Neck structure and robot

Abstract

The utility model provides a neck structure and a robot, and relates to the technical field of robots. The neck structure comprises a head supporting piece, an adapter piece, a pair of rocker arm pieces and a pair of driving pieces, and the head supporting piece can drive the head structure to rotate around a first reference axis; the adapter is hinged to a body structure of the robot, and the adapter is hinged to a head supporting piece of the robot; the hinge joint of the adapter and the body structure is configured to enable the adapter to rotate around a second reference axis, and the hinge joint of the adapter and the head support is configured to enable the head support to rotate around a third reference axis; the driving piece is provided with an output end and can drive the output end to move along a set path; a pair of connecting ends of the head supporting piece are located on the two sides of the adapter respectively, one end of the rocker arm piece is in ball hinge with the connecting end on the corresponding side, and the other end is in ball hinge with the output end on the corresponding side. According to the neck structure, the freedom degree of the head structure can be increased, and the bionic effect is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a neck structure and a robot. Background Art

[0002] The neck structure is an important part of the humanoid robot, which is used to connect the body structure and head structure of the humanoid robot. At present, the head structure of the bionic robot has limited freedom of movement and can only perform simple head turning and nodding movements, and the bionic effect is not ideal.

[0003] Based on this, how to increase the freedom of movement of the head structure and enhance the bionic effect is a technical problem that technicians in this field urgently need to solve. Utility Model Content

[0004] In view of this, the purpose of the utility model is to overcome the deficiencies in the prior art and provide a neck structure that can increase the degree of freedom of the head structure and improve the bionic effect;

[0005] In addition, a robot using the above neck structure is provided.

[0006] The utility model provides the following technical solutions:

[0007] According to a first aspect of the present utility model, a neck structure is provided, the neck structure comprising:

[0008] a head support, the head support being used to connect to the head structure of the robot, and the head support being capable of driving the head structure to rotate around a first reference axis; and

[0009] an adapter, the adapter being hinged to a body structure of the robot, and the adapter being hinged to a head support of the robot; wherein the hinge between the adapter and the body structure is configured to enable the adapter to rotate about a second reference axis, and the hinge between the adapter and the head support is configured to enable the head support to rotate about a third reference axis, the first reference axis, the second reference axis and the third reference axis are arranged perpendicular to each other, and the second reference axis extends horizontally along the width direction of the body structure; and

[0010] A pair of rocker members and a pair of driving members, the pair of rocker members are respectively located on both sides of the adapter, and the pair of driving members are respectively located on both sides of the adapter, the driving member has an output end, and the driving member can drive the output end to move along a set path, and the set path is configured to at least enable the output end to approach or move away from the head support; wherein the head support has a pair of connecting ends, the pair of connecting ends are respectively located on both sides of the adapter, one end of the rocker member is ball-jointed with the connecting end on the corresponding side, and the other end of the rocker member is ball-jointed with the output end on the corresponding side.

[0011] Further, the head support comprises:

[0012] A base, the base is formed with the connecting end, and the base has a first set axis;

[0013] A first driving part, wherein the first driving part is connected to the head structure, and the first driving part can drive the head structure to rotate around the first setting axis, and the first setting axis forms the first reference axis.

[0014] Furthermore, the driving member comprises:

[0015] A rotating part, the rotating part and the rocker arm are ball-jointed, and the rotating part has a second setting axis;

[0016] A second driving part, the rotating part is connected to the second driving part, the second driving part can drive the rotating part to rotate around the second setting axis, and the connection between the rotating part and the rocker arm is located outside the second setting axis.

[0017] Furthermore, the head support also includes:

[0018] a first limiting portion, the first limiting portion being mounted on the base, and the first limiting portion being capable of limiting a rotation angle range of the head structure around the first reference axis;

[0019] And / or, the driving member further comprises:

[0020] A second limiting portion is connected to the rotating portion, and the second limiting portion can limit the rotation angle range of the rotating portion.

[0021] Furthermore, the driving member and the rocker arm member are both located at the front side of the robot.

[0022] Furthermore, the neck structure further comprises:

[0023] A first connecting member, the adapter having a first hinged end, the first hinged end being hinged to the body structure through the first connecting member, and the first connecting member being able to swing around an axis parallel to the second reference axis;

[0024] Furthermore, the neck structure further comprises:

[0025] The second connecting member, the adapter has a second hinged end, and the second hinged end is hinged to the body structure through the second connecting member, so that the first connecting member, the adapter, the second connecting member and the body structure can form an anti-parallelogram mechanism.

