Neck structure of bionic robot

Abstract

The invention discloses a neck structure of a bionic robot, which relates to the technical field of bionic robots and comprises a supporting skeleton, steering head structures arranged on the upper part and the lower part of the supporting skeleton respectively, and a driving assembly, the steering head structure is connected with a fine adjustment module and an insertion buckle structure assembled with the top of the fine adjustment module; the transmission rod assembly is vertically connected between the steering head structure and the driving assembly and located on the front side of the supporting skeleton; the driving assembly is further provided with a piston pressure regulating mechanism. Through the spine structure and the neck skin imitating structure, the impact on an active driving system is reduced through the characteristic similar to energy absorption of biological tendons and soft tissues, secondly, the driving assembly with the largest weight is arranged at the bottom, the rotational inertia of a moving part is greatly reduced, and in addition, through the insertion buckle structure designed in an aided mode, the driving assembly is not prone to falling off. Head modules integrated with different sensors are allowed to be rapidly replaced according to different occasions, plug and play is achieved, and stability is high.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, specifically to a biomimetic robot neck structure. Background Technology

[0002] With the development of robotics technology, biomimetic robots with highly human-like appearance and movement capabilities have become an important research direction. Among these, achieving flexible, realistic, and durable neck movement is key to improving the overall performance of robots and the naturalness of human-robot interaction. However, existing biomimetic neck actuation solutions typically face the following technical bottlenecks:

[0003] Firstly, there are issues with driving impact and system durability: Traditional driving methods often use motors to directly drive the head movement through rigid mechanisms such as gears and linkages. This structure lacks buffering against inertial impacts and the movement is stiff, making it difficult to simulate the flexibility of biological tissues.

[0004] Secondly, the large inertia of moving parts and the fact that heavy components such as drive motors are often directly integrated into or near the motion unit limit the response speed and flexibility of the movement, making it difficult to achieve rapid and light head posture adjustment.

[0005] Thirdly, the head is a key platform integrating multiple sensors such as vision, hearing, and interaction. Its functional modules are often fixedly connected to the driving structure or designed as an integrated unit. Fixed connection and integrated design can ensure the stability of the head installation, but it is difficult to replace, which greatly reduces its applicable range.

[0006] To address this, a biomimetic robot neck structure was designed. Summary of the Invention

[0007] The purpose of this invention is to provide a biomimetic robot neck structure. By incorporating a spinal structure and a neck skin-like structure, which have energy-absorbing properties similar to biological tendons and soft tissues, the impact on the active drive system is reduced. Secondly, the heaviest drive assembly is placed at the bottom, which greatly reduces the rotational inertia of the moving parts. In addition, the auxiliary design of the snap-fit ​​structure allows for quick replacement of head modules integrating different sensors according to different situations, making it plug-and-play and highly stable.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a biomimetic robot neck structure, comprising: a supporting skeleton, a steering head structure and a drive assembly disposed on the upper and lower parts of the supporting skeleton respectively;

[0009] The steering head structure is connected to a fine-tuning module and a snap-fit ​​structure fitted to the top of the fine-tuning module for quick-connect fitting of the neck and head; and a transmission rod assembly vertically connected between the steering head structure and the drive assembly and located in front of the supporting skeleton; the drive assembly is also equipped with a piston pressure regulating mechanism and a spinal structure connected between the piston pressure regulating mechanism and the steering head structure and located in front of the supporting skeleton; and a simulated neck skin structure sleeved on the outer wall of the supporting skeleton, the simulated neck skin structure communicating with the piston pressure regulating mechanism; when the drive assembly is working, the transmission assembly can drive the steering head structure to deflect in multiple directions to achieve multi-directional head movements. At the same time, the piston pressure regulating mechanism works in conjunction with the spinal structure and the simulated neck skin structure to stabilize and coordinate head movements.

[0010] Preferably, the steering head structure includes a support base, on which a first rotating rod is rotatably mounted laterally, and an intermediate seat is assembled with the middle of the first rotating rod. A second rotating rod, which is perpendicular to the first rotating rod, is also rotatably mounted on the intermediate seat, and an extension seat is fixedly assembled with the second rotating rod. The extension seat has two lugs on both sides of its front end for connecting to the top of the transmission rod assembly, and a tail seat at the rear end of the extension seat for connecting to the top of the spine structure.

[0011] Preferably, the supporting skeleton includes a bone plate with two mounting slots at the lower part of the bone plate for assembling the drive assembly; the drive assembly includes two sets of belt drive mechanisms, each set of belt drive mechanisms including a rotatable drive wheel mounted in the middle of the mounting slot, the front end of the drive wheel extending to the front side of the bone plate and mounting a drive disc, a drive block eccentrically mounted on the front side of the drive disc via two second connecting shafts, the drive block having a triangular structure and being used to connect to the bottom end of the drive rod assembly, and the rear end of the drive wheel being connected to a piston pressure regulating mechanism; and a rotatable drive wheel located below the drive wheel and placed on the bone plate, the drive wheel being connected to the drive wheel by a drive belt, and a second motor being fixedly mounted on the bone plate via a cross plate, the output shaft of the second motor being connected to the drive wheel.

[0012] Preferably, the transmission rod assembly consists of two sets. Each set of the transmission rod assembly includes a second connecting bushing, a transmission rod, and a first connecting bushing connected sequentially from top to bottom. The second connecting bushing is rotatably connected to the corresponding side lug via a first connecting shaft, and the first connecting bushing is rotatably connected to another corner of the transmission block via a pin.

