A robot head-neck structure and humanoid robot

Abstract

The application provides a robot head-neck structure and a humanoid robot, and relates to the technical field of circuit boards.The robot head-neck structure comprises a head shell with a containing cavity; a mounting seat is located in the containing cavity and connected with the head shell; a pitching assembly and a rotating assembly are arranged on the mounting seat along a first direction, and at least part of the pitching assembly and the rotating assembly are arranged at intervals, the pitching assembly is connected with the head shell, and the pitching assembly rotates around the first direction to drive the head shell to pitch; the mounting seat is rotationally arranged on a neck connecting piece, and the rotating assembly is used for driving the mounting seat to rotate relative to the neck connecting piece.Therefore, the rotating assembly and the pitching assembly are adjusted from the neck to the head shell, and the appearance and the flexibility of the head shell are improved.

Description

Technical Field

[0001] This application relates to the field of circuit board technology, and in particular to a robot head and neck structure and a humanoid robot. Background Technology

[0002] The head and neck structure of a robot (such as a humanoid robot) includes the head and neck, which is the robot's environmental perception center and affects the robot's overall motion performance, perception ability, and human-robot interaction affinity.

[0003] In related technologies, robot head and neck structures achieve nodding rotation and tilting motions by installing drive components inside the neck, which drive the head to rotate and pitch.

[0004] However, the aforementioned drive components are integrated into the neck, resulting in a thick neck that is less flexible and aesthetically pleasing. Summary of the Invention

[0005] This application provides a robot head and neck structure and a humanoid robot. By adjusting the rotation component and pitch component from the neck to the head shell, the aesthetics and head shell flexibility are improved, and the probability of cable wear is reduced.

[0006] To achieve the above objectives, the technical solution of this application is as follows:

[0007] In a first aspect, this application provides a robot head and neck structure, comprising: a head shell having a receiving cavity; a mounting base located within the receiving cavity; a rotation assembly disposed on the mounting base; a pitch assembly, wherein the pitch assembly and the rotation assembly are both disposed on the mounting base along a first direction, and at least a portion of the pitch assembly and the rotation assembly are spaced apart, the pitch assembly being connected to the head shell, and the pitch assembly rotating about the first direction to drive the head shell to pitch; wherein the first direction is parallel to the line connecting the two ears; and a neck connector, wherein the mounting base is rotatably disposed on the neck connector, and the rotation assembly is used to drive the mounting base to rotate relative to the neck connector.

[0008] In one possible implementation, the rotating assembly includes a rotating element, a drive shaft, and a gear set. The rotating element is mounted on a mounting base and connected to the drive shaft. One end of the drive shaft has a gear set, and one end of the drive shaft passes through a portion of the pitch assembly in a first direction to be connected to the mounting base via the gear set.

[0009] In one possible implementation, the gear set includes a first bevel tooth and a second bevel tooth. The first bevel tooth is disposed at one end of the drive shaft, and the second bevel tooth is disposed on the mounting base. The first bevel tooth and the second bevel tooth mesh with each other. The axis of the first bevel tooth is perpendicular to the axis of the second bevel tooth, and the axis of the first bevel tooth is in the same direction as a first direction.

[0010] In one possible implementation, the pitch assembly includes a pitch member and a pitch mount. The pitch member is mounted on a mounting base and connected to the pitch mount. The pitch member is used to drive the pitch mount to rotate relative to the mounting base. The pitch mount is connected to the head housing. Part of the pitch mount is sleeved on the drive shaft, and the pitch mount is located between the pitch member and the drive shaft.

[0011] In one possible implementation, the pitch frame includes a connecting arm and two opposing pitch arms, one of which is connected to a pitch member, and the other of which is rotatably mounted on a drive shaft, with a neck connector located between the two pitch arms.

[0012] In one possible implementation, the mounting base includes a base body and a mounting portion, the mounting portion being movably connected to the base body and inserted into the neck connector. A second bevel tooth is disposed on the side of the mounting portion facing the head shell, and a first bevel tooth moves along the second bevel tooth to drive the base body to rotate relative to the mounting portion.

[0013] In one possible implementation, the robot head and neck structure further includes a cable assembly, which includes a first cable disposed on one side of the mounting base along a second direction. The rotation component and the pitch component are both electrically connected to the first cable, wherein the second direction is a direction parallel to or coincident with the first direction.

[0014] In one possible implementation, the cable assembly further includes a second cable extending from the mounting base toward the neck connector at one end away from the mounting base, the second cable being used to electrically connect the rotation or pitch assembly to the controller.

[0015] In one possible implementation, one end of the neck connector is connected to the mounting base, and the other end of the neck connector has a torso adapter plate.

[0016] Secondly, this application also provides a humanoid robot, including the robot head and neck structure of any of the first aspects described above.

