Robot head and neck and robot

Abstract

The utility model provides a robot head and neck part and robot, the robot head and neck part comprises a head structure and a neck structure, the neck structure comprises a head rotating motor, a neck framework and two neck connecting rods, the head rotating motor is arranged between the head structure and the neck framework, and the neck connecting rods are arranged on the neck framework. The head rotating motor drives the head structure to rotate, the neck framework is used for being connected with a robot trunk, one end of each neck connecting rod is rotationally connected with the neck framework, the other end of each neck connecting rod is connected with one head swing motor, and the head swing motors are arranged on the robot trunk. Three-degree-of-freedom actions are achieved, the complexity of actions of the head and the neck of the robot is improved, and the flexibility is further improved.

Description

Technical Field

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

[0002] A robot is an automatic device that can imitate certain human actions and is used to grasp, move objects or operate tools according to fixed programs. It can replace human labor to achieve automated operations and can protect human safety in certain harmful environments.

[0003] The existing robot head movement is mostly two-axis movement, which can only achieve two degrees of freedom. For example, the robot with dual-degree-of-freedom linkage of the head disclosed in the publication number CN106078727A can achieve left-right and up-and-down swing of the robot head. With the continuous advancement of technology, robots are gradually developing in the direction of multi-functions, and the existing dual-degree-of-freedom linkage cannot achieve more complex movements. Utility Model Content

[0004] The utility model aims to provide a robot head and neck with compact structure and high flexibility and a robot in view of the deficiencies in the prior art.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A robot head and neck, comprising:

[0007] Head structure;

[0008] A neck structure, wherein the neck structure comprises a head rotating motor, a neck frame and two neck connecting rods, wherein the head rotating motor is arranged between the head structure and the neck frame, and the head rotating motor drives the head structure to rotate, and the neck frame is used to connect to the robot torso, one end of each of the neck connecting rods is rotationally connected to the neck frame, and the other end is connected to a head swinging motor respectively, and the head swinging motor is arranged on the robot torso.

[0009] As a preferred embodiment, the neck frame comprises:

[0010] A neck upper connecting piece, the upper part of which is connected to the head rotating motor, and the neck connecting rods are respectively arranged on both sides of the neck upper connecting piece, and the neck connecting rods are rotatably connected to the neck upper connecting piece;

[0011] A lower neck connection piece, wherein the upper portion of the lower neck connection piece is connected to the upper neck connection piece via a neck universal joint, and the lower portion of the lower neck connection piece is connected to the robot trunk.

[0012] As a preferred embodiment, the neck upper connecting member includes a connected neck upper plate and a neck upper connecting rod, the neck upper plate is connected between the head rotating motor and the neck universal joint, and the two ends of the neck upper connecting rod are respectively rotatably connected to one of the neck connecting rods.

[0013] As a preferred embodiment, a neck bearing is provided between the neck upper connecting rod and the neck connecting rod.

[0014] As a preferred embodiment, the head structure includes:

[0015] Head cover;

[0016] The head frame is arranged inside the head cover shell. The head rotating motor is connected to the head frame and drives the head cover shell and the head frame inside the head frame to rotate together.

[0017] As a preferred embodiment, the head skeleton comprises:

[0018] A head frame, wherein a plurality of microphones are arranged on the upper part of the head frame, a lower part of the head frame is drivingly connected to the head rotating motor, and a plurality of microphone holes are opened on the head cover, and the microphones correspond to the microphone holes one by one.

[0019] As a preferred embodiment, the head skeleton further includes:

[0020] The head lower frame is connected to the lower part of the head upper frame, the head lower frame and the head rotating motor are staggered, and a speaker is arranged on the head lower frame.

[0021] As a preferred embodiment, the head structure further includes:

[0022] A control panel, the control panel being arranged on the head frame;

[0023] and / or, a display screen, the display screen being arranged on an outer surface of the head cover;

[0024] And / or, a camera, wherein the camera is arranged on the outer surface of the head cover.

