Bionic robot neck movement mechanism

Abstract

This application provides a biomimetic robot neck motion mechanism, including a base and a first, second, and third electric cylinder mounted on the base, an intermediate seat, connectors, a universal joint, and a support assembly. The first, second, and third electric cylinders are arranged in a triangular configuration. The intermediate seat includes a transverse portion and a longitudinal portion. The connectors are arranged in pairs at both ends of the transverse portion. The universal joint is movably connected to the longitudinal portion. The support assembly is mounted on the base and located on both sides of the universal joint. The output end of the third electric cylinder is movably connected to either the universal joint or the support assembly. By arranging the three electric cylinders in a triangular configuration and integrating them with the intermediate seat and universal joint, multi-directional motion can be achieved within the same mechanism. This avoids the structural bulkiness caused by the dispersed arrangement of different motion mechanisms in traditional structures, while also improving the overall compactness and space utilization.

Description

Technical Field

[0001] This application relates to the field of biomimetic robot technology, and more particularly to a biomimetic robot neck movement mechanism. Background Technology

[0002] In current bionic robots, the head and neck connection structure typically achieves head posture adjustment through joint mechanisms. One common approach is to use a series joint structure, connecting multiple rotary joints sequentially to achieve pitch, yaw, and other movements. Another common approach is to use a simple parallel mechanism, achieving multi-degree-of-freedom motion through the synchronized action of several drive elements. Additionally, there are designs that separate the head motion mechanism from the neck structure to achieve motion control in different directions.

[0003] However, the aforementioned existing technologies still have shortcomings in terms of structural design and motion implementation. For example, the overall degree of freedom configuration is limited, the structural layout is relatively complex or the volume is large, and there is a certain degree of coupling between different movements. At the same time, the head and neck motion structures are independent of each other, the overall integration is not high, and the space utilization is insufficient, making it difficult to meet the needs of bionic robots for compact structures and multi-degree-of-freedom compound movements.

[0004] It should be noted that the above content is not necessarily prior art, nor is it intended to limit the scope of patent protection of this application. Summary of the Invention

[0005] This application provides a bionic robot neck motion mechanism to solve the problems of limited freedom configuration and complex structural layout of the head and neck connection structure in existing bionic robots.

[0006] As one aspect of the embodiments of this application, this application provides a bionic robot neck motion mechanism, including: The base, and a first electric cylinder, a second electric cylinder and a third electric cylinder disposed on the base, wherein the installation positions of the first electric cylinder, the second electric cylinder and the third electric cylinder form a triangular distribution; The intermediate seat includes a transverse portion and a longitudinal portion; A pair of connectors are provided, which are located at both ends of the transverse portion, and the end of any connector away from the transverse portion is connected to the first electric cylinder or the second electric cylinder. Universal joint, which is movably connected to the longitudinal portion; A bracket assembly is disposed on the base and located on both sides of the universal joint, and the bracket assembly is movably connected to both sides of the universal joint; The output end of the third electric cylinder is movably connected to either the universal joint or the bracket assembly.

[0007] Optionally, the connector is configured in an L-shape, including a first arm and a second arm that bends against each other.

[0008] Optionally, the first arm is movably connected to the output end of the first electric cylinder or the second electric cylinder, and the second arm is movably connected to the transverse portion.

[0009] Optionally, the universal joint is configured as a cross-type universal joint.

[0010] Optionally, the first electric cylinder and the second electric cylinder are located on opposite sides of the base, and the third electric cylinder is located at an offset position between the first electric cylinder and the second electric cylinder.

[0011] Optionally, the first electric cylinder and the second electric cylinder are symmetrically arranged about the longitudinal portion of the intermediate seat.

[0012] Optionally, the lateral portion is located above the first electric cylinder and the second electric cylinder, and the longitudinal portion extends above the third electric cylinder.

[0013] Optionally, the bracket assembly includes a first bracket and a second bracket disposed opposite to each other, with an installation space between the first bracket and the second bracket for accommodating the third electric cylinder.

[0014] Optionally, the first bracket and the second bracket are configured as L-shaped or U-shaped.

[0015] Optionally, the bracket assembly is hinged to the universal joint, and the universal joint is rotatable relative to the bracket assembly about a horizontal axis.

