Neck structure and humanoid robot

Abstract

The application provides a neck structure and a humanoid robot. The neck structure is used to drive a robot head to move relative to a robot body. The neck structure comprises a first driving unit, a second driving unit and a third driving unit. The first driving unit is arranged in the robot head. When the first driving unit rotates, it drives the robot head to rotate around an axial direction parallel to a first direction. The second driving unit drives the first driving unit to rotate around an axial direction parallel to a second direction when the second driving unit rotates, so as to drive the robot head to rotate around the axial direction parallel to the second direction. The third driving unit is partially arranged in the robot body. When the third driving unit rotates, it drives the second driving unit and the first driving unit to rotate around an axial direction parallel to a third direction, so as to drive the robot head to rotate around the axial direction parallel to the third direction. The application can realize three degrees of freedom of the robot head in a limited space.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a neck structure and a humanoid robot. Background Technology

[0002] Currently, with the popularization of robots and the development of robotics technology, humanoid robots have become a key aspect of robot development. Among them, humanoid robots with flexible head movements are receiving increasing attention. The neck structure is a crucial part for achieving flexible head movements; however, the space within the neck structure is limited. Therefore, how to provide a neck structure that can achieve three degrees of freedom movement of the robot head within a limited space has become a problem that needs to be considered. Summary of the Invention

[0003] This application provides a neck structure and a humanoid robot that can achieve three degrees of freedom of movement of the robot's head within a limited space.

[0004] In a first aspect, a neck structure is provided for driving a robot head to move relative to a robot body. The neck structure includes a first drive unit, a second drive unit, and a third drive unit. The first drive unit is disposed within the robot head and, upon rotation, drives the robot head to rotate about an axial direction parallel to a first direction. The second drive unit is connected to the first drive unit and, upon rotation, drives the first drive unit to rotate about an axial direction parallel to a second direction, thereby driving the robot head to rotate about an axial direction parallel to the second direction. The third drive unit is partially disposed within the robot body and connected to the second drive unit. Upon rotation, the third drive unit drives both the second drive unit and the first drive unit to rotate about an axial direction parallel to a third direction, thereby driving the robot head to rotate about an axial direction parallel to the third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0005] In one possible implementation, the first drive unit includes a first rotating wheel and a first transmission member disposed within the robot head. The first rotating wheel has a first rotating portion and a first connecting portion. The first rotating portion is connected to the first transmission member, the first transmission member is connected to the robot head, and the first connecting portion is connected to the second drive unit. Specifically, the first rotating wheel is capable of active rotation about an axial direction parallel to the first direction. During active rotation, the first rotating wheel drives the first transmission member to rotate about an axial direction parallel to the first direction via the first rotating portion, thereby driving the robot head to rotate about an axial direction parallel to the first direction. Simultaneously, when the second drive unit rotates, the first rotating wheel is passively rotated about an axial direction parallel to the second direction by the drive of the first connecting portion, thereby driving the robot head to rotate about an axial direction parallel to the second direction.

[0006] In one possible implementation, the second drive unit includes a second rotating wheel and a second transmission member. The second rotating wheel has a second rotating portion and a second connecting portion. The second rotating portion is connected to the second transmission member, the second transmission member is connected to the first drive unit, and the second connecting portion is connected to the third drive unit. Specifically, the second rotating wheel can actively rotate about an axial direction parallel to the second direction. When actively rotating, the second rotating wheel drives the second transmission member to rotate about an axial direction parallel to the second direction via the second rotating portion, thereby sequentially driving the first drive unit and the robot head to rotate about an axial direction parallel to the second direction. When the third drive unit rotates, the second rotating wheel is also passively rotated about an axial direction parallel to the third direction by the second connecting portion, thereby driving the robot head to rotate about an axial direction parallel to the third direction.

[0007] In one possible implementation, the second transmission member has a first limiting component, which may be located in the rotation plane of the first drive unit. When located in the rotation plane of the first drive unit, the limiting component limits the first drive unit to rotate within a first preset angle range in an axial direction parallel to the first direction, so as to drive the robot head to rotate within the first preset angle range in an axial direction parallel to the first direction.

[0008] In one possible implementation, the first limiting component includes a first limiting member and a second limiting member, which are disposed on both sides of the second transmission member relative to the first driving unit.

[0009] In one possible implementation, the second transmission member has a first set of limiting grooves, and the second connecting portion has a second limiting component. The second limiting component can be located in the first set of limiting grooves. When located in the first set of limiting grooves, the second limiting component limits the second transmission member to rotate within a second preset angle range in an axial direction parallel to the second direction, so as to sequentially drive the first driving unit and the robot head to rotate within the second preset angle range in an axial direction parallel to the second direction.

[0010] In one possible implementation, the first set of limiting grooves includes a first sub-limiting groove and a second sub-limiting groove, and the second limiting component includes a third limiting member and a fourth limiting member. The third limiting member may be located in the first sub-limiting groove, and the fourth limiting member may be located in the second sub-limiting groove.

[0011] In one possible implementation, the third drive unit includes a third rotating wheel, a third transmission component, and a transmission rod assembly. The third rotating wheel is disposed within the robot body and has a third rotating portion and a third connecting portion. The third rotating portion is connected to one end of the transmission rod assembly, and the other end of the transmission rod assembly is connected to the third transmission component. The third transmission component is connected to the second drive unit, and the third connecting portion is connected to the robot body. The third rotating wheel is capable of active rotation about an axial direction parallel to the third direction. During active rotation, the third rotating wheel drives the transmission rod assembly via the third rotating portion, thereby sequentially driving the third transmission component, the second drive unit, the first drive unit, and the robot head to rotate about an axial direction parallel to the third direction.

[0012] In one possible implementation, the neck structure further includes a neck structure member connected to the robot body, and the neck structure is connected to the second drive unit and the third connecting portion.

