Robot head structure and humanoid robot

Abstract

The utility model relates to a robot head structure and a humanoid robot. The robot head structure comprises a head shell, the head shell is provided with eye areas, and the robot head structure further comprises a visual unit located in the head shell; the visual unit comprises a laser scanning module, the light emitting end of which is correspondingly arranged at the eye region, and the laser scanning module comprises a laser scanning motor and a laser scanning assembly; the laser scanning motor is used for driving the laser scanning assembly to rotate for laser scanning; the number of the first camera modules is N, N is greater than or equal to 1, and the viewing end is correspondingly arranged at the eye region; and the visual control board is connected with the laser scanning module and the first camera module. By means of the layout design, the size of the laser scanning module is reduced, the overall structure is more compact, and the laser scanning module is suitable for being used in a robot head with a narrow internal space. The operation stability and the control precision are improved, and a high-precision visual scheme suitable for the humanoid robot is provided.

Description

Technical Field

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

[0002] Robots integrate advanced technologies such as artificial intelligence, stereo vision, and high-end manufacturing, showing a booming development prospect in diversified scenarios such as public services, home services, special services, automobile manufacturing, 3C electronics, metal processing, semiconductors, and medical care.

[0003] A humanoid robot is a type of robot, also known as an anthropomorphic robot or a humanoid robot, which has anthropomorphic limbs, motion and operation skills, as well as perception, learning, and cognitive abilities. The limbs of a humanoid robot generally have key components such as a head, a body, and limbs, among which the internal space of the head is narrow.

[0004] The design of the head not only can maintain the overall aesthetic coordination of the robot, but also generally serves as the eyes and brain of the robot. The eyes refer to the visual unit, and the brain refers to the data processing unit. Setting each functional unit in the narrow internal space of the robot head faces the following problems:

[0005] 1. Reasonable layout to embed each functional unit therein; 2. Ensure the stability of the operation of each functional unit. Summary of the Utility Model

[0006] The utility model provides a robot head structure and a humanoid robot.

[0007] The utility model provides the following technical solutions:

[0008] In a first aspect, the utility model provides a robot head structure, including a head housing, the head housing having an eye area, and further including a visual unit located inside the head housing; the visual unit includes:

[0009] A laser scanning module, the light emitting end being correspondingly arranged at the eye area, including a laser scanning motor and a laser scanning component mounted on the laser scanning motor; the laser scanning motor is used to drive the laser scanning component to rotate for laser scanning;

[0010] The first camera module, the number being N, N≥1, and the view-finding end being correspondingly arranged at the eye area;

[0011] A visual control board, connected to the laser scanning module and the first camera module.

[0012] In some embodiments, the laser scanning component includes a laser and a laser fixing seat for fixing the laser on the laser scanning motor.

[0013] In some of these embodiments, the laser scanning module further includes a mounting base;

[0014] The motor is a hollow shaft motor, having a fixed part, a rotating part connected to the fixed part and rotatable relative to the fixed part, and a cavity passing through the fixed part and the rotating part;

[0015] The fixed part is mounted on the mounting base; the laser fixing seat is mounted on the rotating part.

[0016] In some of these embodiments, a motion mechanism is further included;

[0017] The motion mechanism includes a pitching unit and a rotating unit. The pitching unit is used to realize the front-back pitching motion of the robot head structure, and the rotating unit realizes the rotating motion of the robot head structure on the horizontal plane.

[0018] In some of these embodiments, the pitching unit includes a worm and gear reducer, a pitching motor, and a head connecting member connected to the head housing; the worm and gear reducer includes a reducer housing and a worm and a gear disposed within the reducer housing, and the worm is in meshing transmission connection with the gear; the front and rear ends of the worm are in the same direction as the front and rear directions of the robot head, and the rear end is connected to the output end of the pitching motor; the left and right ends of the gear have output shafts, and the output shafts at both ends are respectively connected to the corresponding side of the reducer housing and pass through the reducer housing to be connected to the head connecting member; the pitching motor is used to provide power for the pitching unit.