[0017] This application provides a robot head and neck structure and a humanoid robot. The robot head and neck structure includes a head shell with a receiving cavity; a mounting base located within the receiving cavity; a pitch component and a rotation component both disposed on the mounting base along a first direction, with at least a portion of the pitch component and the rotation component spaced apart; the pitch component is connected to the head shell, and the pitch component rotates around the first direction to cause the head shell to pitch; the mounting base is rotatably disposed on a neck connector, and the rotation component is used to drive the mounting base to rotate relative to the neck connector. In this embodiment, the rotation component and the pitch component are integrated into the head shell. The rotation of the rotation component drives the mounting base and the head shell to rotate, thereby achieving rotation of the head shell, such as a head-turning motion. The pitch component and the rotation component are both disposed on the mounting base along the first direction, thus integrating the pitch component and the rotation component onto the mounting base. This achieves high integration and fits the receiving cavity within the head shell. Because at least a portion of the pitch component and the rotation component are spaced apart, the pitch component and the rotation component do not interfere with each other when performing their respective rotational movements. Therefore, this application adjusts the rotation and pitch components from the neck into the head shell, eliminating the need for a bulky neck connector to accommodate them. This allows the neck connector to serve only a connecting function, resulting in a smaller size and improved aesthetics. Furthermore, the cavity within the head shell is larger than the cavity within the neck in related technologies, accommodating the rotation, pitch, and mounting bases, and providing a greater range of motion (e.g., a wider achievable pitch / rotation angle range), thus offering greater flexibility. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] Figure 1 This is a schematic diagram of a robot head and neck structure provided in an embodiment of this application;

[0020] Figure 2 A schematic diagram of the mounting base, rotation component, and pitch component in the robot head and neck structure provided in the embodiments of this application;

[0021] Figure 3 This is a schematic diagram of the cable assembly in the robot head and neck structure provided in the embodiments of this application;

[0022] Figure 4 A schematic diagram of the mounting base, rotation component, and pitch component within the head shell of the robot head and neck structure provided in the embodiments of this application;

[0023] Figure 5 for Figure 4 A schematic diagram of the robot's head and neck structure from another perspective.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100 - Head shell; 101 - Receiving cavity; 110 - Camera component;

[0026] 200 - Mounting base; 210 - Base body; 211 - First side wall; 212 - Second side wall; 220 - Mounting part;

[0027] 300 - Rotating assembly; 310 - Rotating component; 320 - Drive shaft; 330 - Gear set; 331 - First bevel gear; 332 - Second bevel gear;

[0028] 400-Pitch assembly; 410-Pitch component; 420-Pitch mount; 421-Connecting arm; 422-Pitch arm;

[0029] 500 - Neck connector; 510 - Torso adapter plate;

[0030] 600 - Cable assembly; 610 - First cable; 620 - Second cable.

[0031] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0032] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended application.

[0033] It should be noted that in the description of the embodiments of this application, the terms "upper", "lower", "inner", "outer" and other terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, and are not intended to indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0034] Furthermore, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "fixation," 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 connection that allows communication between components; they can refer to a connection or an indirect connection through an intermediate medium; they can refer to the internal communication between 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.

[0036] The head and neck structure of a robot (such as a humanoid robot) includes the head and neck, which is the robot's environmental perception center and affects the robot's overall motion performance, perception ability, and human-robot interaction affinity.

[0037] In related technologies, robot head and neck structures achieve nodding rotation and tilting motions by installing drive components inside the neck, which drive the head to rotate and pitch.

[0038] However, the aforementioned drive components are integrated into the neck, resulting in a thick neck that is less flexible and aesthetically pleasing.

[0039] In view of this, embodiments of this application provide a robot head and neck structure and a humanoid robot. The robot head and neck structure includes a receiving cavity within a head shell; a mounting base located within the receiving cavity; a pitch component and a rotation component both disposed on the mounting base along a first direction, with at least a portion of the pitch component and the rotation component spaced apart; the pitch component is connected to the head shell, and the pitch component rotates around the first direction to drive the head shell to pitch; the mounting base is rotatably disposed on a neck connector, and the rotation component is used to drive the mounting base to rotate relative to the neck connector. Embodiments of this application integrate the rotation component and the pitch component within the head shell. The rotation of the rotation component drives the mounting base and the head shell to rotate, thereby achieving rotation of the head shell, such as a head-turning motion. The pitch component and the rotation component are both disposed on the mounting base along the first direction, thus integrating the pitch component and the rotation component onto the mounting base, resulting in high integration and good fit to the receiving cavity within the head shell. Because at least a portion of the pitch component and the rotation component are spaced apart, the pitch component and the rotation component do not interfere with each other when performing their respective rotational movements. Therefore, this application adjusts the rotation and pitch components from the neck into the head shell, eliminating the need for a bulky neck connector to accommodate them. This allows the neck connector to serve only a connecting function, resulting in a smaller size and improved aesthetics. Furthermore, the cavity within the head shell is larger than the cavity within the neck in related technologies, accommodating the rotation, pitch, and mounting bases, and providing a greater range of motion (e.g., a wider achievable pitch / rotation angle range), thus offering greater flexibility.

