Humanoid robot neck structure with five degrees of freedom

Abstract

The invention relates to the technical field of bionic robots, and discloses a humanoid robot neck structure with five degrees of freedom, which comprises a base, a neck bionic structure is mounted on the base, and the neck bionic structure further comprises a first steering part mounted on the base and used for controlling the neck bionic structure to perform pitching motion in the forward and backward directions, and a second steering part mounted on the base and used for controlling the neck bionic structure to perform pitching motion in the forward and backward directions; and the second steering part is mounted on the first steering part. Through mutual cooperation of five degrees of freedom, main motion modes of human necks are basically covered, motion dead angles are reduced, various exaggerated and graceful model postures can be perfectly deduced, the bionic simulation effect is improved, a kinematics model is clearer by utilizing a layered structural design, and the simulation effect is better. The five-degree-of-freedom robot is simple in structure and convenient to carry out track planning and real-time control, more natural and harmonious composite actions are achieved, five degrees of freedom are integrated in a limited space, the function integrity and the appearance integrity are guaranteed, and the attractiveness of the robot is improved.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, specifically to a neck structure for a humanoid robot with five degrees of freedom. Background Technology

[0002] Currently, most humanoid robots or demonstration robots on the market use a 3 or 4 degree of freedom design for their neck joints. Common 3-degree-of-freedom structures usually achieve two or three basic movements among pitch (nodding), yaw (shaking head), and tilt (side tilting). 4-degree-of-freedom structures may add a translational degree of freedom on this basis.

[0003] However, for the specific application scenario of clothing robots, their core function is to showcase fashion and perform poses, requiring the execution of a series of exaggerated, graceful, and coherent body language. Existing 3-4 degree-of-freedom neck structures have the following obvious drawbacks: Limited range of motion and insufficient expressiveness: It cannot fully simulate the combined head and neck posture of human fashion models when displaying clothing. For example, when the body leans forward or backward significantly, the head still needs to maintain eye contact with the audience (i.e., independent nodding or tilting), or make a highly expressive side-gazing action. Insufficient freedom of movement results in stiff and unnatural movements. The movements are disjointed and lack anthropomorphism: the high coupling between neck movement and body posture makes it difficult to achieve separate and coordinated control of "neck movement" and "head fine-tuning", resulting in the overall movements lacking the agility and expressive layers unique to human clothing models; therefore, a humanoid robot neck structure with five degrees of freedom is proposed. Summary of the Invention

[0004] This invention provides a humanoid robot neck structure with five degrees of freedom. Through the cooperation between the five degrees of freedom, it basically covers all the main movement modes of the human neck in display scenarios, reduces blind spots in movement, can perfectly interpret various exaggerated and graceful model poses, improves the bionic simulation effect, and solves the problems mentioned in the background art, such as limited range of motion, insufficient expressiveness, disjointed movements, and low degree of anthropomorphism of current bionic robots.

[0005] This invention provides the following technical solution: A five-degree-of-freedom humanoid robot neck structure includes a base fixedly mounted on the top of the robot's torso. A neck bionic structure is mounted on the base. The neck bionic structure further includes: a first steering part mounted on the base for controlling the neck bionic structure to pitch forward and backward; a second steering part mounted on the first steering part for controlling the neck bionic structure to tilt left and right; and a third steering part mounted on the second steering part for controlling the neck bionic structure to rotate horizontally.

[0006] As a preferred embodiment of the present invention, the first steering unit includes a first servo motor, which is fixedly connected to the top of the base, and front and rear swing members are fixedly connected to the ends of the rotating shafts on both sides of the first servo motor.

[0007] As a preferred embodiment of the present invention, the second steering unit includes a second servo motor, the two side walls of the second servo motor are respectively fixed on the inner walls of two sets of front and rear swing members, and the ends of the two side rotating shafts of the second servo motor are fixedly connected to left and right swing members.

[0008] As a preferred embodiment of the present invention, the third steering unit includes a third servo motor, a U-shaped frame is fixedly connected to the top of the two sets of left and right swing members, a first rotating joint is rotatably connected between the inner walls of the top two sides of the U-shaped frame, a swaying disc is rotatably connected between the two side walls of the first rotating joint, the third servo motor is fixedly installed on the top of the swaying disc, and a bionic headgear is fixedly connected to the top of the rotation shaft of the third servo motor.

[0009] As a preferred embodiment of the present invention, a bionic part for controlling the movement of the first rotating joint and the swaying disc is installed on the side wall of one set of the left and right swinging parts through an interface.