[0019] In some of these embodiments, the reducer housing includes a base and a body mounted on the base; the worm and the gear are disposed within the body, and the rotating unit is connected to the base.

[0020] In some of these embodiments, the head connecting member is a U-shaped structure with an opening downward, and both sides of the opening are located outside the reducer housing and are respectively connected to the output shafts at both ends of the gear; and / or

[0021] A pitching encoder is provided on the output shaft at one end of the gear.

[0022] In some of these embodiments, the rotating unit includes a rotating motor, and the output end of the rotating motor is connected to the reducer housing.

[0023] In some of these embodiments, the vision unit further includes a second camera module connected to the vision control board; the second camera module is a depth camera module or a color camera module.

[0024] In a second aspect, the present utility model provides a robot, including the robot head structure according to any one of the first aspect.

[0025] The above technical solution of the present utility model has the following advantages:

[0026] By adding a laser scanning module to the vision system and combining vision with laser, the vision unit can output a 3D point cloud map with high precision and high-speed scanning, greatly improving the stereo perception ability of the robot.

[0027] By fixing the laser scanning component on the laser scanning motor, the laser scanning motor directly drives the laser scanning component to rotate, and projects the laser output by the laser scanning component to different positions in the detection area, so as to project the laser onto the surface of the target object located in the detection area, completing the laser scanning of the target object. This layout design reduces the size of the laser scanning module, makes its overall structure more compact, and is suitable for use in the robot head with a narrow internal space; the running stability and control system are improved.

[0028] The robot head movement mechanism includes a pitching unit and a rotating unit. The pitching motor of the pitching unit drives the head connecting piece to perform forward and backward pitching movements through a worm and worm gear reducer. Also, since the head connecting piece is connected to the robot head, when the head connecting piece performs forward and backward pitching movements driven by the pitching motor and the worm and worm gear reducer, the robot head synchronously performs forward and backward pitching movements driven by the head connecting piece. The rotating unit is connected to the reducer housing, and the output shaft of the worm gear is connected to the reducer housing. In addition, the head connecting piece is connected to this output shaft. Therefore, when the rotating unit rotates horizontally, it can drive the robot head connected to the head connecting piece to rotate horizontally synchronously.

[0029] The pitching motor is located in the rear area of the robot head and is connected to the robot head through the head connecting pieces located on the left and right sides of the robot head, making full use of the narrow space inside the robot head and realizing the movement of the robot head without affecting other structural parts installed inside the robot head.

[0030] Setting the head connecting piece as a U-shaped structure has the following advantages: First, it forms a connection method of two-point connection with the worm and worm gear reducer, making it easier to synchronously drive the movement of the robot head and improving the movement stability; second, it makes full use of the internal space of the robot head, and it is convenient to install other structural parts above and on the side of the head connecting piece in the future; third, it has a lower self-weight on the basis of ensuring the movement stability, thus achieving the purpose of reducing the weight of the robot head. Description of the Drawings

[0031] To more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 is the front view of the robot head structure;

[0033] Figure 2 is the right view of the robot head structure;

[0034] Figure 3 is the schematic diagram of the robot head structure with the eye area removed;

[0035] Figure 4 is the schematic diagram of the robot head structure with the eye area and eye fixing member removed;

[0036] Figure 5 is the right view of the robot head structure with the head shell removed;

[0037] Figure 6 is the perspective view of the robot head structure with the head shell removed;

[0038] Figure 7 is the perspective view of the laser scanning module;

[0039] Figure 8 is the perspective view of the laser fixing base;

[0040] Figure 9 is the top view of the laser fixing base;

[0041] Figure 10 is the schematic diagram of the eye fixing member;

[0042] Figure 11 is the perspective Figure 1 ;

[0043] Figure 12 is the perspective Figure 2 ;

[0044] Figure 13 is the exploded view of the motion mechanism.

