Legged robot and its head assembly

Abstract

The present application provides a foot-type robot and its head assembly, which relate to the field of robot technology. The head assembly includes: a first bracket; a second bracket, which is rotatably connected to the first bracket and rotates around a first axis; a first magnetic component is arranged on one of the first bracket and a second magnetic component is arranged on the other, and there is a magnetic attraction between the first magnetic component and the second magnetic component. When the first bracket and the second bracket rotate relative to each other, the head assembly can be reset from a second state in which the positions of the first magnetic component and the second magnetic component correspond to each other to a first state in which the positions of the first magnetic component and the second magnetic component are staggered. The head assembly of the foot-type robot provided by the present application has little shaking during movement, which can improve the positioning accuracy and stability of the foot-type robot when starting or stopping, and improve the movement effect of the head of the foot-type robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a legged robot and a head assembly thereof. Background Art

[0002] With the development of science and technology and the improvement of people's quality of life, some robots with functions such as teaching, entertainment, and reconnaissance are increasingly used in people's daily lives or other fields.

[0003] The head of a legged robot is usually designed to rotate, and the motor drives the head of the robot to rotate, making the robot more flexible and enriching its functionality. Among them, one or some of the reduction motors that drive the robot's head to rotate have backlash when starting or stopping, due to the meshing of gears in the reduction motor, which is prone to shaking.

[0004] However, due to the backlash of the reduction motor, the head will shake slightly when actually controlling the rotation of the head, affecting the movement effect of the robot.

[0005] In addition, currently, most of the solutions to the backlash problem are to adjust the stability inside the motor, while the problem is ignored because the head of the legged robot shakes slightly when it rotates. Utility Model Content

[0006] The present application provides a legged robot and a head assembly thereof. The head assembly of the legged robot has little shaking during movement, which can improve the positioning accuracy and stability of the legged robot when starting or stopping.

[0007] One aspect of the present application provides a head assembly of a legged robot, comprising:

[0008] First bracket;

[0009] A second bracket is rotatably connected to the first bracket, and the second bracket rotates around the first axis;

[0010] Wherein, a first magnetic component is disposed on one of the first bracket and the second bracket, and a second magnetic component is disposed on the other bracket, the first magnetic component includes a first magnetic member having a first magnetic pole, the second magnetic component includes a second magnetic member having a second magnetic pole, and the first magnetic pole and the second magnetic pole are opposite magnetic poles;

[0011] The head component includes a first state and a second state; in the first state, the position of at least one first magnetic component in the first magnetic component corresponds to that of at least one second magnetic component in the second magnetic component; in the second state, the positions of the first magnetic component in the first magnetic component and the second magnetic component in the second magnetic component are staggered; when the first bracket and the second bracket rotate relative to each other, the first bracket and the second bracket automatically reset from the second state to the first state.

[0012] The head assembly of the foot-type robot provided in the present application includes a first bracket and a second bracket, wherein the second bracket can rotate relative to the first bracket, and the second bracket rotates around a first axis. By setting a first magnetic component on one of the first bracket and the second bracket, and setting a second magnetic component on the other, the magnetic attraction generated between the first magnetic component and the second magnetic component increases the damping of the first bracket and the second bracket when they rotate relative to each other. During the rotation of the first bracket and the second bracket, the attraction of the magnetic component can attract the brackets at any position, and even if the stop position is inaccurate during the rotation process, it can be accurately reset by the magnetic component to ensure the accuracy of the rotation position and the stability during the rotation process.

[0013] In addition, when the legged robot is started and stopped, the shaking caused by the motor backlash can also stabilize the rotation of the second bracket and the first bracket through the magnetic parts, ensuring the stability and positioning accuracy of the legged robot when starting and stopping, and improving the reliability and movement effect of the legged robot.

[0014] In a possible implementation, the first magnetic assembly includes at least one first magnetic member, the second magnetic assembly includes at least one second magnetic member, and the first magnetic members are located at different positions in the rotation direction of the second bracket.

[0015] By locating the first magnetic parts at different positions in the rotation direction of the second bracket, during the rotation of the second bracket, the second magnetic parts can be adsorbed by the first magnetic parts corresponding to the positions when the second bracket rotates to different positions, thereby increasing the damping of the second bracket rotating around the first axis through magnetic attraction, reducing the shaking of the second bracket, and improving the stability and reliability of the rotation of the second bracket. In addition, the stability and reliability of the movement of the legged robot are improved, and the movement effect of the legged robot is enhanced.

[0016] In a possible implementation manner, the first magnetic members are arranged on a first surface, and the first surface is perpendicular to the first axis.

[0017] By arranging the first magnetic members on the first plane perpendicular to the first axis, the spacing between the first magnetic members and the second magnetic members is equal, and the magnetic attraction between the first magnetic members and the second magnetic members is relatively balanced. The damping force received by the second bracket during rotation is relatively balanced, which is conducive to improving the stability of the rotation of the second bracket.

[0018] In a possible implementation, when the first magnetic component corresponds to the second magnetic component, the orthographic projection of the first magnetic component on the second magnetic component is at least partially located within the coverage area of ​​the second magnetic component.

[0019] In a possible implementation, when the first magnetic component corresponds to the second magnetic component, the orthographic projection of the first magnetic component on the second magnetic component is completely located within the coverage area of ​​the second magnetic component.

[0020] When the first magnetic component corresponds to the second magnetic component, the second magnetic component completely covers the first magnetic component, so that the entire area of ​​the first magnetic component is effectively utilized, and the magnetic attraction between the first magnetic component and the second magnetic component is maximized to meet the damping force requirement when the second bracket rotates.

[0021] In a possible implementation, the magnetic center of each first magnetic member is located on a predetermined circumference with the first axis as the center, and each first magnetic member is arranged at intervals along the circumferential direction of the predetermined circumference.

[0022] By making the magnetic center of each first magnetic part located on a predetermined circumference and the distance between each first magnetic part and the axis of the first rotating shaft equal, when the second bracket rotates, it can be ensured that each first magnetic part is located within the coverage area of ​​the second magnetic part, so as to maximize the magnetic attraction between the first magnetic part and the second magnetic part. In addition, the arrangement and layout of the first magnetic parts are more regular, which is convenient for the shape design of the first mounting part and helps to reduce the volume of the first mounting part. The area of ​​the second magnetic part can also be reasonably designed to avoid the area of ​​the second magnetic part being too large, which helps to reduce costs.

[0023] In a possible implementation manner, the first magnetic members are arranged in sequence and evenly spaced apart along the circumference of a predetermined circle.

[0024] By arranging the first magnetic members in sequence at even intervals along the circumference of a predetermined circle, the second bracket has good stability at any angle, thereby effectively reducing the shaking of the second bracket.

[0025] In a possible implementation manner, the magnetic center of the second magnetic member is located on a predetermined circle.

[0026] By making the magnetic center of the second magnetic component also located on the predetermined circumference, the magnetic centers of the first magnetic component and the second magnetic component coincide when they are facing each other, and the overlapping area between the first magnetic component and the second magnetic component ring is large, which can enhance the magnetic attraction between the two, increase the damping force when the second bracket rotates, and improve the stability of the rotation of the second bracket.

[0027] In a possible implementation, when the first magnetic component corresponds to the second magnetic component, the orthographic projection of the first magnetic component on the second magnetic component completely overlaps with the second magnetic component.

[0028] By making the first magnetic component and the second magnetic component completely overlap, the shapes and contours of the two components are consistent, and both components can be used to the maximum extent without causing area waste. In addition, the two components can be designed in the same or similar manner to improve their versatility.

[0029] In a possible implementation manner, one of the first magnetic members is a reset magnetic member, and the others are positioning magnetic members. When the reset magnetic member corresponds to the second magnetic member, the second bracket is located at an initial position.

[0030] By making one of the first magnetic members a reset magnetic member and the others being positioning magnetic members, the reset magnetic member is used to increase the damping force when the second bracket is in the initial position, so that the second bracket remains stable in the initial position. The remaining positioning magnetic members are used to increase the damping force when the second bracket rotates to other positions, so as to improve the stability of the second bracket when it rotates.

[0031] In a possible implementation manner, the magnetic attraction force between the resetting magnetic component and the second magnetic component is greater than the magnetic attraction force between the positioning magnetic component and the second magnetic component.

[0032] By making the magnetic attraction between the reset magnetic part and the second magnetic part greater than the magnetic attraction between the positioning magnetic part and the second magnetic part, the damping force of the second bracket when it is in the initial position is enhanced, and the stability of the second bracket when it is in the initial position is improved. In addition, when the second bracket is in other positions, the start of the first motor is avoided to ensure smooth rotation of the second bracket.

[0033] In a possible implementation manner, at least one positioning magnetic block is stacked in the positioning magnetic member, and at least one resetting magnetic block is stacked in the resetting magnetic member;

[0034] The positioning magnetic blocks and the resetting magnetic blocks have the same shape and volume, and the number of the resetting magnetic blocks is greater than the number of the positioning magnetic blocks.

[0035] When a single positioning magnetic block and a single reset magnetic block are exactly the same, by making the number of reset magnetic blocks greater than the number of positioning magnetic blocks, the total volume of the reset magnetic member is greater than the total volume of the positioning magnetic member. Thus, the magnetic attraction generated between the reset magnetic member and the second magnetic member is greater than the magnetic attraction generated between the positioning magnetic member and the second magnetic member. Among them, since the single positioning magnetic block and the single reset magnetic block are exactly the same, the processing and manufacturing of the positioning magnetic block and the reset magnetic block are facilitated, and the cost of the first magnetic member and the second magnetic member can be reduced.

[0036] In a possible implementation manner, at least one positioning magnetic block is stacked in the positioning magnetic member, and at least one resetting magnetic block is stacked in the resetting magnetic member;

[0037] The number of the positioning magnetic blocks is the same as the number of the resetting magnetic blocks, and the volume of the resetting magnetic blocks is larger than the volume of the positioning magnetic blocks.

[0038] When the number of the positioning magnetic blocks and the reset magnetic blocks is the same, the volume of the reset magnetic blocks is larger than the volume of the positioning magnetic blocks, so that the total volume of the reset magnetic member is larger than the total volume of the positioning magnetic member. Thus, the magnetic attraction force generated between the reset magnetic member and the second magnetic member is larger than the magnetic attraction force generated between the positioning magnetic member and the second magnetic member.

[0039] In a possible implementation manner, in the arrangement direction of the first magnetic members, the reset magnetic member is located in the middle, and the positioning magnetic members are symmetrically arranged on both sides of the reset magnetic member.

[0040] By arranging the reset magnetic part in the middle and symmetrically arranging the positioning magnetic parts on both sides of the reset magnetic part, when the second bracket swings from the initial position to both sides, the positioning magnetic parts correspond to the second magnetic parts. The second bracket can be subjected to damping force when swinging to both sides, and the stability of the second bracket during the entire swinging process is good, which can improve the stability and consistency of the rotation of the second bracket.

[0041] In a possible implementation manner, the first magnetic component and the second magnetic component are both permanent magnetic components.

[0042] By making the first magnetic member and the second magnetic member both permanent magnetic members, the first magnetic member and the second magnetic member always maintain a state of attraction to each other, which facilitates the installation of the two, has low cost and high reliability.

[0043] In a possible implementation manner, at least one of the first magnetic component and the second magnetic component is an electromagnetic component.

[0044] By setting at least one of the first magnetic component and the second magnetic component as an electromagnetic component, the magnetism and magnetic force of the electromagnetic component can be controlled according to actual needs, and the magnetic force between the first magnetic component and the second magnetic component can be adjusted, making the setting method of the first magnetic component and the second magnetic component more flexible.

[0045] In a possible implementation manner, the second bracket is sleeved outside the first bracket, and the second bracket has a mounting cavity.

[0046] By sleeve-arranging the second bracket outside the first bracket, the second bracket is conveniently connected to the first bracket for rotation. The first bracket can be designed as a four-frame structure or a three-dimensional frame structure, and the second bracket can be designed as a three-dimensional frame structure, which is conducive to the rotation of the first bracket and the second bracket, and also helps the second bracket to support other structures. In addition, by making the second bracket have an installation cavity, it is convenient to accommodate the first bracket in the installation cavity of the second bracket, and other components of the head assembly can be arranged in the installation cavity of the second bracket.