[0040] This application provides a robot head and neck structure. This application does not limit the application scenarios of the robot head and neck structure. For example, the robot head and neck structure can be applied to service robots, industrial robots, etc.

[0041] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The robot head and neck structure includes: a head shell 100, which has a receiving cavity 101; a mounting base 200 located within the receiving cavity 101; a rotation assembly 300; a pitch assembly 400, which and the rotation assembly 300 are both disposed on the mounting base 200 along a first direction, and at least part of the pitch assembly 400 and the rotation assembly 300 are spaced apart. The pitch assembly 400 is connected to the head shell 100 and rotates around the first direction to cause the head shell 100 to pitch; and a neck connector 500, on which the mounting base 200 is rotatably disposed, and the rotation assembly 300 is used to drive the mounting base 200 to rotate relative to the neck connector 500.

[0042] For example, the head housing 100 is directly connected to the pitch mount 420 of the pitch assembly 400. Functional accessories, such as a camera 110 or a display screen, can also be provided on the head housing 100. The movement of the head housing 100 drives the movement of the functional accessories.

[0043] Taking camera 110 as an example, the position of camera 110 is not limited in this embodiment. For example, camera 110 can be located on the front, left, right, or rear side of head shell 100, depending on the functional needs of the robot. Some cameras 110 are located on the outside of head shell 100, and some cameras 110 are located inside head shell 100. Camera 110 can be located near the connection between head shell 100 and pitch frame 420, or it can be located in other positions, as long as it facilitates the movement of head shell 100.

[0044] In this embodiment, the camera 110 is disposed at the front and above the head shell 100, and part of the camera 110 is located on the outside of the head shell 100, which serves to enhance the aesthetics of the design.

[0045] For example, the head shell 100 protrudes near the forehead area, and the camera 110 is located below the protrusion. The edge of the protrusion is arc-shaped, which serves both aesthetic purposes and to protect the camera 110. The camera 110 is tilted, with its tilt direction opposite to the direction of the protrusion. Figure 1 As shown. Specifically, the arc-shaped protrusions not only enhance the biomimetic appearance of the robot's head, but also protect the camera component 110 in the event of an accidental collision.

[0046] The two ends of the mounting base 200 can correspond to or form the auricles of the head shell 100. The two ends of the mounting base 200 extend to the inner side of the head shell 100 or to the outer side through holes in the head shell 100, but are not directly connected to the head shell 100 to avoid affecting its movement. The head shell 100 is only connected to the pitch mount 420, not directly to the mounting base 200. It is understood that only during pitch movement can the head shell 100 rotate relative to the mounting base 200 under external force; during rotational movement, the head shell 100 rotates with the mounting base 200 and remains relatively stationary.

[0047] Understandably, by integrating the pitch assembly 400 and the rotation assembly 300 onto the mounting base 200, and by fixing the head shell 100 to the pitch mount 420, the pitch angle of the head shell 100 is completely determined by the rotation angle of the pitch component 410, without any additional transmission backlash, thereby avoiding the swaying of the head shell 100 in the non-driving direction.

[0048] Vibration damping pads or pre-tightening structures can be added at the fixed connection between the head shell 100 and the pitch mount 420 to eliminate connection gaps and prevent the head shell 100 from wobbling when stationary or rotating. Alternatively, damping elements, such as rubber damping pads, can be added at the connection between the head shell 100 and the pitch mount 420 to provide a certain damping torque and prevent the head shell from wobbling due to center of gravity offset or external disturbances. The damping torque should be less than the driving torque of the pitch component 410 to avoid affecting normal pitching motion. It should be noted that when the pitch assembly 400 performs pitching motion, the mounting base 200 does not move with the pitch assembly 400; that is, the pitching motion is independent of the mounting base 200. The rotation assembly 300 is used for rotational motion, such as yawing the head shell 100, like left and right yaw. When the rotation assembly 300 performs rotational motion, the mounting base 200 moves with the rotation assembly 300. For example, the pitch component 400 rotates around the X direction to achieve a pitching motion, and the rotation component 300 rotates around the Y direction to achieve a rotational motion of the head shell 100. Here, the first direction is the X direction, and the Y direction is perpendicular to the first direction, i.e., the vertical direction. Specifically, the rotation component 300 rotates around the Y direction; for example, the rotating element 310 in the rotation component 300 rotates around the first direction (horizontal axis). After reversing direction via a bevel gear, it drives the mounting base 200 to rotate around the Y direction (vertical axis), thereby achieving a head-shaking motion of the head shell 100.