[0010] As a preferred embodiment of the present invention, the bionic part includes two sets of servo electric cylinders. Both sets of servo electric cylinders are rotatably mounted on the side walls of the left and right swing parts via a first fisheye bearing. A second rotating joint is fixedly connected to the side wall of the swaying disc. The telescopic ends of both sets of servo electric cylinders are rotatably mounted on the side wall of the second rotating joint via a second fisheye bearing.

[0011] As a preferred embodiment of the present invention, the bottom of the bionic headgear is fixedly connected to a neck shell, which is sleeved on the outside of the first servo, the second servo, and the third servo.

[0012] As a preferred embodiment of the present invention, the rotation angles of the first servo, the second servo, and the third servo are all within ±90 degrees, that is, the front and rear swing parts can achieve pitch movement of 0-90 degrees, the left and right swing parts can achieve tilt movement of 0-90 degrees, and the bionic headgear can achieve rotation movement of 0-90 degrees.

[0013] As a preferred embodiment of the present invention, at least one of the two sets of servo electric cylinders is in an extended or retracted state when performing biomimetic actions.

[0014] As a preferred embodiment of the present invention, the first servo motor, the second servo motor, the third servo motor, and the servo electric cylinder are all equipped with high-precision encoders for position feedback.

[0015] Compared with the prior art, the present invention provides a humanoid robot neck structure with five degrees of freedom, which has the following beneficial effects: The humanoid robot's neck structure, through the coordination of five degrees of freedom, basically covers all the main movement modes of the human neck in display scenarios, reducing blind spots in movement, and can perfectly interpret various exaggerated and graceful model poses, improving the biomimetic simulation effect. Furthermore, the layered structural design makes the kinematic model clearer, facilitating trajectory planning and real-time control, and achieving more natural and coordinated compound movements. Moreover, the integration of five degrees of freedom within a limited space ensures the integrity of functions and the overall appearance, improving the robot's aesthetics. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to actual scale.

[0017] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a schematic diagram of the internal structure of the bionic headgear of the present invention; Figure 3 This is a schematic diagram of the internal structure of the neck shell of the present invention; Figure 4 This is a first-view schematic diagram of the neck bionic structure of the present invention; Figure 5 This is a second-view schematic diagram of the neck bionic structure of the present invention; Figure 6 This is a schematic diagram of the bionic part structure of the present invention.

[0018] In the diagram: 1. Base; 2. First servo motor; 21. Front and rear swing arms; 3. Second servo motor; 31. Left and right swing arms; 4. Third servo motor; 41. Bionic headgear; 5. U-shaped frame; 51. First rotating joint; 52. Oscillating disc; 6. Servo cylinder; 61. First fisheye bearing; 62. Second rotating joint; 63. Second fisheye bearing; 7. Neck shell. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example:

[0020] Reference Figures 1-6 A five-degree-of-freedom humanoid robot neck structure includes a base 1 fixedly mounted on the top of the robot's torso. A neck bionic structure is mounted on the base 1. The neck bionic structure further includes: a first steering part mounted on the base 1 for controlling the neck bionic structure to pitch forward and backward; a second steering part mounted on the first steering part for controlling the neck bionic structure to tilt left and right; and a third steering part mounted on the second steering part for controlling the neck bionic structure to rotate horizontally.

[0021] Reference Figures 3-5 The first steering part includes a first servo motor 2, which is fixedly connected to the top of the base 1. Both sides of the rotating shaft end of the first servo motor 2 are fixedly connected to front and rear swing members 21. By controlling the first servo motor 2, the two sets of front and rear swing members 21 are synchronously driven to rotate forward or backward, so as to complete the forward or backward tilting action of the entire neck bionic structure relative to the torso, and realize the first degree of freedom of bionic motion.

[0022] Reference Figures 3-5 The second steering part includes a second servo motor 3. The two side walls of the second servo motor 3 are respectively fixed to the inner walls of the two sets of front and rear swing members 21. The ends of the rotating shafts on both sides of the second servo motor 3 are fixedly connected to the left and right swing members 31. By controlling the second servo motor 3, the two sets of left and right swing members 31 are synchronously driven to rotate to the left or right, so as to complete the left or right tilting movement of the entire neck bionic structure relative to the torso, and realize the bionic movement of the second degree of freedom.

