Neck structure and robot therefor

Abstract

The present application relates to the technical field of robots, and especially relates to a neck structure and a robot thereof, which comprises a neck stand column having a first connecting shaft, a neck connecting seat rotatably connected with the first connecting shaft, and a head support seat comprising a second connecting shaft and a third connecting shaft. The neck stand column is connected with a trunk structure, the head support seat is connected with a head structure, the neck connecting seat is rotatably connected with the neck stand column and the head support seat respectively, the head support seat is driven by two groups of oppositely arranged first driving members, thereby realizing the pitching movement and the lateral head swinging movement of the head structure, the second driving member is installed upside down on the head support seat, the outer shell of the second driving member is directly used as a rotating part to drive the head structure to realize the horizontal rotation, the interference between the movement parts is effectively avoided, the volume proportion of the neck structure is significantly reduced, and the design requirement of compactness of the neck structure of the humanoid robot is met.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to neck structures and robots thereof. Background Technology

[0002] The neck structure of the humanoid robot is used to connect the robot's head and torso. The neck structure also has a drive structure to drive the humanoid robot's head structure to achieve horizontal rotation or pitching movements, so as to realize human-like actions.

[0003] In existing neck structures, the drive motors used to control head rotation are mostly arranged in a forward orientation, placed between the transmission structures that drive head pitch. In order to ensure that there is no interference when the structures move, it is usually necessary to increase the spacing between the transmission structures, which increases the space occupied by the neck structure and makes it difficult to meet the design requirements of humanoid robots for a compact neck structure. Summary of the Invention

[0004] The purpose of this invention is to provide a neck structure and a robot thereof to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A neck structure for connecting the torso structure and head structure of a robot, comprising:

[0007] A neck column, the neck column having a first connecting shaft;

[0008] A neck connector, which is rotatably connected to the first connecting shaft;

[0009] A head support, the head support including a second connecting shaft and a third connecting shaft, the second connecting shaft being rotatably connected to the neck connecting seat;

[0010] Two sets of first drive components are arranged opposite to each other. Each first drive component includes a first drive member, a rocker arm, and a connecting rod. The output end of the first drive member is fixedly connected to the rocker arm, the other end of the rocker arm is rotatably connected to the connecting rod, and the other end of the connecting rod is rotatably connected to a third connecting shaft.

[0011] A second drive assembly is used to connect the head structure. The second drive assembly includes a second drive member, which is inverted and mounted on the head support to drive the head structure to rotate around a first axis.

[0012] The first connecting shaft is perpendicular to the second connecting shaft, and the third connecting shaft is parallel to the second connecting shaft.

[0013] Preferably, the neck connector includes:

[0014] A first connector is rotatably connected to the first connecting shaft.

[0015] The second connector has two sets located on both sides of the first connector. One end of the second connector is fixedly connected to the first connector, and the other end of the second connector is rotatably connected to the second connecting shaft.

[0016] Preferably, the first connector includes:

[0017] Two sets of clamping blocks are arranged opposite to each other and connected to each other. The neck column is arranged between the two sets of clamping blocks. The two opposite ends of the first connecting shaft are respectively rotatably connected to the clamping blocks on the corresponding sides.

[0018] Preferably, a central shaft is provided between the two rocker arms, and a fourth bearing is connected to each of the opposite ends of the central shaft, and the rocker arms on the corresponding sides are rotatably connected through the fourth bearings.

[0019] The axis of the central shaft coincides with the rotation axis of the output end of the first drive unit.

[0020] Preferably, it further includes a reset component, the reset component comprising:

[0021] A return positioning component is disposed between the two sets of connecting rods;

[0022] The elastic jacking assembly includes two sets of elastic jacking assemblies in any of the connecting rods, with the two sets of elastic jacking assemblies arranged opposite each other. One end of each elastic jacking assembly is fixedly connected to the connecting rod, and the other end elastically abuts against the return positioning member.

