure. Figure 1

[0024] The external structure diagram of the depth camera mount provided in the embodiment is shown in the figure. Figure 6 Figure 1 The external structure diagram of the depth camera mount provided in the embodiment is shown in the figure.​​​

[0025] Figure 7 for Figure 1 the external structure diagram of the first joint module in the embodiment of the present application;

[0026] Figure 8 for Figure 1 the use state reference diagram of the head-neck structure capable of freely pitching and rotating driving the depth camera to perform the looking-down operation;

[0027] Figure 9 for Figure 1 the use state reference diagram of the head-neck structure capable of freely pitching and rotating driving the depth camera to perform the looking-down operation;

[0028] Figure 10 the external structure diagram of the head-neck structure capable of freely pitching and rotating provided by another embodiment of the present application.

[0029] Icon: 100-head-neck structure capable of freely pitching and rotating; 1-sensing laser support; 11-support plate; 12-support rod; 121-tray; 2-sensing laser module; 3-neck fixing member; 31-connection plate; 311-first through hole; 32-fixing cylinder; 321-second through hole; 4-first joint module; 41-hollow structure; 5-joint module connecting piece; 51-first flange structure; 52-hoop structure; 6-second joint module; 7-depth camera mounting member; 71-second flange structure; 72-mounting plate structure; 73-slot; 74-notch; 8-depth camera; 9-insulating plate; 10-position adjusting member. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0032] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0033] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0034] In addition, the terms "horizontal", "vertical" and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0035] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] It should be understood that the joint module is the core power system of the humanoid robot, and the joint module can include, for example, a frameless torque motor, a harmonic / planetary reducer, and an encoder. In the following, the "fixed end" of the joint module refers to the non-rotating part of the joint module, which can be, for example, the body, and the "output end" refers to the rotating part of the joint module, which can be, for example, a rotating flange.

[0037] Please refer to Figures 1 to 9 The present embodiment provides a kind of humanoid robot (not shown), which includes freely tilting head-neck structure 100, freely tilting head-neck structure 100 is set on the shoulder (not shown) of the robot above. Freely tilting head-neck structure 100 can include sensing laser support 1, depth camera 8, position adjustment component 10, sensing laser module 2.

[0038] Sensing laser support 1 includes support plate 11 and support rod 12, which extends upward from the upper surface of the support plate 11, and the support plate 11 and the support rod 12 can be integrally formed for strength. The lower surface of the support plate 11 is used to be fixedly connected to the shoulder of the robot.

[0039] The position adjusting member 10 is used for adjusting the position of the depth camera 8, and comprises the neck fixing member 3, the first joint module 4, the second joint module 6, the joint module connecting member 5 and the depth camera mounting member 7.

[0040] The neck fixing member 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, the output end of the first joint module 4 extends out of the fixing cylinder 32 and is connected to the fixed end of the second joint module 6 through the joint module connecting member 5, and the output end of the second joint module 6 is fixedly connected to the depth camera 8 through the depth camera mounting member 7; wherein the inside of the first joint module 4 is a hollow structure 41 (it can be understood that the joint module applied to a robot is usually a hollow structure 41 with both ends passing through), the depth camera mounting member 7 is provided with a slot 73 for the support rod 12 to pass through, and the support rod 12 passes through the first through hole 311, the hollow structure 41 in the first joint module 4, the slot 73 in sequence from the support plate 11 and extends above the depth camera mounting member 7.

[0041] The sensing laser module 2 is positioned at the top end of the support rod 12 and is located above the depth camera mounting member 7. In this embodiment, a tray 121 detachably connected to the top end of the support rod 12 can be provided, and the sensing laser module 2 is fixed on the tray 121.

[0042] In this embodiment, a plurality of second through holes 321 can be formed on the side wall of the fixing cylinder 32, which not only can reduce the weight of the fixing cylinder 32, but also can help to diffuse the heat generated by the first joint module 4 in time to avoid overheating of the first joint module 4.

[0043] As described above, the neck fixing member 3, the first joint module 4, the second joint module 6, the joint module connecting member 5 and the depth camera mounting member 7 can jointly constitute a position adjusting member 10, which can adjust the spatial position of the depth camera 8, specifically the pitch attitude and the horizontal rotation angle of the depth camera 8.