[0023] Reference Figures 2-5 The third steering unit includes a third servo motor 4. A U-shaped frame 5 is fixedly connected to the top of the two sets of left and right swing parts 31. A first rotating joint 51 is rotatably connected between the inner walls of the top two sides of the U-shaped frame 5. A swaying disc 52 is rotatably connected between the two side walls of the first rotating joint 51. The third servo motor 4 is fixedly installed on the top of the swaying disc 52. A bionic headgear 41 is fixedly connected to the top of the rotation shaft of the third servo motor 4. The first servo motor 2, the second servo motor 3, the third servo motor 4 and the servo cylinder 6 are all equipped with high-precision encoders for position feedback, which control the third servo motor 4 to drive the bionic headgear 41 on its top to rotate clockwise or counterclockwise, thereby completing the left or right swaying motion of the bionic headgear 41 relative to the torso, realizing the third degree of freedom of bionic motion.

[0024] In addition, the rotation angles of the first servo motor 2, the second servo motor 3, and the third servo motor 4 are all within ±90 degrees. That is, the front and rear swing member 21 can achieve pitch movement of 0-90 degrees, the left and right swing member 31 can achieve tilt movement of 0-90 degrees, and the bionic headgear 41 can achieve rotation movement of 0-90 degrees. This design has a rotation range that is much larger than that of conventional service robots, thereby meeting the requirements for large-angle movements, so as to show better bionic movements and improve the bionic simulation effect.

[0025] Reference Figures 4-6 One of the left and right swing parts 31 has a bionic part installed on its side wall via an interface to control the movement of the first rotating joint 51 and the swaying disc 52. The bionic part includes two sets of servo cylinders 6. Both sets of servo cylinders 6 are rotatably mounted on the side wall of the left and right swing parts 31 via the first fisheye bearing 61. When performing bionic movements, at least one set of servo cylinders 6 is in an extended or retracted state. The side wall of the swaying disc 52 is fixedly connected to the second rotating joint 62. The extension and retraction ends of both sets of servo cylinders 6 are rotatably mounted on the side wall of the second rotating joint 62 via the second fisheye bearing 63. The bottom of the bionic headgear 41 is fixedly connected to the neck shell 7. The neck shell 7 is fitted on the outside of the first servo motor 2, the second servo motor 3, and the third servo motor 4.

[0026] By controlling the two sets of servo cylinders 6 to extend or retract synchronously, the oscillating disc 52, the third servo motor 4, the bionic headgear 41, and the first rotating joint 51 are driven to rotate vertically around the U-shaped frame 5, completing the nodding or tilting motion of the bionic headgear 41 relative to the first rotating joint 51, thus achieving the fourth degree of freedom in bionic motion. Then, by controlling one set of servo cylinders 6 to extend while the other set retracts, the first rotating joint 51 will rotate vertically around the U-shaped frame 5, and the oscillating disc 52 will rotate horizontally around the first rotating joint 51. Finally, the mutual constraint of horizontal and vertical rotation achieves compound motion. With the universal rotation limit of the first fisheye bearing 61 and the second fisheye bearing 63, the bionic headgear 41 is able to twist left and right (rotation plus tilt) relative to the torso in the horizontal plane, thus achieving the fifth degree of freedom in bionic motion.

[0027] In summary, by utilizing the coordination between the five degrees of freedom, the robot essentially covers all the major movement modes of the human neck in a demonstration scenario, reducing blind spots and perfectly portraying various exaggerated yet graceful model poses. This enhances the biomimetic simulation effect. Furthermore, the layered structural design makes the kinematic model clearer, facilitating trajectory planning and real-time control, and enabling more natural and coordinated composite movements. Integrating five degrees of freedom within a limited space ensures functional integrity and overall aesthetics, improving the robot's visual appeal and demonstrating high engineering application value.

[0028] Reference Figures 1-6 In this invention, when in use, the base 1 is installed on the top of the robot's torso, and then the corresponding biomimetic movements can be performed by controlling the operation of the first servo motor 2, the second servo motor 3, the third servo motor 4 and the servo cylinder 6.

[0029] First, control the first servo motor 2 to synchronously drive the two sets of front and rear swing parts 21 to rotate forward or backward, completing the forward or backward tilting motion of the entire neck bionic structure relative to the torso, achieving the first degree of freedom of bionic motion; then control the second servo motor 3 to synchronously drive the two sets of left and right swing parts 31 to rotate left or right, completing the left or right tilting motion of the entire neck bionic structure relative to the torso, achieving the second degree of freedom of bionic motion; then control the third servo motor 4 to drive the bionic headgear 41 on top to rotate clockwise or counterclockwise, completing the left or right head-shaking motion of the bionic headgear 41 relative to the torso, achieving the third degree of freedom of bionic motion; finally, control the two sets of servo cylinders 6 to synchronously extend or retract, thereby driving the head-shaking disc 52, the third servo motor 4, and the bionic headgear. The first rotating joint 51 and the first rotating joint 51 rotate vertically around the U-shaped frame 5 to complete the nodding or tilting motion of the bionic headgear 41 relative to the first rotating joint 51, realizing the fourth degree of freedom of bionic motion; then, by controlling one set of servo cylinders 6 to extend and another set of servo cylinders 6 to retract, the first rotating joint 51 will rotate vertically around the U-shaped frame 5, and the swaying disc 52 will rotate horizontally around the first rotating joint 51. Finally, the mutual constraint of horizontal and vertical rotation realizes compound motion, and with the universal rotation limit of the first fisheye bearing 61 and the second fisheye bearing 63, the bionic headgear 41 is able to twist left and right (rotation plus tilt) relative to the torso in the horizontal plane, realizing the fifth degree of freedom of bionic motion.