[0047] In a possible implementation manner, one of the first magnetic member and the second magnetic member is installed at the rear end of the first bracket, and the other is installed at the rear end of the second bracket.

[0048] By installing the first magnetic member and the second magnetic member at the rear ends of the first bracket and the second bracket, the distance between the first magnetic member and the second magnetic member is small, and the magnetic attraction between the two is large, so the stability of the rotation of the second bracket can be ensured.

[0049] In a possible implementation manner, the first magnetic member is mounted on the first bracket, and the second magnetic member is mounted on the second bracket.

[0050] By installing each first magnetic member on the first bracket and only installing one second magnetic member on the second bracket, the area of ​​the second bracket for installing the second magnetic member can be reduced, the deadweight of the second bracket can be reduced, and the reliability and stability of the second bracket can be improved. In addition, when the second bracket rotates around the first bracket, the first bracket remains fixed relative to the second bracket. By installing each first magnetic member on the first bracket, the position accuracy of each first magnetic member can be improved, which is conducive to more accurate control of the rotation angle of the second bracket.

[0051] In a possible implementation, the first bracket is provided with a first receiving groove, the first magnetic member is installed in the first receiving groove, and at least a portion of the first magnetic member is completely received in the first receiving groove.

[0052] The first magnetic member is fixed by opening a first receiving groove on the first bracket and installing the first magnetic member in the first receiving groove. Furthermore, by making at least part of the first magnetic member completely accommodated in the first receiving groove, it is ensured that the first magnetic member does not protrude outside the first bracket, and it is ensured that the first magnetic member does not interfere with the rotation of the second bracket or the layout structure inside the first bracket.

[0053] In a possible implementation manner, the notch of the first accommodating groove faces the second bracket.

[0054] By making the notch of the first receiving groove face the second bracket, the distance between the first magnetic member and the second magnetic member can be reduced, and the magnetic attraction between the first magnetic member and the second magnetic member can be enhanced. In addition, the notch of the first receiving groove can be exposed on the outer wall surface of the first bracket, which is convenient for installing the first magnetic member.

[0055] In a possible implementation manner, the second bracket is provided with a second receiving groove, and the second magnetic member is installed in the second receiving groove.

[0056] The second magnetic component is fixed by opening a second receiving groove on the second bracket and installing the second magnetic component in the second receiving groove. In addition, the second receiving groove at least surrounds a part of the structure of the second magnetic component, so as to provide protection for the second magnetic component.

[0057] In a possible implementation manner, the second magnetic member is partially exposed outside the second bracket.

[0058] By partially exposing the second magnetic member outside the second bracket, the thickness of the second magnetic member can be increased, the magnetic attraction between the second magnetic member and the first magnetic member can be increased, the damping force when the second bracket rotates can be enhanced, and the stability of the second bracket rotation can be improved. In addition, the exposed portion of the second magnetic member can provide a force application site to facilitate the installation and removal of the second magnetic member.

[0059] In a possible implementation, a first rotating shaft is disposed on one of the first bracket and the second bracket, and a first mounting hole is disposed on the other bracket; the first rotating shaft passes through the first mounting hole, and the first rotating shaft extends along the axis of the first shaft.

[0060] By providing a first rotating shaft on one of the first bracket and the second bracket, and providing a first mounting hole on the other bracket, the first rotating shaft is inserted into the first mounting hole. The first rotating shaft rotates in the first mounting hole, so that the second bracket rotates relative to the first bracket. In addition, by extending the first rotating shaft along the axis of the first shaft, the second bracket rotates around the first shaft.

[0061] In a possible implementation manner, the distance between the first magnetic member and the first rotation axis is 0 mm-50 mm.

[0062] By controlling the distance between the first magnetic member and the first rotating shaft within the range of 0mm-50mm, the arrangement and layout of the first magnetic member is relatively compact, which is conducive to increasing the damping force when the second bracket rotates and improving the stability of the second bracket when rotating. In addition, the total area occupied by all the first magnetic members is relatively small, and the volume of the first mounting portion can be relatively small, which is conducive to reducing the deadweight of the first bracket.

[0063] In a possible implementation manner, a first damping member is disposed between the first rotating shaft and the first mounting hole.

[0064] By arranging the first damping member between the first rotating shaft and the first mounting hole, the friction between the second bracket and the first bracket is increased, the damping force of the rotation of the second bracket is increased, and the shaking phenomenon of the second bracket is reduced.

[0065] In a possible implementation manner, the rotating mechanism further includes:

[0066] A first motor, wherein an output shaft of the first motor is connected to the second bracket.

[0067] The first motor is provided and the second bracket is connected to the output shaft of the first motor, so that the second bracket is driven to rotate by the first motor. The output shaft of the first motor can be parallel to the first axis, so that the second bracket can rotate around the first axis.

[0068] In a possible implementation manner, the first motor is disposed on an inner side of the second bracket.

[0069] By arranging the first motor and some other components on the inner side of the second bracket, the space inside the second bracket can be fully utilized, the compactness of the spatial layout of the rotating mechanism is improved, and the volume of the rotating mechanism is reduced.

[0070] In a possible implementation manner, the output shaft of the first motor and the first rotating shaft are arranged opposite to each other at two ends of the second bracket.

[0071] By arranging the output shaft of the first motor and the first rotating shaft at the two ends of the second bracket relatively, the output shaft of the first motor and the first rotating shaft are conveniently arranged coaxially. Moreover, the two support the two ends of the second bracket respectively, which can improve the stability and reliability of the second bracket. In addition, the distance between the two is large, which is convenient for the spatial layout of the first motor.

[0072] In a possible implementation manner, the first axis is a roll axis.

[0073] By rotating the second bracket around the rolling axis, the second bracket rotates relative to the first bracket, thereby realizing the rolling movement of the rotating mechanism.

[0074] In a possible implementation manner, the rotating mechanism further includes:

[0075] The rotating member, the first bracket is rotatably connected to the rotating member, so that the first bracket rotates around the second axis; and the rotating member itself rotates around the third axis; wherein the second axis and the third axis are perpendicular to each other, and the second axis and the third axis are both perpendicular to the first axis.

[0076] By setting a rotating member as a rotation basis, the first bracket is connected to the rotating member, and the first bracket can rotate around the second axis, and the rotating member itself can rotate around the third axis. In this way, under the cooperation of the rotating member, the first bracket and the second bracket, the head assembly can perform three-axis movement.

[0077] In a possible implementation manner, a plurality of third magnetic members are disposed on one of the rotating member and the first bracket, and a fourth magnetic member is disposed on the other;

[0078] There is a magnetic attraction force between the third magnetic member and the fourth magnetic member, and each third magnetic member is located at a different position in the rotation direction of the first bracket.

[0079] By arranging a plurality of third magnetic members on one of the rotating member and the first bracket, and arranging a fourth magnetic member on the other, the fourth magnetic member can be opposite to different third magnetic members during the rotation of the first bracket relative to the rotating member. The magnetic attraction generated between the fourth magnetic member and the third magnetic member increases the damping of the first bracket rotating around the second axis. In this way, the shaking of the first bracket is reduced, and the stability and reliability of the rotation of the first bracket are improved.

[0080] In a possible implementation, one of the rotating member and the first bracket is provided with a second rotating shaft, and the other is provided with a second mounting hole; the second rotating shaft passes through the second mounting hole, and the second rotating shaft extends along the axis of the second shaft.

[0081] A second rotating shaft is provided on one of the rotating member and the first bracket, and a second mounting hole is provided on the other, and the second rotating shaft is inserted into the second mounting hole. The second rotating shaft rotates in the second mounting hole, so that the first bracket rotates relative to the rotating member. Furthermore, the second rotating shaft extends along the axis of the second shaft, so that the first bracket rotates around the second shaft.

[0082] In a possible implementation manner, a second damping member is disposed between the second rotating shaft and the second mounting hole.

[0083] By arranging the second damping member between the second rotating shaft and the second mounting hole, the friction between the first bracket and the rotating member is increased, the damping force of the rotation of the first bracket is increased, and the shaking phenomenon of the first bracket is reduced.

[0084] In a possible implementation manner, the first bracket is sleeved on the outer circumference of the rotating member, and the rotating member is connected to the middle portion of the first bracket in the length direction.

[0085] By sleeve-arranging the first bracket on the outer periphery of the rotating member, the rotating member, the first bracket and the second bracket are sleeved in sequence from the inside to the outside, so that the three can be rotatably connected in pairs, so as to realize the three-axis movement of the head assembly. In addition, by connecting the rotating member to the middle part of the length direction of the first bracket, the connection between the first bracket and the rotating member is balanced, which helps to improve the stability and reliability of the rotation of the first bracket relative to the rotating member.

[0086] In a possible implementation, the second axis is a pitch axis, and the third axis is a yaw axis.

[0087] By rotating the first bracket around the pitch axis and the first bracket relative to the rotating member, the pitch motion of the rotating mechanism can be realized, and by rotating the rotating member itself around the heading axis, the rotating member can realize the yaw motion of the rotating mechanism. In addition, the first bracket and the second bracket can be sequentially sleeved outside the rotating member, which is beneficial to the layout structure of the rotating mechanism and ensures that the rotating mechanism can smoothly and reliably perform three-axis motion.

[0088] A second aspect of the present application provides a legged robot, comprising a neck assembly and a head assembly as described above, wherein the head assembly is connected to the neck assembly.

[0089] The foot-type robot provided by the present application includes a head component and a neck component connected to each other, and the head component includes a first bracket and a second bracket, the second bracket can rotate relative to the first bracket, and the second bracket rotates around a first axis. By setting a first magnetic component on one of the first bracket and the second bracket, and setting a second magnetic component on the other, a magnetic attraction force is generated between the first magnetic component and the second magnetic component. The magnetic attraction force increases the damping of the second bracket rotating around the first axis, reduces the shaking of the second bracket, and improves the stability and reliability of the rotation of the second bracket. Furthermore, the positioning accuracy of the foot-type robot when starting or stopping is improved, the stability and reliability of the movement of the foot-type robot are improved, and the movement effect of the foot-type robot is improved.

[0090] In one possible implementation, the neck assembly includes:

[0091] The support member is used to support the rotating member of the head assembly, and the rotating member rotates relative to the support member.

[0092] The center of gravity of the head assembly acts on the support member of the neck assembly.

[0093] The rotating member is supported by providing a support member, which can serve as a basic supporting structure to support the overall structure composed of the rotating member, the first bracket and the second bracket, so as to ensure the stability and reliability of the movement of the rotating mechanism.

[0094] In a possible implementation manner, a plurality of fifth magnetic members are disposed on one of the support member and the rotating member, and a sixth magnetic member is disposed on the other;

[0095] There is a magnetic attraction force between the fifth magnetic member and the sixth magnetic member, and each fifth magnetic member is located at a different position in the rotation direction of the rotating member.

[0096] By providing a plurality of fifth magnetic members on one of the support member and the rotating member, and providing a sixth magnetic member on the other, the sixth magnetic member can be opposite to different fifth magnetic members during the rotation of the rotating member relative to the support member. The magnetic attraction between the sixth magnetic member and the fifth magnetic member increases the damping of the rotating member rotating around the third axis. In this way, the shaking of the rotating member is reduced, and the stability and reliability of the rotation of the rotating member are improved.

[0097] In a possible implementation, the neck component further includes:

[0098] The driving member is connected to the first bracket of the head assembly, and the driving member drives the first bracket to rotate around the second axis.

[0099] By arranging a driving member connected to the first bracket, the driving member is used to drive the first bracket to rotate around the second axis, so that the rotating mechanism can rotate around the second axis.

[0100] In a possible implementation manner, a driving rod is disposed on the first bracket, the driving rod is close to the rear end of the first bracket, and the driving member is connected to the driving rod.