[0013] Preferably, the spinal structure includes a flexible connector and vertebrae, the flexible connector and vertebrae are arranged alternately from bottom to top, and the top flexible connector is fixed to the bottom of the tailstock. The flexible connector and vertebrae are hollow and form a long cavity, and the rear half of the long cavity away from the bone plate is provided with reinforcing ribs.

[0014] Preferably, the simulated neck skin structure includes a simulated skin layer and two simulated muscle knots disposed inside and opposite to the inner wall of the simulated skin layer.

[0015] Preferably, the piston pressure regulating mechanism includes two sets of crank-connecting rod mechanisms. Each set of crank-connecting rod mechanisms includes a working chamber, which is fixed to the back of the bone plate by a connecting plate, and a second piston sleeve laterally connected between the two working chambers. A connecting sleeve is connected to the middle of the second piston sleeve, and the vertebra at the bottom position is fixed and connected to the top of the connecting sleeve. Two second piston sleeves are installed inside the second piston sleeves and slide relative to each other. Each working chamber is also connected to a first piston sleeve, which houses a retractable first piston body. The lower part of the first piston sleeve is connected to a corresponding pseudo-muscle node via a conduit. Each working chamber... A central rod is rotatably mounted in the middle of the body. One end of the central rod passes through a through hole in the working cavity and is fixedly connected to the other end of the transmission wheel away from the transmission rod. A first crank head assembly and a second crank head assembly are mounted on the central rod and distributed vertically. The actuating end of the first crank head assembly extends into the interior of the second piston body and is rotatably connected to the shaft inside it. The actuating end of the second crank head assembly extends into the interior of the first piston body and is rotatably connected to the shaft inside it. The first crank head assembly and the second crank head assembly have the same structure but different starting positions. The second crank head assembly includes a crank component fixed to the central rod, and a connecting rod component is rotatably connected to the protruding end of the crank component.

[0016] Preferably, the fine-tuning module includes a work box and a transmission ring portion disposed on the top of the assembly plate from the inside out. The work box contains a first motor, the output shaft of which is connected to a rotating sleeve. The rotating sleeve contains a horizontally rotatable rotating seat, one end of which is fixed with a connecting rod. The connecting rod has an L-shaped structure and a limiting ball at its end, as well as a transmission groove formed in the transmission ring portion. The limiting ball can be limited within the transmission groove. The other end of the rotating seat is fixed with a connecting end, and a buckle structure is fixed to the top of the connecting end. The module also includes an electric telescopic rod vertically disposed on the assembly plate and arranged in a ring, the top of which is connected to the transmission ring portion.

[0017] Preferably, the buckle structure includes an assembly base and a plug-in base adapted to the assembly base. The assembly base includes a base plate and a mounting plate fixed to the top of the base plate. The mounting plate has a handle at its front end and guide seats and U-shaped parts fixed to the upper surface of the mounting plate. Both sides of the guide seats have female grooves, and the distance between the two female grooves gradually increases along the direction of the plug-in base. The U-shaped parts have two sets of elastic locking handles. The plug-in base includes a plug plate with an L-shaped structure. The bottom of the plug plate has male tenons that are adapted to the female grooves for plugging. The distance between the inner walls of the male tenons gradually decreases along the plugging direction. The front end of the plug plate has an extension plate and a lock hole opened on the extension plate and plugging into the two sets of elastic locking pins. The front end of the extension plate extends to an arc end face and a top plate fixed to the top of the plug plate. The top plate has a mounting hole for assembling with the head and two sets of elastic limiting pins located at the end of the top plate away from the arc end face. The two sets of elastic limiting pins can be plugged into the handle.

[0018] Preferably, each set of elastic lock handles includes a second sleeve mounted on a U-shaped member, and a first movable post that extends and retracts within the second sleeve and can move up and down. The top of the first movable post passes through the second sleeve and is hinged to a handle via a pivot pin, and a lock head is fixed to the bottom of the first movable post. A second spring is connected to the outer wall of the base plate between the lock head and the second sleeve. Each set of elastic limiting posts includes a first sleeve and a long slot formed on one side of the first sleeve. A movable block that can extend and retract up and down is installed inside the first sleeve. The movable block is provided with a pressure rod that passes through the long slot, and a first spring is provided between the movable block and the first sleeve. The bottom of the movable block is provided with a positioning post that is inserted into the handle.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. This invention utilizes a piston pressure regulating mechanism. When the transmission rod assembly drives the head movement, the pressure within the spinal structure and the simulated cervical skin changes in real time. This energy-absorbing characteristic, similar to that of biological tendons and soft tissues, reduces the impact on the active drive system and improves system durability. Secondly, by placing the heaviest drive assembly (motor, etc.) at the bottom and transmitting motion through the transmission rod, the rotational inertia of the moving parts is greatly reduced. In addition, the auxiliary design of the snap-fit ​​structure allows for quick replacement of head modules integrating different sensors according to different situations, enabling plug-and-play functionality with high stability.

[0021] 2. As another embodiment of the present invention, the piston pressure regulating mechanism, which serves as a mechanical-pneumatic distribution hub, realizes the coupling of mechanical drive and air pressure regulation. The rotational motion of the transmission wheel can provide power to the second piston sleeve. The driving angle of the transmission wheel determines the position of the head, and the crank connecting rod determines the reference position of the piston. Through the first crank head assembly and the second crank head assembly, energy is distributed to the spine and the simulated neck skin according to a preset ratio to be responsible for core stability and appearance cushioning, respectively.