[0049] In this embodiment, the rotating component 300 and the pitch component 400 are integrated into the head shell 100. The rotation of the rotating component 300 drives the mounting base 200 and the head shell 100 to rotate, thereby achieving the rotation of the head shell 100, such as a head-turning motion. The pitch component 400 and the rotating component 300 are both disposed on the mounting base 200 along a first direction, thus integrating the pitch component 400 and the rotating component 300 onto the mounting base 200. This results in high integration and fits the receiving cavity 101 within the head shell 100. Since at least a portion of the pitch component 400 and the rotating component 300 are spaced apart, they do not interfere with each other when performing their respective rotational movements. Therefore, this application adjusts the rotating component 300 and the pitch component 400 from the neck into the head shell 100, eliminating the need for a bulky neck connector 500 to accommodate them. This allows the neck connector 500 to serve only a connecting function, resulting in a smaller size and improved aesthetics. The cavity 101 inside the head shell 100 is larger than the cavity 101 inside the neck in related technologies, and can be adapted to the rotation component 300, the pitch component 400 and the mounting base 200, with a larger range of motion (such as an increased range of pitch / rotation angles) and greater flexibility.

[0050] This embodiment further defines the rotating component 300. (In conjunction with...) Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The rotating assembly 300 includes a rotating element 310, a drive shaft 320, and a gear set 330. The rotating element 310 is disposed on the mounting base 200 and is connected to the drive shaft 320. One end of the drive shaft 320 has a gear set 330. One end of the drive shaft 320 passes through a portion of the pitch assembly 400 in a first direction to be connected to the mounting base 200 via the gear set 330.

[0051] The rotating component 310 can be a rotary motor (such as a servo motor or a stepper motor) and is fixedly mounted on the mounting base 200. The output shaft of the rotating component 310 is connected to one end of a drive shaft 320, the other end of which (i.e., the end furthest from the rotating component 310) has a gear set 330. The drive shaft 320 extends in a first direction, and this end passes through a portion of the pitch assembly 400 (e.g., through the pitch bracket 420 or sleeve structure of the pitch assembly 400), and is then connected to the mounting base 200 via the gear set 330. With this configuration, the rotational motion of the rotating component 310 is transmitted to the mounting base 200 via the drive shaft 320 and the gear set 330. Since the neck connector 500 is relatively fixed (connected to the robot torso), this ultimately drives the mounting base 200 and the entire head shell 100 to rotate relative to the neck connector 500. The portion of the drive shaft 320 passing through the pitch assembly 400 and the pitch assembly 400 can rotate relative to each other via bearings or sliding bushings, thus preventing interference.

[0052] It is understandable that by rotating the drive shaft 320 through the pitch arm 422 of the pitch frame 420, and with the gear set 330 located outside the pitch arm 422, the rotation of the rotating component 300 and the rotation of the pitch component 400 do not interfere with each other in motion.

[0053] This embodiment provides a detailed description of the gear set 330. (In conjunction with...) Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The gear set 330 includes a first bevel tooth 331 and a second bevel tooth 332. The first bevel tooth 331 is disposed at one end of the transmission shaft 320, and the second bevel tooth 332 is disposed on the mounting base 200. The first bevel tooth 331 and the second bevel tooth 332 mesh. The axis of the first bevel tooth 331 is perpendicular to the axis of the second bevel tooth 332, and the axis of the first bevel tooth 331 is in the same direction as the first direction.

[0054] The rotation of the rotating component 310 about a first direction can be converted into the rotation of the mounting base 200 about a vertical direction (or a direction perpendicular to the first direction) through a bevel gear pair, thereby realizing the head-shaking motion. Bevel gear transmission has the advantages of compact structure and smooth transmission, and is especially suitable for power steering in the narrow space of the robot's head and neck.

[0055] Specifically, the second bevel tooth 332 is fixed on the mounting portion 220 of the mounting base 200, and the mounting portion 220 is inserted into the neck connector 500. When the rotating member 310 drives the transmission shaft 320 and the first bevel tooth 331 to rotate, the first bevel tooth 331 moves along the second bevel tooth 332 through the meshing of the first bevel tooth 331 and the second bevel tooth 332, thereby driving the base 210 to rotate relative to the mounting portion 220 about the vertical axis.

[0056] The inner diameter of the first bevel tooth 331 is smaller than that of the second bevel tooth 332, and the inner diameter of the first bevel tooth 331 is smaller than the diameter of the end mounting hole of the pitch arm 422 in the pitch assembly 400. The smaller inner diameter of the first bevel tooth 331 makes its overall structure more compact and easier to fix to the end of the drive shaft 320; the larger inner diameter of the second bevel tooth 332 facilitates a stable connection with the mounting portion 220 of the mounting base 200, while increasing the torque transmission capacity of the meshing surface.

[0057] Specifically, the pitch arm 422 has a through hole for the drive shaft 320 to pass through. The diameter of this through hole is larger than the outer diameter of the first bevel tooth 331, or the radial dimension of this end of the pitch arm 422 is larger than the inner diameter of the mounting hole of the first bevel tooth 331. After the drive shaft 320 passes through the pitch arm 422, the first bevel tooth 331 at its end can rotate freely without contact, without friction or collision with the pitch arm 422. At the same time, the pitch arm 422 can rotate independently relative to the drive shaft 320 (separated by bearings), thereby ensuring that the pitch motion and rotational motion do not interfere with each other.