[0013] In one possible implementation, the neck structure has a second set of limiting grooves, and the other end of the transmission rod assembly passes through the second set of limiting grooves and is connected to the third transmission member. The other end of the transmission rod assembly moves in the second set of limiting grooves to limit the third transmission member to rotate within a third preset angle range in an axial direction parallel to the third direction, and sequentially drive the second drive unit, the first drive unit, and the robot head to rotate within the third preset angle range in an axial direction parallel to the third direction.

[0014] In one possible implementation, the second set of limiting grooves includes a third sub-limiting groove and a fourth sub-limiting groove. The transmission rod assembly correspondingly includes a first sub-rod and a second sub-rod. One end of the first sub-rod and one end of the second sub-rod are connected to the third rotating part. The other end of the first sub-rod passes through the third sub-limiting groove and is connected to the third transmission member. The other end of the first sub-rod moves in the third sub-limiting groove. The other end of the second sub-rod passes through the fourth sub-limiting groove and is connected to the third transmission member. The other end of the second sub-rod moves in the fourth sub-limiting groove.

[0015] In one possible implementation, when the third rotating wheel rotates, the direction of movement of the first sub-rod is opposite to the direction of movement of the second sub-rod.

[0016] Secondly, a humanoid robot is also provided, comprising a robot head, a robot body, and a neck structure. The neck structure is used to drive the robot head to move relative to the robot body. The neck structure includes a first drive unit, a second drive unit, and a third drive unit. The first drive unit is disposed within the robot head and, when rotated, drives the robot head to rotate about an axial direction parallel to a first direction. The second drive unit is connected to the first drive unit and, when rotated, drives the first drive unit to rotate about an axial direction parallel to a second direction, thereby driving the robot head to rotate about an axial direction parallel to the second direction. The third drive unit is partially disposed within the robot body and connected to the second drive unit. When rotated, the third drive unit drives the second drive unit and the first drive unit to rotate about an axial direction parallel to a third direction, thereby driving the robot head to rotate about an axial direction parallel to the third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0017] The neck structure and humanoid robot of this application, by setting the first drive unit inside the robot head and partially setting the third drive unit inside the robot body, with only the second drive unit and part of the third drive unit located between the robot head and the robot body, can save the space occupied by the neck structure, and can realize the rotation of the robot head around three axial directions parallel to the first direction, the second direction and the third direction respectively in a limited space, wherein the first direction, the second direction and the third direction are perpendicular to each other, thereby realizing the three-degree-of-freedom rotation of the robot head. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0019] Figure 1 This is a schematic diagram from a first-view perspective of the neck structure in some embodiments of this application.

[0020] Figure 2 The neck structure in some embodiments of this application also includes a control unit.

[0021] Figure 3 This is an exploded view of the neck structure in some embodiments of this application.

[0022] Figure 4 This is a schematic diagram from a second perspective of the neck structure in some embodiments of this application.

[0023] Figure 5 This is a third-view schematic diagram of the neck structure in some embodiments of this application.

[0024] Figure 6 This is a schematic diagram of a humanoid robot in some embodiments of this application.

[0025] Explanation of reference numerals in the attached drawings: 1000, humanoid robot; 10, neck structure; 12, control unit; 11, neck motion unit; X, first direction; Y, second direction; Z, third direction; 100, first drive unit; 110, first rotating wheel; 111, first rotating part; 112, first connecting part; 120, first transmission component; 200, second drive unit; 210, second rotating wheel; 211, second rotating part; 212, second connecting part; 213, second limiting component; 214, third limiting component; 215, fourth limiting component; 216, fourth limiting component; 220, second transmission component; 221, first limiting component; 222, first limiting component; 223 224. Second limiting component; 225. First group of limiting grooves; 226. First sub-limiting groove; 227. Second sub-limiting groove; 228. Third limiting assembly; 229. Fifth limiting assembly; 300. Third drive unit; 310. Third rotating wheel; 311. Third rotating part; 312. Third connecting part; 320. Third transmission component; 330. Transmission rod assembly; 331. First sub-rod; 332. Second sub-rod; 400. Neck structure component; 410. Second group of limiting grooves; 411. Third sub-limiting groove; 412. Fourth sub-limiting groove; 500. Second support rod assembly; 600. First support rod assembly; 20. Robot head; 30. Robot body; 31. Guide part. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0027] In the description of the embodiments of this application, it should be noted that the terms "front", "rear", "left", "right", "up", "down", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not imply or indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0028] In the description of the embodiments of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] In the description of the embodiments of this application, it should be noted that the terms "first," "second," "third," "fourth," and "fifth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," "third," "fourth," and "fifth" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0030] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or devices.

[0031] Please refer to the following: Figure 1 , Figure 2 , Figure 1 This is a schematic diagram from a first-view perspective of the neck structure in some embodiments of this application. Figure 2 The diagram shows that the neck structure in some embodiments of this application also includes a control unit. For example... Figure 1 , Figure 2 As shown, this application provides a neck structure 10, which drives a robot head 20 to move relative to a robot body 30. The neck structure 10 includes a first drive unit 100, a second drive unit 200, and a third drive unit 300. The first drive unit 100 is disposed within the robot head 20 and drives the robot head 20 to rotate about an axial direction parallel to a first direction X during rotation. The second drive unit 200 is connected to the first drive unit 100 and drives the first drive unit 100 to rotate about an axial direction parallel to a second direction Y during rotation, thereby driving the robot head 20 to rotate about an axial direction parallel to the second direction Y. The third drive unit 300 is partially disposed within the robot body 30 and connected to the second drive unit 200. The third drive unit 300 drives both the second drive unit 200 and the first drive unit 100 to rotate about an axial direction parallel to a third direction Z during rotation, thereby driving the robot head 20 to rotate about an axial direction parallel to the third direction Z. Among them, the first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

[0032] Therefore, the neck structure 10 of this application, by placing the first drive unit 100 inside the robot head 20 and partially placing the third drive unit 300 inside the robot body 30, with only the second drive unit 200 and part of the third drive unit 300 located between the robot head 20 and the robot body 30, can save the space occupied by the neck structure 10, and can realize the rotation of the robot head 20 around three axial directions parallel to the first direction X, the second direction Y, and the third direction Z in a limited space, wherein the first direction X, the second direction Y, and the third direction Z are perpendicular to each other, thereby realizing the three-degree-of-freedom rotation of the robot head 20.