[0101] By connecting the driving member to the driving rod disposed near the rear end of the first bracket, the driving member drives the rear of the first bracket to rise and fall, so that the driving member drives the first bracket to perform pitching motion, and the first bracket can have a larger rotation range to meet the activity requirements of the head assembly. In addition, the driving member is disposed corresponding to the rear of the head assembly, so that the front of the head assembly has more activity space, meeting the appearance design requirements of the legged robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0103] Figure 1 A structural diagram of a legged robot from one perspective provided in an embodiment of the present application;

[0104] Figure 2 A structural diagram of a legged robot from another perspective provided in an embodiment of the present application;

[0105] Figure 3 An exploded structural diagram of a legged robot provided in an embodiment of the present application;

[0106] Figure 4 A structural diagram of a rotation mechanism provided in an embodiment of the present application from one perspective;

[0107] Figure 5 for Figure 4 A structural diagram of the rotating mechanism from another perspective;

[0108] Figure 6 An exploded structural diagram of the rotating mechanism provided in an embodiment of the present application;

[0109] Figure 7 An exploded structural diagram of some components of the rotating mechanism provided in an embodiment of the present application;

[0110] Figure 8 An exploded structural diagram of some components of the rotating mechanism provided in an embodiment of the present application;

[0111] Fig. 9 An assembly structure diagram of a first bracket and a second bracket provided in an embodiment of the present application;

[0112] Fig.10 An exploded structural diagram of a first bracket and a second bracket provided in an embodiment of the present application;

[0113] Fig.11 A further exploded structural diagram of the first bracket and the second bracket provided in an embodiment of the present application.

[0114] Description of reference numerals:

[0115] 1- Legged robot;

[0116] 10-head and neck portion; 10a-head component; 10b-neck component;

[0117] 100-rotation mechanism; 200-support frame; 300-control part;

[0118] 110 - first bracket; 120 - second bracket; 130 - rotating member; 140 - first motor; 150 - driving member; 160 - second motor; 170 - supporting member; 180 - first damping member; 190 - second damping member;

[0119] 111-first rotating shaft; 112-second mounting hole; 113-driving rod; 114-first magnetic member; 115-first mounting portion; 121-front bracket; 122-rear bracket; 123-first mounting hole; 124-second magnetic member; 125-second mounting portion; 131-second rotating shaft;

[0120] 1141-resetting magnetic member; 1141a-resetting magnetic block; 1142-positioning magnetic member; 1142a-positioning magnetic block; 1151-first accommodating groove; 1151a-first through hole; 1251-second accommodating groove; 1251a-second through hole. DETAILED DESCRIPTION

[0121] As described in the background technology, in the related art, the head of the robot is driven by one or more reduction motors. Since the reduction motors are provided with meshing gears to transmit power, there will be backlash. In the process of the reduction motor controlling the rotation of the robot's head, the existence of backlash will cause the robot's head to shake slightly, affecting the robot's movement effect.

[0122] In view of this, an embodiment of the present application provides a legged robot and a head assembly thereof, wherein the head assembly of the legged robot includes a first bracket and a second bracket, wherein the second bracket can rotate relative to the first bracket, and the second bracket rotates around a first axis. By providing a first magnetic component on one of the first bracket and the second bracket, and providing a second magnetic component on the other, a magnetic attraction force is generated between the first magnetic component and the second magnetic component. The magnetic attraction force increases the damping of the second bracket rotating around the first axis, reduces the shaking of the second bracket, and improves the stability and reliability of the second bracket. Furthermore, the positioning accuracy of the legged robot when starting or stopping is improved, the stability and reliability of the movement of the legged robot are improved, and the movement effect of the legged robot is improved.

[0123] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0124] Figure 1 A structural diagram of a legged robot from one perspective provided in an embodiment of the present application. Figure 2 A structural diagram of a legged robot from another perspective provided in an embodiment of the present application.

[0125] Reference Figure 1 or Figure 2As shown, an embodiment of the present application provides a legged robot 1, which may be a humanoid robot or an animal-shaped robot. For example, the legged robot 1 may be a robot dog or a robot cat.

[0126] It should be noted that the figure only shows the head and neck portion 10 of the legged robot 1, and the head and neck portion 10 may include a head component 10a and a neck component 10b. The head component 10a and the neck component 10b may be movably connected to realize the rotation of the head component 10a. This makes the design of the legged robot 1 more flexible, enriches the functionality of the legged robot 1, and improves the user experience of the legged robot 1.

[0127] In practical applications, the legged robot 1 may further include a body part (not shown in the figure), and the head and neck part 10 may be connected to the upper part of the body part. The body part and the head and neck part 10 together form a complete legged robot 1, making the image of the legged robot 1 more complete and vivid. The body part may move on the ground to realize the walking function of the legged robot 1.

[0128] Exemplarily, taking the legged robot 1 as a humanoid robot as an example, the body part of the legged robot 1 may include a trunk, upper limbs and lower limbs, and the legged robot 1 may be in a bipedal walking mode; taking the legged robot 1 as an animal-shaped robot as an example, the body part of the legged robot 1 may include a trunk and limbs, and the legged robot 1 may be in a quadrupedal walking mode.

[0129] Figure 3 This is a diagram of the exploded structure of the legged robot provided in the embodiment of the present application. Figure 3 As shown, the head and neck portion 10 of the legged robot 1 may include a rotation mechanism 100 and a support frame 200. The rotation mechanism 100 is used to realize the movement of the head and neck portion 10, for example, the rotation mechanism 100 is used to realize the rotation of the head component 10a relative to the neck component 10b. The support frame 200 can be connected to the rotation mechanism 100, for example, the support frame 200 is connected to the top of the rotation mechanism 100, and the support frame 200 can serve as the installation base of the housing (not shown in the figure) of the head component 10a.

[0130] In addition, the head and neck portion 10 may also include functional parts (not shown in the figure) for realizing some functions of the legged robot 1, and the functional parts may include, for example, devices such as speakers and cameras. The head and neck portion 10 may also include a control part 300, which may be electrically connected to the rotating mechanism 100 and the above-mentioned functional parts to control the operation of the rotating mechanism 100 and the functional parts. Exemplarily, the control part 300 may include a circuit board, which may be mounted on the aforementioned support frame 200.

[0131] The following mainly describes in detail the rotation mechanism 100 provided in the head and neck portion 10 of the legged robot 1.

[0132] Figure 4 A structural diagram of a rotation mechanism provided in an embodiment of the present application from one perspective. Figure 5 for Figure 4 Another structural diagram of the rotating mechanism in FIG. Figure 4 or Figure 5 As shown, a portion of the rotating mechanism 100 may be disposed in the head component 10a of the legged robot 1, and another portion of the rotating mechanism 100 may be disposed in the neck component 10b of the legged robot 1 to enable the head component 10a to rotate relative to the neck component 10b.

[0133] For ease of description, in this embodiment, the portion of the rotating mechanism 100 located at the head component 10a is defined as the head portion of the rotating mechanism 100. Similarly, the portion of the rotating mechanism 100 located at the neck component 10b is defined as the neck portion of the rotating mechanism 100.

[0134] For example, the head portion of the rotating mechanism 100 may be a frame structure. The head portion of the rotating mechanism 100 occupies a larger space, which facilitates the connection between the rotating mechanism 100 and the support frame 200 in the head assembly 10a. In addition, it is beneficial to improve the stability of the movement of the rotating mechanism 100, so that the rotating mechanism 100 drives the head assembly 10a to move smoothly.

[0135] The neck portion of the rotating mechanism 100 may be a columnar (or rod-type) structure. The neck portion of the rotating mechanism 100 may conform to the extension direction of the neck assembly 10b, and may better match the external structure of the legged robot 1. In addition, the connection between the neck portion of the rotating mechanism 100 and the head portion of the rotating mechanism 100 is easier to design, which is conducive to the movement of the head portion of the rotating mechanism 100 relative to the neck portion of the rotating mechanism 100.

[0136] Reference Figure 4 or Figure 5 As shown, in this embodiment, the rotating mechanism 100 can realize three-axis movement, and the rotating mechanism 100 can include a pitch axis (X axis shown in the figure), a roll axis (Y axis shown in the figure) and a yaw axis (Z axis shown in the figure).

[0137] The rotating mechanism 100 rotates around the pitch axis to achieve the pitch motion of the rotating mechanism 100, that is, the rotating mechanism 100 rotates upward or downward to drive the head assembly 10a to raise its head upward or lower its head downward. The rotating mechanism 100 rotates around the roll axis to achieve the roll motion of the rotating mechanism 100, that is, the rotating mechanism 100 rolls to the left or to the right to drive the head assembly 10a to tilt to the left or to the right. The rotating mechanism 100 rotates around the heading axis to achieve the yaw motion of the rotating mechanism 100 to drive the head assembly 10a to deflect to the left or to the right.

[0138] Figure 6 This is an exploded structural diagram of the rotating mechanism provided in the embodiment of the present application. Figure 6 As shown, in order to realize the three-axis movement of the rotating mechanism 100 , in this embodiment, the rotating mechanism 100 may include a first bracket 110 , a second bracket 120 and a rotating member 130 .

[0139] With the rotating member 130 as a reference, the first bracket 110 is rotatably connected to the rotating member 130, and the second bracket 120 is rotatably connected to the first bracket 110. The second bracket 120 rotates relative to the first bracket 110, and the second bracket 120 can rotate around the first axis. The first bracket 110 rotates relative to the rotating member 130, and the first bracket 110 can rotate around the second axis. The rotating member 130 itself can rotate around the third axis.

[0140] Among them, the first axis, the second axis, and the third axis are mutually perpendicular. That is, the first axis is perpendicular to the second axis, the first axis is perpendicular to the third axis, and the second axis is perpendicular to the third axis. One of the first axis, the second axis, and the third axis is a yaw axis, one of the other two is a pitch axis, and the other is a roll axis, so that the rotation mechanism 100 can achieve three-axis motion.

[0141] The rotating member 130, the first bracket 110 and the second bracket 120 can all be arranged in the head assembly 10a of the legged robot 1. The rotating member 130 itself rotates around the third axis, the first bracket 110 is connected to the rotating member 130, and the first bracket 110 rotates around the second axis, and the second bracket 120 is connected to the first bracket 110, and the second bracket 120 rotates around the first axis. With the cooperation of the rotating member 130, the first bracket 110 and the second bracket 120, the head assembly 10a of the legged robot 1 can achieve omnidirectional movement of yaw, pitch and roll.

[0142] Continue to refer to Figure 6In order to facilitate the layout design of the rotating mechanism 100 and make the rotating mechanism 100 move more smoothly, in this embodiment, the rotating member 130 itself can rotate around the heading axis to realize the yaw movement of the rotating mechanism 100 through the rotation of the rotating member 130 itself. At this time, the third axis can be the heading axis. The first bracket 110 can rotate around the pitch axis to realize the pitch movement of the rotating mechanism 100 through the rotation of the first bracket 110 relative to the rotating member 130. At this time, the second axis can be the pitch axis. The second bracket 120 can rotate around the roll axis to realize the roll movement of the rotating mechanism 100 through the rotation of the second bracket 120 relative to the first bracket 110. At this time, the first axis is the roll axis.

[0143] On this basis, the rotating member 130 is used as the basic structural member, and the volume of the rotating member 130 can be relatively small. For example, the rotating member can be set as a block member or a columnar member. In the process of the rotating member 130 rotating around the first axis to perform yaw motion, the movement amplitude of the rotating member 130 is relatively small, which is convenient for the arrangement of the first bracket 110 and the second bracket 120, and also helps to improve the stability of the overall movement of the rotating mechanism 100. The first bracket 110 can be set (surrounded) on the outer periphery of the rotating member 130, which is convenient for the rotation connection between the first bracket 110 and the rotating member 130. The first bracket 110 can be designed as a plane frame structure or a three-dimensional frame structure, which is convenient for the first bracket 110 to perform pitch motion. The second bracket 120 can be set (surrounded) on the outer periphery of the first bracket 110, which is convenient for the rotation connection between the second bracket 120 and the first bracket 110, and the second bracket 120 can be designed as a three-dimensional frame structure, which is convenient for the second bracket 120 to perform roll motion, and also helps the second bracket 120 to support the support frame 200 or the shell of the head assembly 10a.