[0023] Preferably, the connecting rod is provided with a guide groove, and the two ends of the guide groove that are opposite each other in the length direction are provided with first connecting posts;

[0024] Two sets of elastic jacking components are disposed opposite to each other in the guide groove. Each elastic jacking component includes an elastic element and a movable element. The movable element is movably connected to the guide groove. The movable element is provided with a second connecting post. One end of the elastic element is connected to the first connecting post, and the other end is connected to the second connecting post.

[0025] Preferably, the return positioning component includes:

[0026] Second fixed end;

[0027] The pressure rod is integrally connected to the second fixed end and is located on the central axis of the second fixed end. The two ends of the pressure rod extend into the guide grooves of the corresponding side connecting rods and are located between the two sets of movable parts. Under the action of the elastic element, the two sets of movable parts elastically abut against the pressure rod.

[0028] Preferably, the connecting rod is provided with two sets of limiting grooves symmetrically arranged on the sidewall of the guide groove, and the movable part includes a first slider and a second slider. The first slider and the second slider are integrally connected and are in the same plane. The first slider is slidably connected to the guide groove, and the second slider is slidably connected to the limiting groove.

[0029] Preferably, the output end of the second driving member is provided with an output shaft, the end face of the head support is provided with an assembly hole, the output shaft is inserted into the assembly hole and engaged with the assembly hole, so that the second driving member rotates relative to the head support, and a third bearing is provided between the second driving member and the head support.

[0030] A robot, the robot including a neck structure.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. This invention connects the neck column to the torso structure and the head support to the head structure. The neck connector is rotatably connected to both the neck column and the head support. The head support is driven by two sets of opposing first drive components, thereby realizing the pitch and lateral head-swing movements of the head structure. At the same time, the second drive component is inverted and installed on the head support, so that its outer shell directly drives the head structure to achieve translational rotation as a rotating component. This effectively avoids interference between the moving components, significantly reduces the volume ratio of the neck structure, and thus meets the design requirements of a compact neck structure for humanoid robots.

[0033] 2. This invention provides a reset component between two sets of linkage structures. When power is lost, the elastic push component releases elastic potential energy to drive the linkage to reset, thereby bringing the neck connector and head structure back to their initial positions. This avoids the head structure from drooping freely due to loss of driving force, which could impact the neck structure and improve safety.

[0034] 3. The present invention provides an elastic force to the connecting rod through the elastic pushing component, so that the connecting pairs connected to the connecting rod are always tightly connected, avoiding the return gap during the reversing process of the connecting rod, thereby eliminating the vibration of the connecting rod.

[0035] 4. The present invention sets a central shaft to connect two rocker arms in series, which is used to eliminate the bias load transmitted from the connecting rod to the rocker arms and avoid rocker arm vibration.

[0036] 5. The present invention eliminates the play between the second drive component and the head support by setting a third bearing between the second drive component and the mounting position of the head support, making the movement of the second drive component driving the head structure to rotate more smoothly and evenly. Attached Figure Description

[0037] Figure 1 This is an isometric schematic diagram of the neck structure of the present invention;

[0038] Figure 2 This is an isometric schematic diagram of the neck column structure of the present invention;

[0039] Figure 3 This is a cross-sectional schematic diagram of the neck connector structure of the present invention;

[0040] Figure 4 This is an exploded view of the connection structure of the neck column, neck connector, and head support of the present invention.

[0041] Figure 5 This is an isometric schematic diagram of two sets of opposing second driving components according to the present invention;

[0042] Figure 6 This is a schematic cross-sectional view of the connection structure of the two rocker arms of the present invention;

[0043] Figure 7 This is an isometric schematic diagram of the reset assembly of the present invention connected to one of the connecting rods.