[0033] Specifically, by lowering the third drive unit 300 into the chest cavity of the robot body 30 and installing the first drive unit 100 in the robot head 20, the volume and vertical height of the neck structure 10 are greatly reduced. This makes the overall shape of the robot closer to human proportions and more biomimetic, and makes the neck structure 10 more similar to humans in shape and movement posture, solving the problem of the existing neck structure 10 being non-biomimetic. This greatly improves the robot's biomimetic level. Furthermore, by transferring the mass and volume of the first drive unit 100, the second drive unit 200, and the third drive unit 300 to the body's center of gravity, it is closer to the human body's characteristic of weighing itself through the torso, effectively lowering the robot's overall center of gravity and significantly improving its stability in dynamic tasks such as walking and working. This achieves a distributed arrangement of the drive system, solving the engineering problem of achieving high degrees of freedom in a confined space, while improving the overall stability and dynamic response performance of the head and neck system.

[0034] like Figure 1 , Figure 2 As shown, the first drive unit 100, the second drive unit 200, and the third drive unit 300 can be neck motion units 11. The neck motion units 11 are used to connect with the robot head 20 and the robot body 30. The neck motion units 11 can rotate around an axial direction parallel to the first direction X, the second direction Y, and the third direction Z, so as to drive the robot head 20 to rotate around an axial direction parallel to the first direction X, the second direction Y, and the third direction Z, wherein the first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

[0035] Furthermore, the neck structure 10 may also include a control unit 12, which controls the rotation angle range of the neck motion unit 11 about an axial direction parallel to the first direction X to be a first preset angle range, and / or controls the rotation angle range of the neck motion unit 11 about an axial direction parallel to the second direction Y to be a second preset angle range, and / or controls the rotation angle range of the neck motion unit 11 about an axial direction parallel to the third direction Z to be a third preset angle range. This ensures that when the neck motion unit 11 drives the robot head 20 to rotate about an axial direction parallel to the first direction X, the rotation angle range is within the first preset angle range, and / or when it drives the robot head 20 to rotate about an axial direction parallel to the second direction Y to be within the second preset angle range, and / or when it drives the robot head 20 to rotate about an axial direction parallel to the third direction Z to be within the third preset angle range.

[0036] Therefore, the neck structure 10 of this application, by configuring the control unit 12 to control the rotation angle range of the neck motion unit 11 about the axial direction parallel to the first direction X to a first preset angle range, and / or to control the rotation angle range of the neck motion unit 11 about the axial direction parallel to the second direction Y to a second preset angle range, and / or to control the rotation angle range of the neck motion unit 11 about the axial direction parallel to the third direction Z to a third preset angle range, can adjust the rotation angle range of at least one degree of freedom of the robot head 20.

[0037] In some embodiments, the control unit 12 is further configured to control the neck motion unit 11 to rotate about at least one of the axial directions parallel to the first direction X, the second direction Y and the third direction Z, so that the rotation angle range corresponding to the neck motion unit 11 is at least one of the first preset angle range, the second preset angle range and the third preset angle range.

[0038] Therefore, the control unit 12 of the above-mentioned neck structure 10 of this application can directly control the neck motion unit 11 to rotate around at least one of the axial directions parallel to the first direction X, the second direction Y and the third direction Z, so that the rotation angle range of the neck motion unit 11 is at least one of the first preset angle range, the second preset angle range and the third preset angle range through software.

[0039] In some embodiments, the control unit 12 is used to determine at least one rotation angle range among the first preset angle range, the second preset angle range, and the third preset angle range based on the working state of the robot head 20.

[0040] Therefore, the neck structure 10 of this application and the control unit 12 can flexibly determine at least one of the first preset angle range, the second preset angle range and the third preset angle range according to the working state of the robot head 20, so as to provide different rotation angles in different working states of the robot head 20.

[0041] Furthermore, the control unit 12 is used to determine at least one rotation angle range among the first preset angle range, the second preset angle range, and the third preset angle range corresponding to the working state of the robot head 20, based on the correspondence between the working state of the robot head 20 and the first preset angle range, the second preset angle range, and the third preset angle range.

[0042] In some embodiments, the working states of the robot head 20 include a free state and a controlled state, and the first preset angle range and the second preset angle range corresponding to the free state are respectively greater than the first preset angle range and the second preset angle range corresponding to the controlled state.

[0043] Therefore, the neck structure 10 described above in this application enables the robot head 20 to have a relatively larger first preset angle range and a relatively larger second preset angle range in the free state, providing better visual performance, while the first preset angle range and the second preset angle range in the controlled state are relatively smaller, which is more in line with human visual design.

[0044] Specifically, the controlled state can be the state in which the user controls the posture of the robot head 20 through virtual reality (VR) technology or other control technologies. By configuring a first preset angle range and a second preset angle range that are relatively smaller, it can not only meet the large range of motion required for expression and function, but also effectively prevent mechanical interference between devices, protect the neck structure 10 and surrounding circuits, and avoid damage to them during movement.

[0045] The third preset angle range corresponding to the free state can be equal to the third preset angle range corresponding to the controlled state. Therefore, the third preset angle range for left and right swinging can remain unchanged with the working state of the robot head 20, and an excessively large left and right swinging angle cannot meet more diverse needs.