[0045] Explanation of reference numerals:

[0046] 1: Robot head;

[0047] 10: Head shell; 11: Eye area; 12: Eye fixing member; 121: First hole part; 122: Second hole part; 123: Third hole part;

[0048] 20: Visual unit; 21: Laser scanning module; 211: Laser scanning motor; 2111: Fixed part; 2112: Rotating part; 212: Laser scanning component; 2121: Laser; 2122: Laser fixing seat; 2123: Channel; 2124: Ferrule part; 213: Mounting seat; 214: Laser scanning encoder; 215: Laser scanning control board; 22: First camera module; 23: Visual control board; 24: Head mounting board; 25: Second camera module;

[0049] 30: Motion mechanism; 31: Pitching unit; 311: Worm and worm gear reducer; 3111: Reducer housing; 3111-1: Base; 31111-2: Body; 3112: Worm gear; 3113: Worm; 3114: Output shaft; 312: Pitching motor; 313: Head connecting piece; 314: Limiting part; 315: Pitching encoder. Embodiment

[0050] To make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions of the present utility model will be clearly and completely described below in conjunction with the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0051] In the description of this application, the terms "first", "second", "third", etc. are used to distinguish different objects and do not indicate any order or importance.

[0052] In the description of this application, the meaning of "a plurality of" is two or more unless otherwise specifically defined.

[0053] In the description of this application, the term "and / or" is only used to describe the associated relationship of associated objects and indicates that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0054] In the description of this application, terms such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] In the description of this application, "up", "down", "left", "right", etc. are only used to represent relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0056] It should be noted that, without conflict, the features in the following embodiments and implementation manners can be combined with each other.

[0057] Figure 1 and Figure 2 Fig. shows a robot head 1 according to an embodiment, including a head housing 10 which has an eye region 11.

[0058] Referring to Figure 3 and Figure 6 , the robot head 1 further includes a vision unit 20 located within the head housing 10, specifically including:

[0059] A laser scanning module 21, the light emitting end of which is correspondingly arranged at the eye region 11, includes a laser scanning motor 211 and a laser scanning component 212 mounted on the laser scanning motor 211; the laser scanning motor 211 is used to drive the laser scanning component 212 to rotate for laser scanning;

[0060] A first camera module 22, the number of which is N, N≥1, and the view-finding end is correspondingly arranged at the eye region 11;

[0061] A vision control board 24, which is connected to the laser scanning module 21 and the first camera module 22.

[0062] By adding a laser scanning module 21 to the vision system, the combination of vision and laser is achieved, which has the advantages of high precision and high-speed scanning, and improves the stereo perception ability of the robot.

[0063] By fixing the laser scanning component 212 on the laser scanning motor 211, the motor can directly drive the laser scanning component 212 to rotate, project the laser output by the laser scanning component 212 to different positions in the detection area, and thus project the laser to the surface of the target object located in the detection area to complete the laser scanning of the target object. This layout design reduces the size of the laser scanning module, makes its overall structure more compact, and is suitable for use in a robot head with a narrow internal space; the running stability and control system are improved.

[0064] Exemplarily, referring to Figure 6 , the laser scanning component 212 includes a laser 2121 and a laser fixing seat 2122 for fixing the laser 2121 on the laser scanning motor 211.

[0065] Exemplarily, referring to Figure 7, the laser scanning module 21 further includes a mounting base 213; the laser scanning motor 211 is a hollow shaft motor, which has a fixed part 2111, a rotating part 2112 connected to the fixed part 2111 and rotatable relative to the fixed part 2111, and a cavity (not shown) passing through the fixed part 2111 and the rotating part 2112;

[0066] The fixed part 2111 is mounted on the mounting base 213; the laser fixing base 2122 is mounted on the rotating part 2112. It should be understood that the cavity is located at the axial center position of the laser scanning motor 211.