[0022] 3. As another embodiment of the present invention, a fine-tuning module is further provided. This module is located between the neck main drive system (which enables a wide range of pitch / yaw) and the head, and is specifically responsible for fine-tuning the head attitude in a small range with high precision. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the internal structure of the present invention from a first perspective;

[0024] Figure 2 for Figure 1 A schematic diagram of the second-view structure;

[0025] Figure 3 for Figure 1 A front view structural diagram;

[0026] Figure 4 for Figure 1 A schematic diagram of the rear view structure;

[0027] Figure 5 for Figure 1 A schematic diagram of the side view structure;

[0028] Figure 6 for Figure 1 A schematic diagram of the third-person perspective structure;

[0029] Figure 7 This is a partial disassembly diagram of the steering head structure of the present invention;

[0030] Figure 8 for Figure 7 A second-view 3D structural diagram;

[0031] Figure 9 This is a schematic diagram of the disassembled buckle structure of the present invention;

[0032] Figure 10 for Figure 9 A second-view 3D structural diagram;

[0033] Figure 11 This is a partial disassembly diagram of the steering head structure and buckle structure of the present invention;

[0034] Figure 12 This is a schematic diagram of the connector structure of the present invention;

[0035] Figure 13 This is a front view structural diagram of the present invention;

[0036] Figure 14 for Figure 13 A schematic diagram of the internal structure of the AA cross-section;

[0037] Figure 15 for Figure 13 A schematic diagram of the internal structure of the BB cross-section;

[0038] Figure 16 for Figure 15 A magnified structural diagram at point M;

[0039] Figure 17 This is a schematic diagram of the structure of the present invention from a bottom view;

[0040] Figure 18 for Figure 17 A schematic diagram of the cross-sectional structure of JJ;

[0041] Figure 19 for Figure 17 A schematic diagram of the internal structure of the HH cross-section;

[0042] Figure 20 for Figure 17 A schematic diagram of the internal structure of the KK cross-section;

[0043] Figure 21 This is a schematic diagram of the internal structure of the fine-tuning module of the present invention.

[0044] Figure 22 This is a schematic diagram of the internal structure of the assembly base in cross-section according to the present invention;

[0045] Figure 23 for Figure 22 A magnified internal structure diagram at point N.

[0046] In the diagram: 1. Snap-fit ​​structure; 111. Top plate; 112. Mounting hole; 113. First rod sleeve; 1141. Pressure rod; 1142. First spring; 1143. Long groove; 1144. Movable block; 115. Extension plate; 116. Lock hole; 117. Insert plate; 1171. Male tenon; 118. Positioning post; 119. Arc end face; 120. Guide seat; 121. Female groove; 122. Mounting plate; 123. U-shaped part; 124. Handle; 125. Second rod sleeve; 126. Lock head; 127. Base plate; 128. Second spring; 129. Shaft pin; 130. First movable post;

[0047] 2. Fine-tuning module; 211. Connecting end; 212. Transmission ring; 2121. Transmission groove; 213. Electric telescopic rod; 214. Working box; 215. Rotating sleeve; 216. Rotary seat; 217. Connecting rod; 219. Limit ball;

[0048] 3. Steering head structure; 311. Support seat; 312. First rotating rod; 313. Intermediate seat; 314. Second rotating rod; 315. Tail seat; 316. Assembly plate; 317. Extension seat; 318. Lug; 319. First connecting shaft;

[0049] 4. Spinal structure; 411. Flexible connector; 412. Vertebrae; 413. Reinforcing ribs;

[0050] 5. Rib plate; 511. Mounting slot;

[0051] 6. Piston pressure regulating mechanism; 611. Working chamber; 6111. Connecting plate; 612. First piston sleeve; 6121. First piston body; 613. Guide tube; 614. Second piston sleeve; 6141. Second piston body; 615. Second motor; 6151. Drive wheel; 6152. Transmission belt; 6153. Transmission wheel; 616. Connecting sleeve; 620. Crank assembly; 6201. Center rod; 621. Connecting rod assembly;

[0052] 7. Transmission rod assembly; 711. Transmission rod; 712. First connecting bushing; 713. Transmission block; 714. Second connecting shaft; 715. Second connecting bushing; 716. Transmission disc;

[0053] 811. Imitation dermis; 812. Imitation muscle knot. Detailed Implementation

[0054] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. The various embodiments of this invention are described in detail below with reference to the accompanying drawings.

[0055] Example 1

[0056] Please see Figures 1 to 23The present invention preferably provides a technical solution: a biomimetic robot neck structure, comprising: a supporting skeleton; a steering head structure 3 and a drive assembly respectively disposed on the upper and lower parts of the supporting skeleton; a fine-tuning module 2 connected to the steering head structure 3, and a snap-fit ​​structure 1 assembled to the top of the fine-tuning module 2 for quick-connect assembly of the neck and the head; a transmission rod assembly 7 vertically connected between the steering head structure 3 and the drive assembly and located on the front side of the supporting skeleton; the drive assembly is also equipped with a piston pressure regulating mechanism 6, and a spinal structure 4 connected between the piston pressure regulating mechanism 6 and the steering head structure 3 and located on the rear side of the supporting skeleton; and a pseudo-neck skin structure sleeved on the outer wall of the supporting skeleton, the pseudo-neck skin structure communicating with the piston pressure regulating mechanism 6; when the drive assembly is working, the transmission assembly can drive the steering head structure 3 to deflect in multiple directions to achieve multi-directional head movements, while the piston pressure regulating mechanism 6 works in coordination with the spinal structure 4 and the pseudo-neck skin structure to stabilize and coordinate the head movements.