[0044] Figure 8 This is an isometric schematic diagram of the linkage structure of the present invention;

[0045] Figure 9 This is an isometric schematic diagram of the elastic jacking assembly of the present invention;

[0046] Figure 10 This is an isometric schematic diagram of the return positioning component of the present invention;

[0047] Figure 11 This is a cross-sectional schematic diagram of the head support structure of the present invention;

[0048] Figure 12 This is a top view of the head support of the present invention;

[0049] Figure 13 This is an isometric schematic diagram of the second driving component of the present invention;

[0050] Figure 14 This is a side view of the connection state between the second drive component and the head structure of the present invention.

[0051] In the picture:

[0052] 100. Neck column; 110. First fixed end; 120. Support end; 130. First connecting shaft;

[0053] 200. Neck connector; 210. First connector; 211. Clamping block; 212. Notch / groove; 220. Second connector; 230. First bearing; 240. Second bearing;

[0054] 300, Head support; 310, Second connecting shaft; 320, Third connecting shaft; 330, Mounting position; 340, Assembly hole; 350, First connecting hole;

[0055] 400, First drive assembly; 410, First drive component; 420, Rocker arm; 430, Connecting rod; 431, Guide groove; 432, Limiting groove; 433, First connecting post; 440, Radial joint bearing;

[0056] 500, Second drive assembly; 510, Second drive element; 520, Output shaft; 521, Second connecting hole; 530, Third bearing;

[0057] 600. Reset assembly; 610. Return positioning component; 611. Second fixed end; 612. Pressure rod; 620. Elastic push assembly; 621. Elastic component; 622. Movable component; 6221. First slider; 6222. Second slider; 6223. Second connecting post;

[0058] 700, central shaft; 710, fourth bearing. Detailed Implementation

[0059] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0060] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this invention.

[0061] Example 1, as Figure 1 - Figure 14 As shown, a neck structure is used to connect the torso structure and head structure of a robot to form the upper body structure of the robot, including a neck column 100, a neck connector 200, a head support 300, two sets of first drive components 400 and a set of second drive components 500.

[0062] The neck support 100 includes a first fixed end 110 and a support end 120. A portion of the structure of the support end 120 is integrally connected to the first fixed end 110. The first fixed end 110 is fixedly connected to the torso structure by bolts. As one of the connection ends between the neck structure and the chest, the neck support 100 has a first connecting shaft 130. The first connecting shaft 130 is disposed on the end face of the portion of the support end 120 that protrudes from the first fixed end 110, and the first connecting shaft 130 is perpendicular to the end face of the support end 120. The neck connecting seat 200 is rotatably connected to the first connecting shaft 130, so that the neck connecting seat 200 can rotate relative to the neck support 100 around the first connecting end.

[0063] The head support 300 is used to connect the robot's head structure. The head support 300 includes a second connecting shaft 310 and a third connecting shaft 320. Both the second connecting shaft 310 and the third connecting shaft 320 are located at the bottom of the head support 300. The second connecting shaft 310 is rotatably connected to the neck connecting seat 200, so that when the neck connecting seat 200 rotates around the first connecting end, the head support 300 can rotate synchronously to achieve a human-like lateral head-swaying movement. In addition, the head support 300 can also rotate relative to the neck connecting seat 200 around the second connecting shaft 310 to achieve a human-like pitching head movement.

[0064] Two sets of first drive components 400 are arranged opposite to each other. Each first drive component 400 includes a first drive member 410, a rocker arm 420, and a connecting rod 430. The output end of the first drive member 410 is fixedly connected to the rocker arm 420, and the other end of the rocker arm 420 is rotatably connected to the connecting rod 430. The other end of the connecting rod 430 is rotatably connected to the third connecting shaft 320. The first drive members 410 of the two sets of first drive components 400 are symmetrically arranged and on the same axis. The two sets of first drive components 400 are fixedly connected to the torso structure through brackets. The first drive member 410 is a joint motor. The output ends of the two sets of first drive members 410 are arranged relatively close to each other. The two rocker arms 420 are arranged between the output ends of the two sets of first drive members 410 and are fixedly connected to the output ends of the first drive members 410 respectively, so as to achieve a compact layout of the internal components of the neck structure.