[0144] The rotating member 130 may be connected to the middle portion of the length direction of the first bracket 110. That is, the rotating member 130 is located in the first bracket 110 and is connected to the middle portion of the length direction of the first bracket 110. In this way, the first bracket 110 and the rotating member 130 are connected in a balanced manner, which can improve the stability and reliability of the rotation of the first bracket 110 relative to the rotating member 130.

[0145] Figure 7An exploded structural diagram of some components of the rotating mechanism provided in an embodiment of the present application. Referring to the figure, in order to realize the rotational connection between the second bracket 120 and the first bracket 110 and to make the second bracket 120 rotate around the first axis, a first rotating shaft 111 may be provided on one of the first bracket 110 and the second bracket 120, and a first mounting hole 123 may be provided on the other, the first rotating shaft 111 and the first mounting hole 123 correspond to each other, and the first rotating shaft 111 is penetrated in the first mounting hole 123. The first rotating shaft 111 can rotate in the first mounting hole 123 so that the second bracket 120 rotates relative to the first bracket 110. In addition, the first rotating shaft 111 can extend along the axis of the first shaft to realize the rotation of the second bracket 120 around the first axis.

[0146] As an example, Figure 7 Schematically shows the manner in which the first rotating shaft 111 is disposed on the first bracket 110 and the first mounting hole 123 is disposed on the second bracket 120. As another example, the first rotating shaft 111 may also be disposed on the second bracket 120, and the first mounting hole 123 may be disposed on the second bracket 120.

[0147] Combination Figure 6 and Figure 7 As shown, the rotating mechanism 100 may include a first motor 140, the output shaft of the first motor 140 is connected to the second bracket 120, and the second bracket 120 is driven to rotate by the first motor 140. The output shaft of the first motor 140 may be located on the axis of the first shaft, so that the first motor 140 drives the second bracket 120 to rotate around the first shaft. In other words, the output shaft of the first motor 140 and the first rotating shaft 111 may both be located on the axis of the first shaft, and the output shaft of the first motor 140 and the first rotating shaft 111 are coaxially arranged.

[0148] Exemplarily, the output shaft of the first motor 140 and the first rotating shaft 111 can be relatively arranged at the two ends of the second bracket 120. In this way, it is convenient to realize the coaxial arrangement of the output shaft of the first motor 140 and the first rotating shaft 111. In addition, the output shaft of the first motor 140 and the first rotating shaft 111 respectively support the two ends of the second bracket 120, which can ensure that the second bracket 120 is securely installed and improve the stability and reliability of the movement of the second bracket 120. In addition, the distance between the output shaft of the first motor 140 and the first rotating shaft 111 is large, which can reserve more installation space for the first motor 140.

[0149] Taking the rotation of the second bracket 120 around the roll axis as an example, the first axis is the roll axis. At this time, the first rotation axis 111 can extend along the axis of the roll axis, and the output shaft of the first motor 140 can also extend along the axis of the roll axis. The first rotation axis 111 and the output shaft of the first motor 140 together serve as the rotation axis of the second bracket 120, and the two together constitute the roll axis of the rotating mechanism 100. Exemplarily, the first rotation axis 111 and the output shaft of the first motor 140 can be located at the front and rear ends of the second bracket 120, respectively.

[0150] In addition, in order to facilitate the connection between the output shaft of the first motor 140 and the second bracket 120, the first motor 140 can be arranged on the head assembly 10a of the foot-type robot 1 (refer to Figure 4 or Figure 5 As shown). In this way, the first motor 140 is closer to the second bracket 120 located at the head assembly 10a, which is conducive to connecting the output shaft of the first motor 140 with the second bracket 120, and the output shaft of the first motor 140 can be extended along the axis of the rolling shaft.

[0151] When the second bracket 120 is the aforementioned three-dimensional frame structure, the space inside the second bracket 120 is relatively large, and the second bracket 120 can enclose an installation cavity, and other components such as the first motor 140 can be installed in the installation cavity enclosed by the second bracket 120. In addition, other components in the head assembly 10a (such as the aforementioned functional parts) can also be installed on the inner side of the second bracket 120. In order to make full use of the space inside the second bracket 120, the compactness of the spatial layout of the head assembly 10a is improved, and the volume of the head assembly 10a is reduced, which is conducive to reducing the cost of the legged robot 1 and reducing the deadweight of the legged robot 1.

[0152] Of course, if the remaining space inside the second bracket 120 is small, for example, the space occupied by the first bracket 110 is large, or other components installed inside the second bracket 120 occupy a large space. At this time, the first motor 140 can also be installed outside the second bracket 120, and this embodiment does not limit this.

[0153] When some components of the head assembly 10a are installed on the inner side of the second bracket 120, for example, the first motor 140 and the aforementioned functional parts are installed on the inner side of the second bracket 120, the second bracket 120 can be designed as a split bracket, for example, the second bracket 120 can include a front bracket 121 and a rear bracket 122, and the front bracket 121 and the rear bracket 122 are assembled to form the second bracket 120 as a whole, so as to facilitate the installation of these components in the second bracket 120. At this time, Figure 7As shown, the output shaft of the first motor 140 can be connected to the front bracket 121, and the first rotating shaft 111 can be connected to the rear bracket 122. Of course, the output shaft of the first motor 140 can also be connected to the rear bracket 122, and the first rotating shaft 111 can be connected to the front bracket 121.

[0154] Figure 8 This is an exploded structural diagram of some components of the rotating mechanism provided in the embodiment of the present application. Figure 8 As shown, in order to realize the rotational connection between the first bracket 110 and the rotating member 130 and to make the first bracket 110 rotate around the second axis, a second rotating shaft 131 may be provided on one of the rotating member 130 and the first bracket 110, and a second mounting hole 112 may be provided on the other. The second rotating shaft 131 may rotate in the second mounting hole 112 to make the first bracket 110 rotate relative to the rotating member 130. In addition, the second rotating shaft 131 may extend along the axis of the second axis to realize the rotation of the first bracket 110 around the second axis.

[0155] As an example, Figure 8 Schematically shows the manner in which the second rotating shaft 131 is arranged on the rotating member 130 and the second mounting hole 112 is arranged on the first bracket 110. As another example, the second rotating shaft 131 can also be arranged on the first bracket 110, and the first mounting hole 123 is arranged on the rotating member 130.

[0156] In addition, the rotating mechanism 100 may further include a driving member 150 . The driving member 150 may be connected to the first bracket 110 , and the driving member 150 may drive the first bracket 110 to rotate around the second axis.

[0157] Taking the first bracket 110 rotating around the pitch axis as an example, the second axis is the pitch axis. At this time, the second rotation axis 131 can extend along the axis of the pitch axis, and the second rotation axis 131 serves as the rotation axis of the first bracket 110 , and the second rotation axis 131 constitutes the pitch axis of the rotating mechanism 100 .

[0158] Since the driving member 150 needs to drive the first bracket 110 to rotate around the pitch axis, in other words, the driving member 150 needs to drive the first bracket 110 to perform a pitch motion. To this end, the driving member 150 can be connected to the front or rear portion of the first bracket 110, and the connection between the driving member 150 and the first bracket 110 deviates from the center of the first bracket 110. The driving member 150 drives the part of the first bracket 110 (connected to the driving member 150) to rise and fall, for example, the driving member 150 drives the front or rear portion of the first bracket 110 to rise and fall, so that the first bracket 110 swings around the first rotation axis 111, and then the first bracket 110 performs a pitch motion.

[0159] Furthermore, since the driving member 150 needs to drive the corresponding part of the first bracket 110 to rise and fall, the driving member 150 can be designed as a lifting mechanism, and the corresponding part of the first bracket 110 is driven to rise and fall by the lifting and falling of the driving member 150. For example, a linear module can be used as the driving member 150, and the linear module drives the sliding member on the linear guide to rise and fall through a motor, and then drives the corresponding part of the first bracket 110 to rise and fall through the sliding member. Alternatively, a cylinder or a hydraulic cylinder can also be used as the driving member 150, and the cylinder or the hydraulic cylinder drives the piston rod to rise and fall through the pressure of the fluid, and then drives the corresponding part of the first bracket 110 to rise and fall through the piston rod.

[0160] Reference Figure 8 As shown, in this embodiment, the driving member 150 can be connected to the rear of the first bracket 110. For example, a driving rod 113 is provided on the first bracket 110 near its rear end (the end of the first bracket 110 corresponding to the back of the head assembly 10a), and the driving member 150 is connected to the driving rod 113 to drive the rear of the first bracket 110 to rise and fall. In this way, it is convenient for the driving member 150 to drive the first bracket 110 to do pitching motion, and a large-scale motion of the first bracket 110 can be achieved. The first bracket 110 has a large pitch angle to meet the activity requirements of the head assembly 10a. In addition, the driving member 150 can be set corresponding to the rear of the head assembly 10a so that the front of the head assembly 10a has more room for movement.

[0161] In addition, the driving member 150 can be arranged on the neck of the legged robot 1. In other words, the driving member 150 constitutes a part of the neck assembly 10b. In this way, sufficient installation space can be reserved for the driving member 150, and it is convenient for the driving member 150 to drive the first bracket 110 to perform pitching motion, and the design of the head and neck part 10 of the legged robot 1 is more reasonable, which can meet the appearance design requirements of the legged robot 1.

[0162] Continue to refer to Figure 8 In order to realize the rotation of the rotating member 130 itself around the third axis, the rotating mechanism 100 may further include a second motor 160, the support member 170 is sleeved outside the second motor 160, the output shaft of the second motor 160 is connected to the rotating member 130, and the rotating member 130 is driven to rotate by the second motor 160. Among them, the output shaft of the second motor 160 may be located on the axis of the third axis, so that the second motor 160 drives the rotating member 130 to rotate around the third axis.

[0163] Taking the rotation of the rotating member 130 itself around the heading axis as an example, the third axis is the heading axis. At this time, the output shaft of the second motor 160 extends along the heading axis, and the second motor 160 can be installed in the neck assembly 10b of the foot-type robot 1. In this way, it is convenient to set the second motor 160, and the second motor 160 can extend along the extension direction of the neck assembly 10b, so that the output shaft of the second motor 160 extends to the rotating member 130 to drive the rotating member 130 to rotate around the heading axis. In addition, the second motor 160 does not occupy the space of the head assembly 10a of the foot-type robot 1, which is beneficial to the spatial layout of the head assembly 10a. In addition, the second motor 160 matches the structure of the neck assembly 10b, which meets the appearance design requirements of the foot-type robot 1.

[0164] On this basis, the rotating mechanism 100 may further include a support member 170, which is used to support the rotating member 130. Furthermore, the support member 170 can serve as a basic supporting structure to support the overall structure composed of the rotating member 130, the first bracket 110 and the second bracket 120, and the center of gravity of the head assembly acts on the support member of the neck assembly to ensure the stability and reliability of the movement of the rotating mechanism 100. Exemplarily, the support member 170 can be arranged on the neck assembly 10b of the foot-type robot 1, and the support member 170 can be sleeved outside the first motor 140, for example. In this way, the support member 170 can correspond to the rotating member 130, so that the support member 170 can better support the rotating member 130. In addition, the support member 170 also protects the first motor 140, which can improve the reliability of the first motor 140. In addition, the support member 170 does not occupy additional space, and the layout structure in the neck assembly 10b of the foot-type robot 1 is reasonable and has a good appearance.

[0165] Fig. 9 This is an assembly structure diagram of the first bracket and the second bracket provided in an embodiment of the present application. Fig.10 This is a diagram of the exploded structure of the first bracket and the second bracket provided in an embodiment of the present application.