[0016] The embodiments of this application employing the above-described technical solution may have the following advantages: This application provides a biomimetic robot neck motion mechanism, including a base and a first, second, and third electric cylinder mounted on the base, an intermediate seat, connectors, a universal joint, and a support assembly. The first, second, and third electric cylinders are arranged in a triangular configuration. The intermediate seat includes a transverse portion and a longitudinal portion. Connectors are arranged in pairs at both ends of the transverse portion. The universal joint is movably connected to the longitudinal portion. The support assembly is mounted on the base and located on both sides of the universal joint. The output end of the third electric cylinder is movably connected to either the universal joint or the support assembly. By arranging the three electric cylinders in a triangular pattern and forming an integrated structure with the intermediate seat and universal joint, multi-directional motion can be achieved within the same mechanism. This avoids the structural bulkiness caused by the dispersed arrangement of different motion mechanisms in traditional structures, while also improving the overall structural compactness and space utilization. Attached Figure Description

[0017] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0018] Figure 1 One of the three-dimensional structural diagrams of the bionic robot neck movement mechanism provided in the embodiments of this application; Figure 2 A second three-dimensional structural diagram of the bionic robot neck movement mechanism provided in the embodiments of this application; Figure 3 A plan view of the bionic robot neck motion mechanism provided in an embodiment of this application; Figure 4 A three-dimensional sectional view of the bionic robot neck movement mechanism provided in the embodiments of this application.

[0019] Explanation of reference numerals in the attached figures: 1-Base; 2-Intermediate seat; 21-Horizontal part; 22-Longitudinal part; 31-First electric cylinder; 32-Second electric cylinder; 33-Third electric cylinder; 4-Universal joint; 5-Bracket assembly; 51-First bracket; 52-Second bracket; 61-First connector; 611-First arm; 612-Second arm; 62-Second connector; 7-Top seat; 71-Mounting bracket. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other. The application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] In this application, the term "numerical interval" (i.e., numerical range) refers to a range of values. Unless otherwise specified, the distribution of selectable values ​​within this numerical interval is considered continuous, and includes the two endpoints (i.e., the minimum and maximum values) of the interval, as well as every value between these endpoints. Unless otherwise specified, when a numerical interval refers only to integers within that interval, it includes the two endpoints of the range and every integer between them, effectively listing every integer. When multiple numerical ranges are provided to describe features or characteristics, these ranges can be merged. In other words, unless otherwise specified, the numerical ranges disclosed in this application should be understood to include any and all subranges included therein. The "numerical value" in this numerical interval can be any quantitative value, such as a number, percentage, or proportion. The term "numerical interval" can broadly include percentage intervals, proportion intervals, ratio intervals, and other quantitative intervals.

[0023] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. It should be understood that these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein.

[0024] Please refer to the following: Figures 1 to 3This application discloses a biomimetic robot neck motion mechanism, including a base 1 and a first electric cylinder 31, a second electric cylinder 32, and a third electric cylinder 33 mounted on the base 1, an intermediate seat 2, connecting members, a universal joint 4, and a support assembly 5. The first electric cylinder 31, the second electric cylinder 32, and the third electric cylinder 33 are arranged in a triangular configuration. The intermediate seat 2 includes a transverse portion 21 and a longitudinal portion 22. The connecting members are arranged in pairs at both ends of the transverse portion 21. The universal joint 4 is movably connected to the longitudinal portion 22. The support assembly 5 is mounted on the base 1 and located on both sides of the universal joint 4. The output end of the third electric cylinder 33 is movably connected to either the universal joint 4 or the support assembly 5. By arranging the three electric cylinders in a triangular form and integrating them with the intermediate seat 2 and the universal joint 4, movement in multiple directions can be achieved within the same mechanism. This avoids the structural bulkiness caused by the dispersed arrangement of different motion mechanisms in traditional structures, while also improving the overall compactness and space utilization.