[0065] Both ends of the connecting rod 430 along its length are provided with radial joint bearings 440, which are rotatably connected to the rocker arm 420 and the third connecting shaft 320 of the head support 300 through the radial joint bearings 440 respectively. The output end of the first driving member 410 drives the rocker arm 420 to rotate, and the rocker arm 420 drives the connecting rod 430 to form a crank-connecting rod 430 structure.

[0066] In this embodiment, when the two rocker arms 420 rotate synchronously, the head support 300 can be driven by the connecting rod 430 to rotate the head structure around the second connecting shaft 310 of the neck connecting seat 200 to achieve a tilting head movement; when the two rocker arms 420 rotate separately, the head support 300 can be driven by the connecting rod 430 to swing the head structure and the neck connecting seat 200 as a whole around the first connecting shaft 130 of the neck column 100 to achieve a swaying head movement.

[0067] like Figure 13 , Figure 14 As shown, the second drive assembly 500 is used to connect the head structure. The second drive assembly 500 includes a second drive member 510, which is also a joint motor. The second drive member 510 is inverted and mounted on the head support 300. That is, the output end of the second drive member 510 is fixedly connected to the head support 300 as a stator. The outer shell of the second drive member 510 drives the head structure to rotate around the first axis, so that the head structure can rotate relative to the neck structure. The first axis is the rotation center line of the output end of the second drive member 510.

[0068] The first connecting shaft 130 and the second connecting shaft 310 are perpendicular to each other, and the third connecting shaft 320 is parallel to the second connecting shaft 310.

[0069] In an embodiment, such as Figure 3 As shown, the neck connector 200 includes:

[0070] The first connector 210 is rotatably connected to the first connecting shaft 130;

[0071] The second connecting member 220 has two sets located on both sides of the first connecting member 210. One end of the second connecting member 220 is fixedly connected to the first connecting member 210, and the other end of the second connecting member 220 is rotatably connected to the second connecting shaft 310. The two sets of second connecting members 220 are distributed on both sides of the first connecting member 210. The first connecting member 210 and the two sets of second connecting members 220 form a "C" shape. The second connecting member 220 is fixedly connected to the first connecting member 210 by bolts. A second bearing 240 is provided between the second connecting shaft 310 and the second connecting member 220 to enable the second connecting shaft 310 to be rotatably connected to the second connecting member 220, thereby reducing the frictional resistance of its rotation around the second connecting shaft 310.

[0072] In an embodiment, such as Figure 3 , Figure 4As shown, the first connector 210 includes two sets of opposing and interlocking clamping blocks 211 for connecting the neck column 100 between the two sets of clamping blocks 211. A first connecting shaft 130 is disposed on the two end faces of the support end 120 opposite to the two clamping blocks 211, for rotatably connecting to the corresponding clamping blocks 211. A first bearing 230 is provided between the first connecting shaft 130 and the clamping blocks 211 to reduce the frictional resistance of the clamping blocks 211 rotating around the first connecting shaft 130.

[0073] Among them, such as Figure 4 As shown, the clamping block 211 has a notch 212 at one end relative to the neck column 100. The two sets of clamping blocks 211 are connected by bolts to form an integral structure. The two sets of notches 212 are combined to form an accommodating space for the support end 120 of the neck column 100, so that the first connector 210 will not interfere with the rotation of the neck column 100. The end of the second connector 220 away from its connection with the second connecting shaft 310 is connected to the two sets of clamping blocks 211 by bolts to form the neck connecting seat 200 structure.