[0025] The utility model also provides a robot, including the robot head and neck of the above embodiment, and the robot also includes:

[0026] A robot body, wherein two head swing motors are arranged on the robot body.

[0027] As a preferred embodiment, the robot further comprises:

[0028] Two head swing rods, one end of the head swing rod is transmission-connected with a head swing motor, and the other end of the head swing rod is connected with a neck connecting rod.

[0029] Compared with the prior art, this technical solution has the following advantages:

[0030] The head rotating motor drives the head structure to shake left and right, the left neck connecting rod drives the head structure to swing up and down, and the right neck connecting rod drives the head structure to swing up and down, thereby realizing three degrees of freedom movement, increasing the complexity of the robot's head and neck movement, and further improving flexibility.

[0031] The head structure includes a head cover and a head frame. The head frame can be installed with a microphone, a control panel, and a speaker, which not only increases the usage function but also improves the compactness of the structure.

[0032] Through the coordinated action of the microphone, display screen, camera, control panel, speaker, the head rotating motor, and the head swinging motor, not only human-computer interaction can be performed, but also the user experience is improved.

[0033] The present invention is further described below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic structural diagram of the first embodiment of the robot head and neck of the utility model;

[0035] Figure 2 This is a schematic structural diagram of the second embodiment of the robot head and neck of the utility model;

[0036] Figure 3 This is a structural schematic diagram of the head lower frame of the utility model;

[0037] Figure 4 This is a schematic diagram of the structure of the adapter of the utility model;

[0038] Figure 5 This is a schematic diagram of the structure of the head cover of the utility model;

[0039] Figure 6 It is a structural schematic diagram of the robot described in the utility model.

[0040] In the figure: 100 robot head and neck, 110 head structure, 111 head cover, 111a microphone hole, 112 head frame, 112a head upper frame, 112a1 head first upper connecting plate, 112a2 head second upper connecting plate, 112a3 head upper side plate, 112b head lower frame, 112b1 head first lower connecting plate, 122b2 head lower side plate, 113 microphone, 114 display screen, 115 camera, 116 control panel, 117 speaker, 120 neck structure, 121 head rotating motor, 122 neck frame, 122a neck upper connecting piece, 122a1 neck upper plate, 122a2 neck upper connecting rod, 122b neck universal joint, 122c neck lower connecting piece, 122d neck bearing, 123 neck connecting rod, 124 head swing motor, 125 head swing rod, 126 adapter, 300 torso. DETAILED DESCRIPTION

[0041] The following description is used to disclose the utility model so that those skilled in the art can implement the utility model. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the utility model defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the utility model.

[0042] First embodiment

[0043] like Figure 1 As shown, the robot head and neck 100 comprises:

[0044] Head structure 110;

[0045] The neck structure 120 includes a head rotating motor 121, a neck frame 122 and two neck connecting rods 123. The head rotating motor 121 is arranged between the head structure 110 and the neck frame 122. The head rotating motor 121 drives the head structure 110 to rotate. The neck frame 122 is used to connect the trunk 300 of the robot. One end of each of the neck connecting rods 123 is rotatably connected to the neck frame 122, and the other end is connected to a head swinging motor 124. The head swinging motor 124 is arranged on the trunk 300.

[0046] The head rotating motor 121 drives the head structure 110 to shake left and right, and each head swinging motor 124 drives the head structure 110 to swing up and down through a neck connecting rod 123, and the two neck connecting rods 123 are located on the left and right sides of the head rotating motor 121, so that at least two degrees of freedom can be achieved.

[0047] When two degrees of freedom are achieved, the first degree of freedom is achieved by the head rotating motor 121 driving the head structure 110 to shake left and right, and the second degree of freedom is achieved by the two neck connecting rods 123 driving the head structure 110 to swing up and down at the same time.