[0030] Components not described in detail in this article are existing technologies.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A neck structure for a humanoid robot with five degrees of freedom, comprising a base (1) fixedly mounted on the top of the robot's torso, characterized in that, A neck bionic structure is mounted on the base (1), and the neck bionic structure further includes: The first steering part is mounted on the base (1) and is used to control the pitching motion of the neck bionic structure in the forward and backward directions; The second steering unit is mounted on the first steering unit and is used to control the tilting movement of the neck bionic structure to the left and right. The third steering unit, which is mounted on the second steering unit, is used to control the neck bionic structure to rotate in a circular motion in the horizontal direction.

2. The neck structure of a humanoid robot with five degrees of freedom according to claim 1, characterized in that, The first steering unit includes a first servo motor (2), which is fixedly connected to the top of the base (1). The ends of the rotating shafts on both sides of the first servo motor (2) are fixedly connected to the front and rear swing members (21).

3. The neck structure of a humanoid robot with five degrees of freedom according to claim 2, characterized in that, The second steering unit includes a second servo motor (3). The two side walls of the second servo motor (3) are respectively fixed on the inner walls of two sets of front and rear swing members (21). The ends of the rotating shafts on both sides of the second servo motor (3) are fixedly connected to left and right swing members (31).

4. The neck structure of a humanoid robot with five degrees of freedom according to claim 3, characterized in that, The third steering unit includes a third servo motor (4), and a U-shaped frame (5) is fixedly connected to the top of the two sets of left and right swing parts (31). A first rotating joint (51) is rotatably connected between the inner walls of the top two sides of the U-shaped frame (5). A swaying disc (52) is rotatably connected between the two side walls of the first rotating joint (51). The third servo motor (4) is fixedly installed on the top of the swaying disc (52). A bionic headgear (41) is fixedly connected to the top of the rotating shaft of the third servo motor (4).

5. The neck structure of a humanoid robot with five degrees of freedom according to claim 4, characterized in that, One of the left and right swing parts (31) has a bionic part installed on its side wall via an interface to control the movement of the first rotating joint (51) and the swaying disc (52).

6. The neck structure of a humanoid robot with five degrees of freedom according to claim 5, characterized in that, The bionic part includes two sets of servo cylinders (6). Both sets of servo cylinders (6) are rotatably mounted on the side wall of the left and right swing parts (31) via the first fisheye bearing (61). The side wall of the swaying disc (52) is fixedly connected to the second rotating joint (62). The telescopic ends of the two sets of servo cylinders (6) are rotatably mounted on the side wall of the second rotating joint (62) via the second fisheye bearing (63).

7. The neck structure of a humanoid robot with five degrees of freedom according to claim 4, characterized in that, The bottom of the bionic headgear (41) is fixedly connected to a neck shell (7), which is fitted on the outside of the first servo (2), the second servo (3) and the third servo (4).

8. The neck structure of a humanoid robot with five degrees of freedom according to claim 4, characterized in that, The rotation angles of the first servo motor (2), the second servo motor (3), and the third servo motor (4) are all within ±90 degrees. That is, the front and rear swing parts (21) can achieve pitching motion from 0 to 90 degrees, the left and right swing parts (31) can achieve tilting motion from 0 to 90 degrees, and the bionic headgear (41) can achieve rotational motion from 0 to 90 degrees.

9. A neck structure for a humanoid robot with five degrees of freedom according to claim 6, characterized in that, When performing biomimetic movements, at least one of the two sets of servo electric cylinders (6) is in an extended or retracted state.

10. A neck structure for a humanoid robot with five degrees of freedom according to claim 6, characterized in that, The first servo motor (2), the second servo motor (3), the third servo motor (4) and the servo electric cylinder (6) are all equipped with high-precision encoders for position feedback.

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