[0166] Taking the first axis as the roll axis and the second bracket 120 rotating around the roll axis as an example, the first rotation axis 111 connected between the second bracket 120 and the first bracket 110 extends along the axis of the roll axis, and at this time, the second bracket 120 performs a roll motion around the first axis. Since the first motor 140 has a backlash, and the center of gravity of the second bracket 120 relative to the first axis constantly changes during the rotation of the second bracket 120 around the first axis, the second bracket 120 is easily shaken by the gravity of the second bracket 120, and the center of gravity of the second bracket 120 of the head assembly always acts on the support 170 of the neck assembly.

[0167] In this regard, combined with Fig. 9 and Fig.10As shown, in this embodiment, a first magnetic component is provided on one of the first bracket 110 and the second bracket 120, and a second magnetic component is provided on the other, and there is a magnetic attraction between the first magnetic component and the second magnetic component. The damping of the second bracket 120 rotating around the first axis is increased by the magnetic attraction generated between the first magnetic component and the second magnetic component. In this way, the shaking of the second bracket 120 is reduced, and the stability and reliability of the rotation of the second bracket 120 are improved. Furthermore, the positioning accuracy of the foot-type robot 1 when starting or stopping is improved, the stability and reliability of the movement of the foot-type robot 1 are improved, and the movement effect of the foot-type robot 1 is improved.

[0168] The first magnetic assembly includes at least one first magnetic member 114, and the second magnetic assembly includes at least one second magnetic member 124. When the first magnetic member 114 corresponds to the second magnetic member 124, a magnetic attraction is generated between the two.

[0169] When the first magnetic assembly includes only one first magnetic member 114 and the second magnetic assembly includes only one second magnetic member 124, the second bracket may be in an initial position when the first magnetic member 114 and the second magnetic member 124 are opposite to each other. The initial position may refer to the second bracket 120 being in an initial zero position. For example, when the second bracket 120 rotates around the roll axis, when the second bracket 120 is in the initial position, the second bracket 120 does not swing left and right, and the head assembly 10a of the legged robot 1 is in an upright posture.

[0170] When the first magnetic assembly includes more than two first magnetic members 114 and the second magnetic assembly includes one second magnetic member 124, each first magnetic member 114 is located at a different position in the rotation direction of the second bracket 120. In other words, in the rotation direction of the second bracket 120 (the rotation direction around the first axis), each first magnetic member 114 is located at a different position. At this time, during the rotation of the second bracket 120 around the first axis, the second bracket 120 rotates relative to the first bracket 110. When the second bracket 120 rotates to different angles, the second magnetic member 124 corresponds to different first magnetic members 114, so that the second bracket 120 can stably stay at different angles.

[0171] Similarly, when the first magnetic assembly includes a first magnetic member 114 and the second magnetic assembly includes more than two second magnetic members 124, each second magnetic member 124 is located at a different position in the rotation direction of the second bracket 120. In other words, in the rotation direction of the second bracket 120 (the rotation direction around the first axis), each or second magnetic member 124 is located at a different position. At this time, during the rotation of the second bracket 120 around the first axis, the second bracket 120 rotates relative to the first bracket 110. When the second bracket 120 rotates to different angles, the first magnetic member 114 corresponds to different second magnetic members 124, so that the second bracket 120 can stay stably at different angles.

[0172] Similarly, when the first magnetic assembly includes more than two first magnetic members 114 and the second magnetic assembly includes more than two second magnetic members 124, each first magnetic member 114 (or second magnetic member 124) is located at a different position in the rotation direction of the second bracket 120. In other words, in the rotation direction of the second bracket 120 (the rotation direction around the first axis), each first magnetic member 114 (or second magnetic member 124) is located at a different position. At this time, during the rotation of the second bracket 120 around the first axis, the second bracket 120 rotates relative to the first bracket 110. When the second bracket 120 rotates to different angles, different first magnetic members 114 correspond to different second magnetic members 124, so that the second bracket 120 can stably stay at different angles.

[0173] The following description is made by taking the example that the first magnetic assembly includes a plurality of first magnetic members 114 and the second magnetic assembly includes a second magnetic member 124 .

[0174] Among them, within the angle range of the second bracket 120 rotating relative to the first bracket 110, the first magnetic member 114 can be provided at each part. In other words, the first magnetic member 114 can cover the entire angle range of the second bracket 120 rotation. In this way, during the rotation of the second bracket 120 around the first axis, the second bracket 120 and the first bracket 110 always maintain a large magnetic attraction force, and the damping force of the second bracket 120 rotation is relatively balanced, so that the second bracket 120 can be stably stayed at any angle, the second bracket 120 rotates more smoothly and reliably, and the movement effect of the foot-type robot 1 is better.

[0175] As for the selection of the first magnetic member 114 and the second magnetic member 124, in some embodiments, the first magnetic member 114 and the second magnetic member 124 can both be permanent magnets. At this time, in order to generate a magnetic attraction between the first magnetic member 114 and the second magnetic member 124, the magnetic pole of one of the first magnetic member 114 and the second magnetic member 124 facing the other side can be an N pole, and the magnetic pole of the other side facing the other side can be an S pole, so that a magnetic attraction is generated between the first magnetic member 114 and the second magnetic member 124.

[0176] By setting the first magnetic member 114 and the second magnetic member 124 as permanent magnets, the magnetic attraction between the two always exists and the magnitude of the magnetic force is constant. The first magnetic member 114 and the second magnetic member 124 are set in a simple manner, with low cost and high reliability. The material, shape and size of the first magnetic member 114 and the second magnetic member 124 can be designed according to the size of the first bracket 110 and the second bracket 120 and the magnitude of the damping force required when the second bracket 120 rotates, so that sufficient magnetic attraction can be generated between the first magnetic member 114 and the second magnetic member 124.

[0177] In other embodiments, when the layout of the rotating mechanism 100 is relatively simple, if it is convenient to lay out the circuit and lead the current to the first bracket 110 and / or the second bracket 120, at least one of the first magnetic member 114 and the second magnetic member 124 may be an electromagnetic member. The magnetism and magnetic force of the electromagnetic member may be flexibly controlled according to actual conditions.

[0178] Among them, when one of the first magnetic component 114 and the second magnetic component 124 is a permanent magnet and the other is an electromagnetic component, the direction of the current in the electromagnetic component can be controlled according to the magnetic pole of the permanent magnet facing the other side, so that the magnetic pole of the electromagnetic component facing the other side is opposite, thereby generating a magnetic attraction between the first magnetic component 114 and the second magnetic component 124.

[0179] When both the first magnetic member 114 and the second magnetic member 124 are electromagnetic members, the direction of the current in the electromagnetic member is controlled so that the magnetic poles of the first magnetic member 114 and the second magnetic member 124 facing each other are opposite, so that a magnetic attraction is generated between the first magnetic member 114 and the second magnetic member 124. In addition, the magnitude of the current in the electromagnetic member can be controlled according to actual needs to control the magnitude of the magnetic attraction between the first magnetic member 114 and the second magnetic member 124.

[0180] In order to make each first magnetic member 114 play an effective role, in this embodiment, each first magnetic member 114 can be arranged on the first surface, which is a surface perpendicular to the first axis. In this way, the spacing between each first magnetic member 114 and the second magnetic member 124 is equal, and the magnetic attraction between each first magnetic member 114 and the second magnetic member 124 is relatively balanced. During the rotation of the second bracket 120 around the first axis, the magnetic attraction between the second bracket 120 and the first bracket 110 is relatively balanced, and the damping force during the rotation of the second bracket 120 is relatively balanced, which is conducive to improving the stability of the rotation of the second bracket 120.

[0181] Reference Fig.10 As shown, in this embodiment, the first bracket 110 may be provided with a first mounting portion 115, and the second bracket 120 may be provided with a second mounting portion 125, and the first mounting portion 115 and the second mounting portion 125 are arranged opposite to each other. One of the first magnetic member 114 and the second magnetic member 124 may be installed on the first mounting portion 115, and the other may be installed on the second mounting portion 125.

[0182] By providing the first mounting portion 115 on the first bracket 110 and the second mounting portion 125 on the second bracket 120, the first mounting portion 115 and the second mounting portion 125 are respectively used as the mounting bases of the first magnetic member 114 and the second magnetic member 124, so as to realize the installation of the first magnetic member 114 and the second magnetic member 124 on the first bracket 110 and the second bracket 120. In addition, by providing the first mounting portion 115 and the second mounting portion 125 opposite to each other, the plane directions of both can be perpendicular to the first axis, and one of the two used for mounting the first magnetic member 114 takes the aforementioned first surface as a reference, which can meet the requirement that each first magnetic member 114 is located on the first surface, so that each first magnetic member 114 and the second magnetic member 124 are kept at the same distance.

[0183] There should be a gap between the first mounting portion 115 and the second mounting portion 125 to avoid interference between the second bracket 120 and the first bracket 110 when the second bracket 120 rotates, so as to ensure that the second bracket 120 can rotate smoothly. On the basis of the gap between the first mounting portion 115 and the second mounting portion 125, there should also be a gap between the first magnetic member 114 and the second magnetic member 124 respectively installed on the two, that is, when the first magnetic member 114 and the second magnetic member 124 correspond to each other, there is a gap between the two. Avoid affecting the rotation of the second bracket 120, avoid friction between the first magnetic member 114 and the second magnetic member 124, and ensure the reliability of the first magnetic member 114 and the second magnetic member 124 for long-term use.

[0184] Exemplarily, when the second bracket 120 is sleeved outside the first bracket 110, each first magnetic member 114 can be installed on the first mounting portion 115, and the second magnetic member 124 can be installed on the second mounting portion 125. On the one hand, only one second magnetic member 124 needs to be installed on the second mounting portion 125, so the area of ​​the second mounting portion 125 can be smaller, which is conducive to reducing the dead weight of the second bracket 120, enhancing the reliability of the connection between the second bracket 120 and the first bracket 110, and improving the stability of the second bracket 120 when rotating. On the other hand, with the first bracket 110 as a fixed reference, the second bracket 120 rotates around the first bracket 110. By setting each first magnetic member 114 on the relatively fixed first bracket 110, the position accuracy of each first magnetic member 114 can be improved, which is conducive to more accurate control of the rotation angle of the second bracket 120.

[0185] As for the position of the first mounting portion 115 on the first bracket 110 and the position of the second mounting portion 125 on the second bracket 120, in this embodiment, the first mounting portion 115 can be arranged at the rear end of the first bracket 110, and correspondingly, the second mounting portion 125 can be arranged at the rear end of the second bracket 120 (the end of the second bracket 120 corresponding to the back side of the head assembly 10a). In this way, the distance between the first mounting portion 115 and the second mounting portion 125 is small, and the magnetic attraction force generated between the first magnetic member 114 and the second magnetic member 124 respectively installed on the two is large, which can meet the damping force requirement when the second bracket 120 rotates. In addition, the plane direction of the first mounting portion 115 and the plane direction of the second mounting portion 125 can be made perpendicular to the first axis, and the structure of the first bracket 110 and the second bracket 120 is not affected.

[0186] On this basis, the first rotating shaft 111 and the first mounting hole 123 can also be arranged corresponding to the first mounting portion 115 and the second mounting portion 125. That is to say, one of the first rotating shaft 111 and the first mounting hole 123 can be arranged on the first mounting portion 115, and the other can be arranged on the second mounting portion 125. Since the first mounting portion 115 and the second mounting portion 125 are arranged relative to each other and the gap between them is small, the matching connection between the first rotating shaft 111 and the first mounting hole 123 is facilitated. In addition, the distance between the first magnetic member 114 and the second magnetic member 124 and the first rotating shaft 111 is small, and the magnetic attraction generated between the first magnetic member 114 and the second magnetic member 124 can better act on the first rotating shaft 111, and can enhance the damping force when the second bracket 120 rotates.

[0187] Continue to refer to Fig.10Since the number of the first magnetic members 114 is large and the area they occupy is large, the shape and size of the second magnetic member 124 can be designed according to the shape and size of the first magnetic member 114. The shape of the second magnetic member 124 can match the shape of the first magnetic member 114. For example, the shape of the first magnetic member 114 and the shape of the second magnetic member 124 can both be circular, elliptical, rectangular, hexagonal, octagonal, triangular, etc. Among them, since the second bracket 120 rotates around the first bracket 110, the first magnetic member 114 and the second magnetic member 124 can both be designed to be circular, with high space utilization, and the uniformity of the magnetic attraction generated between the first magnetic member 114 and the second magnetic member 124 is higher.