[0048] When three degrees of freedom are realized, the first degree of freedom is realized by the head rotating motor 121 driving the head structure 110 to shake left and right, the second degree of freedom is realized by the left neck connecting rod 123 driving the head structure 110 to swing up and down, and the third degree of freedom is realized by the right neck connecting rod 123 driving the head structure 110 to swing up and down. When the left neck connecting rod 123 drives the head structure 1 to swing upward, and the right neck connecting rod 123 drives the head structure 1 to swing downward, and then cooperates with the head rotating motor 121 to drive the head structure 110 to move to the left, at this time, the head structure 110 faces the upper left, and similarly, when the left neck connecting rod 123 drives the head structure 1 to swing downward, and the right neck connecting rod 123 drives the head structure 1 to swing upward, and cooperates with the head rotating motor 121 to drive the head structure 110 to move to the right, the head structure 110 faces the upper right.

[0049] like Figure 1 As shown, the neck frame 122 includes:

[0050] A neck upper connecting piece 122a, the upper part of which is connected to the head rotating motor 121, and the neck connecting rods 123 are respectively provided on both sides of the neck upper connecting piece 122a, and the neck connecting rods 123 are rotatably connected to the neck upper connecting piece 122a;

[0051] The lower neck connection member 122c, the upper portion of the lower neck connection member 122c is connected to the upper neck connection member 122a via a neck universal joint 122b, and the lower portion of the lower neck connection member 122c is connected to the trunk 300 of the robot.

[0052] The head rotating motor 121 is fixed to the upper part of the neck upper connecting member 122a, and the head rotating motor 121 is in transmission connection with the head structure 110, the head rotating motor 121 drives the head structure 110 to rotate, and at the same time, the two neck connecting rods 123 are rotationally connected to the neck upper connecting member 122a. The upper part of the neck lower connecting member 122c is connected to the neck upper connecting member 122a through the neck universal joint 122b, and the lower part of the neck lower connecting member 122c is connected and fixedly connected to the trunk 300 of the robot to support the head structure 110. Due to the provision of the neck universal joint 122b, the neck upper connecting member 122a and the head structure 110 connected thereto can be universally rotated relative to the neck lower connecting member 122c to adapt to the two neck connecting rods 123 to drive the left and right sides of the head structure 110 to swing up and down independently.

[0053] refer to Figure 1 and Figure 4 The neck upper connecting member 122a includes a neck upper plate 122a1 and a neck upper connecting rod 122a2 connected to each other. The neck upper plate 122a1 is connected between the head rotating motor 121 and the neck universal joint 122b. The two ends of the neck upper connecting rod 122a2 are respectively rotatably connected to one of the neck connecting rods 123.

[0054] The neck upper disk 122a1 and the head rotary motor 121 are both in the shape of a disk, and the diameter of the neck upper disk 122a1 may be slightly smaller than the diameter of the head rotary motor 121. The neck upper connecting rod 122a2 is located outside the area surrounded by the outer periphery of the head rotary motor 121, and the two ends of the neck upper connecting rod 122a2 are respectively rotatably connected to one of the neck connecting rods 123. The axis of the neck upper connecting rod 122a2 is perpendicular to the axial direction of the head rotary motor 121, and the neck upper connecting rod 122a2 and the two neck connecting rods 123 may be located at the front side of the robot.

[0055] A neck bearing 122d is arranged between the neck upper connecting rod 122a2 and the neck connecting rod 123. The neck bearing 122d can be a fisheye neck bearing, which is a ball neck bearing that can withstand radial and axial loads at the same time and can make tilting movements within the moving angle range, that is, the left and right sides of the head structure 110 are driven to swing up and down independently through the two neck connecting rods 123.

[0056] refer to Figure 1 The lower neck connection piece 122c is L-shaped, one side of the lower neck connection piece 122c is used to connect to the neck universal joint 122b, and the other side of the lower neck connection piece 122c is used to connect to the torso 300 of the robot.

[0057] like Figure 1 and Figure 5 As shown, the head structure 110 includes:

[0058] Head cover 111;

[0059] The head frame 112 is disposed inside the head cover 111 . The head rotating motor 121 is connected to the head frame 112 and drives the head cover 111 and the head frame 112 inside the head cover 111 to rotate together.