[0046] In some embodiments, the working state of the robot head 20 may further include a patrol state, where the first preset angle range corresponding to the patrol state is greater than the first preset angle range corresponding to the free state. This allows the robot head 20 to rotate and swing at a larger first preset angle during the patrol state, exceeding human limits and achieving a better patrol effect.

[0047] In some embodiments, the first, second, and third preset angle ranges corresponding to the free state are ±45°, ±30°, and ±45°, respectively; the first, second, and third preset angle ranges corresponding to the controlled state are ±70°, ±45°, and ±45°, respectively; and the first, second, and third preset angle ranges corresponding to the patrol state are ±90°, ±45°, and ±45°, respectively. Here, 0° can correspond to the initial position of the robot head 20 around the three axial directions parallel to the first direction X, the second direction Y, and the third direction Z, respectively.

[0048] Please refer to the following: Figure 3 , Figure 3 This is an exploded view of the neck structure in some embodiments of this application. For example... Figure 1 , Figure 2 , Figure 3 As shown, the first drive unit 100 includes a first rotating wheel 110 and a first transmission member 120 disposed within the robot head 20. The first rotating wheel 110 has a first rotating part 111 and a first connecting part 112. The first rotating part 111 is connected to the first transmission member 120, and the first transmission member 120 is connected to the robot head 20. The first connecting part 112 is connected to the second drive unit 200. The first rotating wheel 110 can actively rotate about an axial direction parallel to the first direction X. When actively rotating, the first rotating wheel 110 drives the first transmission member 120 to rotate about an axial direction parallel to the first direction X via the first rotating part 111, thereby driving the robot head 20 to rotate about an axial direction parallel to the first direction X. When the second drive unit 200 rotates, the first rotating wheel 110 is passively rotated about an axial direction parallel to the second direction Y under the drive of the first connecting part 112, thereby driving the robot head 20 to rotate about an axial direction parallel to the second direction Y.

[0049] Therefore, the neck structure 10 of this application, by configuring the first rotating wheel 110 to drive the first transmission member 120 to rotate around an axial direction parallel to the first direction X when actively rotating, can drive the robot head 20 to rotate around an axial direction parallel to the first direction X, so as to realize the rotation and swing of the robot head 20. This can be used to express more complex emotions such as curiosity and doubt in the robot head 20, or to maintain the stability of the visual system in a special posture. When the second drive unit 200 rotates, the first rotating wheel 110 can be passively rotated around an axial direction parallel to the second direction Y under the drive of the first connecting part 112, so as to drive the robot head 20 to rotate around an axial direction parallel to the second direction Y, so as to realize the back-and-forth swing of the robot head 20.

[0050] like Figure 1 , Figure 2 , Figure 3 As shown, the second drive unit 200 includes a second rotating wheel 210 and a second transmission member 220. The second rotating wheel 210 has a second rotating part 211 and a second connecting part 212. The second rotating part 211 is connected to the second transmission member 220, the second transmission member 220 is connected to the first drive unit 100, and the second connecting part 212 is connected to the third drive unit 300. The second rotating wheel 210 can actively rotate about an axial direction parallel to the second direction Y. When actively rotating, the second rotating wheel 210 drives the second transmission member 220 to rotate about an axial direction parallel to the second direction Y via the second rotating part 211, thereby sequentially driving the first drive unit 100 and the robot head 20 to rotate about an axial direction parallel to the second direction Y. When the third drive unit 300 rotates, the second rotating wheel 210 is passively rotated about an axial direction parallel to the third direction Z under the drive of the second connecting part 212, thereby driving the robot head 20 to rotate about an axial direction parallel to the third direction Z.

[0051] Therefore, the neck structure 10 of this application, by configuring the second rotating wheel 210 to drive the second transmission member 220 to rotate around an axial direction parallel to the second direction Y when actively rotating, can sequentially drive the first drive unit 100 and the robot head 20 to rotate around an axial direction parallel to the second direction Y, so as to realize the back-and-forth swing of the robot head 20. This can be used for the robot head 20 to change its vertical field of vision and express emotions. Furthermore, when the third drive unit 300 rotates, the second rotating wheel 210 can be passively rotated around an axial direction parallel to the third direction Z under the drive of the second connecting part 212, so as to drive the robot head 20 to rotate around an axial direction parallel to the third direction Z, so as to realize the left-right swing of the robot head 20.

[0052] like Figure 1 , Figure 2, Figure 3 As shown, the second transmission component 220 has a first limiting component 221. The first limiting component 221 can be located in the rotation plane of the first driving unit 100. When the first limiting component 221 is located in the rotation plane of the first driving unit 100, it limits the rotation of the first driving unit 100 within a first preset angle range in the axial direction parallel to the first direction X, so as to drive the robot head 20 to rotate within the first preset angle range in the axial direction parallel to the first direction X.

[0053] Therefore, the neck structure 10 described above in this application, by configuring the first limiting component 221 of the second transmission member 220, can limit the rotation of the first drive unit 100, so that the robot head 20 can rotate within a first preset angle range in the axial direction parallel to the first direction X.

[0054] Furthermore, the first limiting component 221 is retractable, and the control unit 12 is used to control the first limiting component 221 to extend into the rotation plane of the first driving unit 100, so as to control the first driving unit 100 to rotate within a first preset angle range in the axial direction parallel to the first direction X.

[0055] Therefore, the neck structure 10 of this application can control the extension and retraction of the first limiting component 221 through the control unit 12, and can control the first driving unit 100 to rotate within a first preset angle range in the axial direction parallel to the first direction X through hardware means, so as to control the working state of the robot head 20.

[0056] like Figure 1 , Figure 2 , Figure 3 As shown, the first limiting component 221 includes a first limiting member 222 and a second limiting member 223, which are disposed on both sides of the second transmission member 220 relative to the first driving unit 100.