[0025] Specifically, the first electric cylinder 31 and the second electric cylinder 32 are spaced apart, and the third electric cylinder 33 is positioned offset from the line connecting the first electric cylinder 31 and the second electric cylinder 32, thus forming a stable three-point support relationship. In this arrangement, the intermediate seat 2 is always supported in multiple directions during movement, which helps reduce off-center loads and makes the movement smoother. It should be noted that, while satisfying the three-point support relationship, the specific positional relationship of the three electric cylinders can also be adjusted according to the structural dimensions; for example, they can form an isosceles triangle or an equilateral triangle.

[0026] Preferably, the first electric cylinder 31 and the second electric cylinder 32 can be symmetrically arranged about the longitudinal part 22 of the intermediate seat 2. By symmetrical arrangement, the first electric cylinder 31 and the second electric cylinder 32 are subjected to the same force state, which makes it less likely to deviate during movement, which is conducive to maintaining posture stability and reducing control difficulty.

[0027] Specifically, the transverse portion 21 is located above the first electric cylinder 31 and the second electric cylinder 32, and the longitudinal portion 22 extends to the side of the third electric cylinder 33 and is connected to the universal joint 4. Through the above spatial arrangement, the transverse portion 21 mainly bears the driving force from the first electric cylinder 31 and the second electric cylinder 32, while the longitudinal portion 22 is used to connect the third electric cylinder 33 and the universal joint 4, thereby realizing the structural partitioning of movement in different directions, which is beneficial to reducing mutual interference between different movements.

[0028] Furthermore, this embodiment provides a pair of connectors, defined as a first connector 61 and a second connector 62. The first connector 61 and the second connector 62 are respectively connected to the two ends of the transverse portion 21. The end of any connector away from the transverse portion 21 is connected to the corresponding electric cylinder, such as... Figure 1 and Figure 3As shown, the end of the first connector 61 away from the lateral portion 21 is connected to the first electric cylinder 31, and the end of the second connector 62 away from the lateral portion 21 is connected to the second electric cylinder 32. By setting up a pair of connectors, the driving action of the electric cylinder can be transmitted to the intermediate seat 2, so that the intermediate seat 2 can produce posture changes in multiple directions. Compared with the direct rigid connection, it is beneficial to improve the force transmission path.

[0029] Specifically, both the first connector 61 and the second connector 62 are configured in an L-shape. Taking the first connector 61 as an example... Figure 2 As shown, the first connecting member 61 includes a first arm 611 and a second arm 612 that are bent at each other. The first arm 611 is movably connected to the output end of the first electric cylinder 31, and the second arm 612 is movably connected to the transverse portion 21. The L-shaped structure allows the axial driving force of the first electric cylinder 31 and the second electric cylinder 32 to change direction at the first connecting member 61 and the second connecting member 62, respectively. This enables the intermediate seat 2 to rotate in different directions, facilitating the realization of pitch and roll motions and reducing the coupling between different motions.

[0030] It should be noted that, without changing the force transmission and direction conversion of the connector, the connector can also adopt other forms of bending structure, such as arc connector, multi-segment broken line structure or plate structure with reinforcing ribs, to adapt to different spatial layouts or strength requirements.

[0031] Specifically, such as Figure 4 As shown, the universal joint 4 is disposed in the longitudinal part 22 of the intermediate seat 2 and forms a movable connection with the support assembly 5. By providing the universal joint 4, the intermediate seat 2 can rotate in multiple directions, thereby providing additional degrees of freedom of movement in the structure. Compared with the structure that only relies on a single joint, this structure can achieve a richer range of posture changes.

[0032] Furthermore, the universal joint 4 is configured as a cross-type universal joint 4. Through the cross-shaft structure, the intermediate seat 2 and the support assembly 5 can form a stable rotational relationship, which is beneficial to maintaining structural reliability under multi-directional stress.

[0033] Specifically, such as Figure 1 and Figure 4 As shown, the bracket assembly 5 is disposed on the base 1 and located on both sides of the universal joint 4. The bracket assembly 5 includes a first bracket 51 and a second bracket 52 disposed opposite to each other. The two are movably connected to both sides of the universal joint 4. By setting brackets on both sides of the universal joint 4, the universal joint 4 is constrained and supported during movement, thereby improving the overall structural stability.

[0034] Furthermore, an installation space for accommodating the third electric cylinder 33 is formed between the first bracket 51 and the second bracket 52. By arranging the third electric cylinder 33 between the brackets, the third electric cylinder 33 can directly act on the universal joint 4 or the bracket, thereby improving the structural integration and reducing the occupation of additional installation space, making the overall structure more compact.