[0060] The head frame 112 may be equipped with a microphone 113, a control panel 116 and a speaker 117, and at the same time, may be wrapped by the head cover 111. The head cover 111 may be fixed to the outside of the head frame 112 by means of screws or the like.

[0061] refer to Figure 1 and Figure 5 , the head frame 112 includes:

[0062] The head frame 112a has a plurality of microphones 113 disposed on its upper portion, the lower portion of the head frame 112a is transmission-connected to the head rotating motor 121, the head cover 111 is provided with a plurality of microphone holes 111a, and the microphones 113 correspond to the microphone holes 111a one by one.

[0063] The plurality of microphones 113 are arranged at intervals in a circle and are mounted on the same annular circuit board, that is, the plurality of microphones 113 can be installed as a whole on the upper part of the head frame 112a, thereby improving the installation efficiency. Similarly, the plurality of microphone holes 111a are arranged at intervals in a circle and are opened on the top of the head cover 111. The annular circuit board can be fixed to the upper part of the head frame 112a through a connecting column. The microphone 113 is used to receive voice commands, and the robot performs corresponding actions according to the voice commands.

[0064] Continue to refer Figure 1 , the head frame 112a includes:

[0065] A first upper head connection plate 112a1, on which the microphone 113 is disposed;

[0066] The second upper connecting plate 112a2 of the head, the first upper connecting plate 112a1 of the head and the second upper connecting plate 112a2 of the head are arranged from top to bottom, and the lower part of the second upper connecting plate 112a2 of the head is drivingly connected to the head rotating motor 121;

[0067] Two head upper side plates 112a3, the two head upper side plates 112a3 are respectively connected between the first head upper connecting plate 112a1 and the second head upper connecting plate 112a2.

[0068] The head structure 110 further includes a control board 116, which is disposed on the head frame 112, specifically connected between the two head upper side plates 112a3, and located between the first head upper connecting plate 112a1 and the second head upper connecting plate 112a2. The number of the control boards 116 can be multiple, and they can be arranged from top to bottom, respectively, so that the structure is more compact. The control board 116 can be electrically connected to the microphone 113, the speaker 117, the head rotating motor 121, etc., to achieve signal processing and motion control.

[0069] Continue to refer Figure 1 The neck upper connecting rod 122a2 and the head second upper connecting plate 112a2 of the head upper frame 112a can be fixed by a fixing plate first, and when the robot is used, the fixing plate can be removed.

[0070] refer to Figure 3 , the head frame 112 also includes:

[0071] The head lower frame 112b is connected to the lower part of the head upper frame 112a, and the head lower frame 112b and the head rotating motor 121 are staggered. The head lower frame 112b is provided with a speaker 117. That is, the head lower frame is used to fix the speaker 117, and the fixed speaker is staggered with the head rotating motor 121, etc., that is, the installation space is reasonably utilized, making the structure more compact. The speaker 117 can be located at the rear side of the robot, and a speaker hole can be opened on the head cover 111, or the sound can be transmitted through the gap between the head cover 111 and the head frame 112.

[0072] The head lower frame 112b includes:

[0073] The first lower connecting plate 112b1 of the head;

[0074] Two head lower side plates 122b2 are respectively connected between the head first lower connecting plate 112b1 and the head upper frame 112a, and the speaker 117 is fixed to the lower part of the head first lower connecting plate 112b1.

[0075] The speaker 117 can be fixed to the first lower head connecting plate 112b1 of the head lower frame 112b by bolts and nuts, and the first lower head connecting plate 112b1 is provided with a long hole for the bolt to pass through so as to adjust the installation position of the speaker 117.

[0076] The first upper connecting plate 112a1 of the head and the first lower connecting plate 112b1 of the head can be made of sheet metal and other materials, and the two adjacent plates can be fixed by welding or screws, which reduces weight and is convenient and quick to install. The lower side plate 122b2 of the head and the upper side plate 112a3 of the head can be processed by digging holes, which not only reduces weight but also reduces costs.