[0188] Furthermore, the area of ​​the second magnetic member 124 may be greater than or equal to the area of ​​the first magnetic member 114. When the first magnetic member 114 corresponds to the second magnetic member 124, the orthographic projection of the first magnetic member 114 on the second magnetic member 124 may be located within the coverage area of ​​the second magnetic member 124. In other words, when the first magnetic member 114 corresponds to the second magnetic member 124, the second magnetic member 124 may completely cover the first magnetic member 114. In this way, the magnetic field generated between the first magnetic member 114 and the second magnetic member 124 may completely cover the first magnetic member 114, and the magnetic attraction between the first magnetic member 114 and the second magnetic member 124 may be maximized to meet the damping force requirement when the second bracket 120 rotates.

[0189] In some embodiments, the magnetic center of each first magnetic member 114 is located on a predetermined circumference, and the predetermined circumference is centered on the axis of the first rotating shaft 111. In this way, the distance between the magnetic center of each first magnetic member 114 and the axis of the first rotating shaft 111 is equal, and the position of the second magnetic member 124 can be designed according to the distance between the magnetic center of the first magnetic member 114 and the axis of the first rotating shaft 111. During the rotation of the second bracket 120 around the first rotating shaft 111, the second magnetic member 124 corresponds to different first magnetic members 114, which can ensure that each first magnetic member 114 is located within the coverage area of ​​the second magnetic member 124.

[0190] Furthermore, by making the magnetic center of each first magnetic member 114 located on a predetermined circumference, the arrangement and layout of the first magnetic members 114 are more regular, which is convenient for the shape design of the first mounting portion 115 and helps to reduce the volume of the first mounting portion 115. In addition, the deadweight of the first bracket 110 is reduced, and the stability and reliability of the movement of the first bracket 110 are improved.

[0191] It should be noted that the magnetic center mentioned here refers to the point where the magnetic field density of the magnetic member (such as the first magnetic member 114) is the largest. When the magnetic member is of a regular shape, for example, the shape of the magnetic member is a circle, a square, a diamond, etc., the magnetic center of the magnetic member is usually the center point of the magnetic member.

[0192] In other embodiments, when the surface area of ​​the second magnetic member 124 is large and the volume of the first mounting portion 115 is sufficient, the magnetic centers of the first magnetic members 114 may not be on the same circumference, that is, the distances between different first magnetic members 114 and the axis of the first rotating shaft 111 may be different. At this time, when the second bracket 120 rotates around the first rotating shaft 111 and the second magnetic member 124 corresponds to different first magnetic members 114, as long as all the first magnetic members 114 are located within the coverage area of ​​the second magnetic member 124, the magnetic attraction between the first magnetic member 114 and the second magnetic member 124 can be maximized.

[0193] Exemplarily, no matter the magnetic center of each first magnetic member 114 is located on a predetermined circumference, or the distances between different first magnetic members 114 and the axis of the first rotating shaft 111 are different, the spacing between the first magnetic member 114 and the first rotating shaft 111 can be controlled within a range of 0 mm to 50 mm. In other words, in a direction perpendicular to the axis of the first rotating shaft 111, the first magnetic member 114 can be close to the first rotating shaft 111 at the closest, and the first magnetic member 114 cannot be spaced more than 50 mm from the first rotating shaft 111 at the farthest.

[0194] In this way, the arrangement and layout of the first magnetic members 114 are relatively compact, and the magnetic field generated between each first magnetic member 114 and the second magnetic member 124 is relatively concentrated, which is conducive to increasing the damping force when the second bracket 120 rotates and improving the stability of the second bracket 120 when rotating. In addition, the total area occupied by all the first magnetic members 114 is relatively small, and the volume of the first mounting portion 115 can be relatively small, which is convenient for the installation of the first mounting portion 115 and helps to reduce the deadweight of the first bracket 110.

[0195] The following description is made by taking the example that the first magnetic member 114 is installed on the first installation portion 115 of the first bracket 110 , the second magnetic member 124 is installed on the second installation portion 125 of the second bracket 120 , and each of the first magnetic members 114 is located on a predetermined circumference.

[0196] On the basis that the magnetic center of each first magnetic member 114 is located on a predetermined circumference, each first magnetic member 114 is evenly spaced in sequence along the circumference of the predetermined circumference (the rotation direction of the second bracket 120). In this way, within the rotation range of the second bracket 120, multiple first magnetic members 114 can be evenly spaced to ensure that the second bracket 120 has good stability when rotated to any angle, and effectively reduce the shaking of the second bracket 120. This avoids the second bracket 120 from shaking significantly when it moves to certain angles due to the uneven arrangement of the first magnetic members 114.

[0197] It should be noted that the first magnetic members 114 mentioned here are evenly spaced along the circumference of the predetermined circle, which does not mean that the first magnetic members 114 cover the entire predetermined circle. Rather, it means that within the rotation range of the second bracket 120, the first magnetic members 114 are evenly spaced along the circumference of the predetermined circle, that is, the first magnetic members 114 only need to cover the rotation area between the second bracket 120.

[0198] Furthermore, on the basis that the magnetic center of each first magnetic member 114 is located on a predetermined circumference, the magnetic center of the second magnetic member 124 can also be located on a predetermined circumference. When the second magnetic member 124 is opposite to the first magnetic member 114, the magnetic center of the second magnetic member 124 coincides with the magnetic center of the first magnetic member 114. Such a configuration is conducive to increasing the overlapping area between the first magnetic member 114 and the second magnetic member 124, enhancing the magnetic attraction between the first magnetic member 114 and the second magnetic member 124, increasing the damping force when the second bracket 120 rotates, improving the stability of the rotation of the second bracket 120, and preventing the second bracket 120 from shaking.

[0199] In addition, when the magnetic center of each first magnetic member 114 and the magnetic center of each second magnetic member 124 are both located on a predetermined circumference, when the first magnetic member 114 and the second magnetic member 124 correspond, the orthographic projection of the first magnetic member 114 on the second magnetic member 124 can completely overlap with the second magnetic member 124. In other words, when the first magnetic member 114 and the second magnetic member 124 correspond, the first magnetic member 114 and the second magnetic member 124 completely overlap. At this time, the shape contours of the first magnetic member 114 and the second magnetic member 124 are consistent, for example, the first magnetic member 114 and the second magnetic member 124 are both circular, and the radii of the first magnetic member 114 and the second magnetic member 124 are the same.

[0200] With such a configuration, the first magnetic member 114 and the second magnetic member 124 can be used to the maximum extent, and the area of ​​the first magnetic member 114 and the second magnetic member 124 will not be wasted while ensuring that the magnetic attraction between the first magnetic member 114 and the second magnetic member 124 meets the requirements. In addition, the first magnetic member 114 and the second magnetic member 124 can be designed the same or similarly, which can improve the versatility of the two. Furthermore, the cost of the first magnetic member 114 and the second magnetic member 124 can be reduced, and further, the cost of the rotating mechanism 100 can be reduced.

[0201] Fig.11 This is a further exploded structural diagram of the first bracket and the second bracket provided in the embodiment of the present application. Fig.11 As shown, in order to install the first magnetic member 114 on the first mounting portion 115, in some embodiments, a first receiving groove 1151 may be provided on the first mounting portion 115. The shape and size of the first receiving groove 1151 may match the shape and size of the first magnetic member 114, and the first magnetic member 114 is installed in the first receiving groove 1151 to fix the first magnetic member 114 on the first mounting portion 115. In addition, the first receiving groove 1151 at least surrounds a part of the structure of the first magnetic member 114, and can provide protection for the first magnetic member 114. For example, the first magnetic member 114 can be bonded in the first receiving groove 1151, and at least the bottom surface of the first magnetic member 114 is bonded to the bottom of the first receiving groove 1151.

[0202] The first receiving groove 1151 can be arranged on the side of the first mounting portion 115 facing the second mounting portion 125, that is, the notch of the first receiving groove 1151 can face the second mounting portion 125. In this way, the distance between the first magnetic member 114 and the second magnetic member 124 on the second mounting portion 125 is small, which helps to enhance the magnetic attraction between the first magnetic member 114 and the second magnetic member 124. In addition, when the first mounting portion 115 is located at the rear end of the first bracket 110, the notch of the first receiving groove 1151 is exposed on the outer wall surface of the first bracket 110, which facilitates the installation of the first magnetic member 114.

[0203] Of course, under the premise that the magnetic attraction between the first magnetic member 114 and the second magnetic member 124 meets the requirements, if it is convenient to install the first magnetic member 114 from the inner side of the first bracket 110, the first receiving groove 1151 can also be arranged on the side of the first mounting portion 115 facing away from the second mounting portion 125. In other words, the notch of the first receiving groove 1151 can face away from the second mounting portion 125.

[0204] Among the multiple first magnetic members 114, at least some of the first magnetic members 114 can be completely accommodated in the first receiving groove 1151. In this way, it can be ensured that these first magnetic members 114 will not protrude outside the first mounting portion 115. When the notch of the first receiving groove 1151 faces the second mounting portion 125, it can be ensured that these first magnetic members 114 will not interfere with the rotation of the second bracket 120 relative to the first bracket 110. When the notch of the first receiving groove 1151 faces away from the second mounting portion 125, it can be ensured that the first magnetic members 114 will not interfere with the layout structure inside the first bracket 110.

[0205] Exemplarily, the bottom of the first receiving groove 1151 may be provided with a first through hole 1151a, and part of the surface of the first magnetic member 114 may be exposed in the first through hole 1151a. In this way, it helps to reduce the weight of the first bracket 110, thereby reducing the overall weight of the rotating mechanism 100 and improving the flexibility of the movement of the rotating mechanism 100. In addition, when the first magnetic member 114 is bonded to the first receiving groove 1151, the first through hole 1151a may serve as a glue overflow hole to discharge excess adhesive, thereby preventing adhesive from remaining on the surface of the first mounting portion 115 or the surface of the first magnetic member 114.

[0206] In addition to providing the first receiving groove 1151 on the first mounting portion 115, in other embodiments, a first receiving hole (not shown in the figure) may also be provided on the first mounting portion 115. The first receiving hole passes through the two side surfaces of the first mounting portion 115 in the thickness direction, and the first magnetic component 114 may be installed in the first receiving hole. In addition, the first receiving hole at least surrounds a portion of the structure of the first magnetic component 114, which may provide protection for the first magnetic component 114. At this time, the shape and size of the first receiving hole should be precisely matched with the shape and size of the first magnetic component 114 to ensure the installation reliability of the first magnetic component 114. Exemplarily, the outer side wall of the first magnetic component 114 may be bonded to the hole wall of the first receiving hole.

[0207] At least some of the first magnetic members 114 can be completely accommodated in the first receiving hole. In this way, it can be ensured that the first magnetic members 114 will not protrude outside the first mounting portion 115, and it can be ensured that the first magnetic members 114 will not interfere with the rotation of the second bracket 120 relative to the first bracket 110, or it can be ensured that the first magnetic members 114 will not interfere with the layout structure inside the first bracket 110, which will not be repeated here.

[0208] Continue to refer to Fig.11As shown, in order to install the second magnetic member 124 on the second mounting portion 125, in some embodiments, a second receiving groove 1251 may be provided on the second mounting portion 125. The shape and size of the second receiving groove 1251 may match the shape and size of the second magnetic member 124, and the second magnetic member 124 is installed in the second receiving groove 1251 to fix the second magnetic member 124 on the second mounting portion 125. In addition, the second receiving groove 1251 at least surrounds a part of the structure of the second magnetic member 124, which can provide protection for the second magnetic member 124. For example, the second magnetic member 124 can be bonded in the second receiving groove 1251, and at least the bottom surface of the second magnetic member 124 is bonded to the bottom of the second receiving groove 1251.