[0067] Using a hollow shaft motor with a disc structure as the driving device facilitates the implementation of the motor carrying the laser in the technical solution of the present application. The hollow shaft motor is a commercially available product, which has a fixed part 2111, a rotating part 2112, and a cavity passing through the fixed part 2111 and the rotating part 2112. Therefore, the hollow shaft motor can also be described as a hollow motor. The fixed part 2111 is the stator side containing the motor stator, and the rotating part 2112 is the rotor side containing the motor rotor. Therefore, the rotating part 2112 can rotate 360° relative to the fixed part 2111. The bottom of the fixed part 2111 is mounted on the mounting base 213, and the laser fixing base 2122 is mounted on the top of the rotating part 2112, so that the laser 2121 is mounted on the top of the rotating part 2112 through the laser fixing base 2122. When the rotating part 2112 rotates, the laser 2121 can rotate accordingly.

[0068] It should be noted that the hollow shaft motor can use a hollow shaft brushless motor, which has high reliability and long service life.

[0069] The laser 2121 can be any one of a point laser, a single-line laser, a multi-line laser, and a surface structured light laser, and a suitable laser can be selected according to actual needs.

[0070] Taking the laser 2121 as a single-line laser as an example, at this time, the vision unit 20 can form a binocular line laser system or a multi-view line laser system, which has advantages in accuracy and scanning speed, can provide a pair of high-precision and fast-identifying eyes for the robot, and can achieve hand-eye servo through a high frame rate method.

[0071] It should be understood that the laser emission direction of the laser 2121 is: from the rear to the front direction of the robot head 1.

[0072] Further preferably, the laser scanning module 21 further includes a conductive slip ring (not shown); the conductive slip ring is located in the cavity, connected to the laser 2121, and is used to transmit current to the laser 2121 to realize the power supply and control of the laser 2121.

[0073] The laser 2121 and the laser fixing base 2122 can be of a split structure, that is, the laser 2121 and the laser fixing base 2122 are fixed in a detachable manner; they can also be of an integral structure, that is, the laser 2121 and the laser fixing base 2122 are fixed in a non-detachable manner. The former is convenient for replacement, while the latter can reduce the assembly workload. The appropriate fixing method can be selected according to actual needs.

[0074] Exemplarily, referring to Figure 8 and Figure 9 , a channel 2123 communicating with the cavity is provided at the bottom of the laser fixing base 2122 for laying out the rotor outgoing line of the conductive slip ring. It should be understood that since the wiring of the laser 2121 is generally located at the tail of the laser 2121, therefore, the preferred design of the channel 2123 at the bottom of the laser fixing base 2122 satisfies the following factors: the channel 2123 extends from the cavity to the area where the tail of the laser 2121 is located.

[0075] Exemplarily, a ferrule portion 2124 is provided at the bottom of the laser fixing base 2122. The ferrule portion 2124 is a protruding non-closed ring structure that can be snapped into the cavity of the motor. The ferrule portion 2124 can not only connect the laser fixing base 2122 and the rotating portion 2112, but also play a positioning role. This is because the cavity is the axis position of the motor, and the laser fixing base 2122 can use the ferrule portion 2124 to position the axis position of the motor and ensure the coaxiality of the assembly of subsequent components (such as an encoder).

[0076] In addition, the non-closed ferrule portion 2124 has a notch, and the notch communicates with the channel 2123. This structural design enables the ferrule portion 2124 not to affect the laying out of the rotor outgoing line of the conductive slip ring.

[0077] It should be understood that the laser fixing base 2122 and the rotating portion 2112 can be connected through the ferrule portion 2124 on the one hand, and on the other hand, they can also be connected by means of threaded connection (such as screw connection or fastening screw connection), welding, bonding, etc.

[0078] In some preferred embodiments, fixing holes for installing the laser 2121 are provided on the laser fixing base 2122. Installing the laser 2121 in the fixing holes can not only fix the laser 2121, but also prevent the laser scanning module from affecting the stability of the laser 2121 due to collision during operation or damaging the laser 2121 due to collision during use or transportation.

[0079] It should be noted that the foregoing channel 2123 may or may not communicate with the fixing holes.