[0035] Specifically, the first support 51 and the second support 52 can be configured in an L-shape or a U-shape. This type of structure allows the supports to provide both support and space, balancing structural strength and space utilization. It should be noted that, provided the support and connection functions are met, the supports can also be replaced by a frame structure, a plate structure, or a profile splicing structure.

[0036] Specifically, the bracket assembly 5 and the universal joint 4 can be connected by a hinge, so that the universal joint 4 can rotate about a horizontal axis relative to the bracket assembly 5. Through this connection, the extension and retraction motion of the third electric cylinder 33 can be converted into the tilting motion of the intermediate seat 2, thereby structurally achieving a movement similar to tilting the neck forward or backward.

[0037] Furthermore, the output end of the third electric cylinder 33 can be directly connected to the universal joint 4 or to the bracket assembly 5. Under different connection methods, the force transmission path can be adjusted according to the structural layout to adapt to different spatial or mechanical requirements.

[0038] It should be noted that all of the above-mentioned electric cylinders can be planetary roller screw electric cylinders, or linear drive structures such as ball screw electric cylinders, hydraulic cylinders or pneumatic cylinders can be selected according to actual needs. As long as they can provide telescopic drive function, they can achieve similar effects.

[0039] Furthermore, the bionic robot neck motion mechanism in this embodiment of the application also includes a top seat 7, which is disposed above the intermediate seat 2 and connected to the intermediate seat 2. By setting the top seat 7 above the intermediate seat 2, the upper structure can move as a whole with the intermediate seat 2, thereby providing a stable mounting base for the robot head or other components, which is beneficial to integrating the head motion structure and the neck motion mechanism into the same system.

[0040] Specifically, the top seat 7 is provided with a mounting bracket 71, which is configured as an inverted U-shape. The opening of the U-shape faces the side where the electric cylinder is located, and the closed end faces the opposite direction. By adopting the inverted U-shaped structure, usable space is formed inside, and internal components are covered and supported, thereby improving space utilization while ensuring structural strength.

[0041] Preferably, a drive device is provided inside the opening of the inverted U-shaped mounting bracket 71 to drive the head structure mounted on the top seat 7 to rotate in the vertical direction. By setting an independent rotation drive at the top seat 7, the head can achieve yaw motion, which is coordinated with the pitch, roll and forward and backward tilting motions generated by the intermediate seat 2. This allows the head yaw motion and neck motion to be realized in the same structural system, further enriching the motion forms while maintaining the structural compactness, so that the overall structure can still maintain good stability and coordination under multi-directional motion.

[0042] Specifically, the drive unit may include a motor, which is mounted inside an inverted U-shaped mounting bracket 71, with its output end connected to the head structure. By arranging the motor inside the mounting bracket 71, the transmission path is shortened and exposed parts are reduced, thereby reducing the possibility of external interference.

[0043] It should be noted that, without changing the basic function of the head rotating in the vertical direction, the driving method can also be replaced. For example, a geared motor can be used in conjunction with a gear transmission structure to achieve rotational output, or synchronous belt drive, chain drive, or other forms of power transmission can be used. Where space permits, a hollow turntable motor can also be used to directly drive the head to rotate, thereby reducing intermediate transmission links.

[0044] Furthermore, the top seat 7 and the intermediate seat 2 are fixedly connected, such as by bolts or welding. This arrangement ensures that the top seat 7 remains synchronized with the movement of the intermediate seat 2, thereby guaranteeing the stability of the upper structure under different postures. Depending on assembly requirements, the connection method can also be replaced with a snap-fit ​​structure, a pin connection, or a one-piece machined structure.

[0045] Specifically, the top mount 7 can also be provided with channels or through holes for wiring harnesses to allow the wiring of the electric cylinder and drive unit to pass through. By arranging the wiring harnesses inside the structure, exposed parts can be reduced, thereby reducing the risk of wear and interference, while also improving the overall neatness of the layout.

[0046] Furthermore, the space formed between the top mount 7, the intermediate mount 2, and the support assembly 5 can also be used to arrange other components, such as sensors, control modules, or heat dissipation components. Utilizing these spaces helps to improve the integration of the overall structure and avoids increasing the installation volume.