[0026] Furthermore, a recessed area is formed on the inner side of the first connecting member, the second connecting member is located in the recessed area, the outer side of the first connecting member is in contact with the outer skin of the robot, and the first connecting member has a shielding portion, which is configured to at least isolate the second connecting member from contacting the outer skin of the robot.

[0027] Further, the head support member has a symmetry plane, a pair of the rocker members are symmetrically arranged with respect to the symmetry plane, a pair of the driving members are symmetrically arranged with respect to the symmetry plane, and the third reference axis is located in the symmetry plane.

[0028] According to a second aspect of the present utility model, a robot is provided, wherein the robot comprises the neck structure described in any one of the items.

[0029] The embodiments of the present utility model have the following advantages:

[0030] By using the neck structure provided by the utility model, firstly, the head support can be used to control the rotation of the head structure in the horizontal plane to achieve a bionic head turning action; secondly, through the synchronous action of a pair of driving members, the head structure installed on the head support can be driven to nod or raise its head; and when a pair of driving members are controlled to perform opposite actions, the head structure installed on the head support can be driven to tilt. Of course, it is foreseeable that since the driving member can drive the head support to drive the head structure to tilt, when the head structure is in a tilted state, it can perform a head turning action. Therefore, the present application can increase the degree of freedom of the head structure, can perform more bionic actions, and improve the bionic effect.

[0031] In addition, the utility model also relates to a robot. Since the above-mentioned neck structure has the above-mentioned technical effects, the robot including the neck structure should have the same technical effects, which will not be repeated here.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A three-dimensional structural schematic diagram of a neck structure provided by an embodiment of the utility model from one viewing angle is shown;

[0035] Figure 2 A schematic diagram of a three-dimensional structure of a neck structure provided by an embodiment of the utility model from two viewing angles is shown;

[0036] Figure 3 A schematic diagram of a planar structure of a neck structure provided by an embodiment of the utility model is shown;

[0037] Figure 4 Shows Figure 3 A local enlarged view of point A in FIG.

[0038] Figure 5 A schematic structural diagram of an adapter of a neck structure provided in an embodiment of the utility model is shown.

[0039] Description of main component symbols:

[0040] 100-head support member; 110-base; 120-first drive part; 200-head structure; 300-first connecting member; 400-second connecting member; 500-body structure; 600-rocker member; 700-drive member; 710-second drive part; 720-rotating part; 730-frame; 800-second limiting part; 810-second limiting column; 820-second limiting block; 900-first limiting part; 910-first limiting column; 920-first limiting block; 1000-adapter; 1100-first reference axis; 1200-second reference axis; 1300-third reference axis. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0042] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the template herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0046] In related technologies, with the advancement of science and technology, intelligent robots are increasingly being used in all walks of life, especially in the service industry, where the application rate of intelligent robots is relatively high. In the past, the form of intelligent robots was relatively simple, for example, the walking system of intelligent robots generally used a wheeled motion system instead. Now, intelligent robots are increasingly tending to be humanoid in design, so bipedal robots came into being.

[0047] A humanoid bipedal robot should include a body structure, a neck structure and a head structure. The head structure is connected to the body structure through the neck structure, and the neck structure is used to control the head structure to perform corresponding head movements to achieve the purpose of bionics. However, the head structure of the bionic robot has limited freedom of movement, and can only perform simple head turning and nodding movements. The bionic effect is not ideal, that is, the bionic effect has room for improvement. How to increase the freedom of movement of the head structure and improve the bionic effect is a technical problem that technicians in this field need to solve urgently.

[0048] like Figure 1 , Figure 2 and Figure 5 As shown, in order to solve the above technical problems, according to the first aspect of the utility model, a neck structure is provided, which includes a head support 100, an adapter 1000, a pair of rocker arms 600 and a pair of driving members 700, the head support 100 is used to connect the head structure 200 of the robot, and the head support 100 can drive the head structure 200 to rotate around a first reference axis 1100; and, the adapter 1000 is hinged to the body structure 500 of the robot, and the adapter 1000 is hinged to the head support 100 of the robot; wherein the hinge between the adapter 1000 and the body structure 500 is configured to enable the adapter 1000 to rotate around a second reference axis 1200, and the hinge between the adapter 1000 and the head support 100 is configured to enable the head support 100 to rotate around a third reference axis 1200. The axis 1300 rotates, the first reference axis 1100, the second reference axis 1200 and the third reference axis 1300 are arranged perpendicular to each other, and the second reference axis 1200 extends horizontally along the width direction of the body structure 500; and a pair of rocker members 600 are respectively located on both sides of the adapter 1000, and a pair of driving members 700 are respectively located on both sides of the adapter 1000, the driving member 700 has an output end, and the driving member 700 can drive the output end to move along a set path, and the set path is configured to at least enable the output end to approach or move away from the head support 100; wherein the head support 100 has a pair of connecting ends, the pair of connecting ends are respectively located on both sides of the adapter 1000, one end of the rocker member 600 is ball-jointed with the connecting end on the corresponding side, and the other end of the rocker member 600 is ball-jointed with the output end on the corresponding side.