[0077] like Figure 1 and Figure 3 As shown, the head rotating motor 121 is connected to the adapter seat 126, and the lower part of the head frame 112 can be fixed to the adapter seat 126 by means of screws, clamping, etc., that is, the head frame 112 and the head cover shell 111 are regarded as modular and are installed as a whole on the adapter seat 126, so that the installation is convenient and quick.

[0078] like Figure 5 As shown, the head structure 110 also includes:

[0079] A display screen 114, wherein the display screen 114 is disposed on an outer surface of the head cover 111;

[0080] and / or, a camera 115 , wherein the camera 115 is disposed on an outer surface of the head cover 111 .

[0081] The display screen 114 can display dynamic eye images or text, etc., and the camera 115 can shoot or capture images of the scene environment to identify the actions of people in the scene environment and make corresponding action feedback, thereby achieving human-computer interaction and further increasing the use function. Furthermore, the display screen 114 and the camera 115 can both be elliptical, and the camera 115 can be tilted and set on the upper side of the display screen 114. Of course, the shape and angle of the display screen 114 and the camera 115 can be adjusted according to design requirements.

[0082] refer to Figure 5 The cross section of the head cover 111 may be an elongated hole shape, and the surface may be an arc transition. Of course, any shape deformation of the head cover 111 should fall within the protection scope of this application.

[0083] In summary, the head structure 110 is driven to shake left and right by the head rotating motor 121, the left neck connecting rod 123 drives the head structure 110 to swing up and down, and the right neck connecting rod 123 drives the head structure 110 to swing up and down, so as to realize the action of three degrees of freedom, increase the complexity of the action of the robot head and neck 100, and further improve the flexibility. In addition, the head structure 110 includes a head cover 111 and a head frame 112, and the head frame 112 can be installed with a microphone 113, a control panel 116, and a speaker 117, which not only increases the use function, but also improves the compactness of the structure. Through the coordinated action of the microphone 113, the display screen 114, the camera 115, the control panel 116, the speaker 117, the head rotating motor 121, and the head swinging motor 124, not only human-computer interaction can be carried out, but also the user experience is improved.

[0084] Second embodiment

[0085] like Figure 1 and Figure 6 As shown, the robot comprises the robot head and neck 100 of the first embodiment, and the robot further comprises:

[0086] The trunk portion 300 is provided with two head swing motors 124 .

[0087] Since the robot includes the robot head and neck 100 of the first embodiment, the beneficial effects of the robot may refer to the robot head and neck 100 .

[0088] The two head swing motors 124 are respectively located on both sides of the lower neck connection piece 122c of the neck frame 122. The output shafts of the two head swing motors 124 are arranged opposite to each other and are respectively connected to the neck connecting rod 123. It can be seen that the two neck connecting rods 123 are located between the two head swing motors 124. The head rotating motor 121 drives the head structure 110 to rotate around the axis of the head rotating motor 121, and the axis of the head swing motor 124 is perpendicular to the axial direction of the head rotating motor 121. Therefore, the head swing motor 124 drives the head structure 110 to swing up and down through the neck connecting rod 123.

[0089] refer to Figure 2 , the robot further comprises:

[0090] Two head swing rods 125 , one end of the head swing rod 125 is transmission-connected to a head swing motor 124 , and the other end of the head swing rod 125 is connected to a neck connecting rod 123 .

[0091] The neck connecting rod 123 is rotatably connected to the neck upper connecting piece 122a of the neck frame 122 through the neck bearing 122d, so that the head structure 110 can tilt relative to the robot trunk 300. The neck connecting rod 123 is rotatably connected or ball-jointed to the head swing rod 125, further improving the rotation range of the head structure 110.

[0092] refer to Figure 6 The two neck connecting rods 123 and the lower neck connecting member 122c may be exposed between the head cover 111 and the torso 300 of the robot.

[0093] The up and down swing range of the head structure 110 and the left and right rotation range of the head structure 110 can be limited. For example, if the head structure 110 is limited to swing downward, the head swing rod 125 is docked on the trunk 300 of the robot, and the head structure 110 is limited to continue to swing downward. In addition, the robot may also include robot legs or feet.