[0080] The mounting base 213 serves to fixedly connect the laser scanning module 21 to the head housing 1. The present application does not specifically limit its implementation structure. The fixed connection can be a direct connection or an indirect connection. In some preferred embodiments, the mounting base 213 is an L-shaped structure, including a bottom plate and a side wall; the laser scanning motor 211 is mounted on the bottom plate. Specifically, the fixing portion 2111 of the laser scanning motor 211 is mounted on the bottom plate. The bottom plate and / or the side wall are fixedly connected to the head housing 1 by direct or indirect means.

[0081] In some preferred embodiments, the laser scanning module 21 further includes a laser scanning encoder 214 for obtaining the motion parameters of the laser scanning motor 211. Considering the structural properties of the laser scanning motor 211 and the layout design of the laser scanning module 21, the laser scanning encoder 214 is preferably disposed above the laser fixing seat 2122 and fixed to the mounting base 213.

[0082] The laser scanning encoder 214 makes the laser scanning module 21 into a closed-loop control system, making the motor running speed more uniform (the speed fluctuation rate is reduced), which can improve the uniformity of the line spacing of the laser line and improve the image acquisition quality. In some preferred embodiments, the laser scanning encoder 214 is of the pulse type, including that the 3D camera of the laser scanning module 21 has a pulse triggering function, and the image acquisition of the 3D camera is realized according to the encoder pulse signal. After adopting the pulse mode, the requirement for the uniformity of the motor running speed is reduced.

[0083] In a preferred embodiment, the laser scanning module 21 further includes a laser scanning control unit, which serves as the control system of the laser projection module, is connected to the laser scanning motor and the laser, and when the laser projection module includes a laser scanning encoder, is also connected to the encoder, for controlling the operation of the motor, the turning on and off of the laser, the brightness adjustment of the laser, the collection of encoder data, etc., and also communicates with the vision control board 23.

[0084] In some embodiments, the laser scanning control unit is an independent control board. Exemplarily, referring to Figure 5 and Figure 6 , the laser scanning control unit is an independently provided laser scanning control board 215.

[0085] In some embodiments, the laser scanning control unit can also be integrated with the vision control board 23 into an integrated structure.

[0086] In some preferred embodiments, the vision unit 20 can be improved as follows:

[0087] Increase the number of the first camera modules 22 to form a binocular system. The first camera module 22 can be a black-and-white camera or a color camera. For example, when the number of the first camera modules 22 is two, the first camera module 22 can be a black-and-white camera and / or a color camera.

[0088] In some preferred embodiments, the vision unit 20 can also be improved as follows:

[0089] Add a second camera module 25, which is connected to the vision control board 23. The second camera module 25 can be a depth camera module, such as an infrared structured light camera module or a pulsed structured light camera module. Refer to Figure 3 and Figure 4 , the second camera module 25 can also be a color camera module, and together with the two first camera modules 22, it forms an RGB-D vision unit.

[0090] The vision control board 24 is the control system of the vision unit 20, which has data processing and data transmission functions, can process the acquired image information of the external environment, and convey corresponding data for subsequent environment perception.

[0091] In some embodiments, the vision unit 20 further includes a head mounting plate 24, and the laser scanning module 21, the first camera module 22 and the vision control board 23 are all mounted on this structure, and this structure is fixedly connected to the head housing 10.

[0092] In some embodiments, refer to Figure 10 , there is also an eye fixing member 12 inside the eye area 11, which is fixedly connected to the head housing 10. The eye fixing member 12 is correspondingly provided with a first hole portion 121, a second hole portion 122 and a third hole portion 123 at the position of the first camera module 22, the second camera module 25 and the laser scanning module 21.

[0093] In some embodiments, the head housing 10 also has a mouth area. The mouth area can be set as a display screen for displaying mouth dynamics.