[0049] In this embodiment, the rocker arm 600 is provided with spherical pairs at both ends of its length direction to achieve connection with the connecting end and the driving member 700 on the corresponding side, and the driving member 700 is installed on the body structure 500. In addition, the adapter 1000 can be directly connected to the body structure 500 through a kinematic pair to achieve an articulation between the two. Similarly, the head support 100 can also be connected to the adapter 1000 through a rotation pair to achieve a rotational connection between the two. More specifically, the spherical pair can be an articulated ball head, and the articulated ball head has two movable ends. Taking the connecting end and the rocker arm 600 as an example, the two movable ends are respectively connected to the rocker arm 600 and the connecting end. By configuring the articulated ball head, the rocker arm 600 is provided with a high degree of freedom. The connection between the rocker arm 600 and the driving member 700 is the same as above, and will not be repeated here.

[0050] The kinematic pair adopts the method of pin shaft matching bearing. Specifically, the adapter 1000 is provided with a pin hole, and the pin shaft is installed on the body structure 500. The pin shaft is inserted into the bearing provided in the pin hole and fastened by a nut. In other embodiments, the kinematic pair can also be provided as a hinged member.

[0051] It should be noted that the first reference axis 1100 is arranged to coincide with the axis of rotation of the head structure 200, that is, bionic rotation can be achieved; secondly, the adapter 1000 and the body structure 500 are hingedly connected to enable the head support 100 and the head structure 200 installed on the head support 100 to rotate in the vertical plane around the second reference axis 1200, so that the head structure 200 can nod and raise its head; and the adapter 1000 and the head support 100 are rotatably connected, so that the head support 100 can rotate around the third reference axis 1300, so as to cooperate in the tilting action of the head structure 200, such as tilting to the left or right.

[0052] Obviously, there is no need to define the specific positions of the first reference axis 1100, the second reference axis 1200, and the third reference axis 1300. It is only necessary to ensure the relative positional relationship of the three, that the second reference axis 1200 is parallel to the cross section of the human body, or that the second reference axis 1200 extends horizontally along the width direction of the human body. Of course, by defining the position of the second reference axis 1200, the positions of the first reference axis 1100 and the third reference axis 1300 are also clear and definite.

[0053] The adapter 1000 has a driving member 700 and a rocker member 600 on both sides respectively. The driving member 700 and the rocker member 600 on the same side are ball-jointed, so that the driving member 700 on both sides of the rotating member can drive the rocker member 600 to move, thereby driving the head support member 100 to move.

[0054] By using the neck structure provided by the utility model, firstly, the head support 100 can be used to control the head structure 200 to rotate in the horizontal plane to achieve the bionic head turning action; secondly, through the synchronous action of a pair of driving members 700, the head structure 200 installed on the head support 100 can be driven to nod or raise the head; and when the pair of driving members 700 are controlled to perform opposite actions, the head structure 200 installed on the head support 100 can be driven to tilt. Of course, it is foreseeable that since the driving member 700 can drive the head support 100 to move to drive the head structure 200 to tilt, when the head structure 200 is in a tilted state, the head turning action can be performed. Therefore, the present application can increase the degree of freedom of the head structure 200, can perform more bionic actions, and improve the bionic effect.

[0055] That is to say, driven by the head support 100, the head structure 200 can rotate relative to the neck structure. At the same time, driven by the two driving members 700, the head support 100 can move relative to the body structure 500. In this way, a variety of head movement movements can be combined with more degrees of freedom and closer to the human head movement pattern. Therefore, the bionic effect is better, which improves the market competitiveness of the robot.

[0056] like Figure 1 As shown, based on the above embodiment, the head support 100 includes a base 110 and a first driving portion 120, the base 110 is formed with a connecting end, and the base 110 has a first setting axis; the first driving portion 120 is connected to the head structure 200, and the first driving portion 120 can drive the head structure 200 to rotate around the first setting axis, and the first setting axis forms a first reference axis 1100.