[0057] In this application, such as Figure 1 , 2 As shown in Figure 3, the transmission rod assembly 7 and the spinal structure 4 on the front and rear sides of the supporting skeleton form a dual transmission path for force and motion. During operation, especially in case of unexpected situations such as jamming of the transmission rod, the spinal structure 4 and the simulated neck skin structure can still provide a certain degree of support and cushioning to prevent the head from falling uncontrollably, thus improving the stability and safety of the system.

[0058] Furthermore, through the piston pressure regulating mechanism 6, when the transmission rod assembly 7 drives the head to move, the pressure in the spinal structure 4 and the simulated neck skin will change in real time. This characteristic, similar to the "energy absorption" of biological tendons and soft tissues, reduces the impact on the active drive system and improves the system's durability.

[0059] Secondly, such as Figure 1 , 2 As shown, the heaviest drive assembly, such as the motor, is placed at the bottom and the motion is transmitted through the transmission rod. This greatly reduces the rotational inertia of the moving parts, allowing for faster start-stop and enabling more human-like high-speed micro-motion.

[0060] In addition, the plug-in structure 1, which is designed with assistance, allows for quick replacement of head modules that integrate different sensors for different occasions. It is plug-and-play and highly stable.

[0061] Furthermore, the steering head structure 3 includes a support base 311, on which a first rotating rod 312 is rotatably mounted laterally, and an intermediate seat 313 is assembled with the middle of the first rotating rod 312. A second rotating rod 314, which is perpendicular to the first rotating rod 312, is also rotatably mounted on the intermediate seat 313, and an extension seat 317 is fixedly assembled with the second rotating rod 314. Two lugs 318 are provided on both sides of the front end of the extension seat 317 for connecting to the top of the transmission rod assembly 7, and a tail seat 315 is provided at the rear end of the extension seat 317 for connecting to the top of the spine structure 4.

[0062] Through further configuration of the steering head structure 3, such as Figure 2 , 5 As shown in Figures 7, 8, and 11, the orthogonal cross-axis structure formed by the first rotating rod 312 and the second rotating rod 314 allows the first rotating rod 312 to tilt back and forth relative to the support base 311 to achieve head-up and head-down movements, while the second rotating rod 314 can tilt left and right relative to the first rotating rod 312 to achieve left and right side-to-side head-down movements.

[0063] Furthermore, the supporting skeleton includes a bone plate 5, with two mounting slots 511 located at the lower part of the bone plate 5 for assembling the drive assembly; the drive assembly includes two sets of belt drive mechanisms, each set of belt drive mechanisms including a rotatable drive wheel 6153 mounted in the middle of the mounting slot 511, the front end of the drive wheel 6153 extending to the front side of the bone plate 5 and mounted with a drive disc 716, a drive block 713 eccentrically mounted on the front side of the drive disc 716 via two second connecting shafts 714, the drive block 713 having a triangular structure and being used to connect to the bottom end of the drive rod assembly 7, and the rear end of the drive wheel 6153 being connected to a piston pressure regulating mechanism 6; and a rotatable drive wheel 6151 located at the lower part of the drive wheel 6153 and placed on the bone plate 5, with a drive belt 6152 drivingly connecting the drive wheel 6151 and the drive wheel 6153, and a second motor 615 fixedly mounted on the bone plate 5 via a cross plate, the output shaft of the second motor 615 being connected to the drive wheel 6151.

[0064] Furthermore, the transmission rod assembly 7 consists of two sets. Each set of transmission rod assembly 7 includes a second connecting bushing 715, a transmission rod 711, and a first connecting bushing 712 connected sequentially from top to bottom. The second connecting bushing 715 is rotatably connected to the corresponding side lug 318 via a first connecting shaft 319. The first connecting bushing 712 is rotatably connected to the other corner of the transmission block 713 via a pin.

[0065] Through further modifications to the drive assembly and the transmission rod assembly 7, such as Figure 1 , 2As shown in Figures 1, 3, and 19, when the second motor 615 is working, it transmits power to the transmission wheel 6153 through the transmission belt 6152. On the one hand, the front side of the transmission wheel 6153 is connected to an eccentric wheel structure consisting of a transmission disc 716, a transmission block 713, and a second connecting shaft 714. In conjunction with the transmission connection of the second connecting shaft sleeve 715, the transmission rod 711, and the first connecting shaft sleeve 712, the rotational motion of the transmission disc 716 is converted into the pushing and pulling motion of the transmission rod assembly 7.

[0066] like Figure 1 , 2 3. Since the transmission rod assembly 7 consists of two sets, when the corresponding left and right transmission rod assemblies 7 are pushed up or pulled down simultaneously, the whole assembly plate 316 will drive the first rotating rod 312 to tilt back and forth relative to the support base 311 to perform head-up and head-down movements. When the corresponding left and right transmission rod assemblies 7 are pushed up and down respectively, the corresponding second rotating rod 314 can deflect left and right relative to the first rotating rod 312 to achieve left and right head-down movements.