[0058] In one possible implementation, the robot head and neck structure provided in this application embodiment includes a pitch assembly 400 comprising a pitch member 410 and a pitch frame 420. The pitch member 410 is disposed on the mounting base 200 and connected to the pitch frame 420. The pitch member 410 is used to drive the pitch frame 420 to rotate relative to the mounting base 200. The pitch frame 420 is connected to the camera 110. A portion of the pitch frame 420 is sleeved on the drive shaft 320, and the pitch frame 420 is located between the pitch member 410 and the drive shaft 320.

[0059] The pitch component 410 is a pitch drive motor (e.g., a servo motor or a stepper motor), whose housing is fixedly mounted on the mounting base 200 by screws or locating pins. The output shaft of the pitch component 410 is fixedly connected to one end of the pitch mount 420, driving the pitch mount 420 to rotate relative to the mounting base 200 around a first direction (horizontal direction), thereby realizing the head shell 100's head-down and head-up movements. Alternatively, the output flange of the pitch component 410 is connected to one end of the pitch mount 420 (e.g., locked to the pitch mount 420 by bolts or screws through flange holes), driving the pitch mount 420 to rotate relative to the mounting base 200 around a first direction (horizontal direction).

[0060] The pitch mount 420 includes two opposing pitch arms 422, wherein the pitch arm 422 furthest from the output shaft of the pitch member 410 has a mounting hole extending in a first direction. The drive shaft 320 passes through this mounting hole in the first direction.

[0061] To ensure smooth and interference-free relative rotation between the two, at least one rolling bearing or sliding bearing is provided between the inner wall of the mounting hole and the drive shaft 320.

[0062] The outer diameter of the drive shaft 320 is smaller than the inner diameter of the mounting hole, forming an annular gap between them, which is filled by the bearing. There is no direct fixed connection between the pitch arm 422 and the drive shaft 320. Therefore, when the pitch member 410 drives the pitch frame 420 to rotate as a whole, the pitch arm 422 rotates freely relative to the drive shaft 320; conversely, when the drive shaft 320 rotates with the rotating member 310, the pitch arm 422 does not rotate with it.

[0063] The mounting base 200 has a first sidewall 211 and a second sidewall 212 disposed opposite to each other along a first direction. The first sidewall 211 is located on the right side (+X side) and the second sidewall 212 is located on the left side (-X side). The first sidewall 211 and the second sidewall 212 are respectively disposed corresponding to the right ear side and the left ear side of the head shell 100.

[0064] Viewed from the first direction, from +X to -X, the components are, in sequence, a first sidewall 211 of the mounting base 200, a rotating component 310, a drive shaft 320, a pitch arm 422, a gear set 330, another pitch arm 422, an output flange, a pitch component 410, and a second sidewall 212 of the mounting base 200. The first sidewall 211 and the second sidewall 212 are arranged opposite to each other, and the first sidewall 211 and the second sidewall 212 are respectively arranged corresponding to the left ear side and the right ear side of the head shell 100.

[0065] In one possible implementation, the robot head and neck structure provided in this application embodiment includes a pitch frame 420 comprising a connecting arm 421 and two opposing pitch arms 422. One of the two pitch arms 422 is connected to a pitch member 410, and the other of the two pitch arms 422 is rotatably sleeved on a drive shaft 320. A neck connector 500 is located between the two pitch arms 422.

[0066] The gear set 330 is located at the upper end of the neck connector 500 (i.e., one end of the neck link), where the neck connector 500 is connected to the mounting portion 220 of the mounting base 200.

[0067] Viewed from a perspective perpendicular to the first direction, such as in the direction of gravity, the pitch mount 420 has a U-shaped or U-shaped support structure, comprising a connecting arm 421 and two opposing pitch arms 422, which extend downward from both ends of the connecting arm 421. The connecting arm 421 carries the vision module and is connected to the robot's camera 110 (for example, the front side of the connecting arm 421 has a mounting base, and the camera 110 is fixed to the mounting base with screws); simultaneously, at least one of the camera 110 or the connecting arm 421 is connected to the robot's head shell 100. Thus, the movement of the pitch mount 420 can directly drive the synchronous movement of the camera 110 and the head shell 100.

[0068] The connecting arm 421 is located above the pitch arm 422. The pitch arm 422 is inclined to avoid other components inside the head housing 100. One end of the pitch arm 422 extends to the rear side of the camera 110 to connect with the connecting arm 421. The end of the pitch arm 422 facing away from the connecting arm 421 has a mounting hole. In some embodiments, the pitch arm 422 may be straight and inclined downward; or, to further increase the internal clearance space, the pitch arm 422 may have an outward or rearward protruding bend in the middle.

[0069] The pitch arm 422 has an output flange at one end connected to the pitch component 410, which enables the pitch component 410 to drive the pitch arm 422 to rotate around a first direction, thereby achieving the pitch action. The connecting arm 421 is connected to the camera component 110.