[0057] Therefore, the neck structure 10 of this application, by setting the first limiting member 222 and the second limiting member 223 on both sides of the second transmission member 220 relative to the first driving unit 100, can specifically limit the rotation of the first transmission member 120 of the first driving unit 100.

[0058] The control unit 12 controls the first limiting member 222 and the second limiting member 223 to extend into the rotation plane of the first driving unit 100.

[0059] Specifically, the first preset angle range can be the acute angle between the line connecting the first limiting member 222 to the rotation center of the first driving unit 100 and the line connecting the second limiting member 223 to the rotation center of the first driving unit 100.

[0060] like Figure 1 , Figure 2 , Figure 3 As shown, the second transmission member 220 has a first set of limiting grooves 224, and the second connecting part 212 has a second limiting component 213. The second limiting component 213 can be located in the first set of limiting grooves 224. When the second limiting component 213 is located in the first set of limiting grooves 224, it limits the second transmission member 220 to rotate within a second preset angle range in the axial direction parallel to the second direction Y, so as to sequentially drive the first driving unit 100 and the robot head 20 to rotate within the second preset angle range in the axial direction parallel to the second direction Y.

[0061] Therefore, the neck structure 10 of this application, by configuring the first set of limiting grooves 224 to cooperate with the second limiting component 213, can enable the first set of limiting grooves 224 of the second transmission member 220 to rotate within a second preset angle range in the axial direction parallel to the second direction Y when the second transmission member 220 rotates around the axial direction parallel to the second direction Y, thereby specifically limiting the rotation of the second transmission member 220 of the second drive unit 200.

[0062] The second limiting component 213 is retractable, and the control unit 12 is used to control the second limiting component 213 to extend into the first limiting groove 224 so as to control the second transmission component 220 to rotate within a second preset angle range in the axial direction parallel to the second direction Y.

[0063] Therefore, the neck structure 10 of this application, through the control unit 12 controlling the extension and retraction of the second limiting component 213, can control the second transmission component 220 to rotate within a second preset angle range in the axial direction parallel to the second direction Y, so as to control the working state of the robot head 20 device.

[0064] Specifically, the second preset angle range can be the acute angle between the line connecting one end of the first set of limiting grooves 224 to the rotation center of the second drive unit 200 and the line connecting the other end of the first set of limiting grooves 224 to the rotation center of the second drive unit 200.

[0065] like Figure 1 , Figure 2 , Figure 3As shown, the first set of limiting grooves 224 includes a first sub-limiting groove 225 and a second sub-limiting groove 226. The second limiting component 213 includes a third limiting member 214 and a fourth limiting member 215. The third limiting member 214 can be located in the first sub-limiting groove 225, and the fourth limiting member 215 can be located in the second sub-limiting groove 226.

[0066] Therefore, the neck structure 10 of this application can improve the stability of the limit by configuring two sub-limiting grooves to cooperate with two limiting members respectively.

[0067] like Figure 1 , Figure 2 , Figure 3 As shown, the second connecting part 212 also has a fourth limiting component 216, which can be located in the rotation plane of the second transmission member 220. The fourth limiting component 216 is telescopic. The control unit 12 is used to control the third limiting component 227 to retract into the first set of limiting grooves 224 and to control the fourth limiting component 216 to extend into the rotation plane of the second transmission member 220, so as to control and adjust the second transmission member 220 in a second preset angle range in the axial direction parallel to the second direction Y.

[0068] Therefore, the neck structure 10 of this application, through the control unit 12 controlling the extension and retraction of the second limiting component 213 and the fourth limiting component 216, can control and adjust the second transmission component 220 in the second preset angle range in the axial direction parallel to the second direction Y, so as to switch the working state of the robot head 20 device from the controlled state to the free state or the patrol state.

[0069] In some embodiments, the specific structure of the fourth limiting component 216 can be found in the relevant content of the third limiting component 227 in any of the foregoing embodiments, and will not be repeated here. The fourth limiting component 216 may include two limiting members, and the difference between the fourth limiting component 216 and the third limiting component 227 is that they are positioned differently so that the acute angle between them and the rotation center of the second driving unit 200 is different.

[0070] like Figure 1 , Figure 2 , Figure 3As shown, the third drive unit 300 includes a third rotating wheel 310, a third transmission component 320, and a transmission rod assembly 330. The third rotating wheel 310 is disposed inside the robot body 30 and has a third rotating part 311 and a third connecting part 312. The third rotating part 311 is connected to one end of the transmission rod assembly 330, and the other end of the transmission rod assembly 330 is connected to the third transmission component 320. The third transmission component 320 is connected to the second drive unit 200, and the third connecting part 312 is connected to the robot body 30. The third rotating wheel 310 can actively rotate about an axial direction parallel to the third direction Z. When actively rotating, the third rotating wheel 310 drives the transmission rod assembly 330 to move via the third rotating part 311, thereby sequentially driving the third transmission component 320, the second drive unit 200, the first drive unit 100, and the robot head 20 to rotate about an axial direction parallel to the third direction Z.

[0071] Therefore, the neck structure 10 of this application, by configuring the third rotating wheel 310 to drive the transmission rod assembly 330 to move through the third rotating part 311 when actively rotating, can sequentially drive the third transmission member 320, the second drive unit 200, the first drive unit 100 and the robot head 20 to rotate around an axial direction parallel to the third direction Z, so as to realize the left and right swing of the robot head 20, which can be used to change the horizontal field of vision of the robot head 20.

[0072] The transmission rod assembly 330, which enables the robot head 20 to swing left and right, forms a stable torque transmission plane, providing excellent rigidity and stability. It can effectively resist lateral forces and ensure the stability of the camera, sensors and other equipment mounted in the robot head 20 during movement.

[0073] like Figure 1 , Figure 2 , Figure 3 As shown, the neck structure 10 also includes a neck structure 400, which is connected to the robot body 30, and the neck structure 10 is connected to the second drive unit 200 and the third connecting part 312.