[0067] Example 2

[0068] In another embodiment of the present invention, the spinal structure 4 includes a flexible connecting seat 411 and a vertebra 412. The flexible connecting seat 411 and the vertebra 412 are arranged alternately from bottom to top, and the top flexible connecting seat 411 is fixed to the bottom of the tail seat 315. The flexible connecting seat 411 and the vertebra 412 are hollow and form a long cavity. The rear half of the long cavity away from the bone plate 5 is provided with a reinforcing rib 413.

[0069] In this embodiment, a spinal structure 4 is further provided. Since the top of the spinal structure is fixed to the bottom of the tail seat 315 of the steering head, it means that the shape of the spinal structure directly determines the rear support point of the head. By adjusting the pressure of different segments, corresponding to different curvatures of the spinal structure, when the head tilts backward due to inertia or external force, the system can instantly increase the pressure on the spinal structure, making it straight and rigid, forming a powerful active overload protection support.

[0070] like Figure 18 and 20 As shown, the hollow area of ​​the spinal structure 4 is filled with a reinforcing rib 413 in the rear half of the cavity. The reinforcing rib 413 is preferably elastic rubber, which forms a pressure transmission channel on the front side. When the front channel is inflated, the expansion distance of the cavity corresponding to the inner spinal column increases. When the air is deflated, the inner spinal column shortens and becomes more flexible.

[0071] Furthermore, the simulated neck skin structure includes a simulated skin layer 811 and two simulated muscle knots 812 disposed inside and opposite to the inner wall of the simulated skin layer 811.

[0072] like Figure 18As shown, two opposing pseudo-muscle knots 812 constitute an active shape adjustment unit inside the pseudo-neck skin. They are connected to the piston pressure regulating mechanism 6 through the conduit 613, and the pressure can be controlled independently. Dynamic muscle contour simulation: for example, when the head turns to one side, the pseudo-muscle knot 812 on the same side can be slightly inflated to simulate the taut bulge of the sternocleidomastoid muscle, and the pseudo-muscle knot 812 on the opposite side can be slightly deflated to show relaxation. This dynamic shape feedback can create a sense of realism.

[0073] Furthermore, the piston pressure regulating mechanism 6 includes two sets of crank-connecting rod mechanisms. Each set of crank-connecting rod mechanisms includes a working chamber 611, which is fixed to the back side of the bone plate 5 by a connecting plate 6111, and a second piston sleeve 614 that is laterally connected between the two working chambers 611. A connecting sleeve 616 is connected to the middle of the second piston sleeve 614. The vertebra 412 at the bottom position is fixed and connected to the top of the connecting sleeve 616. Two second piston sleeves 614 are installed in the second piston sleeve 614 and slide relative to each other. A first piston sleeve 612 is also connected to each working chamber 611. A telescopically movable first piston body 6121 is installed in the first piston sleeve 612, and the lower part of the first piston sleeve 612 is connected to the corresponding side of the simulated muscle knot 812 through a conduit 613. A central rod 6201 is rotatably mounted in the middle of each working chamber 611. One end of the central rod 6201 passes through a through hole in the working chamber 611 and is fixedly connected to the other end of the transmission wheel 6153 away from the transmission rod 711. A first crank head assembly and a second crank head assembly are mounted on the central rod 6201 and distributed vertically. The actuating end of the first crank head assembly extends into the interior of the second piston body 6141 and is rotatably connected to the shaft inside it. The actuating end of the second crank head assembly extends into the interior of the first piston body 6121 and is rotatably connected to the shaft inside it. The first crank head assembly and the second crank head assembly have the same structure but different starting positions. The second crank head assembly includes a crank member 620 fixed to the central rod 6201. The protruding end of the crank member 620 is rotatably connected to a connecting rod member 621.

[0074] The piston pressure regulating mechanism 6, acting as a mechanical-pneumatic distribution hub, couples mechanical drive with pneumatic pressure regulation. Specifically, as shown in... Figure 1 , 2 As shown in Figure 18, the rotational motion of the transmission rod 711 connected to the front end of the transmission wheel 6153 is converted into the pushing and pulling motion of the transmission rod assembly 7, thereby realizing the multi-directional deflection action of the steering head structure 3. The center rod 6201 is fixedly connected to the tail end of the transmission wheel 6153. The rotational motion of the transmission wheel 6153 can provide power to the second piston sleeve 614. The driving angle of the transmission wheel 6153 determines the position of the head, and the reference position of the piston is determined by the crank connecting rod. Through the first crank head assembly and the second crank head assembly, the energy is distributed to the spine for core stability and the simulated neck skin for appearance and cushioning according to a preset ratio.

[0075] Specifically, for the spinal structure 4 connected to the second piston sleeve 614, a pressure transmission channel is formed on its front side. When the steering head structure 3 is pushed by the front transmission rod assembly 7 to form a head-up posture, the corresponding cranks 620 on both sides rotate towards the center. Under the transmission action of the connecting rod 621 inside the second piston sleeve 614, the two second piston bodies 6141 inside the second piston sleeve 614 move relative to each other and squeeze the airflow inside the second piston sleeve 614 into the front half cavity of the reinforcing rib 413 for inflation. The expansion gap of the corresponding inner spine increases, providing stable support for head-up. When the steering head structure 3 is pulled down by the front transmission rod assembly 7 to form a head-down posture, the corresponding cranks 620 on both sides rotate in opposite directions, causing the two second piston bodies 6141 inside the second piston sleeve 614 to move in opposite directions and draw the airflow in the front half cavity of the reinforcing rib 413 back into the second piston sleeve 614. The inner spine contracts and becomes more flexible, which is conducive to head-down.