[0047] In summary, the bionic robot neck motion mechanism provided in this application embodiment, by arranging three electric cylinders in a triangular pattern and combining them with connectors, a central seat 2, a universal joint 4, and a support structure, enables multi-directional motion within the same mechanism. This ensures a compact structure while reducing mutual interference between different motions. Simultaneously, the cooperation between the support and the universal joint 4, along with a reasonable spatial layout, ensures structural stability during motion, thereby improving the problems of limited degrees of freedom, structural dispersion, and insufficient space utilization in traditional structures. Without departing from the limitations of the claims of this application, the aforementioned connection form, support structure, electric cylinder type, and connection method can all be replaced to adapt to different application scenarios.

[0048] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0049] For ease of description, directional terms such as "front, back, up, down, left, right," "horizontal, vertical, horizontal," and "top, bottom" generally indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are used solely for the purpose of facilitating the description of this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the referred mechanism or element must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner or outer contours relative to the components themselves. For example, if a device in the drawings is inverted, a device described as "above" or "on top of" other devices or structures will subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0050] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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, an electrical connection, or a communication 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. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] Unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0053] It should also be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this application.

[0054] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0055] It should also be noted that the above are merely preferred embodiments of this application and do not limit the scope of patent protection of this application. Any equivalent structural or procedural changes made using the content of this application’s specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A biomimetic robot neck movement mechanism, characterized in that, include: The base (1) and the first electric cylinder (31), the second electric cylinder (32) and the third electric cylinder (33) disposed on the base (1) are arranged in a triangular distribution. The intermediate seat (2) includes a transverse portion (21) and a longitudinal portion (22); A pair of connectors are provided at both ends of the transverse portion (21), and the end of any connector away from the transverse portion (21) is connected to the first electric cylinder (31) or the second electric cylinder (32). Universal joint (4), said universal joint (4) is movably connected to the longitudinal part (22); A bracket assembly (5) is disposed on the base (1) and located on both sides of the universal joint (4). The bracket assembly (5) is movably connected to both sides of the universal joint (4). The output end of the third electric cylinder (33) is movably connected to either the universal joint (4) or the bracket assembly (5).

2. The bionic robot neck movement mechanism according to claim 1, characterized in that, The connector is configured in an L-shape, including a first arm (611) and a second arm (612) that are bent at each other.

3. The bionic robot neck movement mechanism according to claim 2, characterized in that, The first arm (611) is movably connected to the output end of the first electric cylinder (31) or the second electric cylinder (32), and the second arm (612) is movably connected to the transverse part (21).

4. The bionic robot neck motion mechanism according to claim 1, characterized in that, The universal joint (4) is configured as a cross-type universal joint (4).

5. The bionic robot neck movement mechanism according to claim 1, characterized in that, The first electric cylinder (31) and the second electric cylinder (32) are located on opposite sides of the base (1), and the third electric cylinder (33) is located at an offset position between the first electric cylinder (31) and the second electric cylinder (32).

6. The bionic robot neck motion mechanism according to claim 1 or 5, characterized in that, The first electric cylinder (31) and the second electric cylinder (32) are symmetrically arranged about the longitudinal portion (22) of the intermediate seat (2).

7. The bionic robot neck movement mechanism according to claim 1, characterized in that, The lateral portion (21) is located above the first electric cylinder (31) and the second electric cylinder (32), and the longitudinal portion (22) extends above the third electric cylinder (33).

8. The bionic robot neck movement mechanism according to claim 1, characterized in that, The bracket assembly (5) includes a first bracket (51) and a second bracket (52) disposed opposite to each other, with an installation space between the first bracket (51) and the second bracket (52) for accommodating the third electric cylinder (33).

9. The bionic robot neck movement mechanism according to claim 8, characterized in that, The first bracket (51) and the second bracket (52) are configured in an L-shape or a U-shape.

10. The bionic robot neck motion mechanism according to claim 1, characterized in that, The bracket assembly (5) is hinged to the universal joint (4), and the universal joint (4) is able to rotate about a horizontal axis relative to the bracket assembly (5).

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