[0094] In some preferred embodiments, the robot head structure 1 further includes a motion mechanism 30;

[0095] The motion mechanism 30 includes a pitching unit 31 and a rotating unit 32. The pitching unit 31 is used to realize the pitching motion of the robot head structure 1 back and forth, and the rotating unit 32 realizes the rotational motion of the robot head structure 1 on the horizontal plane.

[0096] Refer to Figures 11 to 13, the pitching unit 31 includes a worm and worm gear reducer 311, a pitching motor 312, and a head connecting member 313 connected to the head housing 10; the worm and worm gear reducer 311 includes a reducer housing 3111 and a worm wheel 3112 and a worm 3113 disposed within the reducer housing 3111. The worm 3113 is generally located above the worm wheel 3112 and is in meshing transmission connection with the worm wheel 3112; the front and rear directions of both ends of the worm 3113 are the same as the front and rear directions of the robot head 1, and the rear end is connected to the output end of the pitching motor 312; the left and right ends of the worm wheel 3112 have output shafts 3114, and the output shafts 3114 at both ends are respectively connected to the corresponding side of the reducer housing 3111 and pass through the reducer housing 3111 to be connected to the head connecting member 313; the pitching motor 312 is the power device of the pitching unit 31 and is used to provide power for the pitching unit 31.

[0097] The rotating unit 32 is connected to the reducer housing 3111 and is used to drive the robot head 1 to rotate horizontally.

[0098] The robot head motion mechanism 30 provided in this embodiment includes a pitching unit 31 and a rotating unit 32. The pitching motor 312 of the pitching unit 31 drives the head connecting member 313 to perform forward and backward pitching motions through the worm and worm gear reducer 311. Also, since the head connecting member 313 is connected to the robot head 1, when the head connecting member 313 performs forward and backward pitching motions driven by the pitching motor 312 and the worm and worm gear reducer 311, the robot head 1 synchronously performs forward and backward pitching motions driven by the head connecting member 313. The rotating unit 32 is connected to the reducer housing 3111, and the reducer housing 3111 is connected to the output shaft 3114 of the worm wheel 3112. Additionally, the head connecting member 313 is connected to this output shaft 3114. Therefore, when the rotating unit 32 rotates horizontally, it can drive the robot head 1 connected to the head connecting member 313 to rotate horizontally synchronously.

[0099] It should be noted that the head connecting member 313 and the head housing 10 can be connected directly and / or indirectly. When the two are indirectly connected, other structural members are installed on the head connecting member 313. Exemplarily, referring to Figure 5 and Figure 6 , the left end of the head connecting member 313 is connected to the head mounting plate 24.

[0100] In the robot head motion mechanism 30 provided in this embodiment, the pitching motor 312 is located in the rear region of the robot head 1 and is connected to the robot head 1 through the head connecting members 313 located on the left and right sides of the robot head 1, making full use of the narrow space inside the robot head 1 to achieve the movement of the robot head 1 without affecting other structural members installed inside the robot head 1.

[0101] In some embodiments, the output end of the pitching motor 312 is connected to the worm 3113 through a first coupling.

[0102] In some embodiments, the reducer housing 3111 includes a base 3111-1 and a body 3111-2 mounted on the base 3111-1; the worm gear 3112 and the worm 3113 are disposed within the body 3111-2, and the rotating unit 32 is connected to the base 3111-1.

[0103] The body 3111-2 may be an open structure with an upper opening and / or a lower opening.

[0104] In some embodiments, the worm gear reducer may also be a sealed reducer with a lubrication system, which increases the service life of the worm gear transmission system and thus increases the service life of the head. At this time, the body 3111-2 is a non-open closed structure.

[0105] The body 3111-2 may further be provided with a first through hole for the worm 3113 to pass through, and a bearing may be provided within the first through hole to achieve the rotational connection between the worm 3113 and the body 3111-2.

[0106] The body 3111-2 may further be provided with a second through hole for the output shafts 3114 at both ends of the worm gear 3112 to pass through, and a bearing may be provided within the second through hole to achieve the rotational connection between the output shafts 3114 and the body 3111-2.