[0057] In this embodiment, based on the bionics requirement, the first set axis is set to coincide with the axis of the head structure 200, that is, the rotation of the human head can be simulated. When working, the first driving unit 120 is controlled to drive the head structure 200 to rotate around the first set axis to realize the rotation action of the head structure 200.

[0058] like Figure 1 As shown, based on the above embodiment, the driving member 700 includes a rotating part 720 and a second driving part 710, the rotating part 720 and the rocker arm member 600 are ball-jointed, and the rotating part 720 has a second set axis; the rotating part 720 is connected to the second driving part 710, and the second driving part 710 can drive the rotating part 720 to rotate around the second set axis, and the connection between the rotating part 720 and the rocker arm member 600 is located outside the second set axis.

[0059] For example, the rotating part 720 is provided with a turntable, and the connection between the rotating part and the rocker arm 600 is not located at the axis of the turntable, and the first set axis is the axis of the turntable. Thus, the rotating part 720 is driven to rotate around its axis by the second driving part 710, so that the connection between the rotating part 720 and the rocker arm 600 can be synchronously rotated around the second set axis.

[0060] Specifically, the second setting axis is parallel to the second reference axis 1200 , and it can be seen that the connection between the rotating part 720 and the rocker arm 600 moves in the vertical plane, and accordingly, the connection between the rotating part 720 and the rocker arm 600 can be raised and lowered.

[0061] In other words, when the connection between the rotating part 720 and the rocker arm 600 rises or falls, the rocker arm 600 can be pushed to drive the head support 100 and its corresponding side to rise or fall, so that the driving parts 700 on both sides of the head support 100 can be used to control the head support 100 to complete the tilting action, the lifting action and the nodding action.

[0062] Exemplarily, the first driving unit 120 and the second driving unit 710 are both servo motors, steering gears, etc.

[0063] like Figure 3 and Figure 4 As shown, based on the above embodiment, the head support 100 further includes a first limiting portion 900 , which is mounted on the base 110 , and the first limiting portion 900 can limit the rotation angle range of the head structure 200 around the first reference axis 1100 .

[0064] That is to say, the rotation range of the head structure 200 is limited by setting the first limiting portion 900, and the specific setting may refer to the rotation range of the human head, thereby improving the bionic effect.

[0065] Exemplarily, a first limiting column 910 is provided on the base 110 of the head support 100, and a pair of first limiting blocks 920 are symmetrically provided on the head structure 200 near the base 110. The pair of first limiting blocks 920 are respectively located on both sides of the first limiting column 910. When the first limiting blocks 920 contact the first limiting column 910, the head structure 200 cannot continue to rotate. Thus, the rotation range of the head structure 200 can be limited by cooperating with the first limiting column 910 through a pair of first limiting blocks 920.

[0066] like Figure 1 As shown, based on the above embodiment, the driving member 700 further includes a second limiting portion 800 , which is connected to the rotating portion 720 , and the second limiting portion 800 can limit the rotation angle range of the rotating portion 720 .

[0067] In this embodiment, the rotation angle range of the rotating part 720 can be limited by setting the second limit part 800 to ensure that the head can be driven to perform nodding, raising the head, and tilting movements. There is no need to set an excessively large rotation angle range. Since the robot is a bionic robot, the exterior of the bionic robot is covered with an outer skin. If the rotation angle range of the rotating part 720 is not limited, the outer skin of the rotating part 720 will be damaged.

[0068] Specifically, taking the second driving unit 710 as a servo, the servo is installed on the body structure 500 through a frame 730, the frame 730 is provided with a second limit column 810, the turntable is provided with a pair of second limit blocks 820, the second limit column 810 is arranged in the rotation path of the second limit block 820, the second limit column 810 is limited to be able to rotate only between the pair of second limit blocks 820 with the turntable, that is, when the second limit block 820 contacts the second limit column 810, the second limit block 820 is blocked by the second limit column 810.

[0069] Of course, the present invention is not limited to the above structure, and other second limiting parts 800 may also be used as long as they can achieve the same function.

[0070] like Figure 2 As shown, based on the above embodiment, the driving member 700 and the rocker arm member 600 are both located at the front of the robot.

[0071] The rocker arm 600 and the rotating part 720 can cooperate to make the front of the neck structure conform to the human body shape, and the swing range of the rocker arm 600 is minimized to simulate the posture of the human neck structure to perform actions and improve the bionic effect.