[0070] Specifically, of the two pitch arms 422, the bottom end of one is used to cooperate with the drive shaft 320. This end has a through mounting hole. As mentioned above, this mounting hole is rotated on the drive shaft 320 through a bearing to achieve free rotation. The bottom end of the other is used to receive power. Its end has an output flange (or a connection hole for cooperation with the flange). This end is locked and fixed to the output flange of the pitch component 410 (motor).

[0071] When the pitch component 410 is activated, power is transmitted to the pitch frame 420 through the output flange on one side, driving the U-shaped pitch frame 420 to rotate around the first direction (lower fulcrum), and then through the connecting arm 421 above, the camera component 110 and the head shell 100 to complete the pitching action of looking down and looking up; while the neck connector 500 and gear set 330 located between the two pitch arms 422 are not interfered with, ensuring the compactness of the structure and the smoothness of the movement.

[0072] In one possible implementation, the robot head and neck structure provided in this application embodiment includes a mounting base 200 comprising a base body 210 and a mounting portion 220. The mounting portion 220 is connected to the base body 210. For example, the base body 210 and the mounting portion 220 are movably connected. The mounting portion 220 is inserted into the neck connector 500. A second bevel tooth 332 is disposed on the side of the mounting portion 220 facing the head shell 100. A first bevel tooth 331 moves along the second bevel tooth 332 to drive the base body 210 to rotate relative to the mounting portion 220.

[0073] The seat 210 has a first side wall 211 and a second side wall 212, both of which are the left and right vertical walls of the seat 210, and their planes are perpendicular to the first direction (i.e., the horizontal X-axis direction). The first side wall 211 is located on the right side (+X side) and is used to fix and limit the rotating component 310; the second side wall 212 is located on the left side (-X side) and is used to fix and limit the pitch component 410.

[0074] Understandably, in combination Figure 1 and Figure 2 The head housing 100 is fixedly connected only to the pitch mount 420. The pitch mount 420 rotates about a first direction under the drive of the pitch component 410, thereby causing the head housing 100 to perform a pitching action. For example, the two ends of the mounting base 200 are pivotally connected to the head housing 100, allowing the head housing 100 to rotate relative to the mounting base about the first direction. Since the head housing 100 is fixedly connected to the pitch mount 420 or the camera component 110, the rotation of the pitch mount 420 directly drives the head housing 100 to rotate.

[0075] The mounting part 220 is located in the central area between the two side walls, is connected to the seat 210, and is inserted downwards (or sleeved) on the upper end of the fixed neck connector 500.

[0076] The first bevel gear 331 is fixed to the left end of the drive shaft 320; the second bevel gear 332 is fixedly mounted on the mounting portion 220 of the mounting base 200, which is inserted into the upper end of the neck connector 500 (e.g., locked by screws or pins), with no relative rotation between the mounting portion 220 and the neck connector 500. The first bevel gear 331 and the second bevel gear 332 mesh with each other, and the axis of the first bevel gear 331 (i.e., the first direction) is perpendicular to the axis of the second bevel gear 332 (vertical direction). The gear set 330 is located at the upper end of the neck connector 500, i.e., the upper end of the neck connector 500 is sleeved on the outside of the mounting portion 220 or inserted into the mounting portion 220, and is located between the two pitch arms 422. Through the gear set 330, the rotating member 310 drives the seat 210 to rotate relative to the mounting portion 220 around the vertical axis, while the mounting portion 220 and the neck connector 500 remain stationary, thereby realizing the head-shaking action of the head shell 100.

[0077] The pitch arm 422 is located to the left of the gear set 330, specifically between the gear set 330 and the output flange. The pitch arm 422 is bolted to the output flange of the pitch component 410 and serves as the driving arm for transmitting pitch drive force. The pitch arm 422 has no direct contact with the drive shaft 320; the left end of the drive shaft 320 terminates at the first bevel tooth 331 and does not extend to the pitch arm 422, thus the two are completely separated. In this embodiment, the middle gear set 330 is located at the upper end of the neck connector 500 and within the space between the left and right pitch arms 422. This ensures independent transmission of pitch and yaw forces without interference, while also compactly compressing the complex pitch assembly 400 and rotation assembly 300 within the limited space of the head shell 100.

[0078] In related technologies, with the frequent superposition of robot head pitching (head down / head up) and head shaking movements, the internal cables are prone to uncontrollable relative displacement, which can lead to twisting, excessive bending, or even pulling damage.

[0079] This embodiment also optimizes electrical wiring under multi-degree-of-freedom motion. The cable assembly 600 includes a first cable 610, which is disposed on one side of the mounting base 200 along a second direction. The rotation assembly 300 and the pitch assembly 400 are both electrically connected to the first cable 610. The second direction is a direction parallel to or coincident with the first direction. The first cable 610 is disposed opposite to the pitch frame 420, and the rotation of the pitch frame 420 does not affect the first cable 610. When the rotation assembly 300 rotates, since the mounting base 200 and the cable are relatively stationary or nearly stationary, the cable moves or deflects synchronously with the entire mounting base 200. There is no relative sliding or pulling between the cable and the pitch components 410 and rotation components 310 on both sides of the mounting base 200, thus not affecting the first cable 610, thereby reducing the probability of cable (such as the first cable 610) wear.