[0107] The base 3111-1 is preferably L-shaped and includes a base bottom and a base side portion located on the side of the base bottom and connected to the base bottom. At this time, the body 3111-2 is mounted on the base bottom, and the rotating unit 32 is connected to the base bottom.

[0108] It should be understood that the base bottom and the base side portion may be a split structure or an integral structure.

[0109] In some embodiments, the worm gear reducer 311 may have a large speed ratio property, thereby making the holding torque small.

[0110] The pitching range of the pitching unit 31 is affected by the pitching motor and the worm gear reducer, and can be adjusted according to the working ranges of both in actual use. In some of these embodiments, the base 3111-1 is further provided with a limiting portion 314 for limiting the angle of backward pitching of the head connecting member 313. Further preferably, the pitching range of the pitching unit 31 is from +30° to -30°, which can be understood that the angle of forward pitching can reach 30°, such as 10°, 15°, 20°, 25°, 30°; the angle of backward pitching can reach 30°, such as 10°, 15°, 20°, 25°, 30°.

[0111] In the robot head motion mechanism 30 provided in this embodiment, the head connecting member 313 is connected to the head housing 10 of the robot head 1. In some embodiments, it is designed as a U-shaped structure with the opening facing downward. The two sides of the opening are located outside the reducer housing 3111 and are respectively connected to the output shafts 3114 at both ends of the worm wheel 3112.

[0112] The present utility model sets the head connecting member 313 as a U-shaped structure, which has the following advantages:

[0113] First, it forms a connection method of two-point connection with the worm and worm gear reducer 311, which is easier to synchronously drive the movement of the robot head 1, and the movement stability is also improved.

[0114] Second, it makes full use of the internal space of the robot head 1, which is convenient for installing other structural members above and on the side of the head connecting member 313 later.

[0115] Third, on the basis of ensuring the movement stability, it also has a lower self-weight, thereby achieving the purpose of reducing the weight of the robot head 1.

[0116] In some embodiments, an encoder 315 is provided on the output shaft 3114 at one end of the worm wheel 3112 for obtaining the motion parameters of the output shaft 3114.

[0117] In some embodiments, no encoder is provided at the output end of the pitching motor 312 in the horizontal direction, which reduces the cost and can also make the transmission system smaller in size, increasing the installation space for the vision unit or the voice unit. Further preferably, the pitching motor 312 has a power-off memory function and can achieve power-off self-locking, so that the head of the robot will not fall when the power is off. In some embodiments, self-locking can also be achieved by adding a brake on the motor side to the head motion mechanism.

[0118] In some embodiments, the rotation unit 32 includes a rotation motor, and the output end of the rotation motor is connected to the reducer housing 3111.

[0119] It should be understood that the output shaft at the output end of the rotation motor is perpendicular to the horizontal plane, so as to drive the robot head 1 to rotate horizontally.

[0120] Another embodiment of the present utility model provides a robot head 1, which has a head housing 10, and the robot head motion mechanism 30 of the above embodiment is provided inside the head housing 10.

[0121] It should be understood that part or all of the robot head motion mechanism 30 is arranged inside the head housing 10.

[0122] In some embodiments, the robot head 1 further includes a voice unit for implementing voice interaction. The voice unit can be disposed outside the head housing 10 or inside the head housing 10. Preferably, it is disposed inside the head housing 10 to make the head more aesthetically pleasing. In terms of the connection relationship, taking the case where the voice unit is disposed inside the head housing 10 as an example, the voice unit can be fixedly connected to the head housing 10 directly or indirectly.

[0123] The voice unit can be a microphone or a speaker. Through the voice unit, the user can have voice interaction with the robot, improving the user experience.

[0124] The voice unit can also adopt an offline voice acquisition method in combination with an online voice acquisition method, so as to collect sound information in a larger range and prevent information from being missed.

[0125] In some embodiments, the voice unit further includes a sound pickup device. The sound pickup device is generally disposed in front of the robot head 1. Of course, it can also be disposed at other positions. When disposed at the front position of the robot head 1, since the pitching motor 312 is located in the rear region of the robot head 1, this layout design reduces the influence of the motor noise on the voice unit.