[0072] like Figure 1 and Figure 2 As shown, based on the above embodiment, the neck structure also includes a first connecting member 300, the adapter 1000 has a first hinged end, the first hinged end is hinged to the body structure 500 through the first connecting member 300, and the first connecting member 300 can swing on an axis parallel to the second reference axis 1200.

[0073] That is to say, instead of the adapter 1000 being directly hinged to the body structure 500, the adapter 1000 is hinged to the body structure 500 through the first connecting member 300, so that the head support 100 can be moved away from the body structure 500, and the first connecting member 300 can form a cervical vertebrae segment to simulate the human neck, so that the posture of the head structure 200 performing actions is closer to the human body.

[0074] like Figure 3As shown, based on the above embodiment, the neck structure also includes a second connecting member 400, the adapter 1000 has a second hinged end, and the second hinged end is hinged to the body structure 500 through the second connecting member 400, so that the first connecting member 300, the adapter 1000, the second connecting member 400 and the body structure 500 can form an anti-parallelogram mechanism.

[0075] Exemplarily, the first hinged end is arranged above the second hinged end, the first hinged end and the second hinged end are not in the same position, and the first connecting member 300 and the second connecting member 400 are respectively hinged at different positions of the body structure 500, thereby enabling the first connecting member 300, the adapter 1000, the second connecting member 400 and the body structure 500 to form an anti-parallelogram mechanism, so that the movement performance parameters of the head structure 200 and the head support 100 are better.

[0076] The anti-parallelogram mechanism consists of four rods, two of which intersect at one point to form a parallelogram. In addition, two rods also intersect at one point, but they are not parallel to the two rods that intersect previously. The characteristics of this structure are that it can transmit force and motion, and it will not deform during the movement. It can effectively transmit force and motion, and has high precision and reliability.

[0077] In addition, since the first coupling member 300 and the second coupling member 400 support the head support member 100 and the head structure 200 at the same time, the structural strength can be improved.

[0078] For example, Figure 3 As shown, the number of first connecting parts is a pair, which further increases the supporting strength of the head support 100 and the head structure 200. A pair of first connecting parts 300 are arranged in parallel, and the second connecting part 400 is located between the pair of connecting parts. Thus, the second connecting part 400 can be shielded by a pair of first connecting parts 300 to avoid damaging the robot skin and ensure the beautiful and bionic appearance of the skin.

[0079] like Figure 2 As shown, based on the above embodiment, a recessed area is formed on the inner side of the first connecting member 300, the second connecting member 400 is located in the recessed area, the outer side of the first connecting member 300 is in contact with the outer skin of the robot, and the first connecting member 300 has a shielding portion, which is configured to at least isolate the second connecting member 400 from contacting the outer skin of the robot.

[0080] It is easy to understand that in order to make the appearance of the bionic robot closer to that of a real person, a skin is provided on the outside of the bionic robot, such as a skin made of silicone material. Such skin is generally fragile and easily damaged.

[0081] Based on this, by arranging the second connecting member 400 in the recessed area and cooperating with the shielding portion to hide the second connecting member 400, it is possible to avoid forming a clamping area between the first connecting member 300 and the second connecting member 400, and the shielding portion can prevent the outer skin from being recessed and entering between the first connecting member 300 and the second connecting member 400, thereby ensuring the fullness of the outer skin and avoiding damage to the outer skin.

[0082] like Figure 3 As shown, based on the above embodiment, the head support 100 has a symmetry plane, a pair of rocker members 600 are symmetrically arranged about the symmetry plane, a pair of driving members 700 are symmetrically arranged about the symmetry plane, and the third reference axis 1300 is located in the symmetry plane.

[0083] For example, to improve the bionic effect, the symmetry plane coincides with the coronal plane of the human body. Similarly, a pair of rocker arms 600 and a pair of drive members 700 are arranged symmetrically about the symmetry plane, which conforms to the characteristic of the human body structure being symmetrical about the coronal plane.

[0084] Exemplarily, the rocker arm member 600 is configured as a rod-shaped structure, and the first connecting member 300 and the second connecting member 400 are both configured as rod-shaped structures, wherein the first connecting member 300 is configured as an arc to form a recessed area.

[0085] According to a second aspect of the present utility model, a robot is provided, wherein the robot comprises the neck structure described in any one of the above embodiments.