[0074] Therefore, the neck structure 10 described above in this application can fix the position of the second drive unit 200 by configuring the neck structure member 400.

[0075] like Figure 1 , Figure 2 , Figure 3As shown, the neck structure 400 has a second set of limiting grooves 410. The other end of the transmission rod assembly 330 passes through the second set of limiting grooves 410 and is connected to the third transmission member 320. The other end of the transmission rod assembly 330 moves in the second set of limiting grooves 410 to limit the third transmission member 320 to rotate within a third preset angle range in an axial direction parallel to the third direction Z. This sequentially drives the second drive unit 200, the first drive unit 100, and the robot head 20 to rotate within a third preset angle range in an axial direction parallel to the third direction Z.

[0076] Therefore, the second set of limiting grooves 410 of the neck structure 10 and the neck structure member 400 of the present application can also specifically limit the rotation of the third transmission member 320 of the third drive unit 300 by cooperating with the other end of the transmission rod assembly 330.

[0077] Specifically, the third preset angle range can be the acute angle between the line connecting one end of the second set of limiting grooves 410 to the rotation center of the third transmission member 320 and the line connecting the other end of the second set of limiting grooves 410 to the rotation center of the third transmission member 320.

[0078] Specifically, the second set of limiting grooves 410 can be located between the other end of the transmission rod assembly 330 and the third transmission member 320, so that the other end of the transmission rod assembly 330 passes through the second set of limiting grooves 410 and connects with the third transmission member 320, and the other end of the transmission rod assembly 330 moves in the second set of limiting grooves 410.

[0079] like Figure 1 , Figure 2 , Figure 3 As shown, the second set of limiting grooves 410 includes a third sub-limiting groove 411 and a fourth sub-limiting groove 412. The transmission rod assembly 330 correspondingly includes a first sub-rod 331 and a second sub-rod 332. One end of the first sub-rod 331 and one end of the second sub-rod 332 are connected to the third rotating part 311. The other end of the first sub-rod 331 passes through the third sub-limiting groove 411 and is connected to the third transmission member 320. The other end of the first sub-rod 331 moves in the third sub-limiting groove 411. The other end of the second sub-rod 332 passes through the fourth sub-limiting groove 412 and is connected to the third transmission member 320. The other end of the second sub-rod 332 moves in the fourth sub-limiting groove 412.

[0080] Therefore, the neck structure 10 of this application, by configuring two sub-limiting grooves to cooperate with the other ends of the two sub-rods respectively, can improve the stability of the limit. At the same time, the two sub-rods make the degree of freedom for the left and right swing of the robot head 20 form a stable torque transmission plane, which can effectively resist lateral forces and ensure the stability of the camera, sensors and other equipment mounted on the robot head 20 during movement.

[0081] In some embodiments, when the third rotating wheel 310 rotates, the direction of motion of the first sub-rod 331 is opposite to the direction of motion of the second sub-rod 332.

[0082] like Figure 1 , Figure 2 , Figure 3 As shown, the robot body 30 may have a guide portion 31, which is configured to correspond to the motion path of the transmission rod assembly 330. Thus, by providing the guide portion 31, the transmission rod assembly 330 can move within the guide portion 31, maintaining the posture of the robot head 20 when it moves to certain specific angles or becomes unstable.

[0083] Please refer to the following: Figure 4 , Figure 4 This is a schematic diagram from a second perspective of the neck structure in some embodiments of this application. For example... Figures 1-4 As shown, the neck structure 10 may further include a second support rod assembly 500. One end of the second support rod assembly 500 is connected to the second connecting portion 212 of the second drive unit 200, and the other end of the second support rod assembly 500 is connected to the neck structure member 400 or the robot body 30. The second support rod assembly 500 is telescopic, and its shortest telescopic length is less than a second length threshold. Therefore, by providing the second support rod assembly 500, the second drive unit 200 can be supported, and the rotation of the second transmission member 220 in an axial direction parallel to the second direction Y can be limited. Specifically, by configuring the shortest telescopic length of the second support rod assembly 500 to be less than the second length threshold, necessary support can be provided when the robot head 20 becomes unstable or experiences a sudden power outage, preventing damage to the circuitry caused by sudden large movements of the robot head 20 in the vertical direction.

[0084] The control unit 12 is used to control the shortest extendable length of the second support rod assembly 500 to be greater than the second length threshold, so as to control and adjust the second transmission member 220 in the second preset angle range in the axial direction parallel to the second direction Y.

[0085] Furthermore, the second support rod assembly 500 may include two support rods, which may be respectively disposed on both sides of the second drive unit 200.

[0086] like Figures 1-4As shown, the second transmission component 220 also has a second limiting component 213, which is retractable. The control unit 12 is used to control the first limiting component 221 to retract outside the rotation plane of the first drive unit 100 and to control the second limiting component 213 to extend into the rotation plane of the first drive unit 100, so as to control and adjust the first drive unit 100 in a first preset angle range in an axial direction parallel to the first direction X.

[0087] Therefore, the neck structure 10 of this application, by configuring the first limiting component 221 to retract outside the rotation plane of the first drive unit 100 and controlling the second limiting component 213 to extend into the rotation plane of the first drive unit 100, can control and adjust the first drive unit 100 in a first preset angle range around the axial direction parallel to the first direction X, so as to switch the working state of the robot head 20 device from the controlled state to the free state.

[0088] like Figures 1-4 As shown, the second transmission component 220 also has a fifth limiting component 228, which is retractable. The control unit 12 is used to control the first limiting component 221 and the second limiting component 213 to retract outside the rotation plane of the first drive unit 100, and to control the fifth limiting component 228 to extend into the rotation plane of the first drive unit 100, so as to control and adjust the first drive unit 100 in a first preset angle range in an axial direction parallel to the first direction X.