[0080] It is understood that the first cable 610 is arranged on one side of the mounting base 200 in a direction parallel to or coincident with the first direction, and this direction is fixed relative to the mounting base 200 and does not change with rotation.

[0081] The first cable 610 will not get tangled when the rotary component 300 and the pitch component 400 are in motion.

[0082] This application does not limit the structure of the first cable 610. For example, the first cable 610 can be a main power supply harness or a bus communication harness.

[0083] Specifically, the first cable 610 can be fixed to the top, bottom, or side of the mounting base 200 and extends along a first direction (e.g., from right to left or from left to right). One end of the first cable 610 is electrically connected to the rotation component 300 (e.g., the power and signal terminals of the rotation component 310), and the other end is electrically connected to the pitch component 400 (e.g., the power and signal terminals of the pitch component 410). That is, the first cable 610 acts as an internal jumper, connecting the rotation component 300 and the pitch component 400 to each other, allowing them to share a power bus or signal bus. For example, when the external controller only needs one main cable to enter the head and neck structure, parallel power supply can be achieved between the rotation component 310 and the pitch component 410 through the first cable 610.

[0084] Specifically, the first cable 610 is arranged along a second direction on one side of the mounting base 200 (e.g., running along the rear or inner side wall of the mounting base 200). The second direction is configured to be parallel to or completely coincide with the first direction (i.e., the horizontal rotation axis of the pitch motion). The rotation assembly 300 and pitch assembly 400 located on both sides of the mounting base 200 are electrically connected to the first cable 610 to obtain power or control signals.

[0085] When the robot performs complex movements, such as nodding and shaking its head, the first cable 610 always remains in a low-stress state or a relatively static state, and will not interfere with or become entangled with the internal gear set 330 or the pitch frame 420, thereby improving the reliability and service life of the cable under high-frequency dynamic conditions.

[0086] In some embodiments, the cable assembly 600 includes a second cable 620 extending from the mounting base 200 toward the neck connector 500 at one end away from the mounting base 200, the second cable 620 being used to electrically connect the rotation assembly 300 or the pitch assembly 400 to the controller.

[0087] The second cable 620 is used to electrically connect the rotation assembly 300 or the pitch assembly 400 to an external controller (such as the main control board inside the robot's torso).

[0088] Specifically, the upper end of the second cable 620 is electrically connected to the first cable 610, which supplies power or transmits signals to the rotating component 310 and the pitching component 410 respectively. Alternatively, the upper end of the second cable 620 can be directly connected to the terminals of the rotating component 310 and the pitching component 410 respectively, and then led out from the inside or side of the mounting base 200, passing through the hollow channel of the neck connector 500 or extending from the outside of the neck connector 500, and finally connected to the controller inside the robot torso. Both connection methods can realize the electrical connection between the controller and the rotating and pitching components, and this application does not limit this.

[0089] Since the base 210 is rotatable relative to the mounting part 220, and the mounting part 220 is fixed on the neck connector 500, the second cable 620 can have an appropriate amount of slack inside the neck connector 500 to avoid tangling or breakage during rotation.

[0090] This application does not limit the connection method of the second cable 620 and the first cable 610. For example, one end of the second cable 620 is electrically connected to the first cable 610, and the other end extends along the neck connector 500 to the controller; or, the second cable 620 is electrically connected to the rotation component 300 and the pitch component 400 respectively, as the main power supply / signal line.

[0091] In one possible implementation, one end of the neck connector 500 is connected to the mounting base 200, and the other end of the neck connector 500 has a torso adapter plate 510. The neck connector 500 is vertically positioned, as shown below. Figure 2 in the Y direction.

[0092] The neck connector 500 is hollow tubular or cylindrical, with its upper end (first end) connected to the mounting portion 220. Specifically, as in the previous embodiment, the upper end of the neck connector 500 is fitted onto the mounting portion 220 of the mounting base 200, and the base 210 rotates relative to the mounting portion 220. The lower end (second end) of the neck connector 500 has a torso adapter plate 510.

[0093] In applications, the torso adapter plate 510 can be in the form of a flange, a square flat plate, or an irregularly shaped plate structure that conforms to the shape of the robot's shoulder and neck. The torso adapter plate 510 has several fixing positions on its surface, such as bolt holes, positioning pin holes, or snap-fit ​​structures, for locking and fixing to the skeleton (such as the thoracic support frame) at the top of the robot's torso.

[0094] For example, the torso adapter plate 510 is a flange, fixedly connected to the lower end of the neck connector 500. The two can be integrally formed, welded, or connected by screws. The surface of the torso adapter plate 510 is generally perpendicular to the axis (i.e., vertical direction) of the neck connector 500. The torso adapter plate 510 has multiple mounting holes, such as threaded holes or through holes, for fixed connection to the robot torso (e.g., the mounting bracket in the upper part of the thoracic cavity) by screws.