[0074] In an embodiment, such as Figure 6 As shown, a central shaft 700 is provided between the two rocker arms 420. The two opposite ends of the central shaft 700 are respectively connected to a fourth bearing 710, and are rotatably connected to the corresponding rocker arm 420 through the fourth bearing 710. The axis of the central shaft 700 coincides with the rotation axis of the output end of the first drive member 410. The two rocker arms 420 are connected in series through the central shaft 700. Under the drive of the corresponding first drive member 410, the two rocker arms 420 can rotate independently relative to the central shaft 700 without interfering with each other. A fourth bearing 710 is provided between the central shaft 700 and the corresponding rocker arm 420. The connecting rod 430 is tilted during the lateral swing of the head structure, which generates an offset load on the rocker arm 420. The offset load will cause the rocker arm 420 to produce axial offset vibration. The two rocker arms 420 are connected in series through the central shaft 700. When the rocker arm 420 is subjected to the offset load transmitted from the connecting rod 430, the offset load is distributed to the central shaft 700 through the fourth bearing 710 to avoid the rocker arm 420 from tilting due to the offset load, thereby eliminating the vibration of the rocker arm 420 and improving stability.

[0075] In an embodiment, such as Figure 1 , Figure 7 As shown, it also includes a reset component 600, which includes:

[0076] The return positioning component 610 is disposed between the two sets of connecting rods 430. The return positioning component 610 includes a second fixed end 611 and a pressure rod 612. The second fixed end 611 is fixedly connected to the torso structure by bolts and is fixed relative to the torso structure to remain stationary, serving as the reset reference for the neck structure.

[0077] The elastic jacking assembly 620 is provided in any link 430 with two sets of elastic jacking assemblies 620 arranged opposite to each other. One end of the elastic jacking assembly 620 is fixedly connected to the link 430, and the other end elastically abuts against the return positioning member 610.

[0078] The first driving member 410 drives the connecting rod 430 to move via the rocker arm 420, so that the connecting rod 430 has two motion states relative to the return positioning member 610: upward or downward. When the connecting rod 430 moves upward relative to the return positioning member 610, the elastic pushing component 620 below the return positioning member 610 is compressed, and the elastic pushing component 620 above the return positioning member 610 extends. When the connecting rod 430 moves downward relative to the return positioning member 610, the elastic pushing component 620 below the return positioning member 610 extends, and the elastic pushing component 620 above the return positioning member 610 is compressed.

[0079] In an embodiment, such as Figure 7 As shown, during the movement of the connecting rod 430, one end of the elastic pushing assembly 620 relative to the return positioning member 610 remains in an elastically resisting state with the return positioning member 610 under the elastic action. This results in the two sets of elastic pushing assemblies 620 on the same connecting rod 430 having elastic forces in opposite directions on the connecting rod 430. As a force transmission component, the connecting rod 430 transmits the elastic force to the rocker arm 420 and the third connecting shaft 320 through the connecting rod 430, ensuring a tight connection between the connecting rod 430 and the rocker arm 420, and between the connecting rod 430 and the third connecting shaft 320. This eliminates the connection gaps between the connecting pairs. During the process of the first driving member 410 driving the rocker arm 420 to control the reversal of the connecting rod 430, the connecting pairs always remain in contact without any gap release, avoiding empty strokes, thereby eliminating return gaps, preventing the connecting rod 430 from shaking, and improving transmission stability and transmission control accuracy.

[0080] Furthermore, when the robot is powered off, the driving force of the first driving component 410 disappears, and the elastic pushing component 620 releases elastic potential energy to drive the link 430 to reset relative to the return positioning component 610. This, in turn, drives the neck connecting seat 200, head support 300, and head structure mounted on the head support 300 to reset via the link 430. This prevents the head structure from losing its driving force and falling down instantly after a power outage, which could impact the neck structure and frighten the user.

[0081] In an embodiment, such as Figure 8As shown, the connecting rod 430 is provided with a guide groove 431, which penetrates one of the opposite side walls of the connecting rod 430 to facilitate the installation and maintenance of the elastic push assembly 620. The guide groove 431 extends along the length direction of the connecting rod 430, and the two opposite ends of the guide groove 431 are provided with first connecting posts 433 for fixing one end of the elastic member 621.