[0086] Since the above-mentioned neck structure has the above-mentioned technical effects, the robot including the neck structure should have the same technical effects, which will not be repeated here.

[0087] It should be noted that the robot in the present application is based on a bipedal robot, which is covered with a skin to achieve a bionic effect. The head structure 200 is connected to the body structure 500 through a neck structure. When a pair of driving members 700 of the neck structure drive the corresponding rocker members 600 to rise and fall synchronously, the head structure 200 is driven to nod and raise its head.

[0088] When one driving member 700 of the neck structure drives the corresponding rocker member 600 to rise, the other driving member 700 drives the corresponding rocker member 600 to fall, so as to drive the head structure 200 to form a leftward or rightward tilting action;

[0089] When the head support 100 drives the head structure 200 to rotate, the head structure 200 is driven to perform a head turning action.

[0090] In summary, the robot provided in this application has a higher degree of freedom, can perform more actions, and has a better bionic effect.

[0091] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0092] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0093] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A neck structure, characterized in that: The neck structure comprises: a head support, the head support being used to connect to a head structure of the robot, and the head support being capable of driving the head structure to rotate around a first reference axis; and an adapter, the adapter being hinged to a body structure of the robot, and the adapter being hinged to the head support; wherein the hinge between the adapter and the body structure is configured to enable the adapter to rotate about a second reference axis, and the hinge between the adapter and the head support is configured to enable the head support to rotate about a third reference axis, the first reference axis, the second reference axis and the third reference axis are arranged perpendicular to each other, and the second reference axis extends horizontally along the width direction of the body structure; and A pair of rocker members and a pair of driving members, the pair of rocker members are respectively located on both sides of the adapter, and the pair of driving members are respectively located on both sides of the adapter, the driving member has an output end, and the driving member can drive the output end to move along a set path, and the set path is configured to at least enable the output end to approach or move away from the head support; wherein the head support has a pair of connecting ends, the pair of connecting ends are respectively located on both sides of the adapter, one end of the rocker member is ball-jointed with the connecting end on the corresponding side, and the other end of the rocker member is ball-jointed with the output end on the corresponding side.

2. The neck structure according to claim 1, characterized in that: The head support comprises: A base, the base is formed with the connecting end, and the base has a first set axis; A first driving part, wherein the first driving part is connected to the head structure, and the first driving part can drive the head structure to rotate around the first setting axis, and the first setting axis forms the first reference axis.

3. The neck structure according to claim 2, characterized in that: The driving member comprises: A rotating part, the rotating part and the rocker arm are ball-jointed, and the rotating part has a second setting axis; A second driving part, the rotating part is connected to the second driving part, the second driving part can drive the rotating part to rotate around the second setting axis, and the connection between the rotating part and the rocker arm is located outside the second setting axis.

4. The neck structure according to claim 3, characterized in that: The head support also includes: a first limiting portion, the first limiting portion being mounted on the base, and the first limiting portion being capable of limiting a rotation angle range of the head structure around the first reference axis; And / or, the driving member further comprises: A second limiting portion, wherein the second limiting portion is connected to the rotating portion, and the second limiting portion can limit the rotation angle range of the rotating portion.

5. The neck structure according to claim 3, characterized in that: The driving member and the rocker arm member are both located at the front side of the robot.

6. The neck structure according to claim 1, characterized in that: The neck structure also includes: The first connecting member, the adapter has a first hinged end, the first hinged end is hinged to the body structure through the first connecting member, and the first connecting member can swing around an axis parallel to the second reference axis.

7. The neck structure according to claim 6, characterized in that: The neck structure also includes: The second connecting member, the adapter has a second hinged end, and the second hinged end is hinged to the body structure through the second connecting member, so that the first connecting member, the adapter, the second connecting member and the body structure can form an anti-parallelogram mechanism.

8. The neck structure according to claim 7, characterized in that: A recessed area is formed on the inner side of the first connecting member, the second connecting member is located in the recessed area, the outer side of the first connecting member is in contact with the outer skin of the robot, and the first connecting member has a shielding portion, which is configured to at least isolate the second connecting member from contacting the outer skin of the robot.

9. The neck structure according to any one of claims 1 to 8, characterized in that: The head support has a symmetry plane, a pair of the rocker members are symmetrically arranged with respect to the symmetry plane, a pair of the driving members are symmetrically arranged with respect to the symmetry plane, and the third reference axis is located in the symmetry plane.

10. A robot, characterized in that: The robot comprises the neck structure according to any one of claims 1 to 9.

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