[0076] For the simulated muscle knot 812 connected to the first piston sleeve 612, when one side of the simulated muscle knot 812 is inflated, it is slightly inflated to simulate the taut bulge of the sternocleidomastoid muscle. When the simulated muscle knot 812 is in deflated, it simulates the contraction and relaxation of the sternocleidomastoid muscle. During head movements, the dynamic adjustment of the simulated muscle knot 812 and the dynamic shape feedback can create a sense of realism in appearance, while also having a certain cushioning and assisting effect.

[0077] Example 3

[0078] In another embodiment of the present invention, the fine-tuning module 2 includes a work box 214 and a transmission ring 212 disposed on the top of the assembly plate 316 from the inside out. The work box 214 is provided with a first motor, and the output shaft of the first motor is connected to a rotating sleeve 215. The rotating sleeve 215 is provided with a horizontally rotatable turntable 216. One end of the turntable 216 is fixed with a connecting rod 217. The connecting rod 217 has an L-shaped structure and a limiting ball 219 is provided at its end. A transmission groove 2121 is opened in the transmission ring 212. The limiting ball 219 can be limited in the transmission groove 2121. The other end of the turntable 216 is fixed with a connecting end 211. A buckle structure 1 is fixed to the top of the connecting end 211. An electric telescopic rod 213 is vertically disposed on the assembly plate 316 and distributed in a ring. The top of the electric telescopic rod 213 is connected to the transmission ring 212.

[0079] In this embodiment, a fine-tuning module 2 is further provided, such as Figure 1 , 2As shown in Figures 19 and 21, this module is located between the neck main drive system, which enables a wide range of pitch / yaw, and the head. It is specifically responsible for fine-tuning the head posture within a small range with high precision. The first motor and the electric telescopic rod 213 of the fine-tuning module 2 are completely independent of the active drive system of the neck, allowing the head to independently perform slight nodding, shaking, or tilting movements after completing a wide range of rotations. Specifically, as shown in Figures 19 and 21, this module is located between the neck main drive system, which enables a wide range of pitch / yaw, and the head posture. Figure 21 As shown, the electric telescopic rod 213 drives the transmission ring 212 to move up and down. Under the limiting action of the transmission groove 2121 and the limiting ball 219, it drives the rotating seat 216 to deflect relative to the rotating sleeve 215, which can adjust the specific angle of head tilt, such as looking straight ahead, looking up, looking down, etc. When the first motor where the work box 214 is located is driven, it can drive the head to further shake and rotate on the basis of looking straight ahead, looking up, and looking down.

[0080] Example 4

[0081] In another embodiment of the present invention, the snap-fit ​​structure 1 includes an assembly base and a plug-in base adapted to the assembly base. The assembly base includes a base plate 127 and a mounting plate 122 fixed to the top of the base plate 127. A handle 124 is provided at the front end of the mounting plate 122, and a guide seat 120 and a U-shaped member 123 are fixed to the upper surface of the mounting plate 122. Both sides of the guide seat 120 are provided with female grooves 121, and the distance between the two female grooves 121 gradually increases along the direction of the plug-in base. Two sets of elastic locking handles are provided on the U-shaped member 123. The plug-in base includes a plug plate 117, which has an L-shaped structure at its bottom. A male tenon 1171 is fixed and adapted to be inserted into the female groove 121. The spacing between the inner walls of the male tenon 1171 gradually decreases along the insertion direction. An extension plate 115 is provided at the front end of the insertion plate 117, and a lock hole 116 is opened on the extension plate 115 and inserted into two sets of elastic locking pins. The front end of the extension plate 115 extends to an arc end face 119, and a top plate 111 is fixed to the top of the insertion plate 117. An installation hole 112 for assembly with the head is opened on the top plate 111, and two sets of elastic limiting pins are provided at the end of the top plate 111 away from the arc end face 119. The two sets of elastic limiting pins can be adapted to be inserted into the handle 124.

[0082] Furthermore, each set of elastic locking handles includes a second rod sleeve 125 disposed on the U-shaped member 123, and a first movable post 130 that is telescopic within the second rod sleeve 125 and can move up and down. The top of the first movable post 130 passes through the second rod sleeve 125 and is hinged to a handle 124 via a pivot pin 129, and a lock head 126 fixed to the bottom of the first movable post 130. A second spring 128 is connected to the outer wall of the base plate 127 between the lock head 126 and the second rod sleeve 125. Each set of elastic limiting posts includes a first rod sleeve 113 and a long groove 1143 opened on one side of the first rod sleeve 113. A movable block 1144 that can be telescopic up and down is installed inside the first rod sleeve 113. A pressure rod 1141 that passes through the long groove 1143 is provided on the movable block 1144, and a first spring 1142 is disposed between the movable block 1144 and the first rod sleeve 113. A positioning post 118 that is inserted into the handle 124 is provided at the bottom of the movable block 1144.

[0083] In this embodiment, a further assembly and insertion structure between it and the head is designed, such as... Figure 9 , 10 As shown in 11 and 12, the first-level coarse guide is formed by the gradual increase in the spacing of the female groove 121 of the assembly base and the gradual decrease in the spacing of the inner wall of the male tenon 1171 of the insertion base. During the pushing process, the male tenon 1171 and the two symmetrical inclined surfaces of the female groove 121 come into contact with each other and generate a guiding effect, which can automatically compensate for small centering errors. The elastic locking handle and the elastic limiting post form the second-level fine positioning.