[0082] like Figure 7 , Figure 9 As shown, two sets of elastic pushing components 620 are arranged opposite to each other in the guide groove 431. Each elastic pushing component 620 includes an elastic element 621 and a movable element 622. The movable element 622 is movably connected to the guide groove 431. A second connecting post 6223 is provided on the movable element 622. One end of the elastic element 621 is connected to the first connecting post 433, and the other end is connected to the second connecting post 6223. The elastic element 621 is used to apply an elastic force to the movable element 622 to push the movable element 622 to move in the guide groove 431, so that the two sets of oppositely arranged movable elements 622 always maintain a resisting state with the pressure rod 612 of the return positioning component 610, thereby continuously generating an elastic force.

[0083] In an embodiment, such as Figure 10 As shown, the return positioning component 610 includes a second fixed end 611 and a pressure rod 612;

[0084] The second fixed end 611 has several threaded holes on its end face for fixed connection with the body structure by bolts;

[0085] The pressure rod 612 is integrally connected to the second fixed end 611 and is located on the central axis of the second fixed end 611. The two ends of the pressure rod 612 extend into the guide grooves 431 of the corresponding side connecting rods 430 and are located between the two sets of movable parts 622. Under the action of the elastic member 621, the two sets of movable parts 622 elastically abut against the pressure rod 612.

[0086] Among them, such as Figure 7 , Figure 10 As shown, the pressure rod 612 is a cylindrical straight rod component that extends from the central axis of the second fixed end 611 into the guide groove 431 of the connecting rods 430 at both ends. The cylindrical pressure rod 612 minimizes the contact area between itself and the movable part 622, resulting in only line contact. This reduces the frictional resistance generated by the relative movement between the two, reduces wear, and facilitates the smooth sliding of the movable part 622 in the guide groove 431. This ensures that the connecting rod 430 will not experience any jamming or obstruction when moving relative to the return positioning part 610.

[0087] In an embodiment, such as Figure 8 , Figure 9As shown, the connecting rod 430 is provided with two sets of limiting grooves 432 that are symmetrically arranged and pass through the side wall of the guide groove 431. The movable part 622 includes a first slider 6221 and a second slider 6222. The first slider 6221 and the second slider 6222 are integrally connected and are in the same plane. The second connecting post 6223 is provided on the first slider 6221 for connecting the elastic part 621. The first slider 6221 is slidably connected to the guide groove 431, and the second slider 6222 is slidably connected to the limiting groove 432. The limiting groove 432 limits the movement of the movable part 622 in the guide groove 431. At the same time, the movable locking structure between the second slider 6222 and the limiting groove 432 prevents the movable part 622 from coming out of the guide groove 431 during movement, thereby improving the structural stability.

[0088] In an embodiment, such as Figure 11 , Figure 12 , Figure 13 As shown, the output end of the second drive unit 510 is provided with an output shaft 520. The second drive unit 510 is a joint motor, and the end face of the head support 300 is provided with an assembly hole 340.

[0089] like Figure 1 As shown, the second drive unit 510 is inverted and mounted on the head support 300, and the output shaft 520 can be inserted into the mounting hole 340 and engaged with the mounting hole 340.

[0090] Among them, such as Figure 11 As shown, Figure 13 As shown, the mounting hole 340 is set to be deeper downward perpendicular to the top end face of the head support 300. The output shaft 520 is a rectangular columnar component. The geometry of the mounting hole 340 is adapted to the output shaft 520. Thus, after the output shaft 520 is inserted and engaged with the mounting hole 340, the output shaft 520 and the head support 300 remain relatively stationary, driving the outer shell of the second driving component 510 to rotate in the opposite direction.