[0126] In some embodiments, the robot head 1 further includes a heat dissipation unit. The heat dissipation unit can be disposed inside the head housing 10 and connected to the upper end of the head connecting member 313 to play a role in sufficient heat dissipation.

[0127] The robot head structure provided by the present utility model can form a complete system, including a vision unit, a rotation / pitching transmission unit, a voice interaction unit, etc., facilitating the realization of high intelligence of the robot.

[0128] The robot head structure provided by the present utility model can cooperate with a manipulator to achieve hand-eye servo through a high frame rate method. The process includes the following steps:

[0129] After locking the target object, the vision unit starts laser scanning to obtain 3D point cloud image data including the target object, and transmits the data to the robot's brain (such as a vision control board) for data processing, and guides the robot's actions based on the data processing.

[0130] The above has introduced in detail the technical solutions provided by the embodiments of the present utility model. Specific examples are used herein to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model; at the same time, for those of ordinary skill in the art, according to the idea of the present utility model, the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the idea and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A robot head structure, comprising a head shell, wherein the head shell has an eye area, characterized in that: Also included is a visual unit located in the head shell; the visual unit includes: A laser scanning module, the light output end of which is arranged correspondingly at the eye area, comprises a laser scanning motor and a laser scanning component mounted on the laser scanning motor; the laser scanning motor is used to drive the laser scanning component to rotate for laser scanning; The number of first camera modules is N, where N≥1, and the viewfinder end is correspondingly arranged at the eye area; A visual control board is connected to the laser scanning module and the first camera module.

2. The robot head structure according to claim 1, characterized in that: The laser scanning assembly comprises a laser and a laser fixing seat for fixing the laser on the laser scanning motor.

3. The robot head structure according to claim 2, characterized in that: The laser scanning module also includes a mounting seat; The motor is a hollow shaft motor, comprising a fixed portion, a rotating portion connected to the fixed portion and rotatable relative to the fixed portion, and a cavity penetrating the fixed portion and the rotating portion; The fixing part is installed on the mounting seat; and the laser fixing seat is installed on the rotating part.

4. The robot head structure according to claim 1, characterized in that: It also includes sports organizations; The motion mechanism includes a pitch unit and a rotation unit. The pitch unit is used to realize the front and rear pitch movement of the robot head structure, and the rotation unit realizes the rotation movement of the robot head structure on a horizontal plane.

5. The robot head structure according to claim 4, characterized in that: The pitch unit includes a worm gear reducer, a pitch motor and a head connecting piece connected to the head shell; the worm gear reducer includes a reducer housing and a worm wheel and a worm arranged in the reducer housing, and the worm is meshingly connected to the worm wheel; the directions of the front and rear ends of the worm are consistent with the front and rear directions of the robot head, and the rear end is connected to the output end of the pitch motor; the left and right ends of the worm wheel have output shafts, and the output shafts at both ends are respectively connected to the reducer housing on the corresponding sides, and pass through the reducer housing to connect to the head connecting piece; the pitch motor is used to provide power for the pitch unit.

6. The robot head structure according to claim 5, characterized in that: The reducer housing includes a base and a body mounted on the base; the worm wheel and the worm are arranged in the body, and the rotating unit is connected to the base.

7. The robot head structure according to claim 5, characterized in that: The head connector is a U-shaped structure with an opening facing downward, and both sides of the opening are located outside the reducer housing and are respectively connected to the output shafts at both ends of the worm gear; and / or A pitch encoder is arranged on the output shaft at one end of the worm gear.

8. The robot head structure according to claim 5, characterized in that: The rotating unit includes a rotating motor, and an output end of the rotating motor is connected to the reducer housing.

9. The robot head structure according to claim 1, characterized in that: The visual unit also includes a second camera module connected to the visual control board; the second camera module is a depth camera module or a color camera module.

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

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