[0209] Among them, the second receiving groove 1251 can be arranged on the side of the second mounting portion 125 facing away from the first mounting portion 115, that is, the notch of the second receiving groove 1251 can face away from the second mounting portion 125. In this way, the second magnetic member 124 is located on the side of the second mounting portion 125 facing away from the first mounting portion 115, and during the rotation of the second bracket 120 relative to the first bracket 110, there will be no interference between the second magnetic member 124 and the first magnetic member 114, which can ensure the smooth rotation of the second bracket 120. In addition, when the second mounting portion 125 is located at the rear end of the second bracket 120, the notch of the second receiving groove 1251 is exposed on the outer wall surface of the second bracket 120, which is convenient for the installation of the second magnetic member 124.

[0210] Of course, under the premise that there is no interference between the second magnetic member 124 and the first magnetic member 114, if it is convenient to install the second magnetic member 124 from the inner side of the second bracket 120, the second receiving groove 1251 can also be arranged on the side of the second mounting portion 125 facing the first mounting portion 115. In other words, the notch of the second receiving groove 1251 can face the first mounting portion 115.

[0211] Exemplarily, a second through hole 1251a may be provided at the bottom of the second receiving groove 1251, and part of the surface of the second magnetic member 124 may be exposed in the second through hole 1251a. In this way, it is helpful to reduce the deadweight of the second bracket 120, and further reduce the overall weight of the rotating mechanism 100, thereby improving the flexibility of the movement of the rotating mechanism 100. Furthermore, when the second magnetic member 124 is bonded to the second receiving groove 1251, the second through hole 1251a may serve as an overflow hole to discharge excess adhesive, thereby preventing adhesive from remaining on the surface of the second mounting portion 125 or the surface of the second magnetic member 124.

[0212] In addition to providing a second receiving groove 1251 on the second mounting portion 125, in other embodiments, a second receiving hole (not shown in the figure) may also be provided on the second mounting portion 125. The second receiving hole passes through the two side surfaces of the second mounting portion 125 in the thickness direction, and the second magnetic component 124 may be installed in the second receiving hole. In addition, the second receiving hole at least surrounds a portion of the structure of the second magnetic component 124, which may provide protection for the second magnetic component 124. At this time, the shape, size, and shape of the second receiving hole and the second magnetic component 124 should be precisely matched to ensure the installation reliability of the second magnetic component 124. Exemplarily, the outer side wall of the second magnetic component 124 may be bonded to the hole wall of the second receiving hole.

[0213] Under the premise of ensuring that the second magnetic member 124 does not interfere with the first magnetic member 114, the second magnetic member 124 can be partially exposed outside the second mounting portion 125. On the one hand, the thickness of the second magnetic member 124 can be increased, and the volume of the second magnetic member 124 can be increased, which is conducive to increasing the magnetic attraction between the second magnetic member 124 and the first magnetic member 114, enhancing the damping force when the second bracket 120 rotates, improving the stability of the rotation of the second bracket 120, and reducing or even avoiding the shaking of the second bracket 120. On the other hand, the part of the second magnetic member 124 exposed outside the second mounting portion 125 can provide a force application site for the operator, which is convenient for the installation and removal of the second magnetic member 124.

[0214] For example, when the second mounting portion 125 is provided with a second receiving groove 1251, and the notch of the second receiving groove 1251 is away from the first mounting portion 115, or when the second mounting portion 125 is provided with a second receiving hole, the second magnetic member 124 can be exposed on the side of the second mounting portion 125 away from the first mounting portion 115. At this time, the second magnetic member 124 will not interfere with the first magnetic member 114.

[0215] Continue to refer to Fig.11 As shown, among the multiple first magnetic members 114, one of the first magnetic members 114 is a reset magnetic member 1141, and the remaining first magnetic members 114 are positioning magnetic members 1142. The reset magnetic member 1141 is used to increase the damping force when the second bracket 120 is in the initial position, so that the second bracket 120 remains stable when in the initial position. The remaining positioning magnetic members 1142 are used to increase the damping force when the second bracket 120 rotates to other positions, so as to improve the stability of the second bracket 120 when rotating.

[0216] When the second bracket 120 is in the initial position, the second magnetic member 124 on the second bracket 120 corresponds to the reset magnetic member 1141 on the first bracket 110. At this time, relying on the magnetic attraction generated between the second magnetic member 124 and the reset magnetic member 1141, the second bracket 120 can be stably maintained in the initial position, reducing or even preventing the second bracket 120 from shaking. When the second bracket 120 is rotated to other angles relative to the first bracket 110, the second magnetic member 124 on the second bracket 120 corresponds to the corresponding positioning magnetic member 1142 on the first bracket 110. At this time, relying on the magnetic attraction generated between the second magnetic member 124 and the positioning magnetic member 1142, the second bracket 120 can be stably maintained at the corresponding angle, reducing or even preventing the second bracket 120 from shaking.

[0217] Continue to refer to Fig.11 In the arrangement direction of each first magnetic member 114, for example, for each first magnetic member 114 arranged sequentially on a predetermined circumference, the reset magnetic member 1141 can be in the middle position, and each positioning magnetic member 1142 can be symmetrically arranged on both sides of the reset magnetic member 1141. Positioning magnetic members 1142 are arranged on both sides of the reset magnetic member 1141. In the process of the second bracket 120 swinging from the initial position to both sides, the positioning magnetic member 1142 corresponds to the second magnetic member 124, which can increase the damping force of the second bracket 120 swinging to both sides and improve the damping force of the second bracket 120 swinging to both sides.

[0218] In this way, by symmetrically distributing the positioning magnetic parts 1142 on both sides of the resetting magnetic parts 1141, the second bracket 120 has a large damping force when swinging to both sides, and the second bracket 120 will continue to be subjected to a large damping force during the swinging process, and the stability of the entire swinging process is good. This helps to improve the stability and consistency of the rotation of the second bracket 120 and improve the movement effect of the second bracket 120.

[0219] Exemplarily, when the second bracket 120 is in the initial position and the head assembly 10a of the legged robot 1 is in an upright posture, the reset magnetic member 1141 can be located directly above the first rotating axis 111, and the positioning magnetic members 1142 are symmetrically arranged on the left and right sides of the reset magnetic member 1141.

[0220] It should be noted that during the long-term operation of the rotating mechanism 100 , the initial position of the second bracket 120 is its normalized position. The stability of the second bracket 120 in the initial position has a greater impact on the movement effect of the legged robot 1 .

[0221] Since the starting resistance of the first motor 140 is small when the second bracket 120 is in the initial position, the larger damping force does not affect the starting of the first motor 140. Therefore, in this embodiment, the magnetic attraction between the reset magnetic member 1141 and the second magnetic member 124 can be increased to enhance the damping force when the second bracket 120 is in the initial position. In this way, the stability of the second bracket 120 in the initial position can be improved, and the shaking of the second bracket 120 in the initial position can be reduced or even avoided. Furthermore, the motion effect of the foot-type robot 1 can be improved, and the user experience can be improved.

[0222] When the second bracket 120 swings to other angles, due to the influence of the second bracket 120's own gravity and other structural parts, the starting resistance of the first motor 140 is relatively large. Therefore, in this embodiment, the magnetic attraction between the positioning magnetic part 1142 and the second magnetic part 124 can be maintained within a suitable range to avoid affecting the starting of the first motor 140 when the second bracket 120 is at other angles.

[0223] Moreover, other positions of the second bracket 120 are usually not its normal positions. The second bracket 120 often swings continuously to different angles. By controlling the magnetic attraction between each positioning magnetic part 1142 and the second magnetic part 124, the damping force on the second bracket 120 is avoided to be too large, thereby ensuring smooth rotation of the second bracket 120.

[0224] That is to say, in this embodiment, the magnetic attraction between the reset magnetic member 1141 and the second magnetic member 124 can be greater than the magnetic attraction between the positioning magnetic members 1142. On the one hand, the damping force when the second bracket 120 is in the initial position can be enhanced, the stability of the second bracket 120 in the initial position can be improved, and the movement effect of the foot-type robot 1 can be improved. On the other hand, when the second bracket 120 is in other positions, it is avoided to affect the start of the first motor 140 and ensure the smooth rotation of the second bracket 120.

[0225] In order to make the magnetic attraction force generated between the reset magnetic member 1141 and the second magnetic member 124 greater than the magnetic attraction force generated between the positioning magnetic member 1142 and the second magnetic member 124, the reset magnetic member 1141 and the positioning magnetic member 1142 can be designed. The positioning magnetic member 1142 includes at least one positioning magnetic block 1142a. When the positioning magnetic member 1142 includes more than two positioning magnetic blocks 1142a, these positioning magnetic blocks 1142a are stacked. The reset magnetic member 1141 includes at least one reset magnetic block 1141a. When the reset magnetic member 1141 includes more than two reset magnetic blocks 1141a, these reset magnetic blocks 1141a are stacked.

[0226] Reference Fig.11As shown, as an embodiment, the shape and volume of the positioning magnetic block 1142a and the shape and volume of the reset magnetic block 1141a can be the same. In other words, a single positioning magnetic block 1142a and a single reset magnetic block 1141a are exactly the same. In this way, the processing and manufacturing of the positioning magnetic block 1142a and the reset magnetic block 1141a are facilitated, and the cost of the first magnetic member 114 and the second magnetic member 124 can be reduced, thereby reducing the cost of the rotating mechanism 100.

[0227] At this time, the number of the reset magnetic blocks 1141a can be greater than the number of the positioning magnetic blocks 1142a. In this way, the total thickness of the reset magnetic member 1141 is greater than the total thickness of the positioning magnetic member 1142, and the total volume of the reset magnetic member 1141 is greater than the total volume of the positioning magnetic member 1142. Therefore, the magnetic attraction generated between the reset magnetic member 1141 and the second magnetic member 124 is greater than the magnetic attraction generated between the positioning magnetic member 1142 and the second magnetic member 124.

[0228] by Fig.11 As shown in FIG. 1 , for example, the resetting magnetic member 1141 includes two stacked resetting magnetic blocks 1141 a , and each positioning magnetic member 1142 includes a positioning magnetic block 1142 a .

[0229] As another embodiment, the number of positioning magnetic blocks 1142a and the number of reset magnetic blocks 1141a can be the same, and the volume of a single reset magnetic block 1141a is larger than the volume of a single positioning magnetic block 1142a. In this way, the total volume of the reset magnetic member 1141 is larger than the total volume of the positioning magnetic member 1142. Thus, the magnetic attraction generated between the reset magnetic member 1141 and the second magnetic member 124 is larger than the magnetic attraction generated between the positioning magnetic member 1142 and the second magnetic member 124.

[0230] When the volume of a single reset magnet 1141a is larger than the volume of a single positioning magnet 1142a, the shape and size of the first receiving groove 1151 (or the first receiving hole) on the first bracket 110 for receiving the reset magnet 1141 can be designed according to the shape and size of the reset magnet 1141a. Similarly, the shape and size of the first receiving groove 1151 (or the first receiving hole) on the first bracket 110 for receiving the positioning magnet 1142 can be designed according to the shape and size of the positioning magnet 1142a.

[0231] Continue to refer to Fig.11 As shown, based on the installation of multiple first magnetic members 114 on the first bracket 110 and the installation of one second magnetic member 124 on the second bracket 120 , in this embodiment, a first damping member 180 may be further provided between the first rotating shaft 111 and the first mounting hole 123 .

[0232] By disposing the first damping member 180 outside the first rotating shaft 111, the first damping member 180 is sandwiched between the first rotating shaft 111 and the first mounting hole 123. During the rotation of the second bracket 120 relative to the first bracket 110, the friction between the second bracket 120 and the first bracket 110 can be increased, the damping force of the rotation of the second bracket 120 can be increased, and the shaking phenomenon of the second bracket 120 can be reduced.

[0233] In particular, when the second bracket 120 is in the initial position, the second bracket 120 can be stably kept in the initial position by the magnetic attraction between the reset magnetic member 1141 and the second magnetic member 124, plus the damping force provided by the first damping member 180. Even when the legged robot 1 is walking, the shaking of the second bracket 120 in the initial position can be reduced or even eliminated.