[0091] Furthermore, under the drive of the second drive member 510, the output shaft 520 is fixed relative to the head support 300, thereby driving the outer shell of the second drive member 510 to rotate relative to the head support 300. That is, the output shaft 520 acts as the stator of the joint motor, the outer shell acts as the outer rotor of the joint motor, and the outer shell is used to connect with the head structure, so that the head structure can rotate relative to the head support 300 around the rotation center line of the output shaft 520 of the second drive member 510 to achieve the anthropomorphic head rotation action.

[0092] Furthermore, such as Figure 1 , Figure 14As shown, the second drive component 510 adopts an inverted structure and is connected to the head support 300. The outer shell is located at the top of the head support 300, so that the second drive component 510, the neck connecting seat 200, and the connecting rod 430 are spatially staggered, thereby avoiding interference between the components of the neck structure during movement and reducing the overall volume of the neck structure, making the neck structure more compact.

[0093] Among them, such as Figure 14 As shown, a third bearing 530 is provided between the second drive member 510 and the head support 300. The head support 300 is provided with a mounting position 330 for nesting connection with the outer ring of the third bearing 530. The inner ring of the third bearing 530 is sleeved on the outer periphery of the housing of the second drive member 510, so that the third bearing 530 is installed between the second support member and the mounting position 330, forming an effective support structure. This can reduce the frictional resistance encountered by the housing of the second drive member 510 during rotation. At the same time, the third bearing 530 is used to radially position the housing of the second drive member 510, ensuring that the housing remains coaxial with the output shaft 520 during rotation. This eliminates the lateral wobble caused by misalignment between the second drive member 510 and the head support 300, making the movement of the second drive member 510 driving the head structure to rotate more smoothly and preventing jamming or wobble during rotation.

[0094] In this embodiment, as Figure 11 , Figure 13 As shown, the output shaft 520 has a second connecting hole 521 on its shaft body, and the head support 300 has a first connecting hole 350. The first connecting hole 350 passes through the head support 300 and extends into the assembly hole 340; both the second connecting hole 521 and the first connecting hole 350 are threaded holes.

[0095] During assembly, bolts pass through the first connecting hole 350 and the second connecting hole 521 in sequence, and are connected to the first connecting hole 350 and the second connecting hole 521 by threads, thereby fixing and locking the output shaft 520 to the head support 300.

[0096] Furthermore, such as Figure 11 As shown, the first connecting hole 350 is provided on the side wall of the head support 300 to facilitate the assembly or disassembly of bolts, thereby facilitating the rapid installation or disassembly of the second drive assembly 500 and enabling the rapid connection and separation of the neck structure and the head structure.

[0097] The connection methods between the head structure and the outer shell of the second drive component 510 include, but are not limited to, bolt and screw hole connection, key connection, snap-fit ​​connection or interference fit connection. After the outer shell of the second drive component 510 is fixedly connected to the head structure, the torque of the second drive component 510 can be transmitted to the head structure, driving the head structure to complete the head turning action.

[0098] Example 2: Example 2 also provides a robot, which includes the neck structure in Example 1 above. The neck structure is disposed between the robot's torso structure and head structure to connect the torso structure and head structure. The neck structure is compactly designed, and the robot's head structure is controlled to move in three-dimensional space through the first drive component 400 and the second drive component 500 built into the neck structure to achieve more human-like head movements.

[0099] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A neck structure for connecting the torso structure and head structure of a robot, characterized in that, include: Neck column (100), the neck column (100) having a first connecting shaft (130); Neck connector (200), which is rotatably connected to the first connecting shaft (130); A head support (300) includes a second connecting shaft (310) and a third connecting shaft (320), wherein the second connecting shaft (310) is rotatably connected to the neck connecting seat (200); Two sets of first drive assemblies (400) are arranged opposite to each other. Each first drive assembly (400) includes a first drive member (410), a rocker arm (420) and a connecting rod (430). The output end of the first drive member (410) is fixedly connected to the rocker arm (420), the other end of the rocker arm (420) is rotatably connected to the connecting rod (430), and the other end of the connecting rod (430) is rotatably connected to a third connecting shaft (320). The second drive assembly (500) is used to connect the head structure. The second drive assembly (500) includes a second drive member (510), which is inverted and mounted on the head support (300) for driving the head structure to rotate about the first axis. The first connecting shaft (130) is perpendicular to the second connecting shaft (310), and the third connecting shaft (320) is parallel to the second connecting shaft (310).