[0089] Therefore, the neck structure 10 of this application, by configuring the first limiting component 221 and the second limiting component 213 to retract outside the rotation plane of the first drive unit 100, and controlling the fifth limiting component 228 to extend into the rotation plane of the first drive unit 100, can control and adjust the first drive unit 100 in a first preset angle range around the axial direction parallel to the first direction X, so as to switch the working state of the robot head 20 device from the controlled state or the free state to the inspection state.

[0090] In some embodiments, the specific structures of the second limiting component 213 and the fifth limiting component 228 can be found in the relevant content of the first limiting component 221 in any of the foregoing embodiments, and will not be repeated here. Both the second limiting component 213 and the fifth limiting component 228 may each include two limiting members. The difference between the second limiting component 213 and the fifth limiting component 228 and the first limiting component 221 lies in their different positions, resulting in different acute angles with the rotation center of the first driving unit 100.

[0091] Please refer to the following: Figure 5 , Figure 5 This is a third-view schematic diagram of the neck structure in some embodiments of this application. For example... Figures 1-5As shown, the neck structure 10 also includes a first support rod assembly 600, which is telescopic. One end of the first support rod assembly 600 is connected to the other end of the transmission rod assembly 330, and the other end of the support rod assembly is connected to the robot body 30. The control unit 12 is used to control the shortest telescopic length of the first support rod assembly 600 to be greater than a first length threshold, so as to control and adjust the third transmission member 320 in a third preset angle range in an axial direction parallel to the third direction Z.

[0092] Therefore, the neck structure 10 of this application, by configuring the first support component to cooperate with the control unit 12 and configuring the shortest telescopic length of the first support rod component 600 to be greater than the first length threshold, can be used to control and adjust the third transmission component 320 in a third preset angle range in an axial direction parallel to the third direction Z.

[0093] Furthermore, the first support rod assembly 600 may include two support rods, which may be respectively disposed on both sides of the transmission rod assembly 330.

[0094] In some embodiments, the support rods in the first support rod assembly 600 and the second support rod assembly 500 can be retractable rods such as hydraulic rods and spring rods.

[0095] In some embodiments, the first rotating wheel 110, the second rotating wheel 210, and the third rotating wheel 310 may all be rotating motors.

[0096] In some embodiments, the control unit 12 may be connected to one or more of the first drive unit 100, the second drive unit 200, the third drive unit 300, the first limiting component 221, the second limiting component 213, the third limiting component 227, the fourth limiting component 216, the fifth limiting component 228, the first support rod component 600, and the second support rod component 500 to realize the above-described control function.

[0097] Furthermore, the control unit 12 can be a general-purpose processor such as a central processing unit (CPU), or a digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate logic devices, transistor logic devices, or microprocessors such as a micro control unit (MCU).

[0098] The neck structure 10 of this application provides a high degree of morphological biomimicry, making it extremely slender and compact. This allows it to highly simulate the human neck, solving the core bottleneck of neck biomimetic design. Furthermore, in a limited space design, the mass distribution pattern is closer to that of the human body, effectively lowering the robot's overall center of gravity and significantly improving its stability in dynamic tasks such as walking and working. The degrees of freedom used for the left and right swinging of the robot's head 20 constitute a stable torque transmission plane. Combined with a multi-level limit design, it effectively prevents mechanical interference and overload damage, improves system reliability, and provides effective support during power outages.

[0099] Please see Figure 6 , Figure 6 This is a schematic diagram of a humanoid robot in some embodiments of this application. For example... Figure 6 As shown, this application also provides a humanoid robot 1000, which includes a robot head 20, a robot body 30, and a neck structure 10. The neck structure 10 is used to drive the robot head 20 to move relative to the robot body 30.

[0100] Please refer to it again. Figure 1 , Figure 2 .like Figure 1 , Figure 2 As shown, the neck structure 10 includes a first drive unit 100, a second drive unit 200, and a third drive unit 300. The first drive unit 100 is disposed within the robot head 20 and drives the robot head 20 to rotate about an axial direction parallel to the first direction X during rotation. The second drive unit 200 is connected to the first drive unit 100 and drives the first drive unit 100 to rotate about an axial direction parallel to the second direction Y during rotation, thereby driving the robot head 20 to rotate about an axial direction parallel to the second direction Y. The third drive unit 300 is partially disposed within the robot body 30 and connected to the second drive unit 200. The third drive unit 300 drives both the second drive unit 200 and the first drive unit 100 to rotate about an axial direction parallel to a third direction Z during rotation, thereby driving the robot head 20 to rotate about an axial direction parallel to the third direction Z. The first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

[0101] For a more detailed description of the neck structure 10, please refer to the relevant content of the neck structure 10 in any of the foregoing embodiments, which will not be repeated here.

[0102] The neck structure 10 and humanoid robot 1000 of this application provide a high degree of morphological biomimicry through the aforementioned structure, making the neck structure 10 extremely slender and compact, thereby highly simulating the human neck, solving the core bottleneck of neck biomimetic design, and in the limited space design, the mass distribution pattern is closer to the human body, effectively lowering the overall center of gravity of the robot, significantly improving its stability in dynamic tasks such as walking and working, and the degrees of freedom used for the left and right swing of the robot head 20 constitute a stable torque transmission plane, combined with multi-level limit design, effectively preventing mechanism interference and overload damage, improving system reliability, and also providing effective support when power is off.