[0234] On the basis of installing a plurality of first magnetic members 114 and a second magnetic member 124 on the first bracket 110 and the second bracket 120, similarly, in order to reduce the shaking caused by the backlash of the second motor 160 on the rotation of the rotating member 130, a plurality of fifth magnetic members (not shown in the figure) may be arranged on one of the support member 170 and the rotating member 130, and a sixth magnetic member (not shown in the figure) may be arranged on the other. In the rotation direction of the rotating member 130 (the direction of rotation around the third axis), each fifth magnetic member is located at a different position.

[0235] In this way, during the rotation of the rotating member 130 around the third axis, the rotating member 130 rotates relative to the supporting member 170, and the sixth magnetic member can be opposite to the fifth magnetic member. The magnetic attraction generated between the sixth magnetic member and the fifth magnetic member increases the damping of the rotation of the rotating member 130 around the third axis. In this way, the shaking of the rotating member 130 is reduced, and the stability and reliability of the rotation of the rotating member 130 are improved. In addition, the stability and reliability of the movement of the legged robot 1 are improved, and the movement effect of the legged robot 1 is enhanced.

[0236] Among them, the arrangement of the fifth magnetic component on one of the support member 170 and the rotating member 130, and the arrangement of the sixth magnetic component on the other are similar to the arrangement of the first magnetic component 114 and the second magnetic component 124 mentioned above, and will not be repeated here.

[0237] In addition, in order to reduce the shaking caused by the rotation of the first bracket 110 by the driving member 150, a plurality of third magnetic members (not shown in the figure) may be provided on one of the rotating member 130 and the first bracket 110, and a fourth magnetic member (not shown in the figure) may be provided on the other. In the rotation direction of the first bracket 110 (the direction of rotation around the second axis), each third magnetic member is located at a different position.

[0238] In this way, during the rotation of the first bracket 110 around the second axis, the first bracket 110 rotates relative to the rotating member 130, and the fourth magnetic member can be opposite to different third magnetic members. The magnetic attraction generated between the fourth magnetic member and the third magnetic member increases the damping of the rotation of the first bracket 110 around the second axis. In this way, the shaking of the first bracket 110 is reduced, and the stability and reliability of the rotation of the first bracket 110 are improved. In addition, the stability and reliability of the movement of the legged robot 1 are improved, and the movement effect of the legged robot 1 is enhanced.

[0239] Among them, the setting method of the third magnetic member on one of the rotating member 130 and the first bracket 110, and the setting method of the fourth magnetic member on the other are similar to the setting method of the first magnetic member 114 and the second magnetic member 124 mentioned above, and will not be repeated here.

[0240] Furthermore, in order to further reduce the shaking of the first bracket 110 when it rotates around the second axis, a second damping member 190 may be provided between the second rotating axis 131 and the second mounting hole 112 (see Figure 7 As shown in FIG. 1 , during the rotation of the first bracket 110 relative to the rotating member 130 , the friction between the first bracket 110 and the rotating member 130 can be increased, the damping force of the rotation of the first bracket 110 can be increased, and the shaking of the first bracket 110 can be reduced.

[0241] In particular, when the first bracket 110 is in the initial position and the head assembly 10a of the legged robot 1 is in an upright posture, the first bracket 110 can be stably kept in the initial position by the magnetic attraction between the third magnetic member and the fourth magnetic member, plus the damping force provided by the second damping member 190. Even when the legged robot 1 is walking, the shaking of the first bracket 110 in the initial position can be reduced or even eliminated.

[0242] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0243] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A head assembly of a legged robot, characterized in that: include: First bracket; A second bracket is rotatably connected to the first bracket, and the second bracket rotates around the first axis; Wherein, a first magnetic component is disposed on one of the first bracket and the second bracket, and a second magnetic component is disposed on the other bracket, the first magnetic component includes a first magnetic member having a first magnetic pole, the second magnetic component includes a second magnetic member having a second magnetic pole, and the first magnetic pole and the second magnetic pole are opposite magnetic poles; The head assembly includes a first state and a second state; in the first state, the positions of at least one first magnetic component in the first magnetic assembly and at least one second magnetic component in the second magnetic assembly correspond to each other; In the second state, the positions of the first magnetic member in the first magnetic assembly and the second magnetic member in the second magnetic assembly are staggered; when the first bracket and the second bracket rotate relative to each other, the first bracket and the second bracket automatically reset from the second state to the first state.

2. The head assembly of the foot-type robot according to claim 1, characterized in that: The first magnetic assembly includes at least one first magnetic member, the second magnetic assembly includes at least one second magnetic member, and the first magnetic members are located at different positions in the rotation direction of the second bracket.

3. The head assembly of the legged robot according to claim 2, characterized in that: The first magnetic member is arranged on a first plane perpendicular to the first axis.

4. The head assembly of the foot-type robot according to claim 3, characterized in that: When the first magnetic member corresponds to the second magnetic member, the orthographic projection of the first magnetic member on the second magnetic member is at least partially located within the coverage area of ​​the second magnetic member.

5. The head assembly of the legged robot according to claim 4, characterized in that: When the first magnetic member corresponds to the second magnetic member, the orthographic projection of the first magnetic member on the second magnetic member is completely located within the coverage area of ​​the second magnetic member.

6. The head assembly of the legged robot according to claim 4, characterized in that: The magnetic center of each of the first magnetic members is located on a predetermined circumference with the first axis as the center, and each of the first magnetic members is arranged at intervals along the circumferential direction of the predetermined circumference.

7. The head assembly of the legged robot according to claim 6, characterized in that: Along the circumference of the predetermined circle, the first magnetic members are arranged in sequence and at even intervals.

8. The head assembly of the legged robot according to claim 6, characterized in that: The magnetic center of the second magnetic member is located on the predetermined circumference.

9. The head assembly of a legged robot according to any one of claims 1 to 8, characterized in that: One of the first magnetic members is a reset magnetic member, and the others are positioning magnetic members. When the reset magnetic member corresponds to the second magnetic member, the second bracket is located at an initial position.

10. The head assembly of the foot-type robot according to claim 9, characterized in that: The magnetic attraction between the resetting magnetic component and the second magnetic component is greater than the magnetic attraction between the positioning magnetic component and the second magnetic component.

11. The head assembly of the foot-type robot according to claim 10, characterized in that: At least one positioning magnetic block is stacked in the positioning magnetic member, and at least one resetting magnetic block is stacked in the resetting magnetic member; The positioning magnetic blocks and the resetting magnetic blocks have the same shape and volume, and the number of the resetting magnetic blocks is greater than the number of the positioning magnetic blocks.

12. The head assembly of the foot-type robot according to claim 10, characterized in that: At least one positioning magnetic block is stacked in the positioning magnetic member, and at least one resetting magnetic block is stacked in the resetting magnetic member; The number of the positioning magnetic blocks is the same as the number of the resetting magnetic blocks, and the volume of the resetting magnetic blocks is greater than the volume of the positioning magnetic blocks.

13. The head assembly of the foot-type robot according to claim 9, characterized in that: In the arrangement direction of each of the first magnetic members, the resetting magnetic member is located in the middle, and each of the positioning magnetic members is arranged on both sides of the resetting magnetic member.

14. The head assembly of a foot-type robot according to any one of claims 1 to 8, characterized in that: The first magnetic member and the second magnetic member are both permanent magnetic members; Alternatively, at least one of the first magnetic member and the second magnetic member is an electromagnetic member.

15. The head assembly of a foot-type robot according to any one of claims 1 to 8, characterized in that: The second bracket is sleeved outside the first bracket, and the second bracket has an installation cavity.

16. The head assembly of the legged robot according to claim 15, characterized in that: One of the first magnetic member and the second magnetic member is installed at the rear end of the first bracket, and the other is installed at the rear end of the second bracket.

17. The head assembly of the foot-type robot according to claim 15, characterized in that: The first magnetic member is installed on the first bracket, and the second magnetic member is installed on the second bracket.

18. The head assembly of the legged robot according to claim 17, characterized in that: The first bracket is provided with a first receiving groove, the first magnetic component is installed in the first receiving groove, and at least a part of the first magnetic component is completely received in the first receiving groove.

19. The head assembly of the legged robot according to claim 18, characterized in that: The notch of the first accommodating groove faces the second bracket.

20. The head assembly of the legged robot according to claim 18, characterized in that: The second bracket is provided with a second accommodating groove, and the second magnetic member is installed in the second accommodating groove.

21. The head assembly of the legged robot according to claim 17, characterized in that: The second magnetic member is partially exposed outside the second bracket.

22. The head assembly of a legged robot according to any one of claims 1 to 8, characterized in that: One of the first bracket and the second bracket is provided with a first rotating shaft, and the other bracket is provided with a first mounting hole; The first rotating shaft is disposed in the first mounting hole, and the first rotating shaft extends along the axis of the first shaft.

23. The head assembly of the foot-type robot according to claim 22, characterized in that: The distance between the first magnetic member and the first rotating shaft is 0 mm-50 mm.

24. The head assembly of the legged robot according to claim 22, characterized in that: A first damping member is disposed between the first rotating shaft and the first mounting hole.

25. The head assembly of the legged robot according to claim 22, characterized in that: Also includes: A first motor, wherein an output shaft of the first motor is connected to the second bracket.

26. The head assembly of the foot-type robot according to claim 25, characterized in that: The first motor is arranged on the inner side of the second bracket; And / or, the output shaft of the first motor and the first rotating shaft are arranged opposite to each other at two ends of the second bracket.

27. The head assembly of a foot-type robot according to any one of claims 1 to 8, characterized in that: The first axis is a roll axis.

28. The head assembly of a foot-type robot according to any one of claims 1 to 8, characterized in that: Also includes: A rotating member, wherein the rotating member covers the center of gravity of the first bracket, and the first bracket is rotatably connected to the rotating member so that the first bracket rotates around a second axis; and the rotating member itself rotates around a third axis; wherein the second axis and the third axis are perpendicular to each other, and the second axis and the third axis are both perpendicular to the first axis.

29. The head assembly of the foot-type robot according to claim 28, characterized in that: A plurality of third magnetic members are disposed on one of the rotating member and the first bracket, and a fourth magnetic member is disposed on the other; There is a magnetic attraction force between the third magnetic member and the fourth magnetic member, and each of the third magnetic members is located at a different position in the rotation direction of the first bracket.

30. The head assembly of the foot-type robot according to claim 28, characterized in that: One of the rotating member and the first bracket is provided with a second rotating shaft, and the other is provided with a second mounting hole; The second rotating shaft is inserted into the second mounting hole, and the second rotating shaft extends along the axis of the second shaft.

31. The head assembly of the foot-type robot according to claim 30, characterized in that: A second damping member is disposed between the second rotating shaft and the second mounting hole.

32. The head assembly of the foot-type robot according to claim 28, characterized in that: The first bracket is sleeved on the outer periphery of the rotating member, and the rotating member is connected to the middle part of the first bracket in the length direction.

33. The head assembly of the foot-type robot according to claim 28, characterized in that: The second axis is a pitch axis, and the third axis is a yaw axis.

34. A legged robot, characterized in that: It comprises a neck component and a head component according to any one of claims 1 to 33, wherein the head component is connected to the neck component.

35. The foot-type robot according to claim 34, characterized in that: The neck assembly comprises: A support member is used to support the head assembly, and a rotating member rotates relative to the support member; the center of gravity of the head assembly acts on the support member of the neck assembly.

36. The footed robot according to claim 35, characterized in that: A plurality of fifth magnetic members are disposed on one of the support member and the rotating member, and a sixth magnetic member is disposed on the other one; There is a magnetic attraction force between the fifth magnetic member and the sixth magnetic member, and each of the fifth magnetic members is located at a different position in the rotation direction of the rotating member.

37. The foot-type robot according to claim 34, characterized in that: The neck assembly further comprises: A driving member is connected to the first bracket of the head assembly, and the driving member drives the first bracket to rotate around the second axis.

38. The foot-type robot according to claim 37, characterized in that: A driving rod is arranged on the first bracket, the driving rod is close to the rear end of the first bracket, and the driving member is connected to the driving rod.

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