[0095] Secondly, embodiments of this application provide a humanoid robot, including the robot head and neck structure of any of the above embodiments.

[0096] The humanoid robot includes a torso body, and the lower end of the neck connector 500 of the robot's head and neck structure has a torso adapter plate 510, which is fixedly connected to the top load-bearing structure (e.g., the thoracic skeleton) of the torso body.

[0097] For example, the torso adapter plate 510 at the lower end of the neck connector 500 of the robot head and neck structure is fixedly connected to the upper part of the robot torso (e.g., the mounting bracket in the chest cavity) by screws.

[0098] During operation, the rotating component 300 in the robot's head and neck structure drives the mounting base 200 to rotate relative to the neck connector 500, thereby enabling the robot's head to tilt left and right. The pitch component 400 drives the head shell 100 to rotate relative to the mounting base 200 around a first direction, thereby enabling the robot's head to tilt up and down. The camera 110 tilts synchronously with the head shell 100, and can be used for visual recognition, target tracking, or facial orientation following in human-computer interaction.

[0099] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0100] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A robot head and neck structure, characterized in that, include: Head shell (100), the head shell (100) having a receiving cavity (101); Mounting base (200), the mounting base (200) being located within the receiving cavity (101); A rotating assembly (300) is disposed on the mounting base (200); A pitch assembly (400) and a rotation assembly (300) are both disposed on the mounting base (200) along a first direction, and at least a portion of the pitch assembly (400) and the rotation assembly (300) are spaced apart. The pitch assembly (400) is connected to the head shell (100), and the pitch assembly (400) rotates around the first direction to drive the head shell (100) to pitch. A neck connector (500) is provided, wherein the mounting base (200) is rotatably disposed on the neck connector (500), and the rotating assembly (300) is used to drive the mounting base (200) to rotate relative to the neck connector (500).

2. The robot head and neck structure according to claim 1, characterized in that, The rotating assembly (300) includes a rotating element (310), a drive shaft (320), and a gear set (330). The rotating element (310) is disposed on the mounting base (200) and connected to the drive shaft (320). One end of the drive shaft (320) has a gear set (330). One end of the drive shaft (320) passes through a portion of the pitch assembly (400) in a first direction to be connected to the mounting base (200) via the gear set (330).

3. The robot head and neck structure according to claim 2, characterized in that, The gear set (330) includes a first bevel tooth (331) and a second bevel tooth (332). The first bevel tooth (331) is disposed at one end of the transmission shaft (320), and the second bevel tooth (332) is disposed on the mounting base (200). The first bevel tooth (331) and the second bevel tooth (332) mesh. The axis of the first bevel tooth (331) is perpendicular to the axis of the second bevel tooth (332), and the axis of the first bevel tooth (331) is in the same direction as the first direction.

4. The robot head and neck structure according to claim 2, characterized in that, The pitch assembly (400) includes a pitch member (410) and a pitch frame (420). The pitch member (410) is disposed on the mounting base (200) and connected to the pitch frame (420). The pitch member (410) is used to drive the pitch frame (420) to rotate relative to the mounting base (200). The pitch frame (420) is connected to the head shell (100). A portion of the pitch frame (420) is sleeved on the drive shaft (320), and the pitch frame (420) is located between the pitch member (410) and the drive shaft (320).

5. The robot head and neck structure according to claim 4, characterized in that, The pitch frame (420) includes a connecting arm (421) and two pitch arms (422) arranged opposite to each other. One of the two pitch arms (422) is connected to the pitch member (410), and the other of the two pitch arms (422) is rotatably sleeved on the drive shaft (320). The neck connector (500) is located between the two pitch arms (422).

6. The robot head and neck structure according to claim 3, characterized in that, The mounting base (200) includes a base body (210) and a mounting part (220). The mounting part (220) is movably connected to the base body (210). The mounting part (220) is inserted into the neck connector (500). The second bevel tooth (332) is disposed on the side of the mounting part (220) facing the head shell (100). The first bevel tooth (331) moves along the second bevel tooth (332) to drive the base body (210) to rotate relative to the mounting part (220).

7. The robot head and neck structure according to any one of claims 1-6, characterized in that, It also includes a cable assembly (600) comprising a first cable (610) disposed on one side of the mounting base (200) along a second direction, wherein the rotation assembly (300) and the pitch assembly (400) are both electrically connected to the first cable (610), wherein the second direction is parallel to or coincides with the first direction.

8. The robot head and neck structure according to claim 7, characterized in that, The cable assembly (600) further includes a second cable (620) extending from the mounting base (200) toward the neck connector (500) away from the mounting base (200), the second cable (620) being used to electrically connect the rotation assembly (300) or the pitch assembly (400) to the controller.

9. The robot head and neck structure according to any one of claims 1-6, characterized in that, One end of the neck connector (500) is connected to the mounting base (200), and the other end of the neck connector (500) has a torso adapter plate (510).

10. A humanoid robot, characterized in that, Includes the robot head and neck structure described in any one of claims 1-9 above.

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