[0084] During the insertion action, the rear pressure rod 1141 is lifted, causing the positioning post 118 to retract into the first sleeve 113, and pushing the insertion seat to align with the assembly seat. As the male tenon 1171 is pushed into the female groove 121 and the insertion depth increases, the beveled fit forces the gap between the two in the horizontal direction perpendicular to the insertion direction to be completely eliminated, resulting in an increasingly tight fit. The friction angle is used to achieve initial mechanical self-locking. At the same time, the arc end face 119 where the front extension plate 115 is located, combined with... Figure 22 , 23 As shown, the arc end face 119 can force the lock head 126, where the elastic lock handle is located, to lift and compress the second spring 128. When the insertion seat moves to the set position of the mounting seat, the lock head 126, under the action of the second spring 128, is inserted into the lock hole 116, realizing the locking at one end. At the same time, the front end release lever 1141, combined with Figure 16Under the action of the first spring 1142, the positioning pin 118 can be inserted into the handle 124 to achieve final positioning and locking. The two sets of elastic locking handles cooperate with the plug-in seat to form the main lock; the two sets of elastic limiting pins cooperate with the mounting seat to form the secondary lock / precise positioning. The two independent locking mechanisms form a double locking. Even if one set fails due to fatigue, the other set can still prevent the head from loosening, which is extremely safe. The lock head 126 automatically engages with the lock hole 116 under the action of the second spring 128, which will make a clear "click" sound and provide a clear sense of being in place, providing the user with a physical connection confirmation signal. When replacement is needed, simply press the upper side pressure rod 1141 and the rear handle 124 to unlock, and then pull out the plug-in seat and detach it from the mounting seat.

[0085] This buckle allows for quick head replacement, greatly improving the practical application effect and is the key to achieving "one machine for multiple uses".

[0086] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Detachable installation can take many forms, such as through a combination of plug-in and snap-fit ​​connections, or through bolted connections, etc.

[0087] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A biomimetic robot neck structure, characterized in that, include: Support skeleton, with steering head structure (3) and drive assembly respectively located on the upper and lower parts of the support skeleton; The steering head structure (3) is connected to a fine adjustment module (2) and a buckle structure (1) assembled with the top of the fine adjustment module (2) to realize quick-connect assembly of the neck and the head. And a transmission rod assembly (7) that is vertically connected between the steering head structure (3) and the drive assembly and located on the front side of the support skeleton. The drive assembly is also equipped with a piston pressure regulating mechanism (6) and a spinal structure (4) connected between the piston pressure regulating mechanism (6) and the steering head structure (3) and located on the rear side of the supporting skeleton. And a simulated neck skin structure fitted on the outer wall of the supporting bone, the simulated neck skin structure being connected to the piston pressure regulating mechanism (6); When the drive assembly is working, the transmission component can drive the steering head structure (3) to deflect in multiple directions to achieve multi-directional head movements. At the same time, the piston pressure regulating mechanism (6) works in conjunction with the spinal structure (4) and the neck skin structure to stabilize and coordinate the head movements.

2. The biomimetic robot neck structure according to claim 1, characterized in that: The steering head structure (3) includes a support base (311), on which a first rotating rod (312) is rotatably mounted laterally, and an intermediate seat (313) is assembled with the middle part of the first rotating rod (312). A second rotating rod (314) is rotatably mounted on the intermediate seat (313) and is perpendicularly distributed to the first rotating rod (312). An extension seat (317) is fixedly assembled with the second rotating rod (314). Two lugs (318) are provided on both sides of the front end of the extension seat (317) for connecting with the top of the transmission rod assembly (7), and a tail seat (315) is provided at the rear end of the extension seat (317) for connecting to the top of the spine structure (4).

3. The biomimetic robot neck structure according to claim 1, characterized in that: The supporting skeleton includes a bone plate (5) and two mounting slots (511) located at the lower part of the bone plate (5) for assembling the drive assembly; The drive assembly includes two sets of belt drive mechanisms. Each set of belt drive mechanisms includes a drive wheel (6153) that is rotatable in the middle of the mounting slot (511). The front end of the drive wheel (6153) extends to the front side of the bone plate (5) and is equipped with a drive disc (716). The front side of the drive disc (716) is eccentrically equipped with a drive block (713) through two second connecting shafts (714). The drive block (713) has a triangular structure and is used to connect with the bottom end of the drive rod assembly (7). The rear end of the drive wheel (6153) is connected to a piston pressure regulating mechanism (6). A drive wheel (6151) is located at the lower part of the transmission wheel (6153) and is rotatable on the bone plate (5). The drive wheel (6151) is connected to the transmission wheel (6153) by a transmission belt (6152). A second motor (615) is fixedly mounted on the bone plate (5) by a cross plate. The output shaft of the second motor (615) is connected to the drive wheel (6151).

4. The biomimetic robot neck structure according to claim 1, characterized in that: The transmission rod assembly (7) consists of two sets. Each set of the transmission rod assembly (7) includes a second connecting bushing (715), a transmission rod (711), and a first connecting bushing (712) connected sequentially from top to bottom. The second connecting bushing (715) is rotatably connected to the corresponding side lug (318) through the first connecting shaft (319). The first connecting bushing (712) is rotatably connected to the other corner of the transmission block (713) through a pin.