[0094] The embodiments described above are only used to illustrate the technical ideas and features of the utility model, and their purpose is to enable technicians in this field to understand the content of the utility model and implement it accordingly. The patent application scope of the utility model cannot be limited only by this embodiment, that is, any equivalent changes or modifications made according to the spirit disclosed by the utility model still fall within the patent scope of the utility model.

Claims

1. A robot head and neck (100), characterized in that: include: Head structure (110); A neck structure (120), the neck structure (120) comprising a head rotating motor (121), a neck frame (122) and two neck connecting rods (123), the head rotating motor (121) being arranged between the head structure (110) and the neck frame (122), the head rotating motor (121) driving the head structure (110) to rotate, the neck frame (122) being used to connect to the trunk (300) of the robot, one end of each of the neck connecting rods (123) being rotationally connected to the neck frame (122), and the other end being connected to a head swinging motor (124), the head swinging motor (124) being arranged on the trunk (300).

2. The robot head and neck (100) according to claim 1, characterized in that: The neck frame (122) comprises: A neck upper connecting piece (122a), the upper part of which is connected to the head rotating motor (121), the neck connecting rods (123) are respectively arranged on both sides of the neck upper connecting piece (122a), and the neck connecting rods (123) are rotatably connected to the neck upper connecting piece (122a); A lower neck connection piece (122c), wherein the upper portion of the lower neck connection piece (122c) is connected to the upper neck connection piece (122a) via a neck universal joint (122b), and the lower portion of the lower neck connection piece (122c) is connected to the trunk (300) of the robot.

3. The robot head and neck (100) according to claim 2, characterized in that: The neck upper connecting member (122a) comprises a neck upper plate (122a1) and a neck upper connecting rod (122a2) connected to each other, the neck upper plate (122a1) is connected between the head rotating motor (121) and the neck universal joint (122b), and the two ends of the neck upper connecting rod (122a2) are respectively rotatably connected to one of the neck connecting rods (123).

4. The robot head and neck (100) according to claim 3, characterized in that: A neck bearing (122d) is provided between the neck upper connecting rod (122a2) and the neck connecting rod (123).

5. The robot head and neck (100) according to claim 1, characterized in that: The head structure (110) comprises: Head cover (111); A head frame (112), wherein the head frame (112) is arranged inside the head cover (111), and the head rotating motor (121) is connected to the head frame (112) and drives the head cover (111) and the head frame (112) inside the head to rotate together.

6. The robot head and neck (100) according to claim 5, characterized in that: The head frame (112) comprises: A head upper frame (112a), wherein a plurality of microphones (113) are arranged on the upper portion of the head upper frame (112a), wherein the lower portion of the head upper frame (112a) is drivingly connected to the head rotating motor (121), and the head cover shell (111) is provided with a plurality of microphone holes (111a), wherein the microphones (113) correspond to the microphone holes (111a) one by one.

7. The robot head and neck (100) according to claim 6, characterized in that: The head frame (112) further comprises: The head lower frame (112b) is connected to the lower part of the head upper frame (112a), the head lower frame (112b) and the head rotating motor (121) are staggered, and a speaker (117) is arranged on the head lower frame (112b).

8. The robot head and neck (100) according to claim 5, characterized in that: The head structure (110) further includes: A control panel (116), wherein the control panel (116) is arranged on the head frame (112); and / or, a display screen (114), wherein the display screen (114) is arranged on the outer surface of the head cover (111); And / or, a camera (115), wherein the camera (115) is disposed on an outer surface of the head cover (111).

9. A robot, characterized in that: The robot comprises a robot head and neck (100) as claimed in any one of claims 1 to 8, wherein the robot further comprises: A trunk portion (300) is provided with two head swing motors (124).

10. The robot according to claim 9, characterized in that: The robot also includes: Two head swing rods (125), one end of the head swing rod (125) is transmission-connected to a head swing motor (124), and the other end of the head swing rod (125) is connected to a neck connecting rod (123).

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