[0103] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Where there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A neck structure, characterized in that, The neck structure, used to move the head of a robot relative to the main body of the robot, includes: A first drive unit is disposed inside the robot head, and the first drive unit is used to drive the robot head to rotate about an axial direction parallel to the first direction when rotating. The second drive unit is connected to the first drive unit. The second drive unit is used to drive the first drive unit to rotate around an axial direction parallel to the second direction when rotating, so as to drive the robot head to rotate around an axial direction parallel to the second direction. The third drive unit is partially disposed within the robot body and connected to the second drive unit. The third drive unit is used to drive the second drive unit and the first drive unit to rotate around an axial direction parallel to the third direction when rotating, so as to drive the robot head to rotate around an axial direction parallel to the third direction. Wherein, the first direction, the second direction, and the third direction are perpendicular to each other; The third drive unit includes a third rotating wheel, a third transmission component, and a transmission rod assembly. The third rotating wheel is disposed inside the robot body and has a third rotating part and a third connecting part. The third rotating part is connected to one end of the transmission rod assembly, and the other end of the transmission rod assembly is connected to the third transmission component. The third transmission component is connected to the second drive unit, and the third connecting part is connected to the robot body. The neck structure further includes a control unit and a first support rod assembly. The first support rod assembly is telescopic, with one end connected to the other end of the transmission rod assembly and the other end connected to the robot body. The control unit controls the shortest telescopic length of the first support rod assembly to be greater than a first length threshold, thereby controlling and adjusting the third transmission member within a third preset angle range in an axial direction parallel to the third direction.

2. The neck structure according to claim 1, characterized in that, The first drive unit includes a first rotating wheel disposed inside the robot head and a first transmission component. The first rotating wheel has a first rotating part and a first connecting part. The first rotating part is connected to the first transmission component, the first transmission component is connected to the robot head, and the first connecting part is connected to the second drive unit. The first rotating wheel can actively rotate around an axial direction parallel to the first direction. When actively rotating, the first rotating wheel drives the first transmission component to rotate around an axial direction parallel to the first direction through the first rotating part, so as to drive the robot head to rotate around an axial direction parallel to the first direction. The first rotating wheel is also used to passively rotate around an axial direction parallel to the second direction under the drive of the first connecting part when the second driving unit rotates, so as to drive the robot head to rotate around an axial direction parallel to the second direction.

3. The neck structure according to claim 1, characterized in that, The second drive unit includes a second rotating wheel and a second transmission component. The second rotating wheel has a second rotating part and a second connecting part. The second rotating part is connected to the second transmission component. The second transmission component is connected to the first drive unit. The second connecting part is connected to the third drive unit. The second rotating wheel can actively rotate around an axial direction parallel to the second direction. When actively rotating, the second rotating wheel drives the second transmission component to rotate around an axial direction parallel to the second direction through the second rotating part, so as to drive the first driving unit and the robot head to rotate around an axial direction parallel to the second direction in sequence. The second rotating wheel is also used to passively rotate around an axial direction parallel to the third direction under the drive of the second connecting part when the third driving unit rotates, so as to drive the robot head to rotate around an axial direction parallel to the third direction.

4. The neck structure according to claim 3, characterized in that, The second transmission component has a first limiting component, which can be located in the rotation plane of the first driving unit. When the limiting component is located in the rotation plane of the first driving unit, it limits the first driving unit to rotate within a first preset angle range in an axial direction parallel to the first direction, so as to drive the robot head to rotate within the first preset angle range in an axial direction parallel to the first direction.

5. The neck structure according to claim 4, characterized in that, The first limiting component includes a first limiting member and a second limiting member, which are disposed on both sides of the second transmission member relative to the first driving unit.

6. The neck structure according to claim 3, characterized in that, The second transmission member has a first set of limiting grooves, and the second connecting part has a second limiting component. The second limiting component can be located in the first set of limiting grooves. When the second limiting component is located in the first set of limiting grooves, it limits the second transmission member to rotate within a second preset angle range in an axial direction parallel to the second direction, so as to sequentially drive the first driving unit and the robot head to rotate within the second preset angle range in an axial direction parallel to the second direction.

7. The neck structure according to claim 6, characterized in that, The first set of limiting grooves includes a first sub-limiting groove and a second sub-limiting groove. The second limiting component includes a third limiting member and a fourth limiting member. The third limiting member can be located in the first sub-limiting groove, and the fourth limiting member can be located in the second sub-limiting groove.

8. The neck structure according to claim 1, characterized in that, The third rotating wheel can actively rotate about an axial direction parallel to the third direction. When actively rotating, the third rotating wheel drives the transmission rod assembly to move through the third rotating part, so as to sequentially drive the third transmission component, the second drive unit, the first drive unit and the robot head to rotate about an axial direction parallel to the third direction.

9. The neck structure according to claim 8, characterized in that, The neck structure also includes a neck structure component, which is connected to the robot body and is also connected to the second drive unit and the third connecting part.

10. The neck structure according to claim 9, characterized in that, The neck structure has a second set of limiting grooves. The other end of the transmission rod assembly passes through the second set of limiting grooves and is connected to the third transmission member. The other end of the transmission rod assembly moves in the second set of limiting grooves to limit the third transmission member to rotate within a third preset angle range in an axial direction parallel to the third direction, and sequentially drive the second drive unit, the first drive unit, and the robot head to rotate within the third preset angle range in an axial direction parallel to the third direction.

11. The neck structure according to claim 10, characterized in that, The second set of limiting grooves includes a third sub-limiting groove and a fourth sub-limiting groove. The transmission rod assembly correspondingly includes a first sub-rod and a second sub-rod. One end of the first sub-rod and one end of the second sub-rod are connected to the third rotating part. The other end of the first sub-rod passes through the third sub-limiting groove and is connected to the third transmission member. The other end of the first sub-rod moves in the third sub-limiting groove. The other end of the second sub-rod passes through the fourth sub-limiting groove and is connected to the third transmission member. The other end of the second sub-rod moves in the fourth sub-limiting groove.

12. The neck structure according to claim 11, characterized in that, When the third rotating wheel rotates, the direction of movement of the first sub-rod is opposite to the direction of movement of the second sub-rod.

13. A humanoid robot, characterized in that, include: Robot head; Robot body; The neck structure as described in any one of claims 1-12 is used to drive the robot head to move relative to the robot body.

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