5. The biomimetic robot neck structure according to claim 1, characterized in that: The spinal structure (4) includes a flexible connector (411) and a vertebra (412). The flexible connector (411) and the vertebra (412) are arranged alternately from bottom to top, and the top flexible connector (411) is fixed to the bottom of the tailstock (315). The flexible connector (411) and the vertebra (412) are hollow and form a long cavity. The rear half of the long cavity away from the bone plate (5) is provided with reinforcing ribs (413).

6. The biomimetic robot neck structure according to claim 1, characterized in that: The simulated neck skin structure includes a simulated skin layer (811) and two simulated muscle knots (812) disposed inside and opposite to the inner wall of the simulated skin layer (811).

7. The biomimetic robot neck structure according to claim 1, characterized in that: The piston pressure regulating mechanism (6) includes two sets of crank-connecting rod mechanisms. Each set of crank-connecting rod mechanisms includes a working chamber (611), which is fixed to the back side of the bone plate (5) by a connecting plate (6111), and a second piston sleeve (614) that is laterally connected between the two working chambers (611). The middle part of the second piston sleeve (614) is connected to a connecting sleeve (616), the vertebra (412) at the bottom position is fixed and connected to the top of the connecting sleeve (616), and two second piston sleeves (614) installed in the second piston sleeve (614) and sliding relative to each other. Each working chamber (611) is also connected to a first piston sleeve (612). The first piston sleeve (612) is installed with a telescopically movable first piston body (6121), and the lower part of the first piston sleeve (612) is connected to the corresponding side of the pseudo muscle knot (812) through a conduit (613). A central rod (6201) is rotatably mounted in the middle of each working cavity (611). One end of the central rod (6201) passes through a through hole in the working cavity (611) and is fixedly connected to the other end of the transmission wheel (6153) away from the transmission rod (711). A first crank head assembly and a second crank head assembly are mounted on the central rod (6201) and distributed vertically. The actuating end of the first crank head assembly extends into the interior of the second piston body (6141) and is rotatably connected to the shaft inside it. The actuating end of the second crank head assembly extends into the interior of the first piston body (6121) and is rotatably connected to the shaft inside it. The first crank head assembly and the second crank head assembly have the same structure but different starting positions. The second crank head assembly includes a crank member (620) fixed to the central rod (6201). The protruding end of the crank member (620) is rotatably connected to a connecting rod member (621).

8. The biomimetic robot neck structure according to claim 1, characterized in that: The fine-tuning module (2) includes a work box (214) and a transmission ring (212) located on the top of the assembly plate (316) from the inside out. The work box (214) is equipped with a first motor, and the output shaft of the first motor is connected to a rotating sleeve (215). The rotating sleeve (215) is equipped with a horizontally rotatable turntable (216), and a connecting rod (217) is fixed at one end of the turntable (216). The connecting rod (217) has an L-shaped structure and a limiting ball (219) is provided at its end, as well as a transmission groove (2121) opened in the transmission ring (212). The limiting ball (219) can be limited in the transmission groove (2121), and the other end of the rotating seat (216) is fixed with a connecting end (211). The buckle structure (1) is fixed to the top of the connecting end (211); and an electric telescopic rod (213) is vertically arranged on the assembly plate (316) and distributed in a ring. The top of the electric telescopic rod (213) is connected to the transmission ring (212).

9. The biomimetic robot neck structure according to claim 1, characterized in that: The buckle structure (1) includes an assembly base and a plug-in base adapted to the assembly base. The assembly base includes a base plate (127) and a mounting plate (122) fixed to the top of the base plate (127). The mounting plate (122) has a handle (124) at its front end, and a guide seat (120) and a U-shaped part (123) fixed on the upper surface of the mounting plate (122). The guide seat (120) has female grooves (121) on both sides. The distance between the two female grooves (121) increases gradually along the direction of the plug-in base. The U-shaped part (123) has two sets of elastic locking handles. The insertion base includes an insertion plate (117), which has an L-shaped structure and a male tenon (1171) fixed at its bottom to be adapted to the female groove (121). The spacing between the inner walls of the male tenon (1171) gradually decreases along the insertion direction. An extension plate (115) is provided at the front end of the insertion plate (117), and a lock hole (116) is opened on the extension plate (115) and inserted into two sets of elastic locking pins. The front end of the extension plate (115) extends to an arc end face (119), and a top plate (111) is fixed on the top of the insertion plate (117). The top plate (111) is provided with an installation hole (112) for assembly with the head, and two sets of elastic limiting pins are provided at the end of the top plate (111) away from the arc end face (119). The two sets of elastic limiting pins can be adapted to be inserted into the handle (124).

10. The biomimetic robot neck structure according to claim 9, characterized in that: Each set of elastic lock handles includes a second rod sleeve (125) disposed on the U-shaped member (123), and a first movable column (130) that is telescopic and movable up and down within the second rod sleeve (125). The top of the first movable column (130) passes through the second rod sleeve (125) and is hinged to a handle (124) via a pivot pin (129). A lock head (126) is fixed to the bottom of the first movable column (130). A second spring (128) is connected to the outer wall of the base plate (127) between the lock head (126) and the second rod sleeve (125). Each set of elastic limiting posts includes a first sleeve (113) and a long groove (1143) opened on one side of the first sleeve (113). The first sleeve (113) is equipped with a movable block (1144) that can extend and retract vertically. The movable block (1144) is provided with a pressure rod (1141) that passes through the long groove (1143) and a first spring (1142) provided between the movable block (1144) and the first sleeve (113). The bottom of the movable block (1144) is provided with a positioning post (118) that is inserted into the handle (124).

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