[0044] In the position adjusting member 10, by controlling the rotation of the first joint module 4, the joint module connecting member 5, the second joint module 6, the depth camera mounting member 7 and the depth camera 8 can be driven to rotate as a whole in the horizontal direction, and the depth camera 8 can be driven to perform 360-degree horizontal direction non-blind angle shooting. At this time, the depth camera mounting member 7 will rotate around the support rod 12, and will not affect the working of the perception 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 large-angle pitching action in the vertical direction. At this time, since the slot 73 through which the support rod 12 penetrates, the depth camera mounting member 7 will not be affected when it performs large-angle pitching action 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 then the pitching posture and the horizontal rotation angle of the depth camera 8 can be adjusted arbitrarily, so that the depth camera 8 can have any shooting angle. In this way, the robot using the head structure can obtain a wider detection field of view. At the same time, since the perception laser module 2 is positioned at the top end of the support rod 12, there is no shielding to the detection range of the perception laser module 2 around it, which greatly expands the detection range of the perception laser module 2. Moreover, the support rod 12 does not affect the pitching and horizontal rotation operation of the depth camera 8 at all, so that the head and neck structure 100 which can freely pitch and rotate has a compact structure, which is beneficial to the later arrangement of a head shell (such as a transparent or semi-transparent curved shell) to cover the head and neck structure 100 inside the head shell.

[0045] Specifically, in the present embodiment, in order to facilitate installation and disassembly, one end of the joint module connecting member 5 connected to the output end of the first joint module 4 has a first flange structure 51, and one end of the joint module connecting member 5 connected to the fixed end of the second joint module 6 has a hoop structure 52. Among them, considering the structural strength, the first flange structure 51 and the hoop structure 52 can be integrally formed.

[0046] 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, one 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 one end of the depth camera mounting member 7 connected to the depth camera 8 has a mounting plate structure 72. Among them, considering the structural strength, the second flange structure 71 and the mounting plate structure 72 are integrally formed. The depth camera mounting member 7 can be a plate-shaped structure with both ends folded downward, and the second flange structure 71 and the mounting plate structure 72 in the depth camera mounting member 7 are folded downward.

[0047] In addition, an insulating plate 9 can be arranged between the depth camera 8 and the mounting plate structure 72, so that the depth camera 8 is insulated from the depth camera mount 7, to ensure the working reliability of the depth camera 8.

[0048] As Figure 10 In another embodiment, the freely-pitchable head-neck structure 200 is substantially identical to the freely-pitchable head-neck structure 100 shown in Figure 1 same reference numerals are used for the same components, and will not be described again here, except that in the freely-pitchable head-neck structure 200, a notch 74 is formed in the depth camera mount 7 for the support rod 12 to pass through, which can play substantially the same function and effect as the slot 73 of the freely-pitchable head-neck structure 100 shown in Figure 1

[0049] The above description is merely preferred embodiments of the present application but not for limiting the present application. For the skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.​

Claims

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

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

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

4. The freely pitching and rotating head and neck structure (100) according to claim 1, characterized in that, The joint module connector (5) has a first flange structure (51) and a clamp structure (52) at both ends. The first flange structure (51) is fixedly connected to the output end of the first joint module (4), and the clamp structure (52) is fixedly connected to the fixed end of the second joint module (6).

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

6. The freely pitching and rotating head and neck structure (100) according to claim 1, characterized in that, The depth camera mounting component (7) has a second flange structure (71) and a mounting plate structure (72) at both ends, respectively. 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 freely pitching and rotating head and neck structure (100) according to claim 6, characterized in that, The second flange structure (71) and the mounting plate structure (72) are integrally formed.

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

9. The freely pitching and rotating head and neck structure (100) according to claim 6, characterized in that, Also includes: An insulating plate (9) is fixed between the depth camera (8) and the mounting plate structure (72).

10. A robot comprising a head and neck structure (100) that is freely pitchable and rotatable as described in any one of claims 1-9.

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