2. The neck structure according to claim 1, characterized in that, The neck connector (200) includes: The first connector (210) is rotatably connected to the first connecting shaft (130); The second connector (220) has two sets and is located on both sides of the first connector (210). One end of the second connector (220) is fixedly connected to the first connector (210), and the other end of the second connector (220) is rotatably connected to the second connecting shaft (310).

3. The neck structure according to claim 2, characterized in that, The first connector (210) includes: Two sets of clamping blocks (211) are arranged opposite to each other and connected to each other. The neck column (100) is arranged between the two sets of clamping blocks (211). The two ends of the first connecting shaft (130) are respectively rotatably connected to the clamping blocks (211) on the corresponding side.

4. The neck structure according to claim 1, characterized in that, A central shaft (700) is provided between the two rocker arms (420), and the two opposite ends of the central shaft (700) are respectively connected to a fourth bearing (710), and are rotatably connected to the rocker arm (420) on the corresponding side through the fourth bearing (710); The axis of the central shaft (700) coincides with the rotation axis of the output end of the first drive (410).

5. The neck structure according to claim 1, characterized in that, It also includes a reset component (600), the reset component (600) comprising: A return positioning component (610) is disposed between the two sets of connecting rods (430); The elastic push assembly (620) is provided in any of the connecting rods (430) with two sets of elastic push assemblies (620) arranged opposite to each other. One end of the elastic push assembly (620) is fixedly connected to the connecting rod (430), and the other end is elastically abutted against the return positioning member (610).

6. The neck structure according to claim 5, characterized in that, The connecting rod (430) is provided with a guide groove (431), and the two ends of the guide groove (431) opposite to each other in the length direction are provided with first connecting posts (433). Two sets of elastic jacking assemblies (620) are disposed opposite to each other in the guide groove (431). Each elastic jacking assembly (620) includes an elastic element (621) and a movable element (622). The movable element (622) is movably connected to the guide groove (431). The movable element (622) is provided with a second connecting post (6223). One end of the elastic element (621) is connected to the first connecting post (433), and the other end is connected to the second connecting post (6223).

7. The neck structure according to claim 6, characterized in that, The return positioning component (610) includes: Second fixed end (611); The pressure rod (612) is integrally connected to the second fixed end (611) and located on the central axis of the second fixed end (611). The two ends of the pressure rod (612) are respectively extended into the guide groove (431) of the corresponding side connecting rod (430) and located between the two sets of movable parts (622). Under the action of the elastic member (621), the two sets of movable parts (622) elastically abut against the pressure rod (612).

8. The neck structure according to claim 7, characterized in that, The connecting rod (430) is provided with two sets of limiting grooves (432) that are symmetrically arranged through the side wall of the guide groove (431). The movable part (622) includes a first slider (6221) and a second slider (6222). The first slider (6221) and the second slider (6222) are integrally connected and are in the same plane. The first slider (6221) is slidably connected to the guide groove (431), and the second slider (6222) is slidably connected to the limiting groove (432).

9. The neck structure according to claim 1, characterized in that, The output end of the second drive member (510) is provided with an output shaft (520), and the end face of the head support (300) is provided with an assembly hole (340). The output shaft (520) is inserted into the assembly hole (340) and engages with the assembly hole (340) to make the second drive member (510) rotate relative to the head support (300). A third bearing (530) is provided between the second drive member (510) and the head support (300).

10. A robot, characterized in that, The robot includes the neck structure as described in any one